+ python -m lidar_slam --no-model /working/e4daa603-b8b1-4de6-adda-93946f368fd5 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/e4daa603-b8b1-4de6-adda-93946f368fd5 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 0.02592 Adjusted end_distance from 9.223372036854776e+18 to 371.79592 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02592 meters 0.5448706939727985 Centerline is valid? [0, False] SLAMing on 0.05592 meters 0.509345115418776 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:0.00 [[ 9.99984524e-01 -1.96360004e-03 5.20541563e-03 3.63073261e-02] [ 1.96597005e-03 9.99997966e-01 -4.50219280e-04 6.79448148e-05] [-5.20452099e-03 4.60446003e-04 9.99986350e-01 4.64293473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08592 meters 0.4809898265976377 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:0.02 [[ 9.99953306e-01 6.33289264e-03 7.29931879e-03 4.62083419e-02] [-6.32849998e-03 9.99979780e-01 -6.24731089e-04 -2.49253595e-05] [-7.30312755e-03 5.78508179e-04 9.99973164e-01 1.83609742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11592 meters 0.45073488986751853 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:0.01 [[ 9.99967695e-01 5.67542983e-03 5.69204089e-03 5.73125168e-02] [-5.67149328e-03 9.99983667e-01 -7.07490235e-04 -2.48538498e-03] [-5.69596324e-03 6.75185008e-04 9.99983550e-01 5.84870125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14592 meters 0.4323893073849855 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:0.03 [[ 9.99996510e-01 3.05944274e-04 2.62411070e-03 8.42248106e-02] [-2.98093772e-04 9.99995481e-01 -2.99155067e-03 4.13808920e-03] [-2.62501409e-03 2.99075800e-03 9.99992082e-01 2.60695038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17592 meters 0.4076611016760378 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.03 [[ 0.99988019 -0.00240173 -0.01529152 0.12049758] [ 0.00231473 0.99998105 -0.00570417 0.005669 ] [ 0.01530493 0.00566809 0.99986681 0.0343434 ] [ 0. 0. 0. 1. ]] SLAMing on 0.20592 meters 0.3928573127510915 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:0.02 [[ 0.99984166 -0.00151473 -0.0177301 0.13721487] [ 0.00144302 0.99999073 -0.00405655 0.00143354] [ 0.01773608 0.00403032 0.99983458 0.01694105] [ 0. 0. 0. 1. ]] SLAMing on 0.23592 meters 0.38707124903690804 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:0.00 [[ 9.99999263e-01 1.20446491e-03 -1.49475429e-04 1.44153297e-01] [-1.20466828e-03 9.99998339e-01 -1.36805334e-03 -2.12325853e-03] [ 1.47827408e-04 1.36823240e-03 9.99999053e-01 3.25624065e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26592 meters 0.3764751454117594 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.00, Z:-0.02 [[ 9.99991635e-01 4.51289481e-04 -4.06532908e-03 1.67634923e-01] [-4.57122061e-04 9.99998867e-01 -1.43389790e-03 -4.77656846e-03] [ 4.06467737e-03 1.43574426e-03 9.99990708e-01 -2.43594800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29592 meters 0.3683218156275775 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.00, Z:-0.01 [[ 9.99995181e-01 -6.90318880e-04 3.02667884e-03 1.96104823e-01] [ 6.94520734e-04 9.99998796e-01 -1.38744099e-03 -3.28281498e-03] [-3.02571742e-03 1.38953639e-03 9.99994457e-01 -1.19287909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32592 meters SLAMing on 0.35591999999999996 meters 0.8768518051796809 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.02 [[ 9.99998064e-01 -1.53545408e-03 1.23079815e-03 2.07428295e-01] [ 1.53601101e-03 9.99998718e-01 -4.51679639e-04 -1.24300820e-02] [-1.23010304e-03 4.53569284e-04 9.99999141e-01 -2.43260006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38592 meters SLAMing on 0.41592 meters 0.3529817941103731 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:0.08 [[ 0.99992002 -0.0058659 -0.01120483 0.25986072] [ 0.00584257 0.9999807 -0.00211328 -0.01446574] [ 0.01121701 0.00204764 0.99993499 0.07716079] [ 0. 0. 0. 1. ]] SLAMing on 0.44592 meters 0.3553174675647642 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:0.04 [[ 0.99992915 -0.00621367 -0.01015352 0.27726798] [ 0.00624823 0.99997478 0.00337627 -0.02376454] [ 0.01013229 -0.00343947 0.99994275 0.03692012] [ 0. 0. 0. 1. ]] SLAMing on 0.47591999999999995 meters 0.2976505097622106 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:0.16 [[ 9.99706970e-01 -7.21315413e-03 -2.31072442e-02 3.29103542e-01] [ 7.19852205e-03 9.99973834e-01 -7.16343305e-04 -1.45667495e-02] [ 2.31118067e-02 5.49795387e-04 9.99732735e-01 1.62270061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5059199999999999 meters 0.5189314983209838 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:0.07 [[ 0.99984685 -0.00725135 0.01592797 0.28566427] [ 0.00711618 0.99993832 0.00852679 -0.02795721] [-0.01598882 -0.00841214 0.99983678 0.07346336] [ 0. 0. 0. 1. ]] SLAMing on 0.53592 meters 0.3427424431610306 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:0.18 [[ 0.99957501 -0.01200496 -0.02656469 0.36860729] [ 0.01205705 0.99992569 0.00180157 -0.02068184] [ 0.02654109 -0.0021211 0.99964547 0.18150086] [ 0. 0. 0. 1. ]] SLAMing on 0.56592 meters 0.3474011596606696 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:0.16 [[ 0.99996025 -0.00549426 -0.00702247 0.36405649] [ 0.00552428 0.99997566 0.00426257 -0.02500948] [ 0.00699888 -0.0043012 0.99996626 0.15796469] [ 0. 0. 0. 1. ]] SLAMing on 0.59592 meters 0.5373156856678494 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:0.11 [[ 0.99997302 -0.00695938 -0.00235205 0.37946172] [ 0.00698 0.99993625 0.00887598 -0.03537424] [ 0.00229013 -0.00889216 0.99995784 0.10849746] [ 0. 0. 0. 1. ]] SLAMing on 0.62592 meters 0.29563380214014484 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.03, Z:0.29 [[ 0.99965332 -0.00829631 -0.02498827 0.43230328] [ 0.00840139 0.99995629 0.00410338 -0.0260127 ] [ 0.02495314 -0.00431189 0.99967932 0.29119931] [ 0. 0. 0. 1. ]] SLAMing on 0.6559200000000001 meters 0.3421834772527084 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.03, Z:0.26 [[ 0.99998364 -0.00494297 0.00287817 0.42496889] [ 0.00491733 0.99994878 0.00884673 -0.03129737] [-0.00292175 -0.00883244 0.99995672 0.25582155] [ 0. 0. 0. 1. ]] SLAMing on 0.6859199999999999 meters 0.3475118283912561 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.04, Z:0.20 [[ 0.99996426 0.00156657 0.0083076 0.41330734] [-0.00163554 0.99996421 0.00830127 -0.03683114] [-0.00829429 -0.00831456 0.99993103 0.20090702] [ 0. 0. 0. 1. ]] SLAMing on 0.7159199999999999 meters 0.3353774803513058 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:0.31 [[ 9.99534251e-01 -2.63416417e-04 -3.05157757e-02 4.90837890e-01] [ 3.48207922e-04 9.99996094e-01 2.77333131e-03 -2.94526123e-02] [ 3.05149260e-02 -2.78266547e-03 9.99530438e-01 3.08827866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7459199999999999 meters 0.4747956311984496 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:0.31 [[ 0.99997718 -0.00134256 -0.00662042 0.48539281] [ 0.00135793 0.99999639 0.00231687 -0.02865702] [ 0.00661729 -0.00232581 0.9999754 0.30895621] [ 0. 0. 0. 1. ]] SLAMing on 0.7759199999999999 meters 0.340311355289969 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:0.26 [[ 9.99999136e-01 -4.59493898e-04 1.23160167e-03 4.93926236e-01] [ 4.53286687e-04 9.99987219e-01 5.03549989e-03 -3.29925330e-02] [-1.23389971e-03 -5.03493727e-03 9.99986563e-01 2.55352770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80592 meters 0.340311355289969 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.03, Z:0.26 [[ 0.99998162 0.00551697 0.00251314 0.50731998] [-0.00552134 0.99998325 0.00173668 -0.02674652] [-0.00250352 -0.00175052 0.99999533 0.2643824 ] [ 0. 0. 0. 1. ]] SLAMing on 0.83592 meters 0.47714624392986715 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.03, Z:0.32 [[ 0.9999961 0.00177065 0.00216155 0.53934094] [-0.00176848 0.99999793 -0.00100625 -0.02529547] [-0.00216333 0.00100242 0.99999716 0.32057057] [ 0. 0. 0. 1. ]] SLAMing on 0.86592 meters 0.47360426661051 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.03, Z:0.33 [[ 0.99997648 -0.00547126 0.00413622 0.55360719] [ 0.00546178 0.99998244 0.00230054 -0.03010315] [-0.00414873 -0.0022779 0.9999888 0.32799046] [ 0. 0. 0. 1. ]] SLAMing on 0.89592 meters 0.34422001449401113 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:0.27 [[ 0.99993188 -0.00342269 0.0111591 0.56346509] [ 0.00335739 0.99997717 0.00586458 -0.03375444] [-0.01117892 -0.00582672 0.99992054 0.26850036] [ 0. 0. 0. 1. ]] SLAMing on 0.9259199999999999 meters 0.47134725184204534 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:0.38 [[ 0.9999792 -0.00588971 0.00262885 0.60683989] [ 0.00587486 0.99996694 0.00562132 -0.03225942] [-0.00266187 -0.00560575 0.99998074 0.3754517 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9559199999999999 meters 0.37707671154506267 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.31 [[ 0.99994654 -0.00478353 0.00916758 0.61802649] [ 0.00471035 0.99995701 0.0079865 -0.03370156] [-0.00920539 -0.00794289 0.99992608 0.31386664] [ 0. 0. 0. 1. ]] SLAMing on 0.9859199999999999 meters 0.39988359985035965 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.33 [[ 0.99994951 -0.00566981 -0.00829621 0.65621326] [ 0.00571647 0.99996792 0.00561123 -0.03148326] [ 0.00826413 -0.00565837 0.99994984 0.32778151] [ 0. 0. 0. 1. ]] SLAMing on 1.01592 meters 0.3919307676699629 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:0.30 [[ 0.99990926 -0.00618023 -0.01196986 0.67910182] [ 0.00624258 0.99996711 0.00517807 -0.03123121] [ 0.01193746 -0.00525232 0.99991495 0.30426277] [ 0. 0. 0. 1. ]] SLAMing on 1.04592 meters 0.48310735096974905 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:0.32 [[ 0.99995601 -0.0083858 -0.00420095 0.70253035] [ 0.00840169 0.99995756 0.00378105 -0.02956711] [ 0.00416907 -0.00381618 0.99998403 0.32222128] [ 0. 0. 0. 1. ]] SLAMing on 1.07592 meters 0.3453311095142731 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:0.28 [[ 0.99992492 -0.00627466 -0.01052537 0.74361311] [ 0.00634823 0.99995555 0.00697116 -0.03420913] [ 0.01048116 -0.00703745 0.99992031 0.27846448] [ 0. 0. 0. 1. ]] SLAMing on 1.10592 meters 0.48188008883698236 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:0.32 [[ 9.99962582e-01 -8.65034859e-03 7.89131373e-05 7.49308872e-01] [ 8.64982794e-03 9.99949346e-01 5.14653910e-03 -3.12467729e-02] [-1.23428497e-04 -5.14566394e-03 9.99986753e-01 3.15805495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1359199999999998 meters 0.34716190111698914 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:0.27 [[ 0.99994033 -0.01066778 0.00235306 0.76704713] [ 0.01064521 0.99989911 0.00940504 -0.04030802] [-0.00245315 -0.00937943 0.999953 0.27288177] [ 0. 0. 0. 1. ]] SLAMing on 1.1659199999999998 meters 0.3440444108192693 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:0.28 [[ 0.99997575 -0.00512248 0.00471833 0.77862978] [ 0.00509747 0.99997297 0.00529854 -0.03560682] [-0.00474534 -0.00527436 0.99997483 0.28415196] [ 0. 0. 0. 1. ]] SLAMing on 1.1959199999999999 meters 0.3450495090922993 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.03, Z:0.28 [[ 9.99984912e-01 1.41425365e-04 5.49134113e-03 8.01722353e-01] [-1.45138224e-04 9.99999761e-01 6.75737143e-04 -2.98147244e-02] [-5.49124425e-03 -6.76523951e-04 9.99984694e-01 2.82681431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22592 meters 0.34604112898099587 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.30 [[ 9.99913855e-01 -1.43152972e-03 1.30473107e-02 8.27614496e-01] [ 1.42916373e-03 9.99998961e-01 1.90661071e-04 -3.03570677e-02] [-1.30475701e-02 -1.71997903e-04 9.99914862e-01 2.98110287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25592 meters 0.3520092755073411 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:0.28 [[ 0.99995387 0.00625172 0.00729244 0.8271714 ] [-0.00624165 0.99997954 -0.00140357 -0.03216479] [-0.00730107 0.00135798 0.99997242 0.27766019] [ 0. 0. 0. 1. ]] SLAMing on 1.28592 meters 0.3552047320513331 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:0.26 [[ 9.99986487e-01 -1.89790511e-03 4.83976412e-03 8.19904499e-01] [ 1.89713720e-03 9.99998187e-01 1.63252535e-04 -3.78602324e-02] [-4.84006518e-03 -1.54068633e-04 9.99988275e-01 2.61496388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31592 meters 0.3537637999915682 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.04, Z:0.28 [[ 9.99921337e-01 -3.31294058e-03 1.20972519e-02 8.45575210e-01] [ 3.31757180e-03 9.99994431e-01 -3.62784821e-04 -3.80651052e-02] [-1.20959827e-02 4.02889785e-04 9.99926760e-01 2.77087607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3459199999999998 meters 0.35368411045621806 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.04, Z:0.28 [[ 9.99922653e-01 -3.36483009e-03 1.19735728e-02 8.45978739e-01] [ 3.36240364e-03 9.99994322e-01 2.22775421e-04 -4.15510217e-02] [-1.19742544e-02 -1.82498205e-04 9.99928289e-01 2.76746547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3759199999999998 meters 0.3534486071340282 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:0.25 [[ 0.99995792 -0.00315663 0.00861365 0.86761586] [ 0.00314529 0.99999417 0.00132933 -0.0457921 ] [-0.00861779 -0.00130218 0.99996202 0.25362982] [ 0. 0. 0. 1. ]] SLAMing on 1.4059199999999998 meters 0.35578334362198477 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:0.26 [[ 0.99990935 0.00696371 0.01152343 0.88082759] [-0.00699408 0.99997217 0.00259724 -0.04784898] [-0.01150503 -0.0026776 0.99993023 0.26281115] [ 0. 0. 0. 1. ]] SLAMing on 1.4359199999999999 meters 0.3553656043626927 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.04, Z:0.26 [[ 0.99995927 0.0084358 0.00320748 0.9009835 ] [-0.00843126 0.99996344 -0.00142391 -0.04119499] [-0.00321937 0.0013968 0.99999384 0.26438928] [ 0. 0. 0. 1. ]] SLAMing on 1.46592 meters 0.3704212574907078 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.24 [[ 9.99960306e-01 8.88976132e-03 -5.98842470e-04 9.24458237e-01] [-8.89027478e-03 9.99960111e-01 -8.60289846e-04 -4.15451573e-02] [ 5.91170811e-04 8.65579571e-04 9.99999451e-01 2.39803908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.49592 meters 0.3707687658587107 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.25 [[ 9.99998860e-01 1.58274188e-04 1.50153059e-03 9.34550580e-01] [-1.59748834e-04 9.99999505e-01 9.82026031e-04 -4.57931107e-02] [-1.50137442e-03 -9.82264779e-04 9.99998391e-01 2.51972431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52592 meters 0.36739171450589964 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:0.26 [[ 0.9999709 0.00650858 0.00398022 0.94765594] [-0.0064973 0.99997486 -0.00284005 -0.03929691] [-0.00399861 0.00281411 0.99998805 0.26112699] [ 0. 0. 0. 1. ]] SLAMing on 1.55592 meters 0.3774617468990443 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.04, Z:0.26 [[ 9.99988890e-01 6.90309749e-04 4.66289954e-03 9.69814496e-01] [-6.98465802e-04 9.99998229e-01 1.74773578e-03 -4.26119817e-02] [-4.66168480e-03 -1.75097324e-03 9.99987601e-01 2.60239249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58592 meters 0.4886336311519924 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.25 [[ 9.99994872e-01 8.26768414e-04 3.09399272e-03 9.80848934e-01] [-8.31010817e-04 9.99998716e-01 1.37014013e-03 -3.94617436e-02] [-3.09285595e-03 -1.37270424e-03 9.99994275e-01 2.48307284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6159199999999998 meters 0.387423730199281 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:0.25 [[ 9.99994822e-01 8.98106897e-04 3.09005072e-03 9.80885737e-01] [-9.00891963e-04 9.99999189e-01 9.00027007e-04 -3.65035055e-02] [-3.08923989e-03 -9.02806149e-04 9.99994821e-01 2.48036739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6459199999999998 meters 0.39359224670328447 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.02, Z:0.25 [[ 9.99991754e-01 2.69045815e-03 -3.04194930e-03 1.03137217e+00] [-2.69184909e-03 9.99996274e-01 -4.53251456e-04 -2.35222324e-02] [ 3.04071851e-03 4.61436187e-04 9.99995271e-01 2.52832828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6759199999999999 meters 0.45420274803553956 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.02, Z:0.27 [[ 0.99998875 0.00201665 0.0042945 1.05871012] [-0.00201001 0.99999678 -0.00154979 -0.01688041] [-0.00429761 0.00154114 0.99998958 0.26617611] [ 0. 0. 0. 1. ]] SLAMing on 1.7059199999999999 meters 0.4721205069927807 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:0.25 [[ 9.99991432e-01 3.72245230e-03 1.81064241e-03 1.07588825e+00] [-3.72123618e-03 9.99992849e-01 -6.74555895e-04 -1.22061023e-02] [-1.81314046e-03 6.67812288e-04 9.99998133e-01 2.48050766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73592 meters 0.47590123744847523 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.01, Z:0.24 [[ 9.99993066e-01 3.71788210e-03 2.13279665e-04 1.08740858e+00] [-3.71763426e-03 9.99992427e-01 -1.15086739e-03 -8.85843952e-03] [-2.17556839e-04 1.15006652e-03 9.99999315e-01 2.35815271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.76592 meters 0.4703072005830109 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.01, Z:0.24 [[ 0.9999932 -0.00333358 0.00157934 1.10205763] [ 0.00333096 0.99999308 0.0016597 -0.01120064] [-0.00158486 -0.00165443 0.99999738 0.24354043] [ 0. 0. 0. 1. ]] SLAMing on 1.79592 meters 0.49532938724533926 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.01, Z:0.22 [[ 0.9999949 -0.00268458 -0.00172924 1.12293521] [ 0.00268732 0.99999514 0.00158375 -0.00597884] [ 0.00172498 -0.00158839 0.99999725 0.22264878] [ 0. 0. 0. 1. ]] SLAMing on 1.8259199999999998 meters 0.5034877732621287 Centerline is valid? [False, False] Translation: X:1.14, Y:0.00, Z:0.23 [[ 9.99995067e-01 3.14090062e-03 -3.19149896e-05 1.13646312e+00] [-3.14098071e-03 9.99990767e-01 -2.93244306e-03 1.14697681e-04] [ 2.27041827e-05 2.93252884e-03 9.99995700e-01 2.33088054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8559199999999998 meters SLAMing on 1.8859199999999998 meters SLAMing on 1.9159199999999998 meters SLAMing on 1.9459199999999999 meters SLAMing on 1.97592 meters SLAMing on 2.00592 meters SLAMing on 2.03592 meters 0.390867900353735 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:0.28 [[ 9.99788582e-01 -2.05312805e-02 1.12175231e-03 1.21212820e+00] [ 2.05344708e-02 9.99784908e-01 -2.91073563e-03 -4.31735396e-02] [-1.06174990e-03 2.93315483e-03 9.99995135e-01 2.79290100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06592 meters 0.5384687665446425 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.05, Z:0.28 [[ 0.99999183 -0.00337142 0.00223004 1.21598511] [ 0.00338037 0.9999862 -0.00402186 -0.04507938] [-0.00221645 0.00402937 0.99998943 0.2752579 ] [ 0. 0. 0. 1. ]] SLAMing on 2.09592 meters 0.20952143959773273 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.05, Z:0.28 [[ 9.99993087e-01 3.62850785e-03 8.12010784e-04 1.23835329e+00] [-3.62412111e-03 9.99979174e-01 -5.34010500e-03 -5.10298028e-02] [-8.31370486e-04 5.33712526e-03 9.99985412e-01 2.79433136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1259200000000003 meters 0.3518722132381901 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.06, Z:0.26 [[ 0.99998406 0.00516242 -0.00228555 1.25578921] [-0.00516848 0.99998312 -0.00265441 -0.05705757] [ 0.00227181 0.00266618 0.99999387 0.26142144] [ 0. 0. 0. 1. ]] SLAMing on 2.15592 meters 0.44283158263951816 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.07, Z:0.26 [[ 9.99996266e-01 -9.67578917e-04 2.55592007e-03 1.27547405e+00] [ 9.59821318e-04 9.99994935e-01 3.03463412e-03 -7.08934530e-02] [-2.55884337e-03 -3.03216956e-03 9.99992129e-01 2.59703364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1859200000000003 meters 0.2297392738204939 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.07, Z:0.27 [[ 0.99996627 0.00675676 0.00467055 1.29215232] [-0.00676387 0.99997599 0.00150898 -0.07090208] [-0.00466025 -0.00154052 0.99998795 0.26519598] [ 0. 0. 0. 1. ]] SLAMing on 2.21592 meters 0.49631240030619445 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.08, Z:0.25 [[ 0.99997626 0.0062605 0.00287938 1.3028684 ] [-0.00626794 0.99997702 0.00258457 -0.07947653] [-0.00286314 -0.00260256 0.99999251 0.25347467] [ 0. 0. 0. 1. ]] SLAMing on 2.24592 meters 0.5551169307778713 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:0.24 [[ 9.99980870e-01 6.13734558e-03 7.70032385e-04 1.31464840e+00] [-6.13948074e-03 9.99977228e-01 2.80179292e-03 -8.15083235e-02] [-7.52819279e-04 -2.80646692e-03 9.99995778e-01 2.41224400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27592 meters 0.5769688548997153 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:0.23 [[ 9.99979947e-01 6.19946929e-03 -1.29284356e-03 1.32646570e+00] [-6.19561647e-03 9.99976417e-01 2.96312271e-03 -8.21265215e-02] [ 1.31118286e-03 -2.95505333e-03 9.99994774e-01 2.28706506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30592 meters 0.6037565735812238 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.09, Z:0.21 [[ 9.99995621e-01 9.28418871e-04 -2.80988380e-03 1.32253242e+00] [-9.05520094e-04 9.99966462e-01 8.13969776e-03 -8.97514196e-02] [ 2.81734661e-03 -8.13711771e-03 9.99962924e-01 2.07372592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.33592 meters 0.5964520179791598 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.08, Z:0.21 [[ 9.99985491e-01 5.36331848e-03 -5.01834398e-04 1.33977749e+00] [-5.36272414e-03 9.99984926e-01 1.17827513e-03 -7.92449713e-02] [ 5.08146298e-04 -1.17556684e-03 9.99999180e-01 2.11691904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36592 meters 0.6099107888260421 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.09, Z:0.19 [[ 9.99998204e-01 -3.27993813e-04 -1.86688229e-03 1.33549915e+00] [ 3.38685643e-04 9.99983528e-01 5.72967281e-03 -8.57455153e-02] [ 1.86497224e-03 -5.73029481e-03 9.99981843e-01 1.90964471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3959200000000003 meters 0.6033188754653701 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.07, Z:0.19 [[ 0.99997045 0.00700982 0.00315526 1.3557769 ] [-0.00701557 0.99997374 0.00181677 -0.07452819] [-0.00314244 -0.00183885 0.99999337 0.18936753] [ 0. 0. 0. 1. ]] SLAMing on 2.42592 meters 0.6021417101333366 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.07, Z:0.18 [[ 9.99972813e-01 7.26671177e-03 1.25250508e-03 1.36746960e+00] [-7.26833264e-03 9.99972748e-01 1.29444355e-03 -7.05841779e-02] [-1.24306460e-03 -1.30351198e-03 9.99998378e-01 1.77198838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.45592 meters 0.5858990885553063 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.07, Z:0.18 [[ 9.99988320e-01 -6.82000635e-04 4.78479000e-03 1.38364674e+00] [ 6.71504941e-04 9.99997366e-01 2.19481734e-03 -6.72067584e-02] [-4.78627426e-03 -2.19157869e-03 9.99986144e-01 1.81148506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48592 meters 0.5889978234582902 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.06, Z:0.16 [[ 9.99997753e-01 1.21761810e-03 1.73520016e-03 1.40134603e+00] [-1.22342206e-03 9.99993648e-01 3.34770810e-03 -6.37681281e-02] [-1.73111291e-03 -3.34982346e-03 9.99992891e-01 1.63037245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.51592 meters 0.6339588265315402 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.06, Z:0.15 [[ 9.99998823e-01 1.52810344e-03 -1.38275640e-04 1.41308863e+00] [-1.52775642e-03 9.99995768e-01 2.47587792e-03 -5.76697684e-02] [ 1.42058452e-04 -2.47566376e-03 9.99996925e-01 1.50857405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54592 meters 0.5707508007535881 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.04, Z:0.16 [[ 9.99989197e-01 1.63798353e-03 4.35005752e-03 1.44743412e+00] [-1.63904241e-03 9.99998628e-01 2.39862401e-04 -4.29853992e-02] [-4.34965867e-03 -2.46989739e-04 9.99990510e-01 1.58681454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.57592 meters 0.5588175794460672 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.04, Z:0.17 [[ 9.99942675e-01 -6.85991691e-03 8.22125622e-03 1.45709435e+00] [ 6.85372808e-03 9.99976208e-01 7.80722299e-04 -3.99624635e-02] [-8.22641631e-03 -7.24331290e-04 9.99965900e-01 1.69980213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6059200000000002 meters SLAMing on 2.63592 meters 0.9703133782259116 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.03, Z:0.15 [[ 9.99967178e-01 -6.73478305e-03 4.50406547e-03 1.47903356e+00] [ 6.73536099e-03 9.99977311e-01 -1.13159976e-04 -3.36607048e-02] [-4.50320117e-03 1.43492768e-04 9.99989850e-01 1.49259294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.66592 meters SLAMing on 2.69592 meters SLAMing on 2.72592 meters SLAMing on 2.75592 meters SLAMing on 2.78592 meters SLAMing on 2.81592 meters SLAMing on 2.84592 meters 0.42915654079152005 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.05, Z:0.16 [[ 0.99979685 -0.01659914 0.01143364 1.51378844] [ 0.0166673 0.99984373 -0.00589279 -0.04875766] [-0.01133404 0.00608216 0.99991727 0.15758119] [ 0. 0. 0. 1. ]] SLAMing on 2.8759200000000003 meters 0.47846829445992595 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.06, Z:0.19 [[ 0.99994412 -0.0074099 0.00753958 1.54074828] [ 0.00748459 0.99992272 -0.00992679 -0.05596533] [-0.00746544 0.00998267 0.9999223 0.18925658] [ 0. 0. 0. 1. ]] SLAMing on 2.90592 meters 0.3375505518957135 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.06, Z:0.19 [[ 9.99952227e-01 1.60119078e-04 9.77328641e-03 1.55726816e+00] [-5.23079352e-05 9.99939161e-01 -1.10304657e-02 -6.03843493e-02] [-9.77445801e-03 1.10294275e-02 9.99891400e-01 1.94565634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.93592 meters 0.3356426402214872 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:0.21 [[ 9.99874126e-01 -1.34610787e-03 1.58088537e-02 1.58745548e+00] [ 1.50990057e-03 9.99945262e-01 -1.03534598e-02 -7.33734878e-02] [-1.57940515e-02 1.03760263e-02 9.99821427e-01 2.05715036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.96592 meters 0.3419239485700063 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.08, Z:0.19 [[ 9.99911686e-01 4.89349261e-05 1.32897813e-02 1.60404621e+00] [ 4.38179197e-05 9.99975646e-01 -6.97887967e-03 -8.35321610e-02] [-1.32897991e-02 6.97884567e-03 9.99887332e-01 1.88340842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.99592 meters 0.34304386618119714 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.10, Z:0.20 [[ 0.99984349 0.0063124 0.01652707 1.6178903 ] [-0.00618797 0.99995221 -0.00756903 -0.09859252] [-0.01657405 0.00746558 0.99983477 0.19631725] [ 0. 0. 0. 1. ]] SLAMing on 3.02592 meters 0.34369505410446144 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:0.20 [[ 9.99834310e-01 -7.35092081e-04 1.81882651e-02 1.63248817e+00] [ 7.91504154e-04 9.99994899e-01 -3.09456003e-03 -1.11401013e-01] [-1.81858975e-02 3.10844338e-03 9.99829791e-01 2.03586979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.05592 meters 0.3495280856232338 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.12, Z:0.21 [[ 0.9997531 0.00498542 0.02165352 1.64490826] [-0.00488535 0.99997715 -0.00467181 -0.12450507] [-0.02167631 0.00456487 0.99975462 0.21298709] [ 0. 0. 0. 1. ]] SLAMing on 3.08592 meters 0.3543200429575781 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:0.20 [[ 0.999785 0.00472825 0.02018886 1.65604195] [-0.00466422 0.99998395 -0.00321774 -0.13310106] [-0.02020375 0.00312288 0.99979101 0.20092067] [ 0. 0. 0. 1. ]] SLAMing on 3.11592 meters 0.3414219676370303 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.14, Z:0.24 [[ 0.9998747 0.00774697 0.01380466 1.69438986] [-0.00764479 0.9999431 -0.00743942 -0.13588401] [-0.01386151 0.00733296 0.99987704 0.23749203] [ 0. 0. 0. 1. ]] SLAMing on 3.1459200000000003 meters 0.3549633119006069 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.16, Z:0.22 [[ 0.9999448 -0.00369579 0.00983521 1.69237761] [ 0.00374679 0.99997961 -0.00517214 -0.15709333] [-0.00981589 0.0052087 0.99993826 0.21850399] [ 0. 0. 0. 1. ]] SLAMing on 3.17592 meters 0.34521371180479565 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.16, Z:0.24 [[ 0.99994516 0.00646588 0.00823867 1.71806462] [-0.00636302 0.99990224 -0.01245097 -0.15515958] [-0.00831838 0.01239787 0.99988854 0.23896991] [ 0. 0. 0. 1. ]] SLAMing on 3.20592 meters 0.3756588963069068 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.17, Z:0.23 [[ 0.99958751 0.00489812 0.02829856 1.71738256] [-0.00470014 0.99996404 -0.00705829 -0.172761 ] [-0.02833211 0.00692237 0.9995746 0.2288377 ] [ 0. 0. 0. 1. ]] SLAMing on 3.23592 meters 0.37182029875399725 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.18, Z:0.23 [[ 0.99958873 0.00466599 0.02829479 1.71740843] [-0.00450078 0.99997247 -0.0059 -0.17953073] [-0.02832154 0.00577023 0.99958221 0.22931799] [ 0. 0. 0. 1. ]] SLAMing on 3.26592 meters 0.3697667381273456 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.18, Z:0.23 [[ 0.99970835 0.01062696 0.02168616 1.74264829] [-0.01044488 0.99990939 -0.00849219 -0.18082697] [-0.02177444 0.00826321 0.99972876 0.23320811] [ 0. 0. 0. 1. ]] SLAMing on 3.29592 meters 0.3782106016277638 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.20, Z:0.23 [[ 9.99747517e-01 -1.70981212e-03 2.24048736e-02 1.74745390e+00] [ 1.65765258e-03 9.99995873e-01 2.34640964e-03 -2.01410527e-01] [-2.24087931e-02 -2.30867771e-03 9.99746226e-01 2.28416795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32592 meters 0.38626340205123305 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.20, Z:0.21 [[ 9.99789182e-01 -2.67006823e-03 2.03583640e-02 1.76227770e+00] [ 2.63389030e-03 9.99994905e-01 1.80366145e-03 -2.03134459e-01] [-2.03630762e-02 -1.74965951e-03 9.99791120e-01 2.12510165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3559200000000002 meters 0.3926553152070203 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.21, Z:0.22 [[ 9.99710672e-01 3.16000499e-03 2.38450655e-02 1.77456567e+00] [-3.13048569e-03 9.99994287e-01 -1.27518955e-03 -2.09404148e-01] [-2.38489589e-02 1.20017396e-03 9.99714853e-01 2.21742692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38592 meters 0.3982407664204729 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.21, Z:0.22 [[ 9.99729957e-01 1.06106657e-03 2.32139557e-02 1.78007763e+00] [-1.00358147e-03 9.99996402e-01 -2.48782666e-03 -2.13570838e-01] [-2.32165120e-02 2.46385774e-03 9.99727424e-01 2.16135190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.41592 meters 0.14101871041049202 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.22, Z:0.23 [[ 9.99590459e-01 -4.26060339e-04 2.86135034e-02 1.80531153e+00] [ 5.24571627e-04 9.99993961e-01 -3.43540689e-03 -2.23379435e-01] [-2.86118669e-02 3.44900978e-03 9.99584646e-01 2.33450949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44592 meters 0.41669683920382233 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.23, Z:0.22 [[ 9.99641756e-01 -7.70630795e-03 2.56314716e-02 1.80163220e+00] [ 7.68301088e-03 9.99969978e-01 1.00728141e-03 -2.32616566e-01] [-2.56384645e-02 -8.09993687e-04 9.99670952e-01 2.15271479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.47592 meters 0.4055394123796217 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.23, Z:0.23 [[ 9.99599649e-01 -1.48857356e-03 2.82546746e-02 1.81298958e+00] [ 1.57798324e-03 9.99993818e-01 -3.14238723e-03 -2.31783495e-01] [-2.82498223e-02 3.18571458e-03 9.99595818e-01 2.25307331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50592 meters 0.4079583526193746 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.24, Z:0.22 [[ 9.99618140e-01 6.32782928e-04 2.76255901e-02 1.81842122e+00] [-6.39286080e-04 9.99999770e-01 2.26571810e-04 -2.37026876e-01] [-2.76254404e-02 -2.44145947e-04 9.99618315e-01 2.20016270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.53592 meters 0.4241328962732078 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.24, Z:0.20 [[ 9.99675786e-01 -8.95647132e-04 2.54464418e-02 1.83410976e+00] [ 8.88637604e-04 9.99999564e-01 2.86768849e-04 -2.44959620e-01] [-2.54466875e-02 -2.64063209e-04 9.99676146e-01 2.04025123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56592 meters 0.40664537279746976 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.25, Z:0.21 [[ 0.99961248 0.00324656 0.02764686 1.84872019] [-0.00311839 0.9999842 -0.00467758 -0.25160575] [-0.02766161 0.00458955 0.99960681 0.21109086] [ 0. 0. 0. 1. ]] SLAMing on 3.59592 meters 0.42938155313146353 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.26, Z:0.20 [[ 0.99965027 0.00355172 0.02620522 1.85963283] [-0.00346337 0.99998817 -0.00341587 -0.25617243] [-0.02621704 0.00332392 0.99965075 0.19928518] [ 0. 0. 0. 1. ]] SLAMing on 3.62592 meters 0.42825264529468515 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.26, Z:0.20 [[ 0.99964914 0.00338663 0.0262701 1.85956046] [-0.0033229 0.99999143 -0.00246905 -0.26129418] [-0.02627824 0.00238089 0.99965183 0.19999747] [ 0. 0. 0. 1. ]] SLAMing on 3.65592 meters 0.4428962082002005 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.27, Z:0.19 [[ 9.99686114e-01 3.63245908e-03 2.47886815e-02 1.87028862e+00] [-3.61563088e-03 9.99993202e-01 -7.23652842e-04 -2.68575063e-01] [-2.47911416e-02 6.33798975e-04 9.99692452e-01 1.89135296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68592 meters 0.4284625940025668 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.27, Z:0.19 [[ 9.99683744e-01 3.53926092e-03 2.48975100e-02 1.87011785e+00] [-3.53759680e-03 9.99993737e-01 -1.10884060e-04 -2.71788357e-01] [-2.48977465e-02 2.27716407e-05 9.99690003e-01 1.89805342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.71592 meters 0.4447705841045314 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.27, Z:0.18 [[ 9.99704740e-01 1.64461630e-03 2.42430991e-02 1.87547846e+00] [-1.60273438e-03 9.99997190e-01 -1.74691051e-03 -2.73155765e-01] [-2.42459039e-02 1.70753947e-03 9.99704567e-01 1.84404160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74592 meters 0.4503192501763962 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.27, Z:0.18 [[ 9.99721204e-01 -2.25090924e-04 2.36106546e-02 1.88083079e+00] [ 3.12887043e-04 9.99993051e-01 -3.71486742e-03 -2.72927837e-01] [-2.36096543e-02 3.72121920e-03 9.99714328e-01 1.78553532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77592 meters 0.2890155439177417 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.28, Z:0.18 [[ 9.99720220e-01 -3.12104365e-04 2.36513278e-02 1.88080057e+00] [ 3.87198599e-04 9.99994899e-01 -3.17054062e-03 -2.75741492e-01] [-2.36502176e-02 3.17881133e-03 9.99715241e-01 1.79098644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80592 meters 0.3144400490269523 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.28, Z:0.17 [[ 9.99751413e-01 2.13861275e-04 2.22949740e-02 1.89129711e+00] [-1.69731462e-04 9.99998023e-01 -1.98123502e-03 -2.78872801e-01] [-2.22953536e-02 1.97695835e-03 9.99749473e-01 1.68010332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.83592 meters 0.3304030641520301 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.28, Z:0.16 [[ 9.99783535e-01 8.29327156e-04 2.07893206e-02 1.90207074e+00] [-7.97929223e-04 9.99998529e-01 -1.51854108e-03 -2.78179465e-01] [-2.07905494e-02 1.50162396e-03 9.99782725e-01 1.56177860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86592 meters 0.3013222629360272 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.28, Z:0.16 [[ 9.99782819e-01 8.17862084e-04 2.08241693e-02 1.90208695e+00] [-7.86172559e-04 9.99998521e-01 -1.52990772e-03 -2.78124501e-01] [-2.08253897e-02 1.51320406e-03 9.99781983e-01 1.56535547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.89592 meters 0.2597356199252126 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.28, Z:0.16 [[ 9.99781182e-01 7.79313521e-04 2.09040661e-02 1.90198413e+00] [-7.52690501e-04 9.99998896e-01 -1.28141868e-03 -2.79356064e-01] [-2.09050417e-02 1.26540399e-03 9.99780665e-01 1.57032814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92592 meters 0.3050813214676428 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.28, Z:0.15 [[ 9.99812905e-01 1.31867892e-03 1.92980797e-02 1.91301578e+00] [-1.30665291e-03 9.99998944e-01 -6.35766743e-04 -2.79917755e-01] [-1.92988977e-02 6.10431902e-04 9.99813573e-01 1.45538874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.95592 meters 0.28334181668693653 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.28, Z:0.13 [[ 9.99839584e-01 1.91452151e-03 1.78084418e-02 1.92370918e+00] [-1.91807535e-03 9.99998144e-01 1.82481198e-04 -2.81091004e-01] [-1.78080594e-02 -2.16609858e-04 9.99841400e-01 1.34251926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98592 meters 0.10436058992978998 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.28, Z:0.14 [[ 0.99976596 0.00870734 0.01980401 1.93565641] [-0.00861509 0.99995166 -0.00473856 -0.27514796] [-0.01984431 0.00456684 0.99979265 0.14333457] [ 0. 0. 0. 1. ]] SLAMing on 4.0159199999999995 meters 0.05615085689980853 Centerline is valid? [False, True] Translation: X:1.97, Y:-0.28, Z:0.14 [[ 9.99989607e-01 3.48018793e-03 -2.94511196e-03 1.96917309e+00] [-3.47572345e-03 9.99992805e-01 1.51965784e-03 -2.80679112e-01] [ 2.95037946e-03 -1.50940565e-03 9.99994508e-01 1.41804016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.04592 meters 0.05758047959525714 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.28, Z:0.14 [[ 9.99986425e-01 5.20440734e-03 -2.52145025e-04 1.99850781e+00] [-5.20441627e-03 9.99986456e-01 -3.47681232e-05 -2.77142755e-01] [ 2.51960663e-04 3.60799189e-05 9.99999968e-01 1.39614480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07592 meters 0.05740868406102978 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.28, Z:0.14 [[ 9.99949965e-01 5.66206737e-03 8.24669040e-03 2.02961594e+00] [-5.67025197e-03 9.99983454e-01 9.69428151e-04 -2.78077010e-01] [-8.24106498e-03 -1.01614046e-03 9.99965526e-01 1.40114226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10592 meters 0.05763970117965351 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.28, Z:0.14 [[ 9.99891616e-01 9.08317025e-03 1.15867608e-02 2.06139149e+00] [-9.09973590e-03 9.99957647e-01 1.37778598e-03 -2.76508272e-01] [-1.15737554e-02 -1.48307311e-03 9.99931922e-01 1.38749106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.13592 meters 0.058086580944986685 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.28, Z:0.14 [[ 9.99862109e-01 9.36304685e-03 1.37148160e-02 2.09257755e+00] [-9.38604729e-03 9.99954648e-01 1.61364307e-03 -2.75314977e-01] [-1.36990854e-02 -1.74214847e-03 9.99904645e-01 1.37104677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.16592 meters 0.05736088902960875 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.27, Z:0.14 [[ 0.99981563 0.00502544 0.01853217 2.12310812] [-0.0050666 0.9999848 0.00217447 -0.27230178] [-0.01852096 -0.00226796 0.9998259 0.13710992] [ 0. 0. 0. 1. ]] SLAMing on 4.19592 meters 0.054381826577547414 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.27, Z:0.13 [[ 9.99752323e-01 1.06349649e-03 2.22297632e-02 2.15276195e+00] [-1.12176992e-03 9.99995967e-01 2.60910896e-03 -2.65996839e-01] [-2.22268988e-02 -2.63339943e-03 9.99749484e-01 1.33060217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22592 meters 0.05419023775245451 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.26, Z:0.13 [[ 0.99971113 -0.00317851 0.02382324 2.18312363] [ 0.00311285 0.99999126 0.00279276 -0.2634787 ] [-0.02383191 -0.00271779 0.99971229 0.13245725] [ 0. 0. 0. 1. ]] SLAMing on 4.25592 meters 0.05117467150992822 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.26, Z:0.13 [[ 0.99942785 -0.01002738 0.03230209 2.21398451] [ 0.00991011 0.99994372 0.00378859 -0.26186366] [-0.03233826 -0.00346631 0.99947097 0.1302134 ] [ 0. 0. 0. 1. ]] SLAMing on 4.28592 meters 0.0503860162058961 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.26, Z:0.13 [[ 0.99915296 -0.0130302 0.03903305 2.24441952] [ 0.01286125 0.99990682 0.00457651 -0.26090863] [-0.03908905 -0.00407062 0.99922744 0.12801203] [ 0. 0. 0. 1. ]] SLAMing on 4.31592 meters 0.049042428458275514 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.26, Z:0.13 [[ 0.99896677 -0.01722272 0.04205671 2.27522836] [ 0.01703031 0.99984282 0.00492887 -0.25979995] [-0.04213499 -0.00420754 0.99910307 0.12783144] [ 0. 0. 0. 1. ]] SLAMing on 4.3459200000000004 meters 0.04851928062825018 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:0.13 [[ 0.99896803 -0.01873956 0.0413728 2.30786891] [ 0.01855431 0.99981606 0.00485691 -0.25763113] [-0.04145621 -0.00408425 0.99913197 0.12684815] [ 0. 0. 0. 1. ]] SLAMing on 4.37592 meters 0.047308544288850236 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.26, Z:0.12 [[ 0.99879698 -0.02061772 0.04449165 2.33882048] [ 0.02040591 0.9997782 0.00520966 -0.25723307] [-0.04458919 -0.0042955 0.99899617 0.12424965] [ 0. 0. 0. 1. ]] SLAMing on 4.40592 meters 0.045963169158842555 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.26, Z:0.12 [[ 0.99838892 -0.02188163 0.05235222 2.36956994] [ 0.02159002 0.99974812 0.00612913 -0.25566376] [-0.05247315 -0.00498897 0.99860987 0.12044834] [ 0. 0. 0. 1. ]] SLAMing on 4.43592 meters 0.04615000293870783 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.26, Z:0.12 [[ 0.99809689 -0.02197213 0.05761786 2.40064557] [ 0.02161907 0.99974354 0.00674377 -0.25627492] [-0.05775125 -0.00548529 0.99831593 0.11761443] [ 0. 0. 0. 1. ]] SLAMing on 4.46592 meters 0.046443301321853474 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.26, Z:0.12 [[ 0.99774967 -0.02212322 0.0632943 2.43301849] [ 0.02169746 0.99973715 0.00740615 -0.26326419] [-0.06344151 -0.00601616 0.99796742 0.11742807] [ 0. 0. 0. 1. ]] SLAMing on 4.49592 meters 0.04652140567108752 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.26, Z:0.12 [[ 0.99805493 -0.02220717 0.0582512 2.4649025 ] [ 0.02184608 0.99973803 0.00682854 -0.26296163] [-0.05838758 -0.0055427 0.9982786 0.1159108 ] [ 0. 0. 0. 1. ]] SLAMing on 4.52592 meters 0.04586144683944516 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.27, Z:0.11 [[ 0.99757909 -0.02535809 0.06475274 2.49619665] [ 0.0249208 0.9996609 0.00755202 -0.26594946] [-0.06492228 -0.00592004 0.99787276 0.11117898] [ 0. 0. 0. 1. ]] SLAMing on 4.55592 meters 0.04403213433548034 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.26, Z:0.11 [[ 0.99744754 -0.02584792 0.06656045 2.52768151] [ 0.02538675 0.99964754 0.00776529 -0.26441205] [-0.06673771 -0.00605572 0.99775218 0.10622516] [ 0. 0. 0. 1. ]] SLAMing on 4.58592 meters 0.044484158758001206 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.27, Z:0.10 [[ 0.99686326 -0.02820169 0.07394799 2.55944328] [ 0.0276397 0.99958085 0.00861232 -0.2738503 ] [-0.07415988 -0.00654141 0.99722491 0.10313696] [ 0. 0. 0. 1. ]] SLAMing on 4.61592 meters 0.04432331802810158 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.28, Z:0.10 [[ 0.99646421 -0.02737777 0.07943263 2.59138654] [ 0.02672596 0.99959993 0.00925751 -0.2750574 ] [-0.0796543 -0.00710186 0.99679725 0.09859278] [ 0. 0. 0. 1. ]] SLAMing on 4.64592 meters 0.04432331802810158 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.27, Z:0.10 [[ 0.99647573 -0.02694534 0.07943598 2.62345455] [ 0.02629446 0.99961164 0.00922873 -0.27101165] [-0.0796538 -0.00710748 0.99679725 0.09527014] [ 0. 0. 0. 1. ]] SLAMing on 4.67592 meters 0.04465895158080035 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.27, Z:0.09 [[ 0.99637135 -0.02500505 0.08135645 2.6555746 ] [ 0.02431934 0.99965997 0.00940856 -0.27264523] [-0.08156404 -0.00739588 0.99664066 0.09206963] [ 0. 0. 0. 1. ]] SLAMing on 4.70592 meters 0.0466021115285442 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.28, Z:0.09 [[ 0.99616366 -0.02324754 0.08436534 2.68862167] [ 0.0225042 0.99969919 0.00975142 -0.28285324] [-0.08456666 -0.00781544 0.99638717 0.08747576] [ 0. 0. 0. 1. ]] SLAMing on 4.73592 meters 0.04694284900860791 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.29, Z:0.08 [[ 0.9961015 -0.02304907 0.08515013 2.72062821] [ 0.02229391 0.99970334 0.00980899 -0.28573419] [-0.08535096 -0.00787242 0.99631985 0.08426615] [ 0. 0. 0. 1. ]] SLAMing on 4.76592 meters 0.04633532705602019 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.29, Z:0.08 [[ 0.99581963 -0.02446562 0.08800401 2.75284675] [ 0.02366769 0.99966887 0.01009924 -0.29443138] [-0.08822195 -0.00797417 0.99606892 0.08090442] [ 0. 0. 0. 1. ]] SLAMing on 4.79592 meters 0.04793070686506072 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.30, Z:0.08 [[ 0.99554542 -0.0224712 0.09156616 2.78489519] [ 0.02159897 0.99971152 0.01050568 -0.29827598] [-0.09177582 -0.00848115 0.99574358 0.07806577] [ 0. 0. 0. 1. ]] SLAMing on 4.82592 meters 0.05010670836213041 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.31, Z:0.08 [[ 0.99529403 -0.01620968 0.09553554 2.81685101] [ 0.01523484 0.99982426 0.01092457 -0.30552975] [-0.09569583 -0.00941769 0.99536607 0.07585179] [ 0. 0. 0. 1. ]] SLAMing on 4.85592 meters 0.052496251955682686 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.31, Z:0.07 [[ 0.9953584 -0.0117685 0.09551524 2.84845775] [ 0.01077429 0.99988235 0.01091795 -0.30671171] [-0.09563249 -0.00983816 0.99536809 0.07305187] [ 0. 0. 0. 1. ]] SLAMing on 4.88592 meters 0.05282633540153626 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.30, Z:0.07 [[ 0.995472 -0.00713811 0.09478683 2.87951192] [ 0.00613869 0.9999225 0.01083134 -0.30396766] [-0.0948568 -0.01020043 0.99543867 0.07097969] [ 0. 0. 0. 1. ]] SLAMing on 4.91592 meters 0.05645582489727533 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.30, Z:0.07 [[ 9.95497002e-01 2.01314293e-03 9.47716495e-02 2.91095783e+00] [-3.05263031e-03 9.99936752e-01 1.08246371e-02 -3.03957625e-01] [-9.47438639e-02 -1.10651966e-02 9.95440185e-01 6.85906362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94592 meters 0.05485617159968275 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.30, Z:0.07 [[ 0.9952933 0.00588884 0.09672931 2.94150278] [-0.00698949 0.99991459 0.01104373 -0.29699677] [-0.09665601 -0.01166783 0.99524945 0.06567449] [ 0. 0. 0. 1. ]] SLAMing on 4.97592 meters 0.060963502776710934 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.30, Z:0.06 [[ 0.99451563 0.01496733 0.10351158 2.97228027] [-0.01627616 0.99979777 0.01181112 -0.29617745] [-0.10331386 -0.01343111 0.99455812 0.06226122] [ 0. 0. 0. 1. ]] SLAMing on 5.00592 meters 0.06633840601130893 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.30, Z:0.06 [[ 0.99437196 0.01912933 0.10420398 3.00347081] [-0.02047762 0.99971967 0.01188443 -0.29638127] [-0.10394743 -0.01395139 0.99448494 0.05868883] [ 0. 0. 0. 1. ]] SLAMing on 5.03592 meters 0.06749576477540876 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.29, Z:0.05 [[ 0.99457574 0.02643816 0.10059885 3.03373548] [-0.02773042 0.99954964 0.01146883 -0.2874303 ] [-0.10025033 -0.01419627 0.99486096 0.05429078] [ 0. 0. 0. 1. ]] SLAMing on 5.06592 meters 0.0649817918324981 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.28, Z:0.05 [[ 0.9947369 0.02832618 0.09846888 3.06384586] [-0.02957257 0.99949965 0.01122105 -0.27751613] [-0.09810177 -0.01407397 0.99507686 0.05108694] [ 0. 0. 0. 1. ]] SLAMing on 5.09592 meters 0.06514832539283368 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.27, Z:0.05 [[ 0.99475905 0.02918233 0.097994 3.094534 ] [-0.03042032 0.99947486 0.01116277 -0.26816696] [-0.09761678 -0.01408527 0.9951244 0.0469124 ] [ 0. 0. 0. 1. ]] SLAMing on 5.12592 meters 0.06839454130969849 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.27, Z:0.04 [[ 0.99464955 0.02912992 0.09911473 3.12619775] [-0.03039287 0.99947465 0.01125597 -0.26609946] [-0.09873478 -0.01420812 0.99501235 0.04386642] [ 0. 0. 0. 1. ]] SLAMing on 5.15592 meters 0.0652017635601771 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.26, Z:0.04 [[ 0.99453335 0.02805756 0.10057925 3.15635997] [-0.02934939 0.99950435 0.01138705 -0.25769278] [-0.10020991 -0.01427674 0.99486388 0.04103107] [ 0. 0. 0. 1. ]] SLAMing on 5.18592 meters 0.06602885844328724 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.25, Z:0.04 [[ 0.99412201 0.02552591 0.10521335 3.18708759] [-0.02692554 0.99956656 0.01190372 -0.254232 ] [-0.1048639 -0.01466668 0.99437842 0.03809858] [ 0. 0. 0. 1. ]] SLAMing on 5.21592 meters 0.06702100508947467 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.25, Z:0.04 [[ 0.99412341 0.02469927 0.10539727 3.21875236] [-0.02609861 0.99958833 0.01191809 -0.25086107] [-0.10505951 -0.01459878 0.99435878 0.03528023] [ 0. 0. 0. 1. ]] SLAMing on 5.24592 meters 0.06519687137401228 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.24, Z:0.03 [[ 0.99420713 0.02296971 0.10499798 3.24899552] [-0.02434817 0.99963312 0.01186536 -0.24309203] [-0.10468691 -0.01435313 0.99440165 0.03215478] [ 0. 0. 0. 1. ]] SLAMing on 5.27592 meters 0.06456562224464636 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.24, Z:0.03 [[ 0.99434455 0.02291653 0.10370025 3.28070019] [-0.02426006 0.99963706 0.01171299 -0.23848001] [-0.10339419 -0.01416252 0.99453962 0.02856296] [ 0. 0. 0. 1. ]] SLAMing on 5.3059199999999995 meters 0.06625819137611308 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.24, Z:0.03 [[ 0.99438712 0.02241458 0.10340138 3.31250505] [-0.02374403 0.99965026 0.0116441 -0.23666746] [-0.10310422 -0.0140339 0.99457155 0.02502894] [ 0. 0. 0. 1. ]] SLAMing on 5.33592 meters 0.06526805613521779 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.23, Z:0.02 [[ 0.99424185 0.02185539 0.10490704 3.34353911] [-0.02321719 0.99966107 0.01177726 -0.22929574] [-0.10461409 -0.0141451 0.99441229 0.02246713] [ 0. 0. 0. 1. ]] SLAMing on 5.36592 meters 0.06498364333988027 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.22, Z:0.02 [[ 0.99410977 0.02349063 0.10580145 3.37416175] [-0.02488125 0.99962026 0.01184283 -0.2209404 ] [-0.10548307 -0.01440555 0.99431675 0.02108755] [ 0. 0. 0. 1. ]] SLAMing on 5.39592 meters 0.06317764613038368 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.21, Z:0.02 [[ 0.99410531 0.02327294 0.10589151 3.40579104] [-0.02466416 0.99962559 0.01184741 -0.2130171 ] [-0.10557614 -0.0143893 0.99430711 0.01833258] [ 0. 0. 0. 1. ]] SLAMing on 5.42592 meters 0.06537978695175042 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.21, Z:0.02 [[ 0.9943946 0.02171654 0.10347832 3.43668066] [-0.02303519 0.99966776 0.01156522 -0.21040313] [-0.10319278 -0.01388403 0.99456447 0.01563266] [ 0. 0. 0. 1. ]] SLAMing on 5.45592 meters 0.06202089031916633 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.20, Z:0.01 [[ 0.99459452 0.0168501 0.10245884 3.46604898] [-0.01811703 0.99977034 0.01144724 -0.19851956] [-0.10224243 -0.01324161 0.99467138 0.0105281 ] [ 0. 0. 0. 1. ]] SLAMing on 5.48592 meters 0.05692435431877339 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.19, Z:0.01 [[ 0.99461103 0.01359766 0.10278134 3.49642649] [-0.0148549 0.99982379 0.01147659 -0.18827905] [-0.10260717 -0.01294155 0.99463777 0.00699422] [ 0. 0. 0. 1. ]] SLAMing on 5.51592 meters 0.058146577866501035 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.19, Z:0.00 [[ 9.94365013e-01 6.56750086e-03 1.05806846e-01 3.52762161e+00] [-7.86021209e-03 9.99899421e-01 1.18052815e-02 -1.87288291e-01] [-1.05718672e-01 -1.25704231e-02 9.94316623e-01 2.32741898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.54592 meters 0.05683732738285594 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.18, Z:-0.00 [[ 9.94344822e-01 2.70398522e-03 1.06165263e-01 3.55807567e+00] [-3.98309720e-03 9.99921994e-01 1.18381262e-02 -1.82440510e-01] [-1.06124971e-01 -1.21940461e-02 9.94278027e-01 -1.34246247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57592 meters 0.05621140557088143 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.18, Z:-0.00 [[ 9.94340365e-01 -4.34184871e-04 1.06240524e-01 3.58898001e+00] [-8.28710895e-04 9.99929529e-01 1.18427029e-02 -1.78895752e-01] [-1.06238180e-01 -1.18637202e-02 9.94269934e-01 -4.60036394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60592 meters 0.05299207049482428 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.18, Z:-0.01 [[ 9.94473360e-01 -4.00867646e-03 1.04912661e-01 3.61951452e+00] [ 2.79735385e-03 9.99927750e-01 1.16906094e-02 -1.76393957e-01] [-1.04951945e-01 -1.13325218e-02 9.94412723e-01 -6.78858217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.63592 meters 0.053515099440392754 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.18, Z:-0.01 [[ 9.94569955e-01 -4.15315137e-03 1.03987287e-01 3.65149537e+00] [ 2.96473063e-03 9.99928549e-01 1.15804793e-02 -1.75640622e-01] [-1.04027952e-01 -1.12093024e-02 9.94511205e-01 -9.64913193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.66592 meters 0.05464197060198486 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.18, Z:-0.01 [[ 9.94404736e-01 1.46634529e-04 1.05637115e-01 3.68269155e+00] [-1.39322491e-03 9.99930266e-01 1.17269877e-02 -1.75650889e-01] [-1.05628029e-01 -1.18085483e-02 9.94335596e-01 -1.22794814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.69592 meters 0.0545208515582355 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.17, Z:-0.01 [[ 0.9943434 0.00489882 0.10609998 3.71370754] [-0.00618255 0.99991157 0.0117737 -0.17277464] [-0.10603292 -0.01236307 0.99428576 -0.01449698] [ 0. 0. 0. 1. ]] SLAMing on 5.72592 meters 0.05737095327018526 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.17, Z:-0.02 [[ 0.9941343 0.00892014 0.10778412 3.74524718] [-0.0102676 0.99987584 0.01195302 -0.17284964] [-0.10766412 -0.01298959 0.99410246 -0.01735045] [ 0. 0. 0. 1. ]] SLAMing on 5.75592 meters 0.06131815817097704 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.17, Z:-0.02 [[ 0.99428774 0.01726795 0.10532666 3.77619522] [-0.01859983 0.99975883 0.011676 -0.17033109] [-0.10509964 -0.01356837 0.99436913 -0.01969871] [ 0. 0. 0. 1. ]] SLAMing on 5.78592 meters 0.0623732535232119 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.17, Z:-0.02 [[ 0.99435482 0.02068992 0.10406927 3.80681701] [-0.02200805 0.99969126 0.01153347 -0.16537201] [-0.10379852 -0.01375873 0.99450318 -0.02240188] [ 0. 0. 0. 1. ]] SLAMing on 5.81592 meters 0.06422747185074995 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.16, Z:-0.03 [[ 0.99405797 0.02600575 0.10569981 3.83762198] [-0.0273947 0.99955611 0.01170968 -0.15889631] [-0.10534837 -0.01453571 0.99432914 -0.02520419] [ 0. 0. 0. 1. ]] SLAMing on 5.84592 meters 0.06709395330770809 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.16, Z:-0.03 [[ 0.9937583 0.0276366 0.10807707 3.8686112 ] [-0.0290981 0.9995049 0.0119689 -0.15573795] [-0.10769278 -0.01503903 0.99407047 -0.02887026] [ 0. 0. 0. 1. ]] SLAMing on 5.87592 meters 0.06823622701532439 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.03 [[ 0.99367667 0.02964107 0.10829627 3.89826282] [-0.03111959 0.99944378 0.01198777 -0.14413305] [-0.1078807 -0.0152821 0.99404638 -0.03115026] [ 0. 0. 0. 1. ]] SLAMing on 5.90592 meters 0.06467964080063723 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.13, Z:-0.03 [[ 0.9937009 0.03036778 0.10787181 3.92880146] [-0.0318384 0.99942175 0.01193664 -0.13073881] [-0.10744695 -0.01529591 0.99409315 -0.03382122] [ 0. 0. 0. 1. ]] SLAMing on 5.93592 meters 0.06896358235793915 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.13, Z:-0.04 [[ 0.99367614 0.03240716 0.10750587 3.95907138] [-0.03387807 0.99935532 0.01188366 -0.12721364] [-0.10705144 -0.0154506 0.99413343 -0.03727227] [ 0. 0. 0. 1. ]] SLAMing on 5.96592 meters 0.06890770188997085 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.11, Z:-0.04 [[ 0.99374941 0.03324952 0.10656725 3.98982847] [-0.03469888 0.99932845 0.01177473 -0.11240525] [-0.10610418 -0.0153989 0.99423577 -0.04073277] [ 0. 0. 0. 1. ]] SLAMing on 5.99592 meters 0.06721529636561849 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.10, Z:-0.04 [[ 0.99375713 0.03294949 0.10658846 4.02037163] [-0.03439406 0.99933936 0.01174254 -0.10037627] [-0.10613113 -0.01533525 0.99423388 -0.04454544] [ 0. 0. 0. 1. ]] SLAMing on 6.02592 meters 0.06633924587972494 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.08, Z:-0.05 [[ 0.99406258 0.03145364 0.10416459 4.0495768 ] [-0.0328236 0.99939542 0.01146349 -0.08232206] [-0.10374104 -0.01481448 0.99449401 -0.04755406] [ 0. 0. 0. 1. ]] SLAMing on 6.0559199999999995 meters 0.06640010875427459 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.07, Z:-0.05 [[ 0.99424857 0.03006495 0.10279046 4.08055295] [-0.03139099 0.99944323 0.01130687 -0.07385229] [-0.10239329 -0.01446853 0.99463877 -0.05122472] [ 0. 0. 0. 1. ]] SLAMing on 6.08592 meters 0.0643415659509704 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.06, Z:-0.05 [[ 0.99435531 0.02620463 0.10281457 4.1107772 ] [-0.02751035 0.99955762 0.01130209 -0.05995225] [-0.10247292 -0.01406676 0.99463633 -0.05371387] [ 0. 0. 0. 1. ]] SLAMing on 6.11592 meters 0.060537057680070915 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.05, Z:-0.06 [[ 0.99427632 0.02377567 0.10416004 4.14074052] [-0.02510234 0.99961938 0.01144437 -0.04607523] [-0.1038483 -0.01399352 0.9944947 -0.05610327] [ 0. 0. 0. 1. ]] SLAMing on 6.14592 meters 0.05482847914030768 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.03, Z:-0.06 [[ 0.9940327 0.01492044 0.10805729 4.16970322] [-0.01629682 0.99979679 0.01186563 -0.02541437] [-0.10785829 -0.01355582 0.99407385 -0.05972962] [ 0. 0. 0. 1. ]] SLAMing on 6.17592 meters 0.05400469589252667 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.06 [[ 0.99384887 0.00922465 0.11035996 4.20008811] [-0.01062538 0.9998702 0.01211094 -0.01875973] [-0.11023392 -0.01320906 0.99381789 -0.06379454] [ 0. 0. 0. 1. ]] SLAMing on 6.20592 meters 0.052375858072363085 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.01, Z:-0.07 [[ 9.93842555e-01 1.76430084e-03 1.10787467e-01 4.23045675e+00] [-3.12953493e-03 9.99921285e-01 1.21503187e-02 -1.24209073e-02] [-1.10757309e-01 -1.24222171e-02 9.93769846e-01 -6.70499845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23592 meters 0.04413660709684588 Centerline is valid? [True, True] Translation: X:4.26, Y:0.00, Z:-0.07 [[ 9.93618120e-01 -1.53610324e-02 1.11745557e-01 4.26005821e+00] [ 1.40795511e-02 9.99825861e-01 1.22480067e-02 2.90237419e-03] [-1.11914240e-01 -1.05965141e-02 9.93661369e-01 -7.37209116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26592 meters 0.04268016262082771 Centerline is valid? [True, True] Translation: X:4.29, Y:0.01, Z:-0.08 [[ 0.99362 -0.02504918 0.10996289 4.29034452] [ 0.02386791 0.99964255 0.01204582 0.00674621] [-0.11022533 -0.00934439 0.9938627 -0.07842243] [ 0. 0. 0. 1. ]] SLAMing on 6.29592 meters 0.03660578185749772 Centerline is valid? [True, True] Translation: X:4.32, Y:0.01, Z:-0.08 [[ 0.99304673 -0.04116698 0.1102881 4.321048 ] [ 0.04007763 0.99912358 0.01207691 0.01072453] [-0.11068862 -0.00757285 0.99382628 -0.08268317] [ 0. 0. 0. 1. ]] SLAMing on 6.32592 meters 0.03383893885250267 Centerline is valid? [True, True] Translation: X:4.35, Y:0.01, Z:-0.09 [[ 0.99224107 -0.05023789 0.11372694 4.35261328] [ 0.04913915 0.9987144 0.01244581 0.00958882] [-0.11420599 -0.0067608 0.99343409 -0.08528083] [ 0. 0. 0. 1. ]] SLAMing on 6.35592 meters 0.032799486248160904 Centerline is valid? [True, True] Translation: X:4.38, Y:0.01, Z:-0.09 [[ 0.99186053 -0.05217011 0.11615064 4.3847665 ] [ 0.05103811 0.99861594 0.01270091 0.0110416 ] [-0.11665249 -0.00666942 0.9931504 -0.08893072] [ 0. 0. 0. 1. ]] SLAMing on 6.38592 meters 0.032312918870583913 Centerline is valid? [True, True] Translation: X:4.42, Y:0.01, Z:-0.09 [[ 0.99196118 -0.05423009 0.11433333 4.41633376] [ 0.05315174 0.99850869 0.01246145 0.00531446] [-0.11483861 -0.00628426 0.99336428 -0.09274063] [ 0. 0. 0. 1. ]] SLAMing on 6.41592 meters 0.0316331535680511 Centerline is valid? [True, True] Translation: X:4.45, Y:0.00, Z:-0.10 [[ 0.9920222 -0.05468368 0.11358542 4.44841724] [ 0.05362367 0.99848461 0.01236903 0.00471617] [-0.11408967 -0.00617949 0.99345124 -0.09579174] [ 0. 0. 0. 1. ]] SLAMing on 6.44592 meters 0.031347732887908555 Centerline is valid? [True, True] Translation: X:4.48, Y:0.00, Z:-0.10 [[ 9.91924267e-01 -5.55674628e-02 1.14010986e-01 4.48058454e+00] [ 5.45106016e-02 9.98436579e-01 1.23689745e-02 3.72734214e-03] [-1.14520051e-01 -6.05427854e-03 9.93402488e-01 -1.00367423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47592 meters 0.03136193137047088 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.00, Z:-0.10 [[ 9.91849963e-01 -5.65464150e-02 1.14175976e-01 4.51358424e+00] [ 5.54983346e-02 9.98382522e-01 1.23399969e-02 -1.79256868e-03] [-1.14689082e-01 -5.90284899e-03 9.93383899e-01 -1.02892156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.50592 meters 0.03136193137047088 Centerline is valid? [True, True] Translation: X:4.55, Y:0.00, Z:-0.11 [[ 9.91875335e-01 -5.60893236e-02 1.14181031e-01 4.54560513e+00] [ 5.50436217e-02 9.98408273e-01 1.22930575e-02 2.01330339e-03] [-1.14688795e-01 -5.90824308e-03 9.93383900e-01 -1.06205913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53592 meters 0.031221092915126 Centerline is valid? [True, True] Translation: X:4.58, Y:0.00, Z:-0.11 [[ 9.91847332e-01 -5.55836846e-02 1.14670505e-01 4.57877904e+00] [ 5.45317774e-02 9.98436369e-01 1.22923877e-02 1.86593884e-03] [-1.15174459e-01 -5.93898553e-03 9.93327525e-01 -1.09171435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56592 meters 0.030900250864577674 Centerline is valid? [True, True] Translation: X:4.61, Y:0.00, Z:-0.11 [[ 9.91884116e-01 -5.52709457e-02 1.14503377e-01 4.61203808e+00] [ 5.42261889e-02 9.98453883e-01 1.22214299e-02 1.97337773e-03] [-1.15001831e-01 -5.91316044e-03 9.93347680e-01 -1.12005347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.59592 meters 0.03194043338552331 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.00, Z:-0.12 [[ 0.99222024 -0.05312073 0.11259302 4.64512307] [ 0.05210277 0.99857003 0.01196654 -0.00492615] [-0.11306769 -0.00600703 0.99356913 -0.11529939] [ 0. 0. 0. 1. ]] SLAMing on 6.62592 meters 0.03188688390853091 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.01, Z:-0.12 [[ 0.99224911 -0.05250393 0.1126279 4.67902314] [ 0.05148669 0.9986025 0.01192359 -0.01098754] [-0.11309653 -0.00603233 0.99356569 -0.11965963] [ 0. 0. 0. 1. ]] SLAMing on 6.65592 meters 0.03157627456076963 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.01, Z:-0.12 [[ 0.99236954 -0.05195044 0.11182061 4.71180699] [ 0.0509501 0.99863164 0.01178698 -0.01234591] [-0.11227994 -0.00599977 0.9936585 -0.12308021] [ 0. 0. 0. 1. ]] SLAMing on 6.68592 meters 0.031789556900439046 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.01, Z:-0.13 [[ 0.99236494 -0.05149681 0.11207097 4.74474054] [ 0.05049497 0.99865506 0.0117614 -0.01416605] [-0.11252592 -0.00601258 0.9936306 -0.12727301] [ 0. 0. 0. 1. ]] SLAMing on 6.71592 meters 0.031698358610506266 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.02, Z:-0.13 [[ 0.99237851 -0.05076547 0.11228431 4.77775513] [ 0.04976109 0.99869225 0.01173135 -0.0193717 ] [-0.11273302 -0.00605455 0.99360687 -0.13085595] [ 0. 0. 0. 1. ]] SLAMing on 6.74592 meters 0.03195584308137997 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.02, Z:-0.13 [[ 0.99238937 -0.0503827 0.11236063 4.81033103] [ 0.04938044 0.99871166 0.01168714 -0.01967594] [-0.11280471 -0.00604977 0.99359876 -0.13403346] [ 0. 0. 0. 1. ]] SLAMing on 6.77592 meters 0.03200941137625089 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.02, Z:-0.14 [[ 0.99271787 -0.04910236 0.11000082 4.84273433] [ 0.04813968 0.99877565 0.01139195 -0.02459565] [-0.11042551 -0.00601359 0.99386621 -0.13673001] [ 0. 0. 0. 1. ]] SLAMing on 6.8059199999999995 meters 0.03248608208837001 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.03, Z:-0.14 [[ 0.99285097 -0.04767846 0.10942449 4.87503395] [ 0.04672214 0.99884414 0.01128838 -0.02738537] [-0.10983622 -0.00609514 0.99393101 -0.140875 ] [ 0. 0. 0. 1. ]] SLAMing on 6.83592 meters 0.03317514109171945 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.03, Z:-0.14 [[ 0.99318455 -0.04497017 0.10752735 4.90749936] [ 0.04403556 0.99896883 0.01105172 -0.03330191] [-0.10791347 -0.00624137 0.9941407 -0.1438836 ] [ 0. 0. 0. 1. ]] SLAMing on 6.86592 meters 0.03265521576131091 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.03, Z:-0.15 [[ 0.99309256 -0.04431875 0.10864167 4.93984091] [ 0.0433621 0.99899716 0.01115345 -0.03178275] [-0.10902703 -0.00636547 0.9940184 -0.14763442] [ 0. 0. 0. 1. ]] SLAMing on 6.89592 meters 0.03307902934544906 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.03, Z:-0.15 [[ 0.99309981 -0.04274158 0.10920585 4.97137241] [ 0.04176741 0.99906466 0.01119354 -0.03100515] [-0.10958214 -0.00655506 0.99395613 -0.1513038 ] [ 0. 0. 0. 1. ]] SLAMing on 6.92592 meters 0.0344328749517362 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.04, Z:-0.15 [[ 0.99306459 -0.04238216 0.10966525 5.00506446] [ 0.04140254 0.99907982 0.0111955 -0.03860401] [-0.11003883 -0.00657743 0.99390553 -0.15416568] [ 0. 0. 0. 1. ]] SLAMing on 6.95592 meters 0.03448375077208509 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.04, Z:-0.16 [[ 0.99311872 -0.04197037 0.109333 5.03839077] [ 0.04099981 0.99909737 0.01111114 -0.04156919] [-0.10970065 -0.00655205 0.99394308 -0.15700825] [ 0. 0. 0. 1. ]] SLAMing on 6.98592 meters 0.033788793711695214 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.05, Z:-0.16 [[ 0.99281775 -0.04458197 0.11101968 5.07097962] [ 0.04360257 0.99898578 0.01123538 -0.04717803] [-0.11140798 -0.00631394 0.9937547 -0.15928483] [ 0. 0. 0. 1. ]] SLAMing on 7.0159199999999995 meters 0.033476794150437236 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.05, Z:-0.16 [[ 0.99269614 -0.04571615 0.11164407 5.10268835] [ 0.0447342 0.99893517 0.01128585 -0.04748995] [-0.11204113 -0.00620911 0.99368417 -0.16301546] [ 0. 0. 0. 1. ]] SLAMing on 7.04592 meters 0.031861981158580216 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.05, Z:-0.17 [[ 0.99249494 -0.0491017 0.11199472 5.13399 ] [ 0.04813956 0.99877692 0.01128064 -0.05083052] [-0.11241164 -0.0058046 0.99364477 -0.16737425] [ 0. 0. 0. 1. ]] SLAMing on 7.07592 meters 0.032168535147418166 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.05, Z:-0.17 [[ 0.99249015 -0.0487234 0.1122022 5.16643356] [ 0.04775649 0.99879519 0.0112908 -0.05235378] [-0.11261714 -0.00584763 0.99362125 -0.17097396] [ 0. 0. 0. 1. ]] SLAMing on 7.10592 meters 0.032520010121155365 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.06, Z:-0.17 [[ 0.99252178 -0.04747863 0.11245575 5.19901143] [ 0.04650513 0.99885452 0.01126569 -0.05766988] [-0.11286182 -0.00595168 0.99359287 -0.1726253 ] [ 0. 0. 0. 1. ]] SLAMing on 7.13592 meters 0.03303880179674998 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.06, Z:-0.18 [[ 0.99251622 -0.04553781 0.11330426 5.23096536] [ 0.04454206 0.99894353 0.01130576 -0.05814361] [-0.1136994 -0.00617435 0.99349601 -0.17720276] [ 0. 0. 0. 1. ]] SLAMing on 7.16592 meters 0.033311221921390244 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.06, Z:-0.18 [[ 0.99258697 -0.04407525 0.11326285 5.26305404] [ 0.04307584 0.99900838 0.01125717 -0.05870604] [-0.1136467 -0.00629482 0.99350128 -0.18084225] [ 0. 0. 0. 1. ]] SLAMing on 7.19592 meters 0.0335096968202318 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.06, Z:-0.18 [[ 0.99273206 -0.04312288 0.11235421 5.29550145] [ 0.04213844 0.99904986 0.01112312 -0.05880738] [-0.11272712 -0.00630784 0.99360596 -0.18418299] [ 0. 0. 0. 1. ]] SLAMing on 7.2259199999999995 meters 0.034370164151356984 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.06, Z:-0.19 [[ 0.99317434 -0.04086943 0.10924479 5.32726438] [ 0.03993004 0.99914439 0.0107737 -0.06162741] [-0.10959164 -0.00633801 0.99395649 -0.18745459] [ 0. 0. 0. 1. ]] SLAMing on 7.25592 meters 0.03467696566700062 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.06, Z:-0.19 [[ 0.99357689 -0.03839004 0.10644794 5.35886556] [ 0.0374883 0.99924232 0.01045996 -0.05915205] [-0.10676885 -0.00640222 0.99426326 -0.18866473] [ 0. 0. 0. 1. ]] SLAMing on 7.28592 meters 0.03538997349949672 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.06, Z:-0.19 [[ 0.99368075 -0.03577515 0.1063894 5.39062318] [ 0.03486379 0.99933781 0.01041438 -0.05558071] [-0.10669153 -0.00663944 0.99427 -0.19195075] [ 0. 0. 0. 1. ]] SLAMing on 7.31592 meters 0.0370444876438382 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.05, Z:-0.20 [[ 0.99369302 -0.03300847 0.10716632 5.42193323] [ 0.03206916 0.99943074 0.01047697 -0.05293045] [-0.10745114 -0.00697416 0.9941859 -0.19565456] [ 0. 0. 0. 1. ]] SLAMing on 7.34592 meters 0.03789574487585855 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.05, Z:-0.20 [[ 0.99355435 -0.03081711 0.10908739 5.45317221] [ 0.02983471 0.99949836 0.01062677 -0.04784215] [-0.10936015 -0.00730368 0.99397536 -0.20070657] [ 0. 0. 0. 1. ]] SLAMing on 7.37592 meters 0.03746241958463835 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.04, Z:-0.20 [[ 0.99350571 -0.03028212 0.10967863 5.48537602] [ 0.02928738 0.99951409 0.01066959 -0.04254734] [-0.10994844 -0.0073881 0.99390983 -0.20406038] [ 0. 0. 0. 1. ]] SLAMing on 7.40592 meters 0.03747125986271707 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.04, Z:-0.21 [[ 0.99353979 -0.03072028 0.10924715 5.51717583] [ 0.02974121 0.99950163 0.01058058 -0.03909078] [-0.10951775 -0.00726309 0.9939583 -0.20632591] [ 0. 0. 0. 1. ]] SLAMing on 7.43592 meters 0.03676252828669096 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.03, Z:-0.21 [[ 0.99357752 -0.03169331 0.1086243 5.54890828] [ 0.03073574 0.99947262 0.01047882 -0.03473463] [-0.10889912 -0.00707287 0.99402764 -0.20898067] [ 0. 0. 0. 1. ]] SLAMing on 7.46592 meters 0.035843072395796254 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.03, Z:-0.21 [[ 0.99357206 -0.03317325 0.10823169 5.58062338] [ 0.03223584 0.99942618 0.01039974 -0.02929317] [-0.10851458 -0.00684395 0.9940713 -0.21142822] [ 0. 0. 0. 1. ]] SLAMing on 7.49592 meters 0.03672650705754507 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.03, Z:-0.22 [[ 0.9934701 -0.0314244 0.10967988 5.61164468] [ 0.03045572 0.999481 0.01049639 -0.02589358] [-0.1099528 -0.00708747 0.99391154 -0.21551789] [ 0. 0. 0. 1. ]] SLAMing on 7.52592 meters 0.036759128709655926 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.02, Z:-0.22 [[ 0.99346118 -0.02974841 0.11022667 5.64299253] [ 0.02876419 0.99953098 0.01050879 -0.02193684] [-0.11048759 -0.0072695 0.99385092 -0.21921366] [ 0. 0. 0. 1. ]] SLAMing on 7.5559199999999995 meters 0.03880334678720735 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.02, Z:-0.22 [[ 0.9937523 -0.02479426 0.10881917 5.67387768] [ 0.0238099 0.99966307 0.01033604 -0.0232879 ] [-0.10903878 -0.00768049 0.99400782 -0.22128442] [ 0. 0. 0. 1. ]] SLAMing on 7.58592 meters 0.040230174312991925 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.02, Z:-0.22 [[ 0.99397906 -0.01977627 0.1077707 5.70492237] [ 0.01878196 0.99977123 0.01023352 -0.0216412 ] [-0.10794843 -0.00814775 0.99412311 -0.22417913] [ 0. 0. 0. 1. ]] SLAMing on 7.61592 meters 0.04065653363780853 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.02, Z:-0.23 [[ 0.99402543 -0.01726708 0.10777426 5.73610208] [ 0.01625844 0.99981548 0.01023058 -0.0179922 ] [-0.10793103 -0.00841722 0.99412275 -0.22797708] [ 0. 0. 0. 1. ]] SLAMing on 7.64592 meters 0.042938963203518365 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.02, Z:-0.23 [[ 0.99389789 -0.01472228 0.10931713 5.76686832] [ 0.01366977 0.99985278 0.01037127 -0.01711225] [-0.10945373 -0.00881364 0.99395282 -0.2328405 ] [ 0. 0. 0. 1. ]] SLAMing on 7.67592 meters 0.044236280228429764 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.01, Z:-0.24 [[ 0.99376013 -0.01020648 0.11107037 5.79760013] [ 0.00909216 0.99990317 0.01053446 -0.0145793 ] [-0.11116713 -0.00945885 0.99375671 -0.23553133] [ 0. 0. 0. 1. ]] SLAMing on 7.70592 meters 0.04385130780271223 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.01, Z:-0.24 [[ 0.99390589 -0.00720195 0.10999643 5.82798664] [ 0.00609146 0.99992707 0.01042846 -0.00918783] [-0.11006352 -0.00969487 0.99387727 -0.23810264] [ 0. 0. 0. 1. ]] SLAMing on 7.73592 meters 0.04676921591851409 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.00, Z:-0.24 [[ 9.94372149e-01 2.26786783e-04 1.05943275e-01 5.85900614e+00] [-1.29761953e-03 9.99948768e-01 1.00387830e-02 -4.81860707e-03] [-1.05935571e-01 -1.01197603e-02 9.94321500e-01 -2.40887097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7659199999999995 meters 0.04958749756729709 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.00, Z:-0.24 [[ 9.94446685e-01 6.62024179e-03 1.05033152e-01 5.88976653e+00] [-7.70730101e-03 9.99920823e-01 9.94716726e-03 -3.97176222e-03] [-1.04958983e-01 -1.07014496e-02 9.94418972e-01 -2.43787771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.79592 meters 0.05521576114612942 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.00, Z:-0.25 [[ 9.94353018e-01 1.89986818e-02 1.04408458e-01 5.92057110e+00] [-2.01393131e-02 9.99748353e-01 9.88124840e-03 -4.96858664e-03] [-1.04194453e-01 -1.19281638e-02 9.94485412e-01 -2.45674312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82592 meters 0.059180486047508495 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.00, Z:-0.25 [[ 9.94199673e-01 2.50448129e-02 1.04593348e-01 5.95157139e+00] [-2.62216421e-02 9.99607216e-01 9.89137728e-03 -3.40454318e-03] [-1.04304537e-01 -1.25766134e-02 9.94465883e-01 -2.47240075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85592 meters 0.06001081573556451 Centerline is valid? [True, True] Translation: X:5.98, Y:0.00, Z:-0.25 [[ 9.94033126e-01 3.08792085e-02 1.04616534e-01 5.98223816e+00] [-3.20875894e-02 9.99436159e-01 9.88686202e-03 3.89650679e-03] [-1.04252248e-01 -1.31847607e-02 9.94463489e-01 -2.48812777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.88592 meters 0.06303855121316691 Centerline is valid? [True, True] Translation: X:6.01, Y:0.02, Z:-0.25 [[ 0.99371417 0.04247628 0.10357562 6.01216061] [-0.0437219 0.99899582 0.00978456 0.01559159] [-0.103056 -0.01425158 0.99457345 -0.25072372] [ 0. 0. 0. 1. ]] SLAMing on 7.91592 meters 0.0696980958225658 Centerline is valid? [True, True] Translation: X:6.04, Y:0.02, Z:-0.25 [[ 0.99348914 0.04721207 0.10368386 6.04298779] [-0.04848485 0.99877595 0.00978834 0.01603461] [-0.10309481 -0.01475171 0.99456214 -0.25360327] [ 0. 0. 0. 1. ]] SLAMing on 7.94592 meters 0.07114224230385494 Centerline is valid? [True, True] Translation: X:6.07, Y:0.03, Z:-0.26 [[ 0.99290798 0.05247295 0.10667863 6.0727205 ] [-0.05385001 0.99849829 0.01006717 0.02894502] [-0.10599018 -0.01574042 0.99424259 -0.25801993] [ 0. 0. 0. 1. ]] SLAMing on 7.9759199999999995 meters 0.06951483591275036 Centerline is valid? [True, True] Translation: X:6.10, Y:0.04, Z:-0.26 [[ 0.99271772 0.05318164 0.10808901 6.10341218] [-0.05459912 0.99845631 0.01019508 0.0397441 ] [-0.10737996 -0.0160224 0.99408894 -0.26195018] [ 0. 0. 0. 1. ]] SLAMing on 8.00592 meters 0.06821285784220507 Centerline is valid? [True, True] Translation: X:6.13, Y:0.05, Z:-0.27 [[ 0.99265872 0.05306868 0.10868475 6.13441419] [-0.05449996 0.99846127 0.01023918 0.04887702] [-0.10797413 -0.01608733 0.99402353 -0.26589722] [ 0. 0. 0. 1. ]] SLAMing on 8.035919999999999 meters 0.0699645435150181 Centerline is valid? [True, True] Translation: X:6.16, Y:0.06, Z:-0.27 [[ 0.99294567 0.0504785 0.1072885 6.16479933] [-0.05185456 0.99860384 0.01007312 0.0575842 ] [-0.10663024 -0.01556546 0.9941769 -0.26909473] [ 0. 0. 0. 1. ]] SLAMing on 8.065919999999998 meters 0.06743693800566804 Centerline is valid? [True, True] Translation: X:6.19, Y:0.08, Z:-0.27 [[ 0.9931868 0.04606383 0.10704253 6.19386278] [-0.04740639 0.99882532 0.01003038 0.07530709] [-0.10645475 -0.01503654 0.99420385 -0.27240334] [ 0. 0. 0. 1. ]] SLAMing on 8.09592 meters 0.06533607679692359 Centerline is valid? [True, True] Translation: X:6.22, Y:0.09, Z:-0.27 [[ 0.99318128 0.04390974 0.10799486 6.22389345] [-0.04526334 0.99892389 0.01011349 0.08507117] [-0.10743456 -0.01493273 0.99410001 -0.27449182] [ 0. 0. 0. 1. ]] SLAMing on 8.125919999999999 meters 0.06618497113673802 Centerline is valid? [True, True] Translation: X:6.25, Y:0.09, Z:-0.28 [[ 0.99314414 0.04287415 0.1087498 6.25478045] [-0.04424047 0.99896903 0.01018136 0.0897988 ] [-0.10820117 -0.0149227 0.99401701 -0.27821185] [ 0. 0. 0. 1. ]] SLAMing on 8.155919999999998 meters 0.06556186429154331 Centerline is valid? [True, True] Translation: X:6.29, Y:0.10, Z:-0.28 [[ 0.99305438 0.04018598 0.11058068 6.28519059] [-0.04158209 0.99908151 0.01034732 0.09887721] [-0.1100633 -0.01487363 0.99381329 -0.28052369] [ 0. 0. 0. 1. ]] SLAMing on 8.18592 meters 0.06409151868392914 Centerline is valid? [True, True] Translation: X:6.32, Y:0.11, Z:-0.28 [[ 0.99295615 0.03868142 0.11199032 6.31617141] [-0.04010361 0.99914063 0.01047361 0.10758515] [-0.11148895 -0.01489105 0.9936541 -0.28397778] [ 0. 0. 0. 1. ]] SLAMing on 8.215919999999999 meters 0.06040922488092034 Centerline is valid? [True, True] Translation: X:6.35, Y:0.12, Z:-0.29 [[ 0.99331905 0.03503146 0.10995486 6.34619425] [-0.03637892 0.99928528 0.01027196 0.12344959] [-0.10951643 -0.01420337 0.9938835 -0.28842514] [ 0. 0. 0. 1. ]] SLAMing on 8.245919999999998 meters 0.06047228739247198 Centerline is valid? [True, True] Translation: X:6.38, Y:0.13, Z:-0.29 [[ 0.99357418 0.03274512 0.1083425 6.37685598] [-0.03403878 0.99936935 0.01011221 0.12890355] [-0.10794304 -0.01373508 0.99406219 -0.29029116] [ 0. 0. 0. 1. ]] SLAMing on 8.27592 meters 0.059467614844584404 Centerline is valid? [True, True] Translation: X:6.41, Y:0.14, Z:-0.29 [[ 0.99380248 0.03083326 0.10679859 6.40727629] [-0.03207841 0.99943572 0.00996031 0.13532372] [-0.10643122 -0.01332451 0.99423078 -0.29315111] [ 0. 0. 0. 1. ]] SLAMing on 8.305919999999999 meters 0.05865297780545355 Centerline is valid? [True, True] Translation: X:6.44, Y:0.15, Z:-0.30 [[ 0.99361494 0.02725235 0.10948365 6.43775874] [-0.02853938 0.99954057 0.01020541 0.14506237] [-0.10915523 -0.01326484 0.99393621 -0.29620105] [ 0. 0. 0. 1. ]] SLAMing on 8.33592 meters 0.056330207205187485 Centerline is valid? [True, True] Translation: X:6.47, Y:0.16, Z:-0.30 [[ 0.99333451 0.02380521 0.11278234 6.46765549] [-0.02514915 0.99962848 0.01050825 0.15713591] [-0.11249028 -0.01327459 0.99356415 -0.29934909] [ 0. 0. 0. 1. ]] SLAMing on 8.36592 meters 0.056069682979371635 Centerline is valid? [True, True] Translation: X:6.50, Y:0.16, Z:-0.30 [[ 0.99345515 0.02218758 0.11204725 6.49851131] [-0.02350328 0.9996693 0.01043502 0.16364891] [-0.11177867 -0.0130002 0.99364809 -0.30239893] [ 0. 0. 0. 1. ]] SLAMing on 8.395919999999998 meters 0.05514111763889984 Centerline is valid? [True, True] Translation: X:6.53, Y:0.17, Z:-0.31 [[ 0.99346699 0.02058452 0.11224802 6.52879193] [-0.02189427 0.9997057 0.01044799 0.1718195 ] [-0.11199992 -0.01283732 0.99362529 -0.30608575] [ 0. 0. 0. 1. ]] SLAMing on 8.42592 meters 0.05514111763889984 Centerline is valid? [True, True] Translation: X:6.56, Y:0.18, Z:-0.31 [[ 0.99345855 0.02098311 0.1122489 6.5610421 ] [-0.0222943 0.99969696 0.0104385 0.17512879] [-0.11199585 -0.01287273 0.99362529 -0.30940554] [ 0. 0. 0. 1. ]] SLAMing on 8.455919999999999 meters 0.053156788502384665 Centerline is valid? [True, True] Translation: X:6.59, Y:0.19, Z:-0.31 [[ 0.99372246 0.01641839 0.11066212 6.59136413] [-0.0176601 0.99979151 0.01024982 0.1877602 ] [-0.11047076 -0.01213978 0.99380523 -0.31409825] [ 0. 0. 0. 1. ]] SLAMing on 8.485919999999998 meters 0.04923959186544762 Centerline is valid? [True, True] Translation: X:6.62, Y:0.20, Z:-0.32 [[ 0.99382569 0.01378312 0.11009323 6.62116646] [-0.01499535 0.99983563 0.01019051 0.19734022] [-0.10993468 -0.01177848 0.99386902 -0.31725797] [ 0. 0. 0. 1. ]] SLAMing on 8.51592 meters 0.04741975316781804 Centerline is valid? [True, True] Translation: X:6.65, Y:0.20, Z:-0.32 [[ 0.99376912 0.00700605 0.11123782 6.65167285] [-0.00820129 0.99991341 0.01029097 0.20417248] [-0.11115609 -0.01113914 0.99374053 -0.32108603] [ 0. 0. 0. 1. ]] SLAMing on 8.545919999999999 meters 0.04650995390785379 Centerline is valid? [True, True] Translation: X:6.68, Y:0.21, Z:-0.32 [[ 9.93605941e-01 3.42800789e-03 1.12851596e-01 6.68239656e+00] [-4.63498393e-03 9.99934816e-01 1.04346165e-02 2.09210759e-01] [-1.12808470e-01 -1.08909623e-02 9.93557062e-01 -3.24897609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575919999999998 meters 0.04302369131470241 Centerline is valid? [True, True] Translation: X:6.71, Y:0.22, Z:-0.33 [[ 9.93271214e-01 -3.91420933e-03 1.15745303e-01 6.71237915e+00] [ 2.69407020e-03 9.99939165e-01 1.06961476e-02 2.18238655e-01] [-1.15780128e-01 -1.03123495e-02 9.93221334e-01 -3.28921918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60592 meters 0.04287785559636319 Centerline is valid? [True, True] Translation: X:6.74, Y:0.22, Z:-0.33 [[ 9.93194054e-01 -7.48283375e-03 1.16230710e-01 6.74312514e+00] [ 6.27755850e-03 9.99922702e-01 1.07322889e-02 2.20896503e-01] [-1.16302033e-01 -9.92960047e-03 9.93164256e-01 -3.32434225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635919999999999 meters 0.04075201298152405 Centerline is valid? [True, True] Translation: X:6.77, Y:0.22, Z:-0.34 [[ 0.99327239 -0.01068134 0.11530769 6.77369522] [ 0.00951731 0.99989809 0.01064085 0.22478443] [-0.11540959 -0.00947184 0.99327283 -0.33547541] [ 0. 0. 0. 1. ]] SLAMing on 8.66592 meters 0.038695346674865155 Centerline is valid? [True, True] Translation: X:6.80, Y:0.23, Z:-0.34 [[ 0.99304327 -0.01706146 0.11650739 6.80466876] [ 0.01591738 0.99981559 0.01074322 0.2251764 ] [-0.1166692 -0.00881399 0.99313172 -0.33962151] [ 0. 0. 0. 1. ]] SLAMing on 8.69592 meters 0.03880230745956119 Centerline is valid? [True, True] Translation: X:6.84, Y:0.22, Z:-0.34 [[ 0.992978 -0.01968059 0.11665061 6.8364858 ] [ 0.01855226 0.99977009 0.01075079 0.22490204] [-0.11683538 -0.00851117 0.99311482 -0.34263866] [ 0. 0. 0. 1. ]] SLAMing on 8.725919999999999 meters 0.036797954466197304 Centerline is valid? [True, True] Translation: X:6.87, Y:0.22, Z:-0.35 [[ 0.99295948 -0.02316294 0.11616779 6.86764533] [ 0.02206872 0.99969923 0.01069683 0.22411102] [-0.11638062 -0.00805784 0.993172 -0.34571251] [ 0. 0. 0. 1. ]] SLAMing on 8.75592 meters 0.0365589349039605 Centerline is valid? [True, True] Translation: X:6.90, Y:0.22, Z:-0.35 [[ 0.99295495 -0.02342422 0.11615413 6.89937211] [ 0.02233351 0.9996935 0.01068301 0.22423307] [-0.11636877 -0.00801362 0.99317375 -0.34853678] [ 0. 0. 0. 1. ]] SLAMing on 8.785919999999999 meters 0.03695118235976997 Centerline is valid? [True, True] Translation: X:6.93, Y:0.22, Z:-0.35 [[ 0.99327447 -0.02203944 0.1136666 6.93192572] [ 0.02099123 0.99972546 0.01041061 0.22208066] [-0.11386484 -0.00795459 0.9934644 -0.34998635] [ 0. 0. 0. 1. ]] SLAMing on 8.815919999999998 meters 0.03760232313220933 Centerline is valid? [True, True] Translation: X:6.96, Y:0.22, Z:-0.35 [[ 0.99312988 -0.02074198 0.11516428 6.96414578] [ 0.01966243 0.99975152 0.01050223 0.22293745] [-0.1153535 -0.00816567 0.99329094 -0.35361286] [ 0. 0. 0. 1. ]] SLAMing on 8.84592 meters 0.038452059030982824 Centerline is valid? [True, True] Translation: X:7.00, Y:0.22, Z:-0.36 [[ 0.99295746 -0.01937664 0.11687614 6.99570256] [ 0.01826026 0.99977692 0.01061511 0.22288558] [-0.11705575 -0.00840616 0.99308977 -0.35789983] [ 0. 0. 0. 1. ]] SLAMing on 8.875919999999999 meters 0.03836589043688663 Centerline is valid? [True, True] Translation: X:7.03, Y:0.22, Z:-0.36 [[ 0.99294661 -0.0165932 0.11739543 7.02731661] [ 0.01545059 0.99982406 0.01063644 0.22035953] [-0.11755127 -0.00874759 0.99302829 -0.36084129] [ 0. 0. 0. 1. ]] SLAMing on 8.905919999999998 meters 0.040248417659858114 Centerline is valid? [True, True] Translation: X:7.06, Y:0.22, Z:-0.36 [[ 0.9931135 -0.014518 0.1162532 7.05962827] [ 0.01338844 0.99985533 0.0104914 0.21924367] [-0.1163887 -0.0088627 0.9931642 -0.36440958] [ 0. 0. 0. 1. ]] SLAMing on 8.93592 meters 0.03940783338503475 Centerline is valid? [True, True] Translation: X:7.09, Y:0.22, Z:-0.37 [[ 0.99333342 -0.01292947 0.11454932 7.09147992] [ 0.01182721 0.99987704 0.01029707 0.22432673] [-0.11466837 -0.00887362 0.9933642 -0.36740773] [ 0. 0. 0. 1. ]] SLAMing on 8.965919999999999 meters 0.03847236687767936 Centerline is valid? [True, True] Translation: X:7.12, Y:0.23, Z:-0.37 [[ 0.99333869 -0.01195601 0.1146093 7.12342309] [ 0.01084797 0.99988825 0.01028678 0.22928758] [-0.11471948 -0.00897498 0.99335738 -0.37016995] [ 0. 0. 0. 1. ]] SLAMing on 8.995919999999998 meters 0.040994018232893135 Centerline is valid? [True, True] Translation: X:7.15, Y:0.23, Z:-0.37 [[ 0.99328055 -0.01102335 0.11520515 7.15483907] [ 0.0098997 0.99989773 0.01032108 0.22917173] [-0.11530714 -0.00911123 0.9932881 -0.37401646] [ 0. 0. 0. 1. ]] SLAMing on 9.02592 meters 0.04066172966854069 Centerline is valid? [True, True] Translation: X:7.19, Y:0.23, Z:-0.38 [[ 0.9933734 -0.00951109 0.11453744 7.18644893] [ 0.00839538 0.99991254 0.01021951 0.23218119] [-0.11462462 -0.00919021 0.99336637 -0.37618891] [ 0. 0. 0. 1. ]] SLAMing on 9.055919999999999 meters 0.04014727357964552 Centerline is valid? [True, True] Translation: X:7.22, Y:0.24, Z:-0.38 [[ 9.93274504e-01 -7.84274333e-03 1.15517321e-01 7.21810151e+00] [ 6.70129470e-03 9.99924846e-01 1.02662417e-02 2.37190721e-01] [-1.15589155e-01 -9.42308050e-03 9.93252411e-01 -3.78919089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08592 meters 0.04337633655775344 Centerline is valid? [True, True] Translation: X:7.25, Y:0.24, Z:-0.38 [[ 9.93312387e-01 -3.71248891e-03 1.15398088e-01 7.24908875e+00] [ 2.54753805e-03 9.99944315e-01 1.02409070e-02 2.41293211e-01] [-1.15429681e-01 -9.87843876e-03 9.93266533e-01 -3.82730579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11592 meters 0.04390761097324385 Centerline is valid? [True, True] Translation: X:7.28, Y:0.25, Z:-0.39 [[ 9.93561601e-01 -1.83987973e-03 1.13278244e-01 7.28044413e+00] [ 7.06779881e-04 9.99949327e-01 1.00421502e-02 2.45674751e-01] [-1.13290981e-01 -9.89743208e-03 9.93512554e-01 -3.85423416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145919999999998 meters 0.04460770440678796 Centerline is valid? [True, True] Translation: X:7.31, Y:0.25, Z:-0.39 [[ 9.93768653e-01 3.38601568e-04 1.11461872e-01 7.31172911e+00] [-1.44439388e-03 9.99950541e-01 9.84021281e-03 2.50077197e-01] [-1.11453028e-01 -9.93988988e-03 9.93719991e-01 -3.88156968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17592 meters 0.04395171178752541 Centerline is valid? [True, True] Translation: X:7.34, Y:0.26, Z:-0.39 [[ 9.93929266e-01 3.11896682e-03 1.09976756e-01 7.34239711e+00] [-4.20823069e-03 9.99944353e-01 9.67377485e-03 2.58720431e-01] [-1.09940464e-01 -1.00778555e-02 9.93887082e-01 -3.89019856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205919999999999 meters 0.04587287305411971 Centerline is valid? [True, True] Translation: X:7.37, Y:0.26, Z:-0.39 [[ 9.93754312e-01 5.38019231e-03 1.11460401e-01 7.37274631e+00] [-6.51230679e-03 9.99930816e-01 9.79552251e-03 2.64033258e-01] [-1.11399988e-01 -1.04602071e-02 9.93720598e-01 -3.91840276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235919999999998 meters 0.0468726378508226 Centerline is valid? [True, True] Translation: X:7.40, Y:0.28, Z:-0.40 [[ 9.93543777e-01 6.18218296e-03 1.13280819e-01 7.40311733e+00] [-7.35455738e-03 9.99923607e-01 9.93428575e-03 2.75883226e-01] [-1.13210750e-01 -1.07032781e-02 9.93513345e-01 -3.95768963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26592 meters 0.04613254139457212 Centerline is valid? [True, True] Translation: X:7.44, Y:0.28, Z:-0.40 [[ 9.93727729e-01 6.21654139e-03 1.11653731e-01 7.43502413e+00] [-7.35136736e-03 9.99925396e-01 9.75498056e-03 2.82830750e-01] [-1.11584759e-01 -1.05146023e-02 9.93699293e-01 -3.99600833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295919999999999 meters 0.045591874328675064 Centerline is valid? [True, True] Translation: X:7.47, Y:0.29, Z:-0.40 [[ 9.93596783e-01 5.26246705e-03 1.12861593e-01 7.46676522e+00] [-6.41324823e-03 9.99931062e-01 9.83575117e-03 2.88615960e-01] [-1.12802052e-01 -1.04965801e-02 9.93562036e-01 -4.03186274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325919999999998 meters 0.045260548425052304 Centerline is valid? [True, True] Translation: X:7.50, Y:0.29, Z:-0.41 [[ 9.93661882e-01 4.83704351e-03 1.12306135e-01 7.49841063e+00] [-5.96907356e-03 9.99934693e-01 9.74580104e-03 2.93925433e-01] [-1.12251659e-01 -1.03543946e-02 9.93625861e-01 -4.05364985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35592 meters 0.0443418432047552 Centerline is valid? [True, True] Translation: X:7.53, Y:0.30, Z:-0.41 [[ 9.93381939e-01 1.86449569e-03 1.14842709e-01 7.52882859e+00] [-3.02441251e-03 9.99946156e-01 9.92663335e-03 3.02338958e-01] [-1.14818017e-01 -1.02082700e-02 9.93334090e-01 -4.09343318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385919999999999 meters 0.041178633176555464 Centerline is valid? [True, True] Translation: X:7.56, Y:0.31, Z:-0.41 [[ 9.93154758e-01 -1.02108295e-03 1.16801474e-01 7.55900542e+00] [-1.58524843e-04 9.99949087e-01 1.00895188e-02 3.12934397e-01] [-1.16805830e-01 -1.00389695e-02 9.93104031e-01 -4.13886652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415919999999998 meters 0.04351782663147385 Centerline is valid? [True, True] Translation: X:7.59, Y:0.31, Z:-0.42 [[ 9.93377263e-01 -1.13337577e-03 1.14892681e-01 7.59095837e+00] [-5.44289735e-06 9.99950883e-01 9.91122273e-03 3.13851836e-01] [-1.14898271e-01 -9.84620867e-03 9.93328465e-01 -4.15897244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44592 meters 0.042941542190307484 Centerline is valid? [True, True] Translation: X:7.62, Y:0.32, Z:-0.42 [[ 9.93336952e-01 -7.50797677e-04 1.15243809e-01 7.62305684e+00] [-3.92337334e-04 9.99950954e-01 9.89627151e-03 3.19214759e-01] [-1.15245587e-01 -9.87554663e-03 9.93287938e-01 -4.19331169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475919999999999 meters 0.0428595893253366 Centerline is valid? [True, True] Translation: X:7.65, Y:0.32, Z:-0.42 [[ 9.93223009e-01 -3.28289506e-05 1.16224152e-01 7.65454232e+00] [-1.12905361e-03 9.99950048e-01 9.93106267e-03 3.24007319e-01] [-1.16218672e-01 -9.99498325e-03 9.93173359e-01 -4.22135702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50592 meters 0.0420963834987353 Centerline is valid? [True, True] Translation: X:7.69, Y:0.33, Z:-0.43 [[ 9.93407075e-01 6.15363338e-04 1.14638585e-01 7.68670843e+00] [-1.74481591e-03 9.99950924e-01 9.75220805e-03 3.28287072e-01] [-1.14626957e-01 -9.88793570e-03 9.93359396e-01 -4.25242819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535919999999999 meters 0.04248471321653172 Centerline is valid? [True, True] Translation: X:7.72, Y:0.33, Z:-0.43 [[ 9.93369035e-01 3.24290180e-04 1.14968935e-01 7.71830868e+00] [-1.45269544e-03 9.99951595e-01 9.73122155e-03 3.32588035e-01] [-1.14960214e-01 -9.83370900e-03 9.93321422e-01 -4.29775104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565919999999998 meters 0.04193077341801345 Centerline is valid? [True, True] Translation: X:7.75, Y:0.34, Z:-0.43 [[ 9.93362583e-01 1.25160656e-03 1.15018313e-01 7.74975031e+00] [-2.38206326e-03 9.99950198e-01 9.69157219e-03 3.39112690e-01] [-1.15000455e-01 -9.90122608e-03 9.93316093e-01 -4.32157524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59592 meters 0.04094344078444767 Centerline is valid? [True, True] Translation: X:7.78, Y:0.35, Z:-0.43 [[ 9.93407652e-01 3.51958232e-03 1.14581190e-01 7.78105023e+00] [-4.65173105e-03 9.99942956e-01 9.61487367e-03 3.47884735e-01] [-1.14540813e-01 -1.00844900e-02 9.93367357e-01 -4.34113284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625919999999999 meters 0.04567880474516863 Centerline is valid? [True, True] Translation: X:7.81, Y:0.36, Z:-0.44 [[ 0.99334638 0.0092708 0.11479119 7.81178228] [-0.01044356 0.9998992 0.00961933 0.35513465] [-0.11469044 -0.01075415 0.99334307 -0.43637892] [ 0. 0. 0. 1. ]] SLAMing on 9.655919999999998 meters 0.047582678991085606 Centerline is valid? [True, True] Translation: X:7.84, Y:0.36, Z:-0.44 [[ 0.99332412 0.01303816 0.11461762 7.84192987] [-0.01423148 0.99985265 0.00959915 0.36149563] [-0.11447557 -0.01116625 0.99336331 -0.43889392] [ 0. 0. 0. 1. ]] SLAMing on 9.68592 meters 0.04881872504807421 Centerline is valid? [True, True] Translation: X:7.87, Y:0.37, Z:-0.44 [[ 0.99301655 0.01778558 0.11662681 7.87237289] [-0.01905316 0.99977081 0.00976268 0.37454681] [-0.11642645 -0.01191661 0.99312783 -0.44269985] [ 0. 0. 0. 1. ]] SLAMing on 9.715919999999999 meters 0.04877868040230541 Centerline is valid? [True, True] Translation: X:7.90, Y:0.38, Z:-0.45 [[ 0.99297169 0.01941935 0.1167481 7.90322434] [-0.02069953 0.99973808 0.00976271 0.38288731] [-0.11652794 -0.01211072 0.99311357 -0.44542215] [ 0. 0. 0. 1. ]] SLAMing on 9.745919999999998 meters 0.048500809237344296 Centerline is valid? [True, True] Translation: X:7.93, Y:0.40, Z:-0.45 [[ 0.99297624 0.01790962 0.11695051 7.93376898] [-0.01917975 0.99976857 0.0097439 0.39602732] [-0.11674894 -0.01191854 0.99308994 -0.44979198] [ 0. 0. 0. 1. ]] SLAMing on 9.77592 meters 0.04698823117079805 Centerline is valid? [True, True] Translation: X:7.96, Y:0.41, Z:-0.45 [[ 0.99287044 0.01586883 0.11813751 7.96398898] [-0.01714974 0.99980457 0.0098338 0.40589968] [-0.11795837 -0.01178972 0.99294855 -0.45326158] [ 0. 0. 0. 1. ]] SLAMing on 9.805919999999999 meters 0.04531246346362755 Centerline is valid? [True, True] Translation: X:7.99, Y:0.42, Z:-0.46 [[ 0.99286228 0.01100023 0.11875807 7.99363554] [-0.01225962 0.99987604 0.0098793 0.41927593] [-0.11863467 -0.01126471 0.99287407 -0.45708416] [ 0. 0. 0. 1. ]] SLAMing on 9.83592 meters 0.0438159300107802 Centerline is valid? [True, True] Translation: X:8.02, Y:0.43, Z:-0.46 [[ 9.92874741e-01 7.86541051e-03 1.18902831e-01 8.02450462e+00] [-9.10504052e-03 9.99909679e-01 9.88592647e-03 4.27117794e-01] [-1.18814335e-01 -1.08981018e-02 9.92856679e-01 -4.59936667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86592 meters 0.04275270459734336 Centerline is valid? [True, True] Translation: X:8.05, Y:0.43, Z:-0.46 [[ 9.92905738e-01 4.74792517e-03 1.18809308e-01 8.05471601e+00] [-5.96274974e-03 9.99933496e-01 9.87160880e-03 4.34851371e-01] [-1.18754537e-01 -1.05100072e-02 9.92868017e-01 -4.62446118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895919999999998 meters 0.040760372018438414 Centerline is valid? [True, True] Translation: X:8.09, Y:0.45, Z:-0.47 [[ 9.92865750e-01 -5.56988769e-04 1.19236284e-01 8.08519181e+00] [-6.28285370e-04 9.99950769e-01 9.90272700e-03 4.46038921e-01] [-1.19235930e-01 -9.90699288e-03 9.92816521e-01 -4.65435453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92592 meters 0.03977078229961062 Centerline is valid? [True, True] Translation: X:8.12, Y:0.45, Z:-0.47 [[ 9.92650221e-01 -2.95762998e-03 1.20982611e-01 8.11559051e+00] [ 1.75546157e-03 9.99948036e-01 1.00420793e-02 4.52845455e-01] [-1.21006025e-01 -9.75589196e-03 9.92603831e-01 -4.69969620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955919999999999 meters 0.03739070038685675 Centerline is valid? [True, True] Translation: X:8.15, Y:0.47, Z:-0.47 [[ 9.92939692e-01 -7.98266032e-03 1.18351366e-01 8.14600901e+00] [ 6.86878506e-03 9.99928225e-01 9.81651573e-03 4.66047113e-01] [-1.18421233e-01 -8.93427801e-03 9.92923255e-01 -4.73601549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985919999999998 meters 0.036764651968171434 Centerline is valid? [True, True] Translation: X:8.18, Y:0.47, Z:-0.48 [[ 0.99311966 -0.00950984 0.11671721 8.17697539] [ 0.00843847 0.99991764 0.00966985 0.47362969] [-0.11679956 -0.0086184 0.99311811 -0.47658509] [ 0. 0. 0. 1. ]] SLAMing on 10.01592 meters 0.03600626630500958 Centerline is valid? [True, True] Translation: X:8.21, Y:0.49, Z:-0.48 [[ 0.99318336 -0.01230827 0.11591084 8.20742105] [ 0.01127175 0.99989045 0.00959367 0.4854168 ] [-0.11601622 -0.00822175 0.99321329 -0.47782867] [ 0. 0. 0. 1. ]] SLAMing on 10.045919999999999 meters 0.035221262630063546 Centerline is valid? [True, True] Translation: X:8.24, Y:0.49, Z:-0.48 [[ 9.93097236e-01 -1.29379172e-02 1.16578254e-01 8.23886433e+00] [ 1.18950357e-02 9.99882811e-01 9.63707956e-03 4.93054532e-01] [-1.16689276e-01 -8.18385459e-03 9.93134753e-01 -4.80445268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075919999999998 meters 0.035488330586208455 Centerline is valid? [True, True] Translation: X:8.27, Y:0.50, Z:-0.48 [[ 0.99280914 -0.01272653 0.11902964 8.27021897] [ 0.01164328 0.99988427 0.00979166 0.50008604] [-0.11914048 -0.00833535 0.99284242 -0.48451023] [ 0. 0. 0. 1. ]] SLAMing on 10.10592 meters 0.035835843284364094 Centerline is valid? [True, True] Translation: X:8.30, Y:0.51, Z:-0.49 [[ 0.99268656 -0.01111154 0.12020788 8.30106516] [ 0.01000071 0.99990157 0.00984024 0.51226152] [-0.12030539 -0.00856611 0.99269997 -0.48814186] [ 0. 0. 0. 1. ]] SLAMing on 10.135919999999999 meters 0.03563300420032464 Centerline is valid? [True, True] Translation: X:8.33, Y:0.52, Z:-0.49 [[ 0.99279937 -0.01092374 0.11928988 8.33252135] [ 0.00983424 0.99990442 0.00971803 0.51967083] [-0.11938463 -0.00847493 0.99281191 -0.49140657] [ 0. 0. 0. 1. ]] SLAMing on 10.165919999999998 meters 0.0340710440188121 Centerline is valid? [True, True] Translation: X:8.36, Y:0.53, Z:-0.49 [[ 9.92844105e-01 -1.31199177e-02 1.18694780e-01 8.36361021e+00] [ 1.20619354e-02 9.99880903e-01 9.62749759e-03 5.30626969e-01] [-1.18806956e-01 -8.12691546e-03 9.92884112e-01 -4.93738676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19592 meters 0.0338365724183478 Centerline is valid? [True, True] Translation: X:8.40, Y:0.54, Z:-0.50 [[ 9.92671132e-01 -1.60972437e-02 1.19770206e-01 8.39502187e+00] [ 1.50429765e-02 9.99839783e-01 9.70137915e-03 5.36333968e-01] [-1.19907183e-01 -7.82857863e-03 9.92754240e-01 -4.97559442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225919999999999 meters 0.03141761836066937 Centerline is valid? [True, True] Translation: X:8.43, Y:0.55, Z:-0.50 [[ 9.92210224e-01 -2.16175019e-02 1.22684778e-01 8.42541763e+00] [ 2.05541546e-02 9.99739462e-01 9.92647501e-03 5.45883491e-01] [-1.22867399e-01 -7.32746811e-03 9.92396045e-01 -5.01863424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25592 meters 0.03087194770574329 Centerline is valid? [True, True] Translation: X:8.46, Y:0.55, Z:-0.51 [[ 9.92040957e-01 -2.50309837e-02 1.23402548e-01 8.45693283e+00] [ 2.39826561e-02 9.99662623e-01 9.97355188e-03 5.49141434e-01] [-1.23610562e-01 -6.93465110e-03 9.92306575e-01 -5.05630471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285919999999999 meters 0.02962906512563859 Centerline is valid? [True, True] Translation: X:8.49, Y:0.55, Z:-0.51 [[ 9.91725746e-01 -2.94241965e-02 1.24957036e-01 8.48765425e+00] [ 2.83850691e-02 9.99546151e-01 1.00885759e-02 5.52923372e-01] [-1.25197173e-01 -6.45818640e-03 9.92110861e-01 -5.09841227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315919999999998 meters 0.02962906512563859 Centerline is valid? [True, True] Translation: X:8.52, Y:0.56, Z:-0.51 [[ 9.91739387e-01 -2.89548294e-02 1.24958419e-01 8.51984984e+00] [ 2.79141581e-02 9.99559586e-01 1.00714081e-02 5.55831460e-01] [-1.25195001e-01 -6.50010300e-03 9.92110861e-01 -5.13150621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34592 meters 0.027265855563578568 Centerline is valid? [True, True] Translation: X:8.55, Y:0.56, Z:-0.52 [[ 9.91681534e-01 -3.70888253e-02 1.23256460e-01 8.55057350e+00] [ 3.61450220e-02 9.99297663e-01 9.88528725e-03 5.62720834e-01] [-1.23536526e-01 -5.34794937e-03 9.92325615e-01 -5.16036497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375919999999999 meters 0.026395615250826277 Centerline is valid? [True, True] Translation: X:8.58, Y:0.57, Z:-0.52 [[ 9.91668141e-01 -4.04735230e-02 1.22295512e-01 8.58148926e+00] [ 3.95709202e-02 9.99168693e-01 9.80131021e-03 5.66166397e-01] [-1.22590540e-01 -4.88030113e-03 9.92445335e-01 -5.18949664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405919999999998 meters 0.024937221865856767 Centerline is valid? [True, True] Translation: X:8.61, Y:0.57, Z:-0.52 [[ 9.91713902e-01 -4.55654697e-02 1.20113797e-01 8.61309620e+00] [ 4.47332073e-02 9.98952673e-01 9.61758119e-03 5.65302897e-01] [-1.20426229e-01 -4.16481357e-03 9.92713543e-01 -5.21752009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43592 meters 0.024676870974086412 Centerline is valid? [True, True] Translation: X:8.65, Y:0.57, Z:-0.53 [[ 9.91362971e-01 -4.72023785e-02 1.22357651e-01 8.64500509e+00] [ 4.63539588e-02 9.98877271e-01 9.77286393e-03 5.65270243e-01] [-1.22681578e-01 -4.01669392e-03 9.92437956e-01 -5.25667424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465919999999999 meters 0.024540189933364848 Centerline is valid? [True, True] Translation: X:8.68, Y:0.57, Z:-0.53 [[ 9.91302013e-01 -4.76740352e-02 1.22668274e-01 8.67717763e+00] [ 4.68315007e-02 9.98855276e-01 9.74417161e-03 5.67072588e-01] [-1.22992397e-01 -3.91467759e-03 9.92399892e-01 -5.28706413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495919999999998 meters 0.023772948732704465 Centerline is valid? [True, True] Translation: X:8.71, Y:0.57, Z:-0.53 [[ 9.91517105e-01 -4.93275479e-02 1.20252334e-01 8.70908870e+00] [ 4.85363958e-02 9.98776226e-01 9.50098360e-03 5.68199583e-01] [-1.20573832e-01 -3.58377288e-03 9.92697893e-01 -5.30940931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52592 meters 0.024103231998273755 Centerline is valid? [True, True] Translation: X:8.74, Y:0.57, Z:-0.53 [[ 9.91572352e-01 -4.87998161e-02 1.20011866e-01 8.74157168e+00] [ 4.80145021e-02 9.98802140e-01 9.42830060e-03 5.68487419e-01] [-1.20328208e-01 -3.58653218e-03 9.92727686e-01 -5.34521725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555919999999999 meters 0.024116850651415722 Centerline is valid? [True, True] Translation: X:8.77, Y:0.57, Z:-0.54 [[ 9.91449635e-01 -4.66290489e-02 1.21874336e-01 8.77345164e+00] [ 4.58102353e-02 9.98904859e-01 9.51342651e-03 5.68735544e-01] [-1.22184468e-01 -3.84899125e-03 9.92499945e-01 -5.36756806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585919999999998 meters 0.02468885492794511 Centerline is valid? [True, True] Translation: X:8.80, Y:0.57, Z:-0.54 [[ 9.91476642e-01 -4.39406854e-02 1.22651068e-01 8.80473262e+00] [ 4.30969783e-02 9.99025490e-01 9.52472265e-03 5.71258608e-01] [-1.22950066e-01 -4.15764962e-03 9.92404149e-01 -5.40172905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61592 meters 0.026134739115826748 Centerline is valid? [True, True] Translation: X:8.84, Y:0.57, Z:-0.55 [[ 9.91491637e-01 -3.90228373e-02 1.24183540e-01 8.83624762e+00] [ 3.81226487e-02 9.99226782e-01 9.61783492e-03 5.72058918e-01] [-1.24462834e-01 -4.80179743e-03 9.92212651e-01 -5.45458526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645919999999998 meters 0.02713162735338091 Centerline is valid? [True, True] Translation: X:8.87, Y:0.57, Z:-0.55 [[ 9.91705990e-01 -3.52864115e-02 1.23588427e-01 8.86830910e+00] [ 3.43676314e-02 9.99363544e-01 9.55888349e-03 5.72803276e-01] [-1.23847067e-01 -5.23216053e-03 9.92287523e-01 -5.48617926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67592 meters 0.027943323286052892 Centerline is valid? [True, True] Translation: X:8.90, Y:0.57, Z:-0.55 [[ 9.91777814e-01 -3.16443137e-02 1.23997604e-01 8.90069241e+00] [ 3.06930036e-02 9.99482993e-01 9.57529230e-03 5.74952369e-01] [-1.24236500e-01 -5.69070355e-03 9.92236317e-01 -5.50615497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705919999999999 meters 0.02905283502125321 Centerline is valid? [True, True] Translation: X:8.93, Y:0.58, Z:-0.55 [[ 9.92414294e-01 -2.57869438e-02 1.20203584e-01 8.93245639e+00] [ 2.48522693e-02 9.99648167e-01 9.26863991e-03 5.79352984e-01] [-1.20400302e-01 -6.21099889e-03 9.92705994e-01 -5.52298976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735919999999998 meters 0.0302041102279037 Centerline is valid? [True, True] Translation: X:8.96, Y:0.58, Z:-0.56 [[ 9.92473414e-01 -2.33602891e-02 1.20211562e-01 8.96385523e+00] [ 2.24099047e-02 9.99706056e-01 9.25192127e-03 5.81787354e-01] [-1.20392354e-01 -6.48835625e-03 9.92705184e-01 -5.56859667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76592 meters 0.030481693599850847 Centerline is valid? [True, True] Translation: X:9.00, Y:0.59, Z:-0.56 [[ 9.92601406e-01 -2.18361669e-02 1.19438813e-01 8.99518353e+00] [ 2.08930586e-02 9.99739911e-01 9.14282594e-03 5.85329719e-01] [-1.19607392e-01 -6.57973978e-03 9.92799466e-01 -5.60245333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795919999999999 meters 0.030205913297382692 Centerline is valid? [True, True] Translation: X:9.03, Y:0.59, Z:-0.56 [[ 9.92694755e-01 -2.09357937e-02 1.18822626e-01 9.02788817e+00] [ 2.00020119e-02 9.99759017e-01 9.04588866e-03 5.92807374e-01] [-1.18983374e-01 -6.60311464e-03 9.92874290e-01 -5.62506550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825919999999998 meters 0.030952252756169755 Centerline is valid? [True, True] Translation: X:9.06, Y:0.60, Z:-0.57 [[ 9.92527794e-01 -1.94294611e-02 1.20461919e-01 9.05986671e+00] [ 1.84653989e-02 9.99787957e-01 9.11424597e-03 5.96380903e-01] [-1.20613461e-01 -6.82176506e-03 9.92676109e-01 -5.66033871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85592 meters 0.03149375485356728 Centerline is valid? [True, True] Translation: X:9.09, Y:0.60, Z:-0.57 [[ 9.92447661e-01 -1.65310140e-02 1.21549852e-01 9.09095569e+00] [ 1.55339066e-02 9.99837508e-01 9.14635892e-03 5.99569239e-01] [-1.21681300e-01 -7.18913847e-03 9.92543187e-01 -5.69848709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885919999999999 meters 0.03209197508364339 Centerline is valid? [True, True] Translation: X:9.12, Y:0.60, Z:-0.57 [[ 9.92572099e-01 -1.47312304e-02 1.20762657e-01 9.12233003e+00] [ 1.37394455e-02 9.99864732e-01 9.04126742e-03 6.01699605e-01] [-1.20879511e-01 -7.31489783e-03 9.92640235e-01 -5.73838507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915919999999998 meters 0.032275501961976254 Centerline is valid? [True, True] Translation: X:9.15, Y:0.60, Z:-0.58 [[ 9.92808839e-01 -1.33181938e-02 1.18967369e-01 9.15438623e+00] [ 1.23512416e-02 9.99884453e-01 8.86153202e-03 6.04587829e-01] [-1.19071643e-01 -7.32841260e-03 9.92858619e-01 -5.76708891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94592 meters 0.03252646061095369 Centerline is valid? [True, True] Translation: X:9.19, Y:0.61, Z:-0.58 [[ 9.92904366e-01 -1.26033228e-02 1.18245830e-01 9.18704038e+00] [ 1.16489542e-02 9.99893787e-01 8.75875931e-03 6.08636643e-01] [-1.18343660e-01 -7.31917010e-03 9.92945722e-01 -5.80613125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975919999999999 meters 0.03237229571424321 Centerline is valid? [True, True] Translation: X:9.22, Y:0.61, Z:-0.58 [[ 9.92877674e-01 -1.34938895e-02 1.18371618e-01 9.21885563e+00] [ 1.25502659e-02 9.99883276e-01 8.71353838e-03 6.13437247e-01] [-1.18475380e-01 -7.16588244e-03 9.92931133e-01 -5.84097232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00592 meters 0.03161217545682758 Centerline is valid? [True, True] Translation: X:9.25, Y:0.62, Z:-0.59 [[ 9.92884491e-01 -1.41768088e-02 1.18234535e-01 9.24970806e+00] [ 1.32459440e-02 9.99874809e-01 8.65518356e-03 6.23808963e-01] [-1.18342436e-01 -7.02746950e-03 9.92947976e-01 -5.87512837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035919999999999 meters 0.03133144412113451 Centerline is valid? [True, True] Translation: X:9.28, Y:0.63, Z:-0.59 [[ 9.92847260e-01 -1.43145641e-02 1.18530218e-01 9.28075601e+00] [ 1.33857637e-02 9.99873178e-01 8.62843198e-03 6.30658965e-01] [-1.18638698e-01 -6.98009756e-03 9.92912956e-01 -5.91095394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065919999999998 meters 0.031544612919078424 Centerline is valid? [True, True] Translation: X:9.31, Y:0.64, Z:-0.59 [[ 9.92765359e-01 -1.34163066e-02 1.19318671e-01 9.31253135e+00] [ 1.24745018e-02 9.99884891e-01 8.63661140e-03 6.35790820e-01] [-1.19420808e-01 -7.08568763e-03 9.92818444e-01 -5.94687767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09592 meters 0.031402191671889464 Centerline is valid? [True, True] Translation: X:9.34, Y:0.65, Z:-0.60 [[ 9.92543442e-01 -1.25097592e-02 1.21247772e-01 9.34420538e+00] [ 1.15365168e-02 9.99895381e-01 8.72557389e-03 6.45240453e-01] [-1.21344242e-01 -7.26173418e-03 9.92583922e-01 -5.98128691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125919999999999 meters 0.030488344770236125 Centerline is valid? [True, True] Translation: X:9.38, Y:0.65, Z:-0.60 [[ 9.92455558e-01 -1.32958539e-02 1.21881848e-01 9.37549788e+00] [ 1.23237428e-02 9.99885982e-01 8.72624588e-03 6.51950555e-01] [-1.21983974e-01 -7.15837068e-03 9.92506256e-01 -6.01529546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155919999999998 meters 0.030376320620374632 Centerline is valid? [True, True] Translation: X:9.41, Y:0.66, Z:-0.61 [[ 9.92290831e-01 -1.73377600e-02 1.22712297e-01 9.40634219e+00] [ 1.63850665e-02 9.99827306e-01 8.76859607e-03 6.58392802e-01] [-1.22843133e-01 -6.69034833e-03 9.92403549e-01 -6.06797015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18592 meters 0.029233737354681617 Centerline is valid? [True, True] Translation: X:9.44, Y:0.66, Z:-0.61 [[ 9.92061139e-01 -2.11907815e-02 1.23958246e-01 9.43695465e+00] [ 2.02497146e-02 9.99755810e-01 8.84694615e-03 6.63018439e-01] [-1.24115450e-01 -6.26659238e-03 9.92247996e-01 -6.10716344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215919999999999 meters 0.027285978097905332 Centerline is valid? [True, True] Translation: X:9.47, Y:0.67, Z:-0.61 [[ 9.92298453e-01 -2.56464764e-02 1.21185964e-01 9.46819904e+00] [ 2.47813424e-02 9.99655551e-01 8.64089139e-03 6.69145843e-01] [-1.21365830e-01 -5.57119230e-03 9.92592211e-01 -6.12423541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245919999999998 meters 0.025521126498017774 Centerline is valid? [True, True] Translation: X:9.50, Y:0.68, Z:-0.62 [[ 9.91925300e-01 -3.54718233e-02 1.21761855e-01 9.49924555e+00] [ 3.46735599e-02 9.99361090e-01 8.66920681e-03 6.75510636e-01] [-1.21991573e-01 -4.37728857e-03 9.92521484e-01 -6.16631626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27592 meters 0.024329534044853454 Centerline is valid? [True, True] Translation: X:9.53, Y:0.68, Z:-0.62 [[ 9.91565966e-01 -4.05668784e-02 1.23090472e-01 9.53054614e+00] [ 3.97910682e-02 9.99169661e-01 8.75555257e-03 6.79508784e-01] [-1.23343451e-01 -3.78380656e-03 9.92356829e-01 -6.20971631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305919999999999 meters 0.022912590450351558 Centerline is valid? [True, True] Translation: X:9.56, Y:0.68, Z:-0.63 [[ 9.90653492e-01 -5.11489945e-02 1.26449356e-01 9.56169951e+00] [ 5.04171966e-02 9.98687844e-01 8.98309913e-03 6.81685914e-01] [-1.26742911e-01 -2.52391647e-03 9.91932389e-01 -6.25697599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335919999999998 meters 0.022087176946361607 Centerline is valid? [True, True] Translation: X:9.59, Y:0.68, Z:-0.63 [[ 9.90014367e-01 -5.69108037e-02 1.28967880e-01 9.59323795e+00] [ 5.62005124e-02 9.98377638e-01 9.14304476e-03 6.82661772e-01] [-1.29278986e-01 -1.80368472e-03 9.91606621e-01 -6.28864766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36592 meters 0.021445483008256456 Centerline is valid? [True, True] Translation: X:9.63, Y:0.68, Z:-0.63 [[ 9.89131264e-01 -6.78533138e-02 1.30442595e-01 9.62559178e+00] [ 6.72282980e-02 9.97695255e-01 9.19421965e-03 6.79580475e-01] [-1.30765816e-01 -3.24856444e-04 9.91413232e-01 -6.30901341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395919999999998 meters 0.021434231739776214 Centerline is valid? [True, True] Translation: X:9.66, Y:0.68, Z:-0.63 [[ 9.88840019e-01 -7.30786647e-02 1.29826525e-01 9.65812706e+00] [ 7.25097260e-02 9.97326097e-01 9.11016200e-03 6.78775670e-01] [-1.30145140e-01 4.05192978e-04 9.91494871e-01 -6.34346411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42592 meters 0.021608762778980932 Centerline is valid? [True, True] Translation: X:9.69, Y:0.67, Z:-0.64 [[ 9.88406622e-01 -8.18495364e-02 1.27878859e-01 9.69100669e+00] [ 8.13794031e-02 9.96643407e-01 8.90577173e-03 6.71741762e-01] [-1.28178555e-01 1.60418147e-03 9.91749809e-01 -6.38455486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455919999999999 meters 0.021706282726068834 Centerline is valid? [True, True] Translation: X:9.72, Y:0.67, Z:-0.64 [[ 9.88258072e-01 -8.43146566e-02 1.27424575e-01 9.72312477e+00] [ 8.38767884e-02 9.96437206e-01 8.80793766e-03 6.68806757e-01] [-1.27713226e-01 1.98344862e-03 9.91809154e-01 -6.41640535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485919999999998 meters 0.021538682520976196 Centerline is valid? [True, True] Translation: X:9.76, Y:0.66, Z:-0.64 [[ 9.88163706e-01 -8.34685678e-02 1.28706987e-01 9.75600899e+00] [ 8.30226250e-02 9.96508493e-01 8.83551053e-03 6.58245480e-01] [-1.28995094e-01 1.95466114e-03 9.91643305e-01 -6.43045408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51592 meters 0.02137564747425636 Centerline is valid? [True, True] Translation: X:9.79, Y:0.65, Z:-0.65 [[ 9.88260667e-01 -8.14836155e-02 1.29233414e-01 9.78883670e+00] [ 8.10253056e-02 9.96673117e-01 8.80891766e-03 6.53793727e-01] [-1.29521252e-01 1.76566999e-03 9.91575074e-01 -6.45850469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545919999999999 meters 0.021332012705868722 Centerline is valid? [True, True] Translation: X:9.82, Y:0.65, Z:-0.65 [[ 9.88611119e-01 -7.81483616e-02 1.28611387e-01 9.82114792e+00] [ 7.76750552e-02 9.96940772e-01 8.69957780e-03 6.49140645e-01] [-1.28897794e-01 1.38939727e-03 9.91656911e-01 -6.49526009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575919999999998 meters 0.02071348681382348 Centerline is valid? [True, True] Translation: X:9.85, Y:0.64, Z:-0.65 [[ 9.89791673e-01 -7.12397782e-02 1.23439611e-01 9.85341282e+00] [ 7.07563471e-02 9.97459085e-01 8.30139328e-03 6.36238905e-01] [-1.23717351e-01 5.17486012e-04 9.92317363e-01 -6.54174652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60592 meters 0.02073119372279306 Centerline is valid? [True, True] Translation: X:9.89, Y:0.63, Z:-0.66 [[ 9.90461524e-01 -6.64283293e-02 1.20719701e-01 9.88568069e+00] [ 6.59327385e-02 9.97791197e-01 8.09943640e-03 6.31076190e-01] [-1.20991087e-01 -6.27996236e-05 9.92653592e-01 -6.56716707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635919999999999 meters 0.020974619513237525 Centerline is valid? [True, True] Translation: X:9.92, Y:0.62, Z:-0.66 [[ 9.90847552e-01 -5.97139356e-02 1.21059388e-01 9.91808633e+00] [ 5.91720250e-02 9.98215184e-01 8.06960241e-03 6.19958765e-01] [-1.21325187e-01 -8.32416679e-04 9.92612465e-01 -6.58816467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665919999999998 meters 0.021416393105846223 Centerline is valid? [True, True] Translation: X:9.95, Y:0.62, Z:-0.66 [[ 9.90954252e-01 -5.59218980e-02 1.21993492e-01 9.95045357e+00] [ 5.53473052e-02 9.98434337e-01 8.09629913e-03 6.16931340e-01] [-1.22255252e-01 -1.27105101e-03 9.92497878e-01 -6.62315048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69592 meters 0.02171975820986663 Centerline is valid? [True, True] Translation: X:9.98, Y:0.61, Z:-0.67 [[ 9.91072277e-01 -5.15297329e-02 1.22965151e-01 9.98217790e+00] [ 5.09191125e-02 9.98669889e-01 8.10531944e-03 6.13544534e-01] [-1.23219259e-01 -1.77168104e-03 9.92377889e-01 -6.65925137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725919999999999 meters 0.02272741830280345 Centerline is valid? [True, True] Translation: X:10.02, Y:0.60, Z:-0.67 [[ 9.91530812e-01 -4.51654969e-02 1.21765048e-01 1.00151831e+01] [ 4.45252916e-02 9.98976426e-01 7.97493267e-03 6.03670349e-01] [-1.22000604e-01 -2.48576719e-03 9.92526913e-01 -6.69498577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75592 meters 0.022986364117095873 Centerline is valid? [True, True] Translation: X:10.05, Y:0.60, Z:-0.67 [[ 9.91918920e-01 -4.18035127e-02 1.19788656e-01 1.00475614e+01] [ 4.11660188e-02 9.99121932e-01 7.79250347e-03 6.00800029e-01] [-1.20009228e-01 -2.79830954e-03 9.92768832e-01 -6.72307434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785919999999999 meters 0.02422557774617244 Centerline is valid? [True, True] Translation: X:10.08, Y:0.59, Z:-0.68 [[ 9.92148651e-01 -3.69689835e-02 1.19475309e-01 1.00796408e+01] [ 3.63062893e-02 9.99310895e-01 7.71935321e-03 5.92751152e-01] [-1.19678354e-01 -3.32104075e-03 9.92807163e-01 -6.76867683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815919999999998 meters 0.024754172138507 Centerline is valid? [True, True] Translation: X:10.11, Y:0.59, Z:-0.68 [[ 9.92288724e-01 -3.42696472e-02 1.19116241e-01 1.01118874e+01] [ 3.35978852e-02 9.99406201e-01 7.64375399e-03 5.89773562e-01] [-1.19307458e-01 -3.58275712e-03 9.92850892e-01 -6.80373174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84592 meters 0.025641472944752046 Centerline is valid? [True, True] Translation: X:10.14, Y:0.58, Z:-0.68 [[ 9.92447023e-01 -2.98297060e-02 1.18991996e-01 1.01444305e+01] [ 2.91330776e-02 9.99546725e-01 7.58999609e-03 5.81558119e-01] [-1.19164467e-01 -4.06606597e-03 9.92866203e-01 -6.84856222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875919999999999 meters 0.026426600562805817 Centerline is valid? [True, True] Translation: X:10.18, Y:0.58, Z:-0.69 [[ 9.92362094e-01 -2.71608906e-02 1.20331872e-01 1.01760747e+01] [ 2.64312810e-02 9.99621318e-01 7.65552734e-03 5.78534035e-01] [-1.20494236e-01 -4.41652962e-03 9.92704202e-01 -6.88749476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905919999999998 meters 0.026950602207079625 Centerline is valid? [True, True] Translation: X:10.21, Y:0.58, Z:-0.69 [[ 9.92419192e-01 -2.43517097e-02 1.20462201e-01 1.02079900e+01] [ 2.36057389e-02 9.99692336e-01 7.61590922e-03 5.75982891e-01] [-1.20610600e-01 -4.71457521e-03 9.92688700e-01 -6.92091747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93592 meters 0.027458055120212464 Centerline is valid? [True, True] Translation: X:10.24, Y:0.57, Z:-0.69 [[ 9.92460105e-01 -2.07830782e-02 1.20793231e-01 1.02400736e+01] [ 2.00127772e-02 9.99770938e-01 7.58680422e-03 5.69502160e-01] [-1.20923239e-01 -5.11219249e-03 9.92648697e-01 -6.94602871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965919999999999 meters 0.02839843999629462 Centerline is valid? [True, True] Translation: X:10.27, Y:0.57, Z:-0.70 [[ 9.92389505e-01 -1.86421095e-02 1.21719112e-01 1.02723617e+01] [ 1.78497709e-02 9.99811819e-01 7.59680324e-03 5.66165873e-01] [-1.21837827e-01 -5.36632955e-03 9.92535514e-01 -6.98675971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995919999999998 meters 0.029473784997943394 Centerline is valid? [True, True] Translation: X:10.30, Y:0.56, Z:-0.70 [[ 9.92827515e-01 -1.47551712e-02 1.18641524e-01 1.03049233e+01] [ 1.39808465e-02 9.99875203e-01 7.35628343e-03 5.59660340e-01] [-1.18735261e-01 -5.64481165e-03 9.92909902e-01 -7.00778645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02592 meters 0.03056779464092693 Centerline is valid? [True, True] Translation: X:10.34, Y:0.56, Z:-0.70 [[ 9.92766503e-01 -1.22546277e-02 1.19434059e-01 1.03372853e+01] [ 1.14571908e-02 9.99907269e-01 7.36118374e-03 5.58834582e-01] [-1.19513193e-01 -5.93955784e-03 9.92814846e-01 -7.04975278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055919999999999 meters 0.03130751952620847 Centerline is valid? [True, True] Translation: X:10.37, Y:0.56, Z:-0.71 [[ 9.92928437e-01 -8.86354322e-03 1.18383092e-01 1.03692407e+01] [ 8.05786289e-03 9.99941015e-01 7.28262114e-03 5.58787348e-01] [-1.18440659e-01 -6.27720691e-03 9.92941291e-01 -7.08121073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085919999999998 meters 0.03266017907569666 Centerline is valid? [True, True] Translation: X:10.40, Y:0.56, Z:-0.71 [[ 9.93035473e-01 -4.51221003e-03 1.17729305e-01 1.03998647e+01] [ 3.68690198e-03 9.99967088e-01 7.22706269e-03 5.58087435e-01] [-1.17758040e-01 -6.74267321e-03 9.93019426e-01 -7.11178585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11592 meters 0.035721208361733994 Centerline is valid? [True, True] Translation: X:10.43, Y:0.55, Z:-0.71 [[ 9.93261989e-01 3.95753781e-03 1.15822964e-01 1.04315637e+01] [-4.81062906e-03 9.99963316e-01 7.08687052e-03 5.52686058e-01] [-1.15790669e-01 -7.59630042e-03 9.93244591e-01 -7.13347378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145919999999998 meters 0.0360653294216716 Centerline is valid? [True, True] Translation: X:10.46, Y:0.56, Z:-0.71 [[ 9.93564218e-01 9.43378730e-03 1.12876696e-01 1.04628703e+01] [-1.02781400e-02 9.99923367e-01 6.90069572e-03 5.55260555e-01] [-1.12802947e-01 -8.01644683e-03 9.93585040e-01 -7.14575341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17592 meters 0.03698713751751092 Centerline is valid? [True, True] Translation: X:10.49, Y:0.56, Z:-0.72 [[ 9.93581675e-01 1.08706859e-02 1.12593442e-01 1.04941867e+01] [-1.17184581e-02 9.99907733e-01 6.87040291e-03 5.58706804e-01] [-1.12508367e-01 -8.14572796e-03 9.93617388e-01 -7.17942123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205919999999999 meters 0.037377699355980024 Centerline is valid? [True, True] Translation: X:10.53, Y:0.56, Z:-0.72 [[ 9.93502615e-01 1.13379183e-02 1.13243128e-01 1.05267112e+01] [-1.21936982e-02 9.99902073e-01 6.86719842e-03 5.63161973e-01] [-1.13154178e-01 -8.20343212e-03 9.93543575e-01 -7.23060068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235919999999998 meters 0.037377699355980024 Centerline is valid? [True, True] Translation: X:10.56, Y:0.57, Z:-0.73 [[ 9.93497098e-01 1.17822027e-02 1.13246174e-01 1.05589297e+01] [-1.26351086e-02 9.99896939e-01 6.81661299e-03 5.65452218e-01] [-1.13154188e-01 -8.20316293e-03 9.93543576e-01 -7.26379917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26592 meters 0.03643510709919316 Centerline is valid? [True, True] Translation: X:10.59, Y:0.57, Z:-0.73 [[ 9.93325637e-01 9.85633631e-03 1.14921852e-01 1.05912959e+01] [-1.07165353e-02 9.99918979e-01 6.86963812e-03 5.69488319e-01] [-1.14844832e-01 -8.05535175e-03 9.93350782e-01 -7.29086313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295919999999999 meters 0.03611811425325664 Centerline is valid? [True, True] Translation: X:10.62, Y:0.57, Z:-0.73 [[ 9.93192414e-01 8.71437900e-03 1.16158896e-01 1.06227210e+01] [-9.58324154e-03 9.99930110e-01 6.92355785e-03 5.72382835e-01] [-1.16090443e-01 -7.98960388e-03 9.93206512e-01 -7.31925982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325919999999998 meters 0.03510983547804873 Centerline is valid? [True, True] Translation: X:10.65, Y:0.58, Z:-0.74 [[ 9.93044472e-01 5.62458513e-03 1.17605447e-01 1.06539323e+01] [-6.48887341e-03 9.99954674e-01 6.96744663e-03 5.76808031e-01] [-1.17560928e-01 -7.68211121e-03 9.93035958e-01 -7.35508958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35592 meters 0.03413075982835352 Centerline is valid? [True, True] Translation: X:10.69, Y:0.58, Z:-0.74 [[ 9.93127141e-01 4.04208388e-03 1.16970692e-01 1.06855623e+01] [-4.88394870e-03 9.99964188e-01 6.91149952e-03 5.80115321e-01] [-1.16938566e-01 -7.43527661e-03 9.93111317e-01 -7.38523135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385919999999999 meters 0.034357846132020343 Centerline is valid? [True, True] Translation: X:10.72, Y:0.58, Z:-0.74 [[ 9.93079149e-01 3.13750217e-03 1.17405112e-01 1.07170139e+01] [-3.97391353e-03 9.99968362e-01 6.89073711e-03 5.81922915e-01] [-1.17379778e-01 -7.30960511e-03 9.93060198e-01 -7.42879064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415919999999998 meters 0.03268050189645974 Centerline is valid? [True, True] Translation: X:10.75, Y:0.59, Z:-0.75 [[ 9.93384173e-01 3.57286039e-04 1.14837965e-01 1.07485020e+01] [-1.13403825e-03 9.99976921e-01 6.69863715e-03 5.86863527e-01] [-1.14832921e-01 -6.78455076e-03 9.93361651e-01 -7.47062971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44592 meters 0.03250326086353737 Centerline is valid? [True, True] Translation: X:10.78, Y:0.59, Z:-0.75 [[ 9.93397686e-01 -1.33344362e-04 1.14721491e-01 1.07805459e+01] [-6.36369106e-04 9.99977534e-01 6.67275990e-03 5.88758474e-01] [-1.14719803e-01 -6.70170946e-03 9.93375283e-01 -7.50798802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475919999999999 meters 0.03263065358101481 Centerline is valid? [True, True] Translation: X:10.81, Y:0.59, Z:-0.75 [[ 9.93503103e-01 3.95038102e-04 1.13804341e-01 1.08137113e+01] [-1.15057193e-03 9.99977734e-01 6.57327717e-03 5.86897115e-01] [-1.13799211e-01 -6.66151135e-03 9.93481436e-01 -7.52931466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50592 meters 0.031766284468120805 Centerline is valid? [True, True] Translation: X:10.85, Y:0.59, Z:-0.76 [[ 9.93555501e-01 -7.26367859e-04 1.13344334e-01 1.08461806e+01] [-1.02809153e-05 9.99978885e-01 6.49849142e-03 5.88110680e-01] [-1.13346661e-01 -6.45777719e-03 9.93534515e-01 -7.55592028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535919999999999 meters 0.03180710303927858 Centerline is valid? [True, True] Translation: X:10.88, Y:0.59, Z:-0.76 [[ 9.93630970e-01 -8.37495099e-04 1.12680049e-01 1.08776627e+01] [ 1.12372543e-04 9.99979247e-01 6.44143205e-03 5.89715858e-01] [-1.12683105e-01 -6.38774423e-03 9.93610444e-01 -7.57947307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565919999999998 meters 0.03152353829838028 Centerline is valid? [True, True] Translation: X:10.91, Y:0.59, Z:-0.76 [[ 9.93524473e-01 -7.44643114e-04 1.13615874e-01 1.09099465e+01] [ 1.21154636e-05 9.99979212e-01 6.44796010e-03 5.91679830e-01] [-1.13618314e-01 -6.40482966e-03 9.93503828e-01 -7.62291079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59592 meters 0.0321799631149217 Centerline is valid? [True, True] Translation: X:10.94, Y:0.59, Z:-0.76 [[ 9.93605148e-01 3.92497512e-04 1.12909949e-01 1.09416967e+01] [-1.11736132e-03 9.99979172e-01 6.35662871e-03 5.91555595e-01] [-1.12905102e-01 -6.44214022e-03 9.93584892e-01 -7.64602080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625919999999999 meters 0.03211691718019363 Centerline is valid? [True, True] Translation: X:10.97, Y:0.59, Z:-0.77 [[ 9.93643135e-01 2.11160624e-03 1.12556036e-01 1.09740254e+01] [-2.83794082e-03 9.99976170e-01 6.29326088e-03 5.92186425e-01] [-1.12540064e-01 -6.57268284e-03 9.93625449e-01 -7.68366853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655919999999998 meters 0.03260259746713762 Centerline is valid? [True, True] Translation: X:11.01, Y:0.59, Z:-0.77 [[ 9.93485050e-01 3.37431628e-03 1.13912550e-01 1.10056551e+01] [-4.12353371e-03 9.99971386e-01 6.34214015e-03 5.92970502e-01] [-1.13887891e-01 -6.77054367e-03 9.93470537e-01 -7.72847281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68592 meters 0.03338001537764014 Centerline is valid? [True, True] Translation: X:11.04, Y:0.59, Z:-0.78 [[ 9.93193307e-01 4.77984839e-03 1.16379582e-01 1.10369245e+01] [-5.56609953e-03 9.99963824e-01 6.43186131e-03 5.93445745e-01] [-1.16344628e-01 -7.03586194e-03 9.93183983e-01 -7.76827906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715919999999999 meters 0.032923276973378435 Centerline is valid? [True, True] Translation: X:11.07, Y:0.59, Z:-0.78 [[ 9.92938263e-01 3.83772087e-03 1.18570136e-01 1.10691862e+01] [-4.64195925e-03 9.99968053e-01 6.50737795e-03 5.94676498e-01] [-1.18541375e-01 -7.01182230e-03 9.92924356e-01 -7.80332585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745919999999998 meters 0.03241961308570408 Centerline is valid? [True, True] Translation: X:11.10, Y:0.60, Z:-0.78 [[ 9.92959953e-01 2.24124532e-03 1.18429343e-01 1.11009518e+01] [-3.02663480e-03 9.99974603e-01 6.45227552e-03 5.96725356e-01] [-1.18411874e-01 -6.76529357e-03 9.92941518e-01 -7.82855768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77592 meters 0.030604813965963564 Centerline is valid? [True, True] Translation: X:11.13, Y:0.60, Z:-0.79 [[ 9.92903107e-01 -4.26382668e-03 1.18849655e-01 1.11318605e+01] [ 3.52420341e-03 9.99973100e-01 6.43266033e-03 6.00991044e-01] [-1.18873886e-01 -5.96815806e-03 9.92891424e-01 -7.86959752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805919999999999 meters 0.02994830519202657 Centerline is valid? [True, True] Translation: X:11.16, Y:0.60, Z:-0.79 [[ 9.92840479e-01 -6.30391961e-03 1.19281362e-01 1.11636767e+01] [ 5.57546722e-03 9.99963721e-01 6.43974339e-03 6.03085027e-01] [-1.19317630e-01 -5.72858859e-03 9.92839608e-01 -7.91354721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835919999999998 meters 0.02813655716461152 Centerline is valid? [True, True] Translation: X:11.19, Y:0.60, Z:-0.80 [[ 9.92669675e-01 -1.11816650e-02 1.20340715e-01 1.11943887e+01] [ 1.04810062e-02 9.99924246e-01 6.45368422e-03 6.03217664e-01] [-1.20403762e-01 -5.14508484e-03 9.92711671e-01 -7.96237677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86592 meters 0.027953214060138072 Centerline is valid? [True, True] Translation: X:11.23, Y:0.60, Z:-0.80 [[ 9.92599776e-01 -1.23536007e-02 1.20801794e-01 1.12262194e+01] [ 1.16582262e-02 9.99911164e-01 6.46141557e-03 6.02770370e-01] [-1.20870884e-01 -5.00526501e-03 9.92655618e-01 -8.00446018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895919999999998 meters 0.027749124432628183 Centerline is valid? [True, True] Translation: X:11.26, Y:0.60, Z:-0.80 [[ 9.92544696e-01 -1.35865813e-02 1.21121559e-01 1.12582281e+01] [ 1.29027891e-02 9.99896094e-01 6.42804446e-03 6.02542050e-01] [-1.21196308e-01 -4.81731551e-03 9.92616869e-01 -8.03912549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92592 meters 0.02644824830465043 Centerline is valid? [True, True] Translation: X:11.29, Y:0.60, Z:-0.81 [[ 9.92478801e-01 -1.71196802e-02 1.21213635e-01 1.12908393e+01] [ 1.64666285e-02 9.99844014e-01 6.38731767e-03 5.99223164e-01] [-1.21304076e-01 -4.34329749e-03 9.92605892e-01 -8.06516701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955919999999999 meters 0.02618438233528767 Centerline is valid? [True, True] Translation: X:11.32, Y:0.60, Z:-0.81 [[ 9.92418795e-01 -1.89150581e-02 1.21437871e-01 1.13227117e+01] [ 1.82761874e-02 9.99812668e-01 6.37266435e-03 5.97240116e-01] [-1.21535661e-01 -4.10493060e-03 9.92578578e-01 -8.09905055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985919999999998 meters 0.02581476559524825 Centerline is valid? [True, True] Translation: X:11.35, Y:0.59, Z:-0.81 [[ 9.92509157e-01 -2.01320691e-02 1.20500099e-01 1.13544568e+01] [ 1.95181681e-02 9.99789824e-01 6.27283556e-03 5.92161594e-01] [-1.20601058e-01 -3.87390553e-03 9.92693496e-01 -8.13386812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01592 meters 0.025635169842616854 Centerline is valid? [True, True] Translation: X:11.39, Y:0.59, Z:-0.82 [[ 9.92599734e-01 -2.06418984e-02 1.19664869e-01 1.13867211e+01] [ 2.00462370e-02 9.99779957e-01 6.17948082e-03 5.91910658e-01] [-1.19766094e-01 -3.73492069e-03 9.92795111e-01 -8.17070327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045919999999999 meters 0.025409208545510303 Centerline is valid? [True, True] Translation: X:11.42, Y:0.59, Z:-0.82 [[ 9.92743843e-01 -2.06440194e-02 1.18463017e-01 1.14186871e+01] [ 2.00662493e-02 9.99780238e-01 6.06803023e-03 5.86733322e-01] [-1.18562252e-01 -3.64689121e-03 9.92939924e-01 -8.20851706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075919999999998 meters 0.025497884071374412 Centerline is valid? [True, True] Translation: X:11.45, Y:0.58, Z:-0.82 [[ 9.92786851e-01 -2.04760909e-02 1.18131279e-01 1.14515381e+01] [ 1.99064052e-02 9.99783841e-01 6.00050689e-03 5.82985134e-01] [-1.18228610e-01 -3.60565524e-03 9.92979856e-01 -8.24480546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10592 meters 0.02617528384370746 Centerline is valid? [True, True] Translation: X:11.48, Y:0.57, Z:-0.83 [[ 9.92670020e-01 -1.69932245e-02 1.19655595e-01 1.14840797e+01] [ 1.63903322e-02 9.99847541e-01 6.02096595e-03 5.73569683e-01] [-1.19739668e-01 -4.01563744e-03 9.92797203e-01 -8.26795183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135919999999999 meters 0.027112456021749182 Centerline is valid? [True, True] Translation: X:11.52, Y:0.57, Z:-0.83 [[ 9.92549441e-01 -1.39769072e-02 1.21038232e-01 1.15156862e+01] [ 1.33431869e-02 9.99892705e-01 6.04465897e-03 5.70377466e-01] [-1.21109731e-01 -4.38458713e-03 9.92629442e-01 -8.30235736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165919999999998 meters 0.02784562784784616 Centerline is valid? [True, True] Translation: X:11.55, Y:0.57, Z:-0.83 [[ 9.92643909e-01 -1.01842945e-02 1.20641408e-01 1.15481459e+01] [ 9.52977085e-03 9.99936583e-01 6.00108745e-03 5.67796142e-01] [-1.20694875e-01 -4.80725793e-03 9.92678013e-01 -8.33661764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19592 meters 0.030678466838592388 Centerline is valid? [True, True] Translation: X:11.58, Y:0.56, Z:-0.84 [[ 9.92893975e-01 -5.57855319e-04 1.19001025e-01 1.15797150e+01] [-1.46124688e-04 9.99982543e-01 5.90693992e-03 5.58041334e-01] [-1.19002242e-01 -5.88235405e-03 9.92876560e-01 -8.35134117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225919999999999 meters 0.031775816247173856 Centerline is valid? [True, True] Translation: X:11.61, Y:0.56, Z:-0.84 [[ 9.92904684e-01 4.20801972e-03 1.18838470e-01 1.16107859e+01] [-4.94301843e-03 9.99970432e-01 5.89077633e-03 5.55488662e-01] [-1.18810168e-01 -6.43640016e-03 9.92896126e-01 -8.38073671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255919999999998 meters 0.03515431756601237 Centerline is valid? [True, True] Translation: X:11.64, Y:0.55, Z:-0.84 [[ 9.92960992e-01 1.42896262e-02 1.17576675e-01 1.16419737e+01] [-1.50765111e-02 9.99869487e-01 5.80579664e-03 5.49821900e-01] [-1.17478367e-01 -7.53757563e-03 9.93046836e-01 -8.40804660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285919999999999 meters 0.03799135938863601 Centerline is valid? [True, True] Translation: X:11.67, Y:0.55, Z:-0.85 [[ 9.92791885e-01 1.92769552e-02 1.18290625e-01 1.16732296e+01] [-2.01071037e-02 9.99780843e-01 5.82834726e-03 5.47420871e-01] [-1.18152348e-01 -8.16481773e-03 9.92961912e-01 -8.45245699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315919999999998 meters 0.03999514844598039 Centerline is valid? [True, True] Translation: X:11.70, Y:0.55, Z:-0.85 [[ 9.92796369e-01 2.34863810e-02 1.17489406e-01 1.17044909e+01] [-2.43305995e-02 9.99687395e-01 5.75619398e-03 5.47047516e-01] [-1.17317486e-01 -8.57331616e-03 9.93057453e-01 -8.48522803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34592 meters 0.04164905702087985 Centerline is valid? [True, True] Translation: X:11.74, Y:0.55, Z:-0.85 [[ 9.92730716e-01 2.94375198e-02 1.16701151e-01 1.17355445e+01] [-3.03097774e-02 9.99524265e-01 5.70629987e-03 5.50616644e-01] [-1.16477653e-01 -9.20200506e-03 9.93150683e-01 -8.51368528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375919999999999 meters 0.041705552754866884 Centerline is valid? [True, True] Translation: X:11.77, Y:0.55, Z:-0.85 [[ 9.92668727e-01 3.11674045e-02 1.16779239e-01 1.17672594e+01] [-3.20510988e-02 9.99469998e-01 5.69654147e-03 5.54403701e-01] [-1.16539799e-01 -9.39768150e-03 9.93141560e-01 -8.54163165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405919999999998 meters 0.044203313311567946 Centerline is valid? [True, True] Translation: X:11.80, Y:0.56, Z:-0.86 [[ 9.92795175e-01 3.54046156e-02 1.14473811e-01 1.17982835e+01] [-3.62767242e-02 9.99326407e-01 5.54353412e-03 5.57796551e-01] [-1.14200435e-01 -9.65632879e-03 9.93410799e-01 -8.57504555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43592 meters 0.04490555419387769 Centerline is valid? [True, True] Translation: X:11.83, Y:0.56, Z:-0.86 [[ 9.92686524e-01 3.75982234e-02 1.14716341e-01 1.18295244e+01] [-3.84848782e-02 9.99243917e-01 5.52339707e-03 5.63270384e-01] [-1.14421936e-01 -9.89784623e-03 9.93382934e-01 -8.60549532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465919999999999 meters 0.046509790694768516 Centerline is valid? [True, True] Translation: X:11.86, Y:0.57, Z:-0.86 [[ 9.92350807e-01 4.28484606e-02 1.15775148e-01 1.18603242e+01] [-4.37859012e-02 9.99025439e-01 5.56485741e-03 5.74579465e-01] [-1.15423872e-01 -1.05916099e-02 9.93259859e-01 -8.62832169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495919999999998 meters 0.04670179286165178 Centerline is valid? [True, True] Translation: X:11.89, Y:0.58, Z:-0.87 [[ 9.92263937e-01 4.46587605e-02 1.15835545e-01 1.18921955e+01] [-4.56085853e-02 9.98943909e-01 5.56096700e-03 5.81574905e-01] [-1.15464866e-01 -1.08010423e-02 9.93252839e-01 -8.65361439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52592 meters 0.048126946917261534 Centerline is valid? [True, True] Translation: X:11.92, Y:0.59, Z:-0.87 [[ 9.92146243e-01 4.57555857e-02 1.16414170e-01 1.19238775e+01] [-4.67205743e-02 9.98892454e-01 5.57262946e-03 5.87049620e-01] [-1.16030256e-01 -1.09678002e-02 9.93185122e-01 -8.68397146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555919999999999 meters 0.047505446002273605 Centerline is valid? [True, True] Translation: X:11.95, Y:0.60, Z:-0.87 [[ 9.92285474e-01 4.43377450e-02 1.15774362e-01 1.19546143e+01] [-4.52780982e-02 9.98959259e-01 5.50379353e-03 6.03535142e-01] [-1.15409845e-01 -1.07033773e-02 9.93260291e-01 -8.71697122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585919999999998 meters 0.04457980619367812 Centerline is valid? [True, True] Translation: X:11.99, Y:0.62, Z:-0.87 [[ 9.92376446e-01 4.29741312e-02 1.15508501e-01 1.19853007e+01] [-4.38999630e-02 9.99020890e-01 5.48214546e-03 6.15070335e-01] [-1.15159815e-01 -1.05111710e-02 9.93291363e-01 -8.74294832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61592 meters 0.04158586744680458 Centerline is valid? [True, True] Translation: X:12.02, Y:0.63, Z:-0.88 [[ 9.92391595e-01 3.69614365e-02 1.17442643e-01 1.20161046e+01] [-3.78759940e-02 9.99266956e-01 5.56421404e-03 6.29979296e-01] [-1.17150891e-01 -9.97013607e-03 9.93064079e-01 -8.77885668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645919999999998 meters 0.041279429704227884 Centerline is valid? [True, True] Translation: X:12.05, Y:0.64, Z:-0.88 [[ 9.92339025e-01 3.33056034e-02 1.18970567e-01 1.20467724e+01] [-3.42170481e-02 9.99398590e-01 5.62608993e-03 6.36303049e-01] [-1.18711637e-01 -9.65381021e-03 9.92881842e-01 -8.81781638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67592 meters 0.03989417737682662 Centerline is valid? [True, True] Translation: X:12.08, Y:0.64, Z:-0.89 [[ 9.92382138e-01 3.02829394e-02 1.19417903e-01 1.20780368e+01] [-3.11789025e-02 9.99497901e-01 5.64112713e-03 6.44495425e-01] [-1.19187113e-01 -9.32147295e-03 9.92828053e-01 -8.85423951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705919999999999 meters 0.038182374890686856 Centerline is valid? [True, True] Translation: X:12.11, Y:0.66, Z:-0.89 [[ 9.92484219e-01 2.51972547e-02 1.19750460e-01 1.21086520e+01] [-2.60598745e-02 9.99644458e-01 5.64271842e-03 6.57490371e-01] [-1.19565703e-01 -8.72099094e-03 9.92787987e-01 -8.91086548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735919999999998 meters 0.03701198948504542 Centerline is valid? [True, True] Translation: X:12.14, Y:0.66, Z:-0.89 [[ 9.92657512e-01 2.24472587e-02 1.18857833e-01 1.21394813e+01] [-2.32759801e-02 9.99713457e-01 5.58860857e-03 6.63540868e-01] [-1.18698326e-01 -8.31410682e-03 9.92895555e-01 -8.94872578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76592 meters 0.033822920884250804 Centerline is valid? [True, True] Translation: X:12.17, Y:0.67, Z:-0.90 [[ 9.93064482e-01 1.62656388e-02 1.16440387e-01 1.21707039e+01] [-1.70178017e-02 9.99840233e-01 5.46832921e-03 6.73422309e-01] [-1.16332838e-01 -7.41196293e-03 9.93182629e-01 -8.96100080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795919999999999 meters 0.033673579238412056 Centerline is valid? [True, True] Translation: X:12.20, Y:0.68, Z:-0.90 [[ 9.92959956e-01 1.30482318e-02 1.17729642e-01 1.22017824e+01] [-1.37938204e-02 9.99889622e-01 5.52044296e-03 6.76930757e-01] [-1.17644615e-01 -7.10552034e-03 9.93030340e-01 -8.99977332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825919999999998 meters 0.031815394806462796 Centerline is valid? [True, True] Translation: X:12.23, Y:0.69, Z:-0.90 [[ 9.92804569e-01 8.14727434e-03 1.19468443e-01 1.22326506e+01] [-8.87914099e-03 9.99944927e-01 5.59500137e-03 6.86312107e-01] [-1.19416279e-01 -6.61552007e-03 9.92822233e-01 -9.02784405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85592 meters 0.0314481477279263 Centerline is valid? [True, True] Translation: X:12.26, Y:0.69, Z:-0.91 [[ 9.92745762e-01 7.38566834e-03 1.20005430e-01 1.22639572e+01] [-8.11708135e-03 9.99951335e-01 5.60715619e-03 6.91404654e-01] [-1.19958177e-01 -6.54057438e-03 9.92757401e-01 -9.06318128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885919999999999 meters 0.030425495140125408 Centerline is valid? [True, True] Translation: X:12.30, Y:0.70, Z:-0.91 [[ 9.92932215e-01 6.82067978e-03 1.18486688e-01 1.22962060e+01] [-7.52441667e-03 9.99956604e-01 5.49303834e-03 6.97651316e-01] [-1.18444080e-01 -6.34575794e-03 9.92940447e-01 -9.09095048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915919999999998 meters 0.031154329394572057 Centerline is valid? [True, True] Translation: X:12.33, Y:0.70, Z:-0.91 [[ 9.93157342e-01 7.44205793e-03 1.16546597e-01 1.23278547e+01] [-8.12427436e-03 9.99952527e-01 5.37963454e-03 7.04320719e-01] [-1.16501028e-01 -6.28968007e-03 9.93170655e-01 -9.13258638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94592 meters 0.031125410856157866 Centerline is valid? [True, True] Translation: X:12.36, Y:0.71, Z:-0.92 [[ 9.93156674e-01 7.42900145e-03 1.16553128e-01 1.23595828e+01] [-8.10561545e-03 9.99952932e-01 5.33228332e-03 7.09220466e-01] [-1.16508029e-01 -6.24052760e-03 9.93170144e-01 -9.16533422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975919999999999 meters 0.030104972070643284 Centerline is valid? [True, True] Translation: X:12.39, Y:0.72, Z:-0.92 [[ 9.93246759e-01 6.33530236e-03 1.15847919e-01 1.23913975e+01] [-6.99132285e-03 9.99961740e-01 5.25731316e-03 7.18072548e-01] [-1.15810180e-01 -6.03173946e-03 9.93253050e-01 -9.18407895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005919999999998 meters 0.02955008024937239 Centerline is valid? [True, True] Translation: X:12.42, Y:0.72, Z:-0.92 [[ 9.93277669e-01 5.27928899e-03 1.15635642e-01 1.24237066e+01] [-5.92382587e-03 9.99968772e-01 5.23091159e-03 7.23795020e-01] [-1.15604415e-01 -5.88075307e-03 9.93277925e-01 -9.21569572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035919999999999 meters 0.02985985852263106 Centerline is valid? [True, True] Translation: X:12.46, Y:0.73, Z:-0.93 [[ 9.93173977e-01 5.36497216e-03 1.16518966e-01 1.24562219e+01] [-6.01745893e-03 9.99968120e-01 5.24878066e-03 7.30242539e-01] [-1.16487092e-01 -5.91410045e-03 9.93174597e-01 -9.25962939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065919999999998 meters 0.02975503029286387 Centerline is valid? [True, True] Translation: X:12.49, Y:0.73, Z:-0.93 [[ 9.93170526e-01 5.08830112e-03 1.16560781e-01 1.24883689e+01] [-5.73298971e-03 9.99970065e-01 5.19632416e-03 7.34357658e-01] [-1.16530851e-01 -5.82907776e-03 9.93169967e-01 -9.29127066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09592 meters 0.028890205170446305 Centerline is valid? [True, True] Translation: X:12.52, Y:0.74, Z:-0.93 [[ 9.93126711e-01 4.03229714e-03 1.16974680e-01 1.25197117e+01] [-4.66867552e-03 9.99975753e-01 5.16681896e-03 7.42066380e-01] [-1.16951009e-01 -5.67742275e-03 9.93121457e-01 -9.32181138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125919999999999 meters 0.028890205170446305 Centerline is valid? [True, True] Translation: X:12.55, Y:0.74, Z:-0.94 [[ 9.93124435e-01 4.50362639e-03 1.16976808e-01 1.25519407e+01] [-5.13754255e-03 9.99973704e-01 5.11820323e-03 7.43826523e-01] [-1.16950682e-01 -5.68398602e-03 9.93121458e-01 -9.35494709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155919999999998 meters 0.0288533051054242 Centerline is valid? [True, True] Translation: X:12.58, Y:0.75, Z:-0.94 [[ 9.93107806e-01 3.44042065e-03 1.17153956e-01 1.25841782e+01] [-4.06296530e-03 9.99978866e-01 5.07549763e-03 7.47504724e-01] [-1.17134018e-01 -5.51650877e-03 9.93100796e-01 -9.39148654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18592 meters 0.028475950649768236 Centerline is valid? [True, True] Translation: X:12.62, Y:0.75, Z:-0.94 [[ 9.93132212e-01 2.46738058e-03 1.16971455e-01 1.26159522e+01] [-3.07875148e-03 9.99982528e-01 5.04627218e-03 7.50734874e-01] [-1.16956960e-01 -5.37174149e-03 9.93122457e-01 -9.42689781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215919999999999 meters 0.027094022957911554 Centerline is valid? [True, True] Translation: X:12.65, Y:0.76, Z:-0.95 [[ 9.93141491e-01 -1.45312543e-03 1.16909654e-01 1.26474027e+01] [ 8.74566635e-04 9.99987118e-01 4.99991470e-03 7.55995772e-01] [-1.16915413e-01 -4.86337746e-03 9.93129968e-01 -9.46241940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245919999999998 meters 0.026859380059507772 Centerline is valid? [True, True] Translation: X:12.68, Y:0.76, Z:-0.95 [[ 9.92886018e-01 -2.65115316e-03 1.19039185e-01 1.26788395e+01] [ 2.06209607e-03 9.99985015e-01 5.07133071e-03 7.59266424e-01] [-1.19050846e-01 -4.78978312e-03 9.92876606e-01 -9.49982763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27592 meters 0.026442200709066586 Centerline is valid? [True, True] Translation: X:12.71, Y:0.76, Z:-0.95 [[ 9.92839799e-01 -4.34172759e-03 1.19374546e-01 1.27102294e+01] [ 3.76755128e-03 9.99980226e-01 5.03513441e-03 7.63978322e-01] [-1.19394046e-01 -4.54933211e-03 9.92836525e-01 -9.53794974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305919999999999 meters 0.026157544593346342 Centerline is valid? [True, True] Translation: X:12.74, Y:0.77, Z:-0.96 [[ 9.92923965e-01 -4.83282439e-03 1.18653460e-01 1.27422779e+01] [ 4.27503204e-03 9.99978585e-01 4.95509473e-03 7.66361657e-01] [-1.18674866e-01 -4.41278497e-03 9.92923362e-01 -9.57812750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335919999999998 meters 0.02546904517457585 Centerline is valid? [True, True] Translation: X:12.77, Y:0.77, Z:-0.96 [[ 9.93095648e-01 -8.07184540e-03 1.17029392e-01 1.27737508e+01] [ 7.55685299e-03 9.99959716e-01 4.84359017e-03 7.67375835e-01] [-1.17063774e-01 -3.92577441e-03 9.93116640e-01 -9.61701862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36592 meters 0.025240660876884737 Centerline is valid? [True, True] Translation: X:12.81, Y:0.77, Z:-0.97 [[ 9.93100597e-01 -8.83047261e-03 1.16932575e-01 1.28057477e+01] [ 8.32342502e-03 9.99953724e-01 4.82385359e-03 7.68524210e-01] [-1.16969760e-01 -3.81729237e-03 9.93128141e-01 -9.65124883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395919999999998 meters 0.024472583920409862 Centerline is valid? [True, True] Translation: X:12.84, Y:0.77, Z:-0.97 [[ 9.93079412e-01 -1.10276344e-02 1.16925927e-01 1.28373958e+01] [ 1.05416548e-02 9.99933039e-01 4.77392549e-03 7.70550196e-01] [-1.16970743e-01 -3.50829435e-03 9.93129164e-01 -9.67933438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425919999999998 meters 0.023694761916329823 Centerline is valid? [True, True] Translation: X:12.87, Y:0.77, Z:-0.97 [[ 9.92723657e-01 -1.64056941e-02 1.19292057e-01 1.28698145e+01] [ 1.59440224e-02 9.99861251e-01 4.82353668e-03 7.72162781e-01] [-1.19354639e-01 -2.88644373e-03 9.92847490e-01 -9.71740149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455919999999999 meters 0.022850524078363403 Centerline is valid? [True, True] Translation: X:12.90, Y:0.77, Z:-0.97 [[ 9.92551298e-01 -1.98485594e-02 1.20199647e-01 1.29015153e+01] [ 1.94078249e-02 9.99799953e-01 4.83634475e-03 7.70064035e-01] [-1.20271596e-01 -2.46750656e-03 9.92737959e-01 -9.74715269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485919999999998 meters 0.02283494680444534 Centerline is valid? [True, True] Translation: X:12.93, Y:0.77, Z:-0.98 [[ 9.92536715e-01 -2.04851751e-02 1.20213253e-01 1.29335273e+01] [ 2.00553427e-02 9.99787423e-01 4.78446745e-03 7.69590095e-01] [-1.20285709e-01 -2.33784162e-03 9.92736563e-01 -9.77872125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51592 meters 0.022648206024773757 Centerline is valid? [True, True] Translation: X:12.97, Y:0.77, Z:-0.98 [[ 9.92502743e-01 -2.09142528e-02 1.20419675e-01 1.29658684e+01] [ 2.04926621e-02 9.99778774e-01 4.73845102e-03 7.69944593e-01] [-1.20492137e-01 -2.23520592e-03 9.92711765e-01 -9.81086176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545919999999999 meters 0.0226871596757772 Centerline is valid? [True, True] Translation: X:13.00, Y:0.77, Z:-0.99 [[ 9.92573756e-01 -1.95016464e-02 1.20070915e-01 1.29983348e+01] [ 1.90795118e-02 9.99807089e-01 4.66442361e-03 7.66821772e-01] [-1.20138716e-01 -2.33889002e-03 9.92754360e-01 -9.85595558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575919999999998 meters 0.023048008341914034 Centerline is valid? [True, True] Translation: X:13.03, Y:0.76, Z:-0.99 [[ 9.92591842e-01 -1.82366061e-02 1.20120192e-01 1.30313099e+01] [ 1.78122400e-02 9.99830742e-01 4.60568089e-03 7.63476105e-01] [-1.20183853e-01 -2.43195159e-03 9.92748673e-01 -9.89578849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60592 meters 0.023316458944597683 Centerline is valid? [True, True] Translation: X:13.06, Y:0.76, Z:-0.99 [[ 9.92606837e-01 -1.58380335e-02 1.20336297e-01 1.30632978e+01] [ 1.54018636e-02 9.99871014e-01 4.55386665e-03 7.57207577e-01] [-1.20392900e-01 -2.66679593e-03 9.92722740e-01 -9.92994989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635919999999999 meters 0.023397768287365502 Centerline is valid? [True, True] Translation: X:13.10, Y:0.76, Z:-1.00 [[ 9.92649946e-01 -1.47683500e-02 1.20116529e-01 1.30956310e+01] [ 1.43324577e-02 9.99887195e-01 4.49206061e-03 7.55582360e-01] [-1.20169319e-01 -2.73747865e-03 9.92749637e-01 -9.96595500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665919999999998 meters 0.023695895279648063 Centerline is valid? [True, True] Translation: X:13.13, Y:0.75, Z:-1.00 [[ 9.92881217e-01 -1.33794147e-02 1.18354894e-01 1.31280751e+01] [ 1.29534420e-02 9.99906562e-01 4.36767134e-03 7.53626516e-01] [-1.18402272e-01 -2.80347558e-03 9.92961753e-01 -9.99993269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69592 meters 0.023606309442188143 Centerline is valid? [True, True] Translation: X:13.16, Y:0.75, Z:-1.00 [[ 9.92929347e-01 -1.39586510e-02 1.17883280e-01 1.31605606e+01] [ 1.35469515e-02 9.99899020e-01 4.29302456e-03 7.48327213e-01] [-1.17931301e-01 -2.66571100e-03 9.93018178e-01 -1.00275044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725919999999999 meters 0.023433321447372247 Centerline is valid? [True, True] Translation: X:13.19, Y:0.75, Z:-1.01 [[ 9.92868294e-01 -1.44668914e-02 1.18335370e-01 1.31933614e+01] [ 1.40618153e-02 9.99892064e-01 4.25738629e-03 7.46841911e-01] [-1.18384188e-01 -2.56301376e-03 9.92964559e-01 -1.00560467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755919999999998 meters 0.0233155031501101 Centerline is valid? [True, True] Translation: X:13.23, Y:0.74, Z:-1.01 [[ 9.92774032e-01 -1.47075709e-02 1.19094113e-01 1.32257150e+01] [ 1.43060833e-02 9.99888735e-01 4.22545191e-03 7.42289572e-01] [-1.19143008e-01 -2.49114863e-03 9.92873979e-01 -1.01056419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785919999999999 meters 0.02318101109492599 Centerline is valid? [True, True] Translation: X:13.26, Y:0.74, Z:-1.01 [[ 9.92807531e-01 -1.43130094e-02 1.18862715e-01 1.32582959e+01] [ 1.39173338e-02 9.99894503e-01 4.15828983e-03 7.40467118e-01] [-1.18909693e-01 -2.47412937e-03 9.92901991e-01 -1.01478907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815919999999998 meters 0.023284989095820465 Centerline is valid? [True, True] Translation: X:13.29, Y:0.74, Z:-1.02 [[ 9.92913446e-01 -1.40416068e-02 1.18007299e-01 1.32900778e+01] [ 1.36565349e-02 9.99898457e-01 4.07113721e-03 7.35034578e-01] [-1.18052481e-01 -2.43071608e-03 9.93004382e-01 -1.01779249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84592 meters 0.023389702799354657 Centerline is valid? [True, True] Translation: X:13.32, Y:0.73, Z:-1.02 [[ 9.92804958e-01 -1.33111232e-02 1.19000544e-01 1.33232958e+01] [ 1.29206261e-02 9.99908313e-01 4.05242750e-03 7.33178118e-01] [-1.19043576e-01 -2.48570858e-03 9.92885919e-01 -1.02041555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875919999999999 meters 0.023320603334306727 Centerline is valid? [True, True] Translation: X:13.36, Y:0.73, Z:-1.02 [[ 9.92728366e-01 -1.28046106e-02 1.19693078e-01 1.33561683e+01] [ 1.24130239e-02 9.99914888e-01 4.01660520e-03 7.31703029e-01] [-1.19734322e-01 -2.50164487e-03 9.92802817e-01 -1.02234318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905919999999998 meters 0.023763574118359082 Centerline is valid? [True, True] Translation: X:13.39, Y:0.73, Z:-1.03 [[ 9.92430482e-01 -1.20676873e-02 1.22213378e-01 1.33885152e+01] [ 1.16612029e-02 9.99923841e-01 4.04076060e-03 7.26376042e-01] [-1.22252833e-01 -2.58501899e-03 9.92495623e-01 -1.02694848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93592 meters 0.023408384881285223 Centerline is valid? [True, True] Translation: X:13.42, Y:0.72, Z:-1.03 [[ 9.92374010e-01 -1.22132234e-02 1.22656682e-01 1.34216110e+01] [ 1.18116590e-02 9.99922237e-01 4.00051791e-03 7.24789043e-01] [-1.22696003e-01 -2.52123111e-03 9.92441099e-01 -1.03026383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965919999999999 meters 0.023329953941446727 Centerline is valid? [True, True] Translation: X:13.45, Y:0.72, Z:-1.04 [[ 9.92168293e-01 -1.44118187e-02 1.24074085e-01 1.34535836e+01] [ 1.40255418e-02 9.99893691e-01 3.98623759e-03 7.18175306e-01] [-1.24118343e-01 -2.21481229e-03 9.92264950e-01 -1.03580607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995919999999998 meters 0.023118786963014552 Centerline is valid? [True, True] Translation: X:13.49, Y:0.72, Z:-1.04 [[ 9.92280057e-01 -1.58285630e-02 1.23003027e-01 1.34856427e+01] [ 1.54663794e-02 9.99872787e-01 3.89884374e-03 7.15615451e-01] [-1.23049092e-01 -1.96633340e-03 9.92398637e-01 -1.03876237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02592 meters 0.02277803605025175 Centerline is valid? [True, True] Translation: X:13.52, Y:0.71, Z:-1.04 [[ 9.92446515e-01 -1.64333359e-02 1.21572449e-01 1.35178489e+01] [ 1.60904808e-02 9.99863313e-01 3.80142178e-03 7.13436922e-01] [-1.21618302e-01 -1.81654864e-03 9.92575281e-01 -1.04083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055919999999999 meters 0.02248368812874507 Centerline is valid? [True, True] Translation: X:13.55, Y:0.71, Z:-1.04 [[ 9.92316885e-01 -1.80182983e-02 1.22403190e-01 1.35507788e+01] [ 1.76894546e-02 9.99836411e-01 3.77282842e-03 7.06983697e-01] [-1.22451146e-01 -1.57859567e-03 9.92473287e-01 -1.04496805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085919999999998 meters 0.02238176493369149 Centerline is valid? [True, True] Translation: X:13.58, Y:0.70, Z:-1.05 [[ 9.92217329e-01 -1.93826493e-02 1.23000344e-01 1.35835502e+01] [ 1.90686564e-02 9.99811220e-01 3.72957400e-03 6.98106556e-01] [-1.23049413e-01 -1.35509667e-03 9.92399620e-01 -1.04879486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11592 meters 0.02232513537481578 Centerline is valid? [True, True] Translation: X:13.62, Y:0.69, Z:-1.05 [[ 9.92299520e-01 -1.91840564e-02 1.22366803e-01 1.36162957e+01] [ 1.88792763e-02 9.99815109e-01 3.64978548e-03 6.94097812e-01] [-1.22414196e-01 -1.31148369e-03 9.92478234e-01 -1.05101927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145919999999998 meters 0.02243584949201046 Centerline is valid? [True, True] Translation: X:13.65, Y:0.69, Z:-1.06 [[ 9.92401749e-01 -1.84467582e-02 1.21649030e-01 1.36493626e+01] [ 1.81475195e-02 9.99828956e-01 3.56741734e-03 6.89862776e-01] [-1.21694030e-01 -1.33268305e-03 9.92566767e-01 -1.05547562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175919999999998 meters 0.02225994129657312 Centerline is valid? [True, True] Translation: X:13.68, Y:0.68, Z:-1.06 [[ 9.93119031e-01 -1.68293247e-02 1.15893763e-01 1.36817288e+01] [ 1.65528837e-02 9.99857388e-01 3.34738374e-03 6.81278745e-01] [-1.15933570e-01 -1.40597452e-03 9.93255974e-01 -1.05720305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205919999999999 meters 0.02213837612510808 Centerline is valid? [True, True] Translation: X:13.71, Y:0.68, Z:-1.06 [[ 9.93278831e-01 -1.53398431e-02 1.14725121e-01 1.37148130e+01] [ 1.50616363e-02 9.99881150e-01 3.29148027e-03 6.77707124e-01] [-1.14761976e-01 -1.54140964e-03 9.93391822e-01 -1.06084106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235919999999998 meters 0.022893849767613488 Centerline is valid? [True, True] Translation: X:13.75, Y:0.67, Z:-1.06 [[ 9.93193862e-01 -1.18306386e-02 1.15870567e-01 1.37468263e+01] [ 1.15297676e-02 9.99928195e-01 3.26653003e-03 6.70607028e-01] [-1.15900892e-01 -1.90833686e-03 9.93258950e-01 -1.06393072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26592 meters 0.023134614115766932 Centerline is valid? [True, True] Translation: X:13.78, Y:0.67, Z:-1.07 [[ 9.93113118e-01 -9.95294517e-03 1.16735916e-01 1.37790005e+01] [ 9.64061046e-03 9.99948279e-01 3.23990850e-03 6.67219922e-01] [-1.16762125e-01 -2.09219014e-03 9.93157706e-01 -1.06517917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295919999999999 meters 0.023646609651434107 Centerline is valid? [True, True] Translation: X:13.81, Y:0.66, Z:-1.07 [[ 9.92948333e-01 -7.25557024e-03 1.18325675e-01 1.38111279e+01] [ 6.92168080e-03 9.99970820e-01 3.23249468e-03 6.63135885e-01] [-1.18345675e-01 -2.39068766e-03 9.92969579e-01 -1.06840413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325919999999998 meters 0.024607584524145895 Centerline is valid? [True, True] Translation: X:13.84, Y:0.65, Z:-1.07 [[ 9.92876895e-01 -1.87030448e-03 1.19130067e-01 1.38435183e+01] [ 1.49934773e-03 9.99993745e-01 3.20343196e-03 6.53455340e-01] [-1.19135313e-01 -3.00199619e-03 9.92873489e-01 -1.06970479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35592 meters 0.025186602786866966 Centerline is valid? [True, True] Translation: X:13.88, Y:0.65, Z:-1.07 [[ 9.92962531e-01 1.48826273e-03 1.18419580e-01 1.38754619e+01] [-1.87271810e-03 9.99993331e-01 3.13534387e-03 6.50212630e-01] [-1.18414124e-01 -3.33504548e-03 9.92958696e-01 -1.07344344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385919999999999 meters 0.026223901904116633 Centerline is valid? [True, True] Translation: X:13.91, Y:0.65, Z:-1.08 [[ 9.92876647e-01 6.04466648e-03 1.18993388e-01 1.39075397e+01] [-6.46007611e-03 9.99974311e-01 3.10561380e-03 6.45514509e-01] [-1.18971559e-01 -3.85219776e-03 9.92890190e-01 -1.07797784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415919999999998 meters 0.026689537648887825 Centerline is valid? [True, True] Translation: X:13.94, Y:0.64, Z:-1.08 [[ 9.92762969e-01 8.26553259e-03 1.19805546e-01 1.39393785e+01] [-8.70038525e-03 9.99957324e-01 3.10703847e-03 6.44599090e-01] [-1.19774752e-01 -4.12690714e-03 9.92792515e-01 -1.08102960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44592 meters 0.027494607123074676 Centerline is valid? [True, True] Translation: X:13.97, Y:0.64, Z:-1.08 [[ 9.92696357e-01 1.24466154e-02 1.19995933e-01 1.39711808e+01] [-1.29078653e-02 9.99911985e-01 3.06736237e-03 6.42036133e-01] [-1.19947194e-01 -4.59385080e-03 9.92769645e-01 -1.08369452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475919999999999 meters 0.028473945246220326 Centerline is valid? [True, True] Translation: X:14.00, Y:0.64, Z:-1.09 [[ 9.92711067e-01 1.41438376e-02 1.19685795e-01 1.40028967e+01] [-1.46126072e-02 9.99888609e-01 3.03991615e-03 6.40674175e-01] [-1.19629467e-01 -4.76667993e-03 9.92807166e-01 -1.08696392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505919999999998 meters 0.029192537779846862 Centerline is valid? [True, True] Translation: X:14.04, Y:0.64, Z:-1.09 [[ 9.92997835e-01 1.60757650e-02 1.17033626e-01 1.40358113e+01] [-1.65314673e-02 9.99859070e-01 2.92404668e-03 6.40224368e-01] [-1.16970126e-01 -4.83830958e-03 9.93123648e-01 -1.09000434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535919999999999 meters 0.027594937953616144 Centerline is valid? [True, True] Translation: X:14.07, Y:0.64, Z:-1.09 [[ 9.93321685e-01 1.26986940e-02 1.14676824e-01 1.40666963e+01] [-1.31082144e-02 9.99910114e-01 2.81766661e-03 6.43592332e-01] [-1.14630736e-01 -4.30205775e-03 9.93398856e-01 -1.09440995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565919999999998 meters 0.02678691337779656 Centerline is valid? [True, True] Translation: X:14.10, Y:0.64, Z:-1.10 [[ 9.93454228e-01 1.06147160e-02 1.13736650e-01 1.40991364e+01] [-1.10026963e-02 9.99935593e-01 2.78400006e-03 6.44477481e-01] [-1.13699773e-01 -4.01718645e-03 9.93507033e-01 -1.09812829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59592 meters 0.02632578697617624 Centerline is valid? [True, True] Translation: X:14.13, Y:0.64, Z:-1.10 [[ 9.92997919e-01 7.22964523e-03 1.17910409e-01 1.41307441e+01] [-7.62044943e-03 9.99966863e-01 2.86390970e-03 6.41616805e-01] [-1.17885797e-01 -3.74238669e-03 9.93020107e-01 -1.10211955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625919999999999 meters 0.025877842505341673 Centerline is valid? [True, True] Translation: X:14.16, Y:0.64, Z:-1.11 [[ 9.92815606e-01 5.68583130e-03 1.19519219e-01 1.41625824e+01] [-6.07083596e-03 9.99977490e-01 2.85742639e-03 6.41479166e-01] [-1.19500282e-01 -3.56247908e-03 9.92827775e-01 -1.10507588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655919999999998 meters 0.02490713559235724 Centerline is valid? [True, True] Translation: X:14.19, Y:0.64, Z:-1.11 [[ 9.92570470e-01 9.87125220e-04 1.21667116e-01 1.41941556e+01] [-1.34814681e-03 9.99994930e-01 2.88500714e-03 6.41169520e-01] [-1.21663652e-01 -3.02759802e-03 9.92566768e-01 -1.10955607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68592 meters 0.02420429036947788 Centerline is valid? [True, True] Translation: X:14.23, Y:0.64, Z:-1.11 [[ 9.92861278e-01 -1.02275243e-03 1.19270434e-01 1.42259009e+01] [ 6.96300310e-04 9.99995897e-01 2.77871563e-03 6.39804659e-01] [-1.19272786e-01 -2.67583111e-03 9.92857917e-01 -1.11198921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715919999999999 meters 0.023316149096377168 Centerline is valid? [True, True] Translation: X:14.26, Y:0.63, Z:-1.12 [[ 9.93085813e-01 -5.64639756e-03 1.17254794e-01 1.42579501e+01] [ 5.36881238e-03 9.99981988e-01 2.68308388e-03 6.33687208e-01] [-1.17267832e-01 -2.03501354e-03 9.93098240e-01 -1.11509847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745919999999998 meters 0.02304296798498197 Centerline is valid? [True, True] Translation: X:14.29, Y:0.63, Z:-1.12 [[ 9.93047029e-01 -6.95833979e-03 1.17512468e-01 1.42897975e+01] [ 6.69459202e-03 9.99974109e-01 2.63899586e-03 6.31807495e-01] [-1.17527789e-01 -1.83394897e-03 9.93067901e-01 -1.11872364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77592 meters 0.023063084843530708 Centerline is valid? [True, True] Translation: X:14.32, Y:0.63, Z:-1.12 [[ 9.92838806e-01 -8.23052564e-03 1.19177863e-01 1.43229001e+01] [ 7.97465342e-03 9.99964760e-01 2.62372727e-03 6.26248376e-01] [-1.19195258e-01 -1.65453610e-03 9.92869454e-01 -1.12305787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805919999999999 meters 0.023298217639055357 Centerline is valid? [True, True] Translation: X:14.36, Y:0.62, Z:-1.13 [[ 9.92685324e-01 -8.08260345e-03 1.20459613e-01 1.43558306e+01] [ 7.82739822e-03 9.99966007e-01 2.59161841e-03 6.23089488e-01] [-1.20476465e-01 -1.62977621e-03 9.92714846e-01 -1.12672387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835919999999998 meters 0.023036436904640113 Centerline is valid? [True, True] Translation: X:14.39, Y:0.62, Z:-1.13 [[ 9.92735667e-01 -7.06172221e-03 1.20108399e-01 1.43886868e+01] [ 6.80777730e-03 9.99973640e-01 2.52449230e-03 6.19916643e-01] [-1.20123061e-01 -1.68848232e-03 9.92757573e-01 -1.12923582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86592 meters 0.02366806691589192 Centerline is valid? [True, True] Translation: X:14.42, Y:0.61, Z:-1.13 [[ 9.92675864e-01 -4.16608820e-03 1.20736378e-01 1.44204216e+01] [ 3.89517297e-03 9.99989339e-01 2.47977943e-03 6.11583666e-01] [-1.20745422e-01 -1.99132811e-03 9.92681509e-01 -1.13334079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895919999999998 meters 0.023657658355600512 Centerline is valid? [True, True] Translation: X:14.45, Y:0.60, Z:-1.14 [[ 9.92882902e-01 -4.00702814e-03 1.19027250e-01 1.44522852e+01] [ 3.74866244e-03 9.99990107e-01 2.39445722e-03 6.01947067e-01] [-1.19035668e-01 -1.93122265e-03 9.92888101e-01 -1.13725080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925919999999998 meters 0.02375713307607036 Centerline is valid? [True, True] Translation: X:14.48, Y:0.60, Z:-1.14 [[ 9.92922536e-01 -3.83007831e-03 1.18702018e-01 1.44846158e+01] [ 3.57799054e-03 9.99990869e-01 2.33674119e-03 5.97779786e-01] [-1.18709884e-01 -1.89548829e-03 9.92927173e-01 -1.14080237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955919999999999 meters 0.023427910572001907 Centerline is valid? [True, True] Translation: X:14.52, Y:0.60, Z:-1.14 [[ 9.92834806e-01 -4.90414226e-03 1.19394292e-01 1.45167941e+01] [ 4.66375329e-03 9.99986496e-01 2.29273469e-03 5.95188063e-01] [-1.19403924e-01 -1.71948128e-03 9.92844271e-01 -1.14454202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985919999999998 meters 0.02345552476869742 Centerline is valid? [True, True] Translation: X:14.55, Y:0.59, Z:-1.15 [[ 9.92829334e-01 -6.88595202e-03 1.19341932e-01 1.45486330e+01] [ 6.66676491e-03 9.99975277e-01 2.23577758e-03 5.87669805e-01] [-1.19354377e-01 -1.42412096e-03 9.92850696e-01 -1.14924099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.01592 meters 0.023276734917493692 Centerline is valid? [True, True] Translation: X:14.58, Y:0.58, Z:-1.15 [[ 9.92732488e-01 -7.66643212e-03 1.20097599e-01 1.45808743e+01] [ 7.45641070e-03 9.99969785e-01 2.19804003e-03 5.82791118e-01] [-1.20110821e-01 -1.28656873e-03 9.92759656e-01 -1.15243190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04592 meters 0.023276734917493692 Centerline is valid? [True, True] Translation: X:14.61, Y:0.58, Z:-1.16 [[ 9.92735999e-01 -7.18005788e-03 1.20098642e-01 1.46129811e+01] [ 6.97355666e-03 9.99973395e-01 2.13962553e-03 5.83748677e-01] [-1.20110810e-01 -1.28656860e-03 9.92759658e-01 -1.15574357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07592 meters 0.02322262094006861 Centerline is valid? [True, True] Translation: X:14.65, Y:0.57, Z:-1.16 [[ 9.92718130e-01 -7.09822987e-03 1.20251111e-01 1.46455433e+01] [ 6.89769870e-03 9.99974040e-01 2.08376489e-03 5.71657865e-01] [-1.20262780e-01 -1.23913526e-03 9.92741320e-01 -1.15859100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105919999999998 meters 0.023378899517585407 Centerline is valid? [True, True] Translation: X:14.68, Y:0.57, Z:-1.16 [[ 9.92654379e-01 -6.51672751e-03 1.20809010e-01 1.46780634e+01] [ 6.31721038e-03 9.99977977e-01 2.03442977e-03 5.67410386e-01] [-1.20819607e-01 -1.25630969e-03 9.92673685e-01 -1.16273407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13592 meters 0.024153718295571197 Centerline is valid? [True, True] Translation: X:14.71, Y:0.56, Z:-1.17 [[ 9.92674512e-01 -2.76876314e-03 1.20787614e-01 1.47101229e+01] [ 2.54865116e-03 9.99994798e-01 1.97675646e-03 5.56254730e-01] [-1.20792459e-01 -1.65443026e-03 9.92676405e-01 -1.16740160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16592 meters 0.02431417731242045 Centerline is valid? [True, True] Translation: X:14.74, Y:0.55, Z:-1.17 [[ 9.92732697e-01 4.40681336e-04 1.20339513e-01 1.47422876e+01] [-6.77099246e-04 9.99997920e-01 1.92370847e-03 5.49673879e-01] [-1.20338415e-01 -1.99121010e-03 9.92730931e-01 -1.16942454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195919999999997 meters 0.025401934109729123 Centerline is valid? [True, True] Translation: X:14.77, Y:0.54, Z:-1.17 [[ 9.93001672e-01 8.07265629e-03 1.17824067e-01 1.47743584e+01] [-8.35018461e-03 9.99963403e-01 1.86198314e-03 5.35057609e-01] [-1.17804724e-01 -2.83280508e-03 9.93032740e-01 -1.17059787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22592 meters 0.026024195769080744 Centerline is valid? [True, True] Translation: X:14.81, Y:0.53, Z:-1.17 [[ 9.93020344e-01 1.22047805e-02 1.17310015e-01 1.48060609e+01] [-1.25033074e-02 9.99920194e-01 1.80915554e-03 5.29842531e-01] [-1.17278573e-01 -3.26329144e-03 9.93093695e-01 -1.17328922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25592 meters 0.02778731554692117 Centerline is valid? [True, True] Translation: X:14.84, Y:0.52, Z:-1.18 [[ 9.93015539e-01 1.70461139e-02 1.16745749e-01 1.48380563e+01] [-1.73725711e-02 9.99847502e-01 1.77924007e-03 5.23379105e-01] [-1.16697617e-01 -3.79498687e-03 9.93160241e-01 -1.17767206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285919999999997 meters 0.029812776074676455 Centerline is valid? [True, True] Translation: X:14.87, Y:0.52, Z:-1.18 [[ 9.92890906e-01 2.56749062e-02 1.16225847e-01 1.48692916e+01] [-2.60518501e-02 9.99659105e-01 1.72501490e-03 5.15293880e-01] [-1.16141937e-01 -4.74064996e-03 9.93221313e-01 -1.17936800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31592 meters 0.033233231127405644 Centerline is valid? [True, True] Translation: X:14.90, Y:0.51, Z:-1.18 [[ 9.92701391e-01 3.03569017e-02 1.16715069e-01 1.49008073e+01] [-3.07651995e-02 9.99525197e-01 1.69787997e-03 5.09666463e-01] [-1.16608110e-01 -5.27625020e-03 9.93163989e-01 -1.18263325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34592 meters 0.036372104855770575 Centerline is valid? [True, True] Translation: X:14.93, Y:0.50, Z:-1.19 [[ 9.92247338e-01 4.05463717e-02 1.17478559e-01 1.49320100e+01] [-4.10298678e-02 9.99156476e-01 1.69909545e-03 5.04460595e-01] [-1.17310570e-01 -6.50605267e-03 9.93073966e-01 -1.18591541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375919999999997 meters 0.0366084423808566 Centerline is valid? [True, True] Translation: X:14.96, Y:0.50, Z:-1.19 [[ 9.92278696e-01 4.42126141e-02 1.15880256e-01 1.49633638e+01] [-4.47066769e-02 9.98998766e-01 1.66668745e-03 5.03726187e-01] [-1.15690544e-01 -6.83443962e-03 9.93261793e-01 -1.18807164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40592 meters 0.039656282117303016 Centerline is valid? [True, True] Translation: X:14.99, Y:0.50, Z:-1.19 [[ 9.92276871e-01 5.22198388e-02 1.12515335e-01 1.49949250e+01] [-5.27352345e-02 9.98607236e-01 1.60728837e-03 5.02001554e-01] [-1.12274695e-01 -7.52839766e-03 9.93648688e-01 -1.18912725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43592 meters 0.03978847601067603 Centerline is valid? [True, True] Translation: X:15.03, Y:0.50, Z:-1.19 [[ 9.92138146e-01 5.41483188e-02 1.12826678e-01 1.50271054e+01] [-5.46769124e-02 9.98502827e-01 1.59360491e-03 5.04672909e-01] [-1.12571466e-01 -7.75009061e-03 9.93613406e-01 -1.19186492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465919999999997 meters 0.04033707101650374 Centerline is valid? [True, True] Translation: X:15.06, Y:0.51, Z:-1.20 [[ 9.91997454e-01 5.59082092e-02 1.13204787e-01 1.50586801e+01] [-5.64500249e-02 9.98404170e-01 1.58378272e-03 5.07028744e-01] [-1.12935585e-01 -7.96152147e-03 9.93570414e-01 -1.19537504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495919999999998 meters 0.04072593433639208 Centerline is valid? [True, True] Translation: X:15.09, Y:0.51, Z:-1.20 [[ 9.91467687e-01 5.80056595e-02 1.16735465e-01 1.50901339e+01] [-5.85917729e-02 9.98280756e-01 1.59262645e-03 5.10506408e-01] [-1.16442387e-01 -8.41877550e-03 9.93161767e-01 -1.20015367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52592 meters 0.0403499019653162 Centerline is valid? [True, True] Translation: X:15.12, Y:0.51, Z:-1.20 [[ 9.91237902e-01 5.83051739e-02 1.18523957e-01 1.51220940e+01] [-5.89097961e-02 9.98262026e-01 1.60120948e-03 5.11751952e-01] [-1.18224607e-01 -8.56940166e-03 9.92949902e-01 -1.20346065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55592 meters 0.040039480741730554 Centerline is valid? [True, True] Translation: X:15.15, Y:0.51, Z:-1.21 [[ 9.91564924e-01 5.44616235e-02 1.17613494e-01 1.51539267e+01] [-5.50254431e-02 9.98483750e-01 1.54959426e-03 5.11500953e-01] [-1.17350769e-01 -8.00825792e-03 9.93058238e-01 -1.20532770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585919999999998 meters 0.03911187672304117 Centerline is valid? [True, True] Translation: X:15.19, Y:0.51, Z:-1.21 [[ 9.91688994e-01 5.13965139e-02 1.17946332e-01 1.51854651e+01] [-5.19406502e-02 9.98648983e-01 1.54218358e-03 5.14842031e-01] [-1.17707722e-01 -7.65557566e-03 9.93018773e-01 -1.20820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61592 meters 0.038476231688806144 Centerline is valid? [True, True] Translation: X:15.22, Y:0.52, Z:-1.21 [[ 9.91544972e-01 4.85116522e-02 1.20354430e-01 1.52160352e+01] [-4.90558571e-02 9.98794816e-01 1.56123628e-03 5.19551457e-01] [-1.20133643e-01 -7.45212571e-03 9.92729759e-01 -1.21401993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64592 meters 0.037650257828001944 Centerline is valid? [True, True] Translation: X:15.25, Y:0.52, Z:-1.22 [[ 9.91374015e-01 4.56089114e-02 1.22871432e-01 1.52472708e+01] [-4.61511832e-02 9.98933234e-01 1.56933499e-03 5.23940860e-01] [-1.22668781e-01 -7.22645991e-03 9.92421356e-01 -1.21919390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675919999999998 meters 0.03743537706171197 Centerline is valid? [True, True] Translation: X:15.28, Y:0.52, Z:-1.22 [[ 9.91504658e-01 4.59227739e-02 1.21694753e-01 1.52789760e+01] [-4.64550563e-02 9.98919196e-01 1.53880421e-03 5.23805655e-01] [-1.21492558e-01 -7.17906813e-03 9.92566380e-01 -1.22168536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70592 meters 0.03689986189413978 Centerline is valid? [True, True] Translation: X:15.31, Y:0.52, Z:-1.22 [[ 9.91967271e-01 4.60826131e-02 1.17802060e-01 1.53108791e+01] [-4.65771493e-02 9.98913648e-01 1.44697417e-03 5.24368017e-01] [-1.17607405e-01 -6.92223517e-03 9.93036042e-01 -1.22282458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73592 meters 0.03751437996835496 Centerline is valid? [True, True] Translation: X:15.34, Y:0.53, Z:-1.23 [[ 9.91995594e-01 4.65625340e-02 1.17374066e-01 1.53430374e+01] [-4.70515364e-02 9.98891486e-01 1.39722594e-03 5.25412748e-01] [-1.17178897e-01 -6.90867211e-03 9.93086792e-01 -1.22742430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765919999999998 meters 0.03655021909862319 Centerline is valid? [True, True] Translation: X:15.38, Y:0.53, Z:-1.23 [[ 9.91728778e-01 4.64685020e-02 1.19644095e-01 1.53750090e+01] [-4.69703246e-02 9.98895337e-01 1.37618722e-03 5.27277869e-01] [-1.19447979e-01 -6.98452643e-03 9.92815893e-01 -1.23087213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79592 meters 0.035954947667180326 Centerline is valid? [True, True] Translation: X:15.41, Y:0.53, Z:-1.23 [[ 9.91560656e-01 4.63903616e-02 1.21059485e-01 1.54079886e+01] [-4.69001205e-02 9.98898654e-01 1.36333392e-03 5.27856286e-01] [-1.20862911e-01 -7.02953271e-03 9.92644318e-01 -1.23403369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82592 meters 0.037599408720914704 Centerline is valid? [True, True] Translation: X:15.44, Y:0.52, Z:-1.24 [[ 9.91470625e-01 4.89364846e-02 1.20794122e-01 1.54397776e+01] [-4.94571664e-02 9.98775381e-01 1.31439940e-03 5.24949573e-01] [-1.20581873e-01 -7.27732339e-03 9.92676711e-01 -1.23719455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855919999999998 meters 0.03810851427408981 Centerline is valid? [True, True] Translation: X:15.47, Y:0.52, Z:-1.24 [[ 9.91478193e-01 5.00518641e-02 1.20273871e-01 1.54718069e+01] [-5.05739979e-02 9.98719482e-01 1.29075576e-03 5.24782689e-01] [-1.20055254e-01 -7.36248671e-03 9.92739910e-01 -1.24115673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88592 meters 0.03791934826046378 Centerline is valid? [True, True] Translation: X:15.50, Y:0.53, Z:-1.24 [[ 9.91628410e-01 5.14274413e-02 1.18441186e-01 1.55036449e+01] [-5.19381770e-02 9.98649548e-01 1.22745239e-03 5.25354374e-01] [-1.18218112e-01 -7.36879595e-03 9.92960311e-01 -1.24287434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91592 meters 0.03879783562689691 Centerline is valid? [True, True] Translation: X:15.54, Y:0.52, Z:-1.25 [[ 9.91502295e-01 5.35557536e-02 1.18553704e-01 1.55351593e+01] [-5.40773331e-02 9.98536048e-01 1.18468899e-03 5.24467105e-01] [-1.18316700e-01 -7.58569000e-03 9.92946935e-01 -1.24615886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945919999999997 meters 0.03923421681168653 Centerline is valid? [True, True] Translation: X:15.57, Y:0.52, Z:-1.25 [[ 9.91359942e-01 5.60564082e-02 1.18588131e-01 1.55664369e+01] [-5.65909583e-02 9.98396794e-01 1.14236448e-03 5.24523515e-01] [-1.18333973e-01 -7.84351034e-03 9.92942874e-01 -1.24906258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97592 meters 0.03896244012891736 Centerline is valid? [True, True] Translation: X:15.60, Y:0.52, Z:-1.25 [[ 9.91161684e-01 5.62421532e-02 1.20147146e-01 1.55985000e+01] [-5.67870988e-02 9.98385689e-01 1.11393085e-03 5.24447372e-01] [-1.19890541e-01 -7.92689341e-03 9.92755470e-01 -1.25322485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00592 meters 0.03893928636488577 Centerline is valid? [True, True] Translation: X:15.63, Y:0.52, Z:-1.26 [[ 9.91135166e-01 5.65353613e-02 1.20228265e-01 1.56309913e+01] [-5.70769866e-02 9.98369214e-01 1.06334729e-03 5.24113280e-01] [-1.19972081e-01 -7.91618795e-03 9.92745704e-01 -1.25778966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035919999999997 meters 0.03920299301730088 Centerline is valid? [True, True] Translation: X:15.66, Y:0.52, Z:-1.26 [[ 9.91255874e-01 5.81234783e-02 1.18462875e-01 1.56624725e+01] [-5.86545584e-02 9.98277840e-01 9.98584788e-04 5.23129747e-01] [-1.18200822e-01 -7.93824066e-03 9.92957980e-01 -1.26052542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06592 meters 0.039729932363624286 Centerline is valid? [True, True] Translation: X:15.69, Y:0.52, Z:-1.26 [[ 9.91172610e-01 6.01201556e-02 1.18162698e-01 1.56939773e+01] [-6.06573744e-02 9.98158192e-01 9.52096525e-04 5.24284009e-01] [-1.17887825e-01 -8.11113102e-03 9.92993792e-01 -1.26332258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09592 meters 0.04078720679427866 Centerline is valid? [True, True] Translation: X:15.73, Y:0.53, Z:-1.27 [[ 9.91056481e-01 6.23235834e-02 1.17995006e-01 1.57257773e+01] [-6.28700509e-02 9.98021306e-01 9.11118053e-04 5.25044542e-01] [-1.17704746e-01 -8.32132151e-03 9.93013770e-01 -1.26720663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125919999999997 meters 0.04254964254092492 Centerline is valid? [True, True] Translation: X:15.76, Y:0.53, Z:-1.27 [[ 9.90696694e-01 6.79653131e-02 1.17901555e-01 1.57572678e+01] [-6.85485913e-02 9.97647378e-01 8.94359866e-04 5.28526796e-01] [-1.17563392e-01 -8.96802490e-03 9.93024886e-01 -1.27041469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15592 meters 0.046543704006637356 Centerline is valid? [True, True] Translation: X:15.79, Y:0.53, Z:-1.27 [[ 9.90161047e-01 7.47935845e-02 1.18266737e-01 1.57886422e+01] [-7.54246818e-02 9.97151128e-01 8.63089134e-04 5.26917784e-01] [-1.17865257e-01 -9.77482828e-03 9.92981487e-01 -1.27432237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18592 meters 0.045731227468358795 Centerline is valid? [True, True] Translation: X:15.82, Y:0.53, Z:-1.28 [[ 9.89907615e-01 7.83097600e-02 1.18112218e-01 1.58200850e+01] [-7.89629228e-02 9.96877188e-01 8.53300322e-04 5.29989952e-01] [-1.17676554e-01 -1.01711744e-02 9.92999887e-01 -1.27711918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215919999999997 meters 0.046152271214625895 Centerline is valid? [True, True] Translation: X:15.85, Y:0.53, Z:-1.28 [[ 9.89706032e-01 8.06456432e-02 1.18229649e-01 1.58519562e+01] [-8.13154293e-02 9.96688060e-01 8.44299974e-04 5.31604522e-01] [-1.17769990e-01 -1.04495034e-02 9.92985920e-01 -1.28093424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245919999999998 meters 0.04902031181593532 Centerline is valid? [True, True] Translation: X:15.88, Y:0.53, Z:-1.28 [[ 9.89165217e-01 8.67482535e-02 1.18435275e-01 1.58829699e+01] [-8.74619866e-02 9.96167510e-01 8.32211800e-04 5.31703051e-01] [-1.17909180e-01 -1.11817794e-02 9.92961426e-01 -1.28383311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27592 meters 0.052049696548173326 Centerline is valid? [True, True] Translation: X:15.91, Y:0.53, Z:-1.29 [[ 9.88720117e-01 9.12324896e-02 1.18781996e-01 1.59145437e+01] [-9.19781776e-02 9.95760702e-01 7.99335021e-04 5.32628663e-01] [-1.18205518e-01 -1.17156701e-02 9.92920036e-01 -1.28694688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30592 meters 0.052189390897117924 Centerline is valid? [True, True] Translation: X:15.95, Y:0.54, Z:-1.29 [[ 9.88709482e-01 9.26130338e-02 1.17798075e-01 1.59463600e+01] [-9.33514499e-02 9.95632933e-01 7.54487682e-04 5.36054529e-01] [-1.17213768e-01 -1.17425902e-02 9.93037282e-01 -1.29015171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335919999999998 meters 0.050445772694919906 Centerline is valid? [True, True] Translation: X:15.98, Y:0.54, Z:-1.29 [[ 9.88669427e-01 9.46895191e-02 1.16475999e-01 1.59779013e+01] [-9.54212003e-02 9.95436734e-01 7.09140296e-04 5.41885481e-01] [-1.15877340e-01 -1.18153850e-02 9.93193253e-01 -1.29275677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36592 meters 0.05344475637931422 Centerline is valid? [True, True] Translation: X:16.01, Y:0.54, Z:-1.29 [[ 9.88194224e-01 9.92845783e-02 1.16682252e-01 1.60090400e+01] [-1.00049036e-01 9.94982263e-01 6.98349722e-04 5.44602032e-01] [-1.16027436e-01 -1.23640520e-02 9.93169051e-01 -1.29466643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39592 meters 0.055977940019819906 Centerline is valid? [True, True] Translation: X:16.04, Y:0.55, Z:-1.30 [[ 9.87851098e-01 1.01675845e-01 1.17525448e-01 1.60409649e+01] [-1.02466309e-01 9.94736238e-01 6.87583132e-04 5.45092958e-01] [-1.16836911e-01 -1.27216286e-02 9.93069633e-01 -1.29795867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425919999999998 meters 0.05771769871908828 Centerline is valid? [True, True] Translation: X:16.07, Y:0.55, Z:-1.30 [[ 9.87420343e-01 1.04361920e-01 1.18784072e-01 1.60721500e+01] [-1.05186949e-01 9.94452233e-01 6.80134015e-04 5.54704360e-01] [-1.18054106e-01 -1.31661123e-02 9.92919877e-01 -1.30341553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45592 meters 0.057834529507602206 Centerline is valid? [True, True] Translation: X:16.10, Y:0.56, Z:-1.31 [[ 9.87372768e-01 1.05298476e-01 1.18352218e-01 1.61034637e+01] [-1.06119972e-01 9.94353125e-01 6.43010053e-04 5.59871791e-01] [-1.17616190e-01 -1.31944246e-02 9.92971469e-01 -1.30717504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48592 meters 0.053396130842394356 Centerline is valid? [True, True] Translation: X:16.14, Y:0.57, Z:-1.31 [[ 9.87312782e-01 1.05767630e-01 1.18434282e-01 1.61360459e+01] [-1.06591185e-01 9.94302736e-01 6.23092906e-04 5.74089677e-01] [-1.17693628e-01 -1.32392381e-02 9.92961697e-01 -1.30792573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515919999999998 meters 0.057202073695976775 Centerline is valid? [True, True] Translation: X:16.17, Y:0.58, Z:-1.31 [[ 9.87330869e-01 1.06187724e-01 1.17906412e-01 1.61685928e+01] [-1.07004538e-01 9.94258351e-01 6.00919805e-04 5.76129216e-01] [-1.17165625e-01 -1.32098279e-02 9.93024530e-01 -1.31112221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54592 meters 0.05312353674125783 Centerline is valid? [True, True] Translation: X:16.20, Y:0.59, Z:-1.31 [[ 9.87432417e-01 1.04698900e-01 1.18386493e-01 1.61994106e+01] [-1.05506747e-01 9.94418430e-01 5.59749396e-04 5.89677418e-01] [-1.17667106e-01 -1.30432885e-02 9.92967434e-01 -1.31436331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57592 meters 0.05233958002142007 Centerline is valid? [True, True] Translation: X:16.23, Y:0.61, Z:-1.32 [[ 9.88153941e-01 9.86925831e-02 1.17522605e-01 1.62304841e+01] [-9.94449128e-02 9.95042922e-01 5.40544575e-04 6.07022906e-01] [-1.16886688e-01 -1.22211664e-02 9.93070061e-01 -1.31956196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605919999999998 meters 0.049038164856425745 Centerline is valid? [True, True] Translation: X:16.26, Y:0.62, Z:-1.32 [[ 9.88713493e-01 8.74432796e-02 1.21652378e-01 1.62614585e+01] [-8.81622505e-02 9.96105987e-01 5.29643410e-04 6.20839152e-01] [-1.21132349e-01 -1.12488130e-02 9.92572626e-01 -1.32427963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63592 meters 0.045403796851078745 Centerline is valid? [True, True] Translation: X:16.29, Y:0.63, Z:-1.33 [[ 9.89082678e-01 8.13120612e-02 1.22897536e-01 1.62926779e+01] [-8.19974721e-02 9.96632401e-01 5.21121803e-04 6.29046347e-01] [-1.22441293e-01 -1.05927199e-02 9.92419228e-01 -1.32721096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66592 meters 0.043707104130260264 Centerline is valid? [True, True] Translation: X:16.32, Y:0.63, Z:-1.33 [[ 9.89394465e-01 7.47619330e-02 1.24536120e-01 1.63235252e+01] [-7.54122032e-02 9.97152316e-01 5.08943248e-04 6.34048606e-01] [-1.24143431e-01 -9.89508882e-03 9.92214944e-01 -1.33147273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695919999999997 meters 0.039677733684038374 Centerline is valid? [True, True] Translation: X:16.35, Y:0.64, Z:-1.34 [[ 9.90232241e-01 6.32026374e-02 1.24280065e-01 1.63545310e+01] [-6.37549919e-02 9.97965471e-01 4.68286682e-04 6.42824928e-01] [-1.23997617e-01 -8.38718710e-03 9.92247069e-01 -1.33646584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72592 meters 0.03627987306776522 Centerline is valid? [True, True] Translation: X:16.39, Y:0.65, Z:-1.34 [[ 9.90703835e-01 5.71081062e-02 1.23468921e-01 1.63858745e+01] [-5.76018480e-02 9.98339543e-01 4.29995460e-04 6.48612023e-01] [-1.23239350e-01 -7.53803619e-03 9.92348346e-01 -1.34020427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75592 meters 0.034334379345682405 Centerline is valid? [True, True] Translation: X:16.42, Y:0.65, Z:-1.34 [[ 9.90946193e-01 5.12599147e-02 1.24088933e-01 1.64173929e+01] [-5.17114553e-02 9.98661980e-01 4.18585842e-04 6.51957410e-01] [-1.23901443e-01 -6.83161535e-03 9.92271012e-01 -1.34411332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785919999999997 meters 0.031198557494216662 Centerline is valid? [True, True] Translation: X:16.45, Y:0.66, Z:-1.35 [[ 9.91202232e-01 4.09709461e-02 1.25855142e-01 1.64480421e+01] [-4.13511813e-02 9.99144590e-01 4.09074148e-04 6.56020017e-01] [-1.25730724e-01 -5.60973400e-03 9.92048545e-01 -1.34829985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81592 meters 0.029289715339137407 Centerline is valid? [True, True] Translation: X:16.48, Y:0.66, Z:-1.35 [[ 9.91364019e-01 3.65710269e-02 1.25936260e-01 1.64794452e+01] [-3.69118397e-02 9.99318456e-01 3.72948004e-04 6.56505110e-01] [-1.25836790e-01 -5.01826629e-03 9.92038265e-01 -1.34995258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84592 meters 0.027365207464795916 Centerline is valid? [True, True] Translation: X:16.51, Y:0.66, Z:-1.35 [[ 9.91509897e-01 3.02220620e-02 1.26470355e-01 1.65111159e+01] [-3.05128809e-02 9.99534308e-01 3.62421646e-04 6.55725361e-01] [-1.26400506e-01 -4.21831953e-03 9.91970321e-01 -1.35307256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875919999999997 meters 0.026667664078113315 Centerline is valid? [True, True] Translation: X:16.54, Y:0.66, Z:-1.36 [[ 9.91612091e-01 2.85183151e-02 1.26064140e-01 1.65431284e+01] [-2.87904965e-02 9.99585411e-01 3.37230484e-04 6.55832519e-01] [-1.26002258e-01 -3.96385100e-03 9.92022035e-01 -1.35671701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90592 meters 0.02657362338285568 Centerline is valid? [True, True] Translation: X:16.57, Y:0.65, Z:-1.36 [[ 9.91638210e-01 2.64489688e-02 1.26309594e-01 1.65748504e+01] [-2.66989273e-02 9.99643479e-01 2.86100959e-04 6.52713377e-01] [-1.26256995e-01 -3.65603930e-03 9.91990829e-01 -1.36241602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93592 meters 0.02657362338285568 Centerline is valid? [True, True] Translation: X:16.61, Y:0.65, Z:-1.37 [[ 9.91625794e-01 2.69099574e-02 1.26309694e-01 1.66070140e+01] [-2.71568475e-02 9.99631158e-01 2.32750139e-04 6.53152182e-01] [-1.26256843e-01 -3.66097415e-03 9.91990830e-01 -1.36572708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965919999999997 meters 0.026472030533185073 Centerline is valid? [True, True] Translation: X:16.64, Y:0.65, Z:-1.37 [[ 9.91682633e-01 2.77789853e-02 1.25673716e-01 1.66392731e+01] [-2.80229955e-02 9.99607264e-01 1.73803263e-04 6.50800749e-01] [-1.25619531e-01 -3.69411165e-03 9.92071614e-01 -1.36877173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995919999999998 meters 0.026481102387346564 Centerline is valid? [True, True] Translation: X:16.67, Y:0.65, Z:-1.37 [[ 9.92036650e-01 3.14126202e-02 1.21969392e-01 1.66719167e+01] [-3.16636718e-02 9.99498573e-01 1.20143331e-04 6.46090903e-01] [-1.21904459e-01 -3.98118538e-03 9.92533855e-01 -1.36877935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02592 meters 0.027976976144621496 Centerline is valid? [True, True] Translation: X:16.70, Y:0.64, Z:-1.37 [[ 9.91890616e-01 3.46616987e-02 1.22276623e-01 1.67036393e+01] [-3.49357073e-02 9.99389557e-01 9.69969828e-05 6.43182155e-01] [-1.22198619e-01 -4.36803072e-03 9.92496054e-01 -1.37204327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055919999999997 meters 0.028689982065614007 Centerline is valid? [True, True] Translation: X:16.74, Y:0.64, Z:-1.37 [[ 9.91756152e-01 3.78316543e-02 1.22427535e-01 1.67353213e+01] [-3.81241515e-02 9.99273009e-01 4.66457338e-05 6.41819724e-01] [-1.22336767e-01 -4.71370710e-03 9.92477454e-01 -1.37490172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085919999999998 meters 0.031091182121871175 Centerline is valid? [True, True] Translation: X:16.77, Y:0.64, Z:-1.38 [[ 9.91125607e-01 4.40996718e-02 1.25400358e-01 1.67670321e+01] [-4.44510461e-02 9.99011564e-01 3.89109825e-06 6.38052227e-01] [-1.25276236e-01 -5.57803365e-03 9.92106219e-01 -1.37841494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11592 meters 0.03354465736890196 Centerline is valid? [True, True] Translation: X:16.80, Y:0.64, Z:-1.38 [[ 9.90811315e-01 5.08588349e-02 1.25324845e-01 1.67980862e+01] [-5.12613117e-02 9.98685275e-01 -1.34202928e-05 6.37669128e-01] [-1.25160760e-01 -6.41101897e-03 9.92115761e-01 -1.38277425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14592 meters 0.034270601252340355 Centerline is valid? [True, True] Translation: X:16.83, Y:0.64, Z:-1.39 [[ 9.90850660e-01 5.37074470e-02 1.23816313e-01 1.68294519e+01] [-5.41169944e-02 9.98534600e-01 -5.56023009e-05 6.38676143e-01] [-1.23637859e-01 -6.64547313e-03 9.92305153e-01 -1.38609596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175919999999998 meters 0.03551852312518276 Centerline is valid? [True, True] Translation: X:16.86, Y:0.64, Z:-1.39 [[ 9.90751774e-01 5.72029605e-02 1.23039603e-01 1.68612990e+01] [-5.76293271e-02 9.98338045e-01 -9.37401676e-05 6.39421580e-01] [-1.22840479e-01 -6.99781630e-03 9.92401757e-01 -1.39011300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20592 meters 0.035475230868394624 Centerline is valid? [True, True] Translation: X:16.89, Y:0.64, Z:-1.39 [[ 9.90739726e-01 5.81683913e-02 1.22683469e-01 1.68928408e+01] [-5.85972588e-02 9.98281698e-01 -1.12552805e-04 6.41350657e-01] [-1.22479208e-01 -7.07740442e-03 9.92445844e-01 -1.39227930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23592 meters 0.03528853260013245 Centerline is valid? [True, True] Translation: X:16.93, Y:0.65, Z:-1.40 [[ 9.90739878e-01 5.88369898e-02 1.22362995e-01 1.69256859e+01] [-5.92627960e-02 9.98242403e-01 -1.59875002e-04 6.46161631e-01] [-1.22157337e-01 -7.09317868e-03 9.92485401e-01 -1.39514148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265919999999998 meters 0.03540846825817454 Centerline is valid? [True, True] Translation: X:16.96, Y:0.65, Z:-1.40 [[ 9.90740459e-01 5.92425441e-02 1.22162449e-01 1.69585631e+01] [-5.96634210e-02 9.98218529e-01 -2.13160091e-04 6.47305414e-01] [-1.21957449e-01 -7.07744332e-03 9.92510096e-01 -1.39985363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29592 meters 0.03531115742097364 Centerline is valid? [True, True] Translation: X:16.99, Y:0.65, Z:-1.40 [[ 9.90796186e-01 5.89762231e-02 1.21838925e-01 1.69903964e+01] [-5.93864325e-02 9.98235033e-01 -2.64950298e-04 6.47563015e-01] [-1.21639509e-01 -6.97306735e-03 9.92549851e-01 -1.40283714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32592 meters 0.03533557160274881 Centerline is valid? [True, True] Translation: X:17.02, Y:0.65, Z:-1.41 [[ 9.90774124e-01 5.79630734e-02 1.22502725e-01 1.70223414e+01] [-5.83643025e-02 9.98295302e-01 -3.13651733e-04 6.49433010e-01] [-1.22312075e-01 -6.83902808e-03 9.92468127e-01 -1.40789312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355919999999998 meters 0.03339291888013667 Centerline is valid? [True, True] Translation: X:17.05, Y:0.65, Z:-1.41 [[ 9.90783447e-01 5.72428068e-02 1.22765720e-01 1.70547262e+01] [-5.76350997e-02 9.98337652e-01 -3.56341734e-04 6.53968524e-01] [-1.22582039e-01 -6.72255705e-03 9.92435616e-01 -1.41022947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38592 meters 0.03432134398641866 Centerline is valid? [True, True] Translation: X:17.09, Y:0.65, Z:-1.42 [[ 9.90597338e-01 5.77372307e-02 1.24029537e-01 1.70861385e+01] [-5.81386977e-02 9.98308442e-01 -3.83179381e-04 6.53924516e-01] [-1.23841857e-01 -6.83133927e-03 9.92278452e-01 -1.41535246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41592 meters 0.03406334516557485 Centerline is valid? [True, True] Translation: X:17.12, Y:0.65, Z:-1.42 [[ 9.90690124e-01 5.82308489e-02 1.23053838e-01 1.71183394e+01] [-5.86237712e-02 9.98280056e-01 -4.28299372e-04 6.52699707e-01] [-1.22867133e-01 -6.78956810e-03 9.92399904e-01 -1.41675873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445919999999997 meters 0.033824627670606296 Centerline is valid? [True, True] Translation: X:17.15, Y:0.65, Z:-1.42 [[ 9.90657075e-01 6.00795409e-02 1.22429608e-01 1.71504415e+01] [-6.04772888e-02 9.98169464e-01 -4.68098688e-04 6.50710507e-01] [-1.22233620e-01 -6.94048551e-03 9.92477089e-01 -1.41778316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47592 meters 0.03510039087389115 Centerline is valid? [True, True] Translation: X:17.18, Y:0.65, Z:-1.42 [[ 9.90783992e-01 6.14757523e-02 1.20697194e-01 1.71829160e+01] [-6.18697533e-02 9.98084114e-01 -4.83943351e-04 6.49340548e-01] [-1.20495703e-01 -6.98802231e-03 9.92689253e-01 -1.42146705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50592 meters 0.03491421121714799 Centerline is valid? [True, True] Translation: X:17.21, Y:0.65, Z:-1.43 [[ 9.90944900e-01 6.19034958e-02 1.19147652e-01 1.72143968e+01] [-6.22841838e-02 9.98058315e-01 -5.29632281e-04 6.49346793e-01] [-1.18949091e-01 -6.89617787e-03 9.92876405e-01 -1.42539646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535919999999997 meters 0.03504807040867525 Centerline is valid? [True, True] Translation: X:17.25, Y:0.65, Z:-1.43 [[ 9.90873235e-01 6.17457180e-02 1.19823617e-01 1.72466203e+01] [-6.21240632e-02 9.98068267e-01 -5.78937004e-04 6.48796025e-01] [-1.19627897e-01 -6.87027678e-03 9.92795027e-01 -1.42937768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56592 meters 0.035306548533546485 Centerline is valid? [True, True] Translation: X:17.28, Y:0.65, Z:-1.43 [[ 9.90814120e-01 6.26592215e-02 1.19838232e-01 1.72782965e+01] [-6.30387399e-02 9.98010885e-01 -6.25104980e-04 6.47744996e-01] [-1.19639028e-01 -6.93508828e-03 9.92793235e-01 -1.43227676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59592 meters 0.03541333252663078 Centerline is valid? [True, True] Translation: X:17.31, Y:0.65, Z:-1.43 [[ 9.90748474e-01 6.43559305e-02 1.19481280e-01 1.73099887e+01] [-6.47399330e-02 9.97901946e-01 -6.68878050e-04 6.48385690e-01] [-1.19273648e-01 -7.07252018e-03 9.92836228e-01 -1.43452806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625919999999997 meters 0.036004480161457936 Centerline is valid? [True, True] Translation: X:17.34, Y:0.65, Z:-1.44 [[ 9.90454719e-01 6.58580724e-02 1.21087427e-01 1.73412923e+01] [-6.62584823e-02 9.97802232e-01 -7.21009031e-04 6.48664666e-01] [-1.20868789e-01 -7.30894232e-03 9.92641584e-01 -1.43786798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65592 meters 0.03656964444551514 Centerline is valid? [True, True] Translation: X:17.37, Y:0.65, Z:-1.44 [[ 9.90352806e-01 6.77027999e-02 1.20903474e-01 1.73734931e+01] [-6.81123179e-02 9.97677380e-01 -7.47098336e-04 6.48421148e-01] [-1.20673242e-01 -7.49512495e-03 9.92663987e-01 -1.44032819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68592 meters 0.03718160234104458 Centerline is valid? [True, True] Translation: X:17.40, Y:0.65, Z:-1.45 [[ 9.90310202e-01 6.85143523e-02 1.20795229e-01 1.74049289e+01] [-6.89235255e-02 9.97621631e-01 -7.92493063e-04 6.49230725e-01] [-1.20562230e-01 -7.54081905e-03 9.92677130e-01 -1.44500285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715919999999997 meters 0.0361341498888403 Centerline is valid? [True, True] Translation: X:17.44, Y:0.65, Z:-1.45 [[ 9.90544503e-01 6.77856313e-02 1.19275710e-01 1.74366732e+01] [-6.81743417e-02 9.97673084e-01 -8.23137954e-04 6.51780328e-01] [-1.19053962e-01 -7.31618823e-03 9.92860830e-01 -1.44807059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745919999999998 meters 0.0343922486493233 Centerline is valid? [True, True] Translation: X:17.47, Y:0.65, Z:-1.45 [[ 9.90963475e-01 6.33058318e-02 1.18252964e-01 1.74677216e+01] [-6.36543808e-02 9.97971658e-01 -8.30926345e-04 6.49110375e-01] [-1.18065709e-01 -6.70390154e-03 9.92983155e-01 -1.45137481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77592 meters 0.0334837112464093 Centerline is valid? [True, True] Translation: X:17.50, Y:0.65, Z:-1.45 [[ 9.91090447e-01 6.16503858e-02 1.18063354e-01 1.75000641e+01] [-6.19848593e-02 9.98076736e-01 -8.40344461e-04 6.48425706e-01] [-1.17888095e-01 -6.48528302e-03 9.93005709e-01 -1.45433115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805919999999997 meters 0.032920073434720885 Centerline is valid? [True, True] Translation: X:17.53, Y:0.65, Z:-1.46 [[ 9.91353560e-01 5.99088065e-02 1.16743537e-01 1.75324450e+01] [-6.02210079e-02 9.98184702e-01 -8.54382402e-04 6.49108273e-01] [-1.16582798e-01 -6.18341844e-03 9.93161727e-01 -1.45695931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835919999999998 meters 0.03157309539984738 Centerline is valid? [True, True] Translation: X:17.56, Y:0.65, Z:-1.46 [[ 9.91527455e-01 5.64809241e-02 1.16975257e-01 1.75636896e+01] [-5.67688688e-02 9.98386967e-01 -8.71350495e-04 6.50217447e-01] [-1.16835786e-01 -5.77658505e-03 9.93134447e-01 -1.46053713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86592 meters 0.0313790045929707 Centerline is valid? [True, True] Translation: X:17.60, Y:0.65, Z:-1.46 [[ 9.91436271e-01 5.56887739e-02 1.18122315e-01 1.75954837e+01] [-5.59752388e-02 9.98431757e-01 -8.93636369e-04 6.47832243e-01] [-1.17986836e-01 -5.72594127e-03 9.92998651e-01 -1.46360853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89592 meters 0.03161549988835305 Centerline is valid? [True, True] Translation: X:17.63, Y:0.64, Z:-1.47 [[ 9.91135136e-01 5.63091804e-02 1.20334612e-01 1.76277102e+01] [-5.66053472e-02 9.98396172e-01 -9.58341216e-04 6.41414581e-01] [-1.20195580e-01 -5.86173687e-03 9.92732926e-01 -1.46628045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925919999999998 meters 0.03164291467004672 Centerline is valid? [True, True] Translation: X:17.66, Y:0.64, Z:-1.47 [[ 9.91108213e-01 5.72413587e-02 1.20116346e-01 1.76590446e+01] [-5.75375943e-02 9.98342836e-01 -1.00334444e-03 6.40351536e-01] [-1.19974726e-01 -5.91678264e-03 9.92759315e-01 -1.46999066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95592 meters 0.03233222492641605 Centerline is valid? [True, True] Translation: X:17.69, Y:0.64, Z:-1.47 [[ 9.91243946e-01 6.02127784e-02 1.17515361e-01 1.76906251e+01] [-6.05116284e-02 9.98166965e-01 -1.02642648e-03 6.37713651e-01] [-1.17361755e-01 -6.09360682e-03 9.93070534e-01 -1.47367162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98592 meters 0.03207885283782346 Centerline is valid? [True, True] Translation: X:17.72, Y:0.64, Z:-1.48 [[ 9.91373614e-01 6.09072728e-02 1.16054566e-01 1.77230371e+01] [-6.11980911e-02 9.98125078e-01 -1.05901653e-03 6.36262048e-01] [-1.15901474e-01 -6.05243685e-03 9.93242275e-01 -1.47627287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015919999999998 meters 0.032619955462087596 Centerline is valid? [True, True] Translation: X:17.76, Y:0.64, Z:-1.48 [[ 9.91080117e-01 6.22431698e-02 1.17838830e-01 1.77552063e+01] [-6.25463002e-02 9.98041426e-01 -1.12753596e-03 6.35667000e-01] [-1.17678215e-01 -6.25290433e-03 9.93032094e-01 -1.47800276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04592 meters 0.03301632743892661 Centerline is valid? [True, True] Translation: X:17.79, Y:0.64, Z:-1.48 [[ 9.90990932e-01 6.36902871e-02 1.17815617e-01 1.77872908e+01] [-6.39980189e-02 9.97949336e-01 -1.17321798e-03 6.37452338e-01] [-1.17648739e-01 -6.37731770e-03 9.93034795e-01 -1.48135740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07592 meters 0.03349817649444197 Centerline is valid? [True, True] Translation: X:17.82, Y:0.64, Z:-1.49 [[ 9.90647843e-01 6.45803093e-02 1.20192489e-01 1.78189510e+01] [-6.49015135e-02 9.97890898e-01 -1.24432464e-03 6.39413380e-01] [-1.20019350e-01 -6.56798692e-03 9.92749826e-01 -1.48669777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105919999999998 meters 0.03364322223718398 Centerline is valid? [True, True] Translation: X:17.85, Y:0.64, Z:-1.49 [[ 9.90503365e-01 6.60501324e-02 1.20583843e-01 1.78507546e+01] [-6.63785992e-02 9.97793668e-01 -1.29518210e-03 6.42495076e-01] [-1.20403342e-01 -6.72130436e-03 9.92702301e-01 -1.49009185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13592 meters 0.03423571031390677 Centerline is valid? [True, True] Translation: X:17.88, Y:0.64, Z:-1.49 [[ 9.90463603e-01 6.83247169e-02 1.19639393e-01 1.78826826e+01] [-6.86589554e-02 9.97639302e-01 -1.33088745e-03 6.44953587e-01] [-1.19447893e-01 -6.89612016e-03 9.92816521e-01 -1.49232120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16592 meters 0.03449488420408123 Centerline is valid? [True, True] Translation: X:17.91, Y:0.65, Z:-1.50 [[ 9.90212448e-01 6.85250609e-02 1.21587924e-01 1.79148696e+01] [-6.88660973e-02 9.97624930e-01 -1.40015765e-03 6.46818871e-01] [-1.21395090e-01 -6.98683228e-03 9.92579678e-01 -1.49669733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195919999999997 meters 0.03432780586496748 Centerline is valid? [True, True] Translation: X:17.95, Y:0.65, Z:-1.50 [[ 9.90284996e-01 6.86994692e-02 1.20896687e-01 1.79468450e+01] [-6.90322423e-02 9.97613392e-01 -1.43855600e-03 6.49798402e-01] [-1.20706982e-01 -6.92118896e-03 9.92664053e-01 -1.49926190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22592 meters 0.03205163485227401 Centerline is valid? [True, True] Translation: X:17.98, Y:0.66, Z:-1.50 [[ 9.90363091e-01 6.48179683e-02 1.22391087e-01 1.79779159e+01] [-6.51246011e-02 9.97876016e-01 -1.49761510e-03 6.59110490e-01] [-1.22228203e-01 -6.48748800e-03 9.92480820e-01 -1.50311391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25592 meters 0.031430147115130265 Centerline is valid? [True, True] Translation: X:18.01, Y:0.66, Z:-1.51 [[ 9.90500492e-01 6.29246042e-02 1.22267208e-01 1.80094797e+01] [-6.32142221e-02 9.97998834e-01 -1.51278118e-03 6.61699453e-01] [-1.22117722e-01 -6.23061595e-03 9.92496066e-01 -1.50700307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285919999999997 meters 0.02904574050784883 Centerline is valid? [True, True] Translation: X:18.04, Y:0.66, Z:-1.51 [[ 9.91060298e-01 5.67192916e-02 1.20757637e-01 1.80406818e+01] [-5.69508313e-02 9.98375803e-01 -1.53580736e-03 6.64565161e-01] [-1.20648612e-01 -5.35517009e-03 9.92680832e-01 -1.50965958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31592 meters 0.028126445956423784 Centerline is valid? [True, True] Translation: X:18.07, Y:0.66, Z:-1.51 [[ 9.91173142e-01 5.37769431e-02 1.21176909e-01 1.80722870e+01] [-5.39860647e-02 9.98540472e-01 -1.55901615e-03 6.64614417e-01] [-1.21083887e-01 -4.99660949e-03 9.92629703e-01 -1.51267914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34592 meters 0.027343174359096202 Centerline is valid? [True, True] Translation: X:18.10, Y:0.66, Z:-1.52 [[ 9.91230886e-01 5.15618158e-02 1.21666383e-01 1.81040276e+01] [-5.17499688e-02 9.98658767e-01 -1.61500565e-03 6.64668487e-01] [-1.21586473e-01 -4.69538806e-03 9.92569737e-01 -1.51615913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375919999999997 meters 0.026742484140617608 Centerline is valid? [True, True] Translation: X:18.14, Y:0.67, Z:-1.52 [[ 9.91209478e-01 4.70543089e-02 1.23651380e-01 1.81354932e+01] [-4.72074592e-02 9.98883672e-01 -1.69266135e-03 6.65206850e-01] [-1.23592991e-01 -4.15948549e-03 9.92324277e-01 -1.52073502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40592 meters 0.026658597670940542 Centerline is valid? [True, True] Translation: X:18.17, Y:0.67, Z:-1.52 [[ 9.90921907e-01 4.67571813e-02 1.26045789e-01 1.81674988e+01] [-4.69073377e-02 9.98897662e-01 -1.77816797e-03 6.65765955e-01] [-1.25989986e-01 -4.15044677e-03 9.92022831e-01 -1.52493342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43592 meters 0.02632434197523428 Centerline is valid? [True, True] Translation: X:18.20, Y:0.67, Z:-1.53 [[ 9.90973786e-01 4.74382488e-02 1.25381688e-01 1.82003028e+01] [-4.75864274e-02 9.98865476e-01 -1.81467408e-03 6.65477041e-01] [-1.25325524e-01 -4.16817212e-03 9.92106919e-01 -1.52645967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465919999999997 meters 0.026893813153303782 Centerline is valid? [True, True] Translation: X:18.23, Y:0.66, Z:-1.53 [[ 9.90936105e-01 4.80009267e-02 1.25465319e-01 1.82324733e+01] [-4.81497214e-02 9.98838420e-01 -1.84809917e-03 6.64577916e-01] [-1.25408292e-01 -4.20977198e-03 9.92096285e-01 -1.52979445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495919999999998 meters 0.02699548339435666 Centerline is valid? [True, True] Translation: X:18.26, Y:0.67, Z:-1.53 [[ 9.91000823e-01 4.99898644e-02 1.24170777e-01 1.82641250e+01] [-5.01439730e-02 9.98740219e-01 -1.88586745e-03 6.68458546e-01] [-1.24108624e-01 -4.35751991e-03 9.92259070e-01 -1.53470344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52592 meters 0.027628808499217915 Centerline is valid? [True, True] Translation: X:18.30, Y:0.67, Z:-1.54 [[ 9.91020463e-01 5.15558526e-02 1.23371134e-01 1.82962176e+01] [-5.17138633e-02 9.98660091e-01 -1.92326769e-03 6.69221226e-01] [-1.23304984e-01 -4.47400033e-03 9.92358738e-01 -1.53971821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555919999999997 meters 0.028080317027379006 Centerline is valid? [True, True] Translation: X:18.33, Y:0.67, Z:-1.54 [[ 9.90996258e-01 5.38273213e-02 1.22592973e-01 1.83281906e+01] [-5.39944989e-02 9.98539308e-01 -1.96055181e-03 6.67551324e-01] [-1.22519433e-01 -4.67644662e-03 9.92455097e-01 -1.54179672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585919999999998 meters 0.027957191524614042 Centerline is valid? [True, True] Translation: X:18.36, Y:0.67, Z:-1.54 [[ 9.90686924e-01 5.39252583e-02 1.25025936e-01 1.83598507e+01] [-5.40936244e-02 9.98533763e-01 -2.05033265e-03 6.68232559e-01] [-1.24953183e-01 -4.73186827e-03 9.92151355e-01 -1.54417068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61592 meters 0.027864593494239247 Centerline is valid? [True, True] Translation: X:18.39, Y:0.67, Z:-1.55 [[ 9.90404070e-01 5.50281551e-02 1.26774129e-01 1.83914825e+01] [-5.52037748e-02 9.98472836e-01 -2.13036253e-03 6.69841367e-01] [-1.26697754e-01 -4.88849073e-03 9.91929323e-01 -1.54686683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64592 meters 0.028931491596279783 Centerline is valid? [True, True] Translation: X:18.42, Y:0.67, Z:-1.55 [[ 9.90003943e-01 5.66548640e-02 1.29160441e-01 1.84227326e+01] [-5.68442706e-02 9.98380583e-01 -2.22253958e-03 6.69179783e-01] [-1.29077194e-01 -5.14170810e-03 9.91621218e-01 -1.55192090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675919999999998 meters 0.028891973114604997 Centerline is valid? [True, True] Translation: X:18.45, Y:0.67, Z:-1.55 [[ 9.90187158e-01 5.77485390e-02 1.27257606e-01 1.84549991e+01] [-5.79351296e-02 9.98317842e-01 -2.23778792e-03 6.66517113e-01] [-1.27172767e-01 -5.15685703e-03 9.91867176e-01 -1.55467179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70592 meters 0.02863982740180149 Centerline is valid? [True, True] Translation: X:18.49, Y:0.66, Z:-1.56 [[ 9.90353208e-01 5.66154063e-02 1.26472207e-01 1.84869138e+01] [-5.67840888e-02 9.98383892e-01 -2.27405831e-03 6.64528730e-01] [-1.26396561e-01 -4.92948811e-03 9.91967545e-01 -1.55790549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73592 meters 0.028243203119280025 Centerline is valid? [True, True] Translation: X:18.52, Y:0.66, Z:-1.56 [[ 9.90350826e-01 5.65155516e-02 1.26535508e-01 1.85192270e+01] [-5.66771731e-02 9.98389849e-01 -2.32557591e-03 6.64944393e-01] [-1.26463198e-01 -4.86853885e-03 9.91959352e-01 -1.56117152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765919999999998 meters 0.027767549410461466 Centerline is valid? [True, True] Translation: X:18.55, Y:0.66, Z:-1.56 [[ 9.90598484e-01 5.49891611e-02 1.25263063e-01 1.85511718e+01] [-5.51291158e-02 9.98476465e-01 -2.35156813e-03 6.60876440e-01] [-1.25201531e-01 -4.57618206e-03 9.92120777e-01 -1.56468156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79592 meters 0.027511021358129287 Centerline is valid? [True, True] Translation: X:18.58, Y:0.66, Z:-1.57 [[ 9.90712056e-01 5.46036464e-02 1.24531375e-01 1.85832439e+01] [-5.47326737e-02 9.98498189e-01 -2.38752965e-03 6.57794448e-01] [-1.24474720e-01 -4.45058068e-03 9.92212798e-01 -1.56778964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82592 meters 0.027465252385611403 Centerline is valid? [True, True] Translation: X:18.62, Y:0.66, Z:-1.57 [[ 9.90633178e-01 5.49045660e-02 1.25025579e-01 1.86157077e+01] [-5.50305272e-02 9.98481670e-01 -2.44859225e-03 6.56121960e-01] [-1.24970188e-01 -4.45456683e-03 9.92150497e-01 -1.57062847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855919999999998 meters 0.027465252385611403 Centerline is valid? [True, True] Translation: X:18.65, Y:0.66, Z:-1.57 [[ 9.90607705e-01 5.53648468e-02 1.25024433e-01 1.86478797e+01] [-5.54872304e-02 9.98456252e-01 -2.50590629e-03 6.55855363e-01] [-1.24970166e-01 -4.45488944e-03 9.92150498e-01 -1.57394217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88592 meters 0.02831137763672534 Centerline is valid? [True, True] Translation: X:18.68, Y:0.66, Z:-1.58 [[ 9.90340974e-01 5.71690265e-02 1.26318871e-01 1.86790414e+01] [-5.73014070e-02 9.98353569e-01 -2.58845325e-03 6.56169475e-01] [-1.26258875e-01 -4.67479771e-03 9.91986312e-01 -1.57951078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91592 meters 0.028870117785975126 Centerline is valid? [True, True] Translation: X:18.71, Y:0.66, Z:-1.58 [[ 9.90018880e-01 6.08206786e-02 1.27135603e-01 1.87111106e+01] [-6.09794755e-02 9.98135512e-01 -2.64636471e-03 6.55517991e-01] [-1.27059514e-01 -5.13271136e-03 9.91881815e-01 -1.58263153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945919999999997 meters 0.02947904975711718 Centerline is valid? [True, True] Translation: X:18.74, Y:0.66, Z:-1.59 [[ 9.89915160e-01 6.33025236e-02 1.26731078e-01 1.87429081e+01] [-6.34777626e-02 9.97979710e-01 -2.65944753e-03 6.55005070e-01] [-1.26643394e-01 -5.41197783e-03 9.91933547e-01 -1.58580509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97592 meters 0.030371274557840628 Centerline is valid? [True, True] Translation: X:18.77, Y:0.65, Z:-1.59 [[ 9.89958290e-01 6.54483300e-02 1.25296051e-01 1.87745818e+01] [-6.56303758e-02 9.97840407e-01 -2.67888475e-03 6.54614180e-01] [-1.25200791e-01 -5.57124272e-03 9.92115781e-01 -1.58927444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00592 meters 0.031160229636829028 Centerline is valid? [True, True] Translation: X:18.81, Y:0.66, Z:-1.59 [[ 9.89729944e-01 6.84304906e-02 1.25506598e-01 1.88060360e+01] [-6.86307622e-02 9.97638387e-01 -2.73263592e-03 6.55826313e-01] [-1.25397195e-01 -5.90904189e-03 9.92089022e-01 -1.59278188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035919999999997 meters 0.03152033798965052 Centerline is valid? [True, True] Translation: X:18.84, Y:0.66, Z:-1.60 [[ 9.89556563e-01 6.98105526e-02 1.26112236e-01 1.88378304e+01] [-7.00179862e-02 9.97541820e-01 -2.79265463e-03 6.56104827e-01] [-1.25997186e-01 -6.06663508e-03 9.92012049e-01 -1.59554940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06592 meters 0.03206471290214769 Centerline is valid? [True, True] Translation: X:18.87, Y:0.66, Z:-1.60 [[ 9.89219611e-01 7.05059118e-02 1.28349047e-01 1.88694059e+01] [-7.07202239e-02 9.97491997e-01 -2.89250611e-03 6.60475661e-01] [-1.28231086e-01 -6.21554955e-03 9.91724839e-01 -1.59804865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09592 meters 0.032097137023835785 Centerline is valid? [True, True] Translation: X:18.90, Y:0.66, Z:-1.60 [[ 9.89075623e-01 7.10347373e-02 1.29164536e-01 1.89008654e+01] [-7.12500689e-02 9.97454096e-01 -2.95888739e-03 6.62559012e-01] [-1.29045879e-01 -6.27641872e-03 9.91618761e-01 -1.60244296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125919999999997 meters 0.03080518347202331 Centerline is valid? [True, True] Translation: X:18.93, Y:0.67, Z:-1.61 [[ 9.89682419e-01 6.82525080e-02 1.25977401e-01 1.89323439e+01] [-6.84295656e-02 9.97651657e-01 -2.92663470e-03 6.65958733e-01] [-1.25881313e-01 -5.72413990e-03 9.92028795e-01 -1.60578765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15592 meters 0.029772249869705465 Centerline is valid? [True, True] Translation: X:18.96, Y:0.67, Z:-1.61 [[ 9.89759804e-01 6.60395733e-02 1.26547643e-01 1.89643154e+01] [-6.61987400e-02 9.97802091e-01 -2.95202969e-03 6.68633789e-01] [-1.26464454e-01 -5.45549422e-03 9.91956138e-01 -1.60947696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18592 meters 0.027540399013955438 Centerline is valid? [True, True] Translation: X:19.00, Y:0.68, Z:-1.61 [[ 9.90115418e-01 5.91421031e-02 1.27175747e-01 1.89956631e+01] [-5.92441462e-02 9.98239065e-01 -2.98339200e-03 6.75473623e-01] [-1.27128242e-01 -4.58051611e-03 9.91875712e-01 -1.61226466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215919999999997 meters 0.026867514041845238 Centerline is valid? [True, True] Translation: X:19.03, Y:0.68, Z:-1.62 [[ 9.90090066e-01 5.57593350e-02 1.28889709e-01 1.90280952e+01] [-5.58340289e-02 9.98435446e-01 -3.03654281e-03 6.77550225e-01] [-1.28857370e-01 -4.18998086e-03 9.91654286e-01 -1.61607244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245919999999998 meters 0.02656339868343227 Centerline is valid? [True, True] Translation: X:19.06, Y:0.68, Z:-1.62 [[ 9.90297812e-01 5.32312625e-02 1.28361506e-01 1.90597987e+01] [-5.32808228e-02 9.98574910e-01 -3.05014334e-03 6.77818146e-01] [-1.28340942e-01 -3.81865636e-03 9.91722754e-01 -1.61971135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27592 meters 0.02507017496176878 Centerline is valid? [True, True] Translation: X:19.09, Y:0.68, Z:-1.62 [[ 9.90505117e-01 4.78778778e-02 1.28869396e-01 1.90919353e+01] [-4.78763060e-02 9.98848425e-01 -3.11180697e-03 6.78726861e-01] [-1.28869980e-01 -3.08752992e-03 9.91656692e-01 -1.62415192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305919999999997 meters 0.02408428497481662 Centerline is valid? [True, True] Translation: X:19.12, Y:0.68, Z:-1.63 [[ 9.90953190e-01 4.33312111e-02 1.27020397e-01 1.91235921e+01] [-4.32887596e-02 9.99057805e-01 -3.09596172e-03 6.79640701e-01] [-1.27034871e-01 -2.43060230e-03 9.91895274e-01 -1.62864103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335919999999998 meters 0.02388813482553965 Centerline is valid? [True, True] Translation: X:19.16, Y:0.68, Z:-1.63 [[ 9.91167618e-01 4.25435336e-02 1.25605734e-01 1.91556605e+01] [-4.24932581e-02 9.99092004e-01 -3.08077277e-03 6.78745883e-01] [-1.25622751e-01 -2.28383467e-03 9.92075455e-01 -1.63173589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36592 meters 0.023748422751464535 Centerline is valid? [True, True] Translation: X:19.19, Y:0.68, Z:-1.64 [[ 9.91023092e-01 4.21512219e-02 1.26872009e-01 1.91878429e+01] [-4.20895863e-02 9.99108819e-01 -3.16780311e-03 6.77184495e-01] [-1.26892470e-01 -2.20062433e-03 9.91914038e-01 -1.63583343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39592 meters 0.02381940658835692 Centerline is valid? [True, True] Translation: X:19.22, Y:0.67, Z:-1.64 [[ 9.91018758e-01 4.23896684e-02 1.26826403e-01 1.92202445e+01] [-4.23221552e-02 9.99098801e-01 -3.22817001e-03 6.72763690e-01] [-1.26848948e-01 -2.16838968e-03 9.91919675e-01 -1.63833044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425919999999998 meters 0.02347300541586689 Centerline is valid? [True, True] Translation: X:19.25, Y:0.67, Z:-1.64 [[ 9.91044445e-01 4.17471217e-02 1.26838815e-01 1.92520633e+01] [-4.16675840e-02 9.99126141e-01 -3.28143161e-03 6.68862642e-01] [-1.26864966e-01 -2.03302241e-03 9.91917914e-01 -1.64118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45592 meters 0.023504525331213846 Centerline is valid? [True, True] Translation: X:19.28, Y:0.67, Z:-1.64 [[ 9.91046722e-01 4.13959863e-02 1.26936076e-01 1.92847195e+01] [-4.13099188e-02 9.99140893e-01 -3.31161278e-03 6.65853624e-01] [-1.26964112e-01 -1.96175601e-03 9.91905371e-01 -1.64491148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48592 meters 0.023287394086375788 Centerline is valid? [True, True] Translation: X:19.32, Y:0.66, Z:-1.65 [[ 9.90994457e-01 4.10425427e-02 1.27457817e-01 1.93171228e+01] [-4.09453174e-02 9.99155659e-01 -3.38391285e-03 6.62549894e-01] [-1.27489083e-01 -1.86536189e-03 9.91838220e-01 -1.64735768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515919999999998 meters 0.0233747073435718 Centerline is valid? [True, True] Translation: X:19.35, Y:0.66, Z:-1.65 [[ 9.91016947e-01 4.16700035e-02 1.27078802e-01 1.93493790e+01] [-4.15724755e-02 9.99129635e-01 -3.42077164e-03 6.55560612e-01] [-1.27110740e-01 -1.89293771e-03 9.91886726e-01 -1.65039085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54592 meters 0.02321127703300766 Centerline is valid? [True, True] Translation: X:19.38, Y:0.65, Z:-1.65 [[ 9.91201377e-01 4.28535329e-02 1.25233400e-01 1.93812889e+01] [-4.27606911e-02 9.99079453e-01 -3.43062051e-03 6.52354753e-01] [-1.25265131e-01 -1.95463096e-03 9.92121377e-01 -1.65276176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57592 meters 0.023723239680711227 Centerline is valid? [True, True] Translation: X:19.41, Y:0.65, Z:-1.66 [[ 9.91139272e-01 4.54962459e-02 1.24791970e-01 1.94130004e+01] [-4.54183523e-02 9.98962025e-01 -3.47065056e-03 6.45027961e-01] [-1.24820341e-01 -2.22794760e-03 9.92176859e-01 -1.65603216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605919999999998 meters 0.024015531083259413 Centerline is valid? [True, True] Translation: X:19.45, Y:0.64, Z:-1.66 [[ 9.90835097e-01 4.79900215e-02 1.26264673e-01 1.94450559e+01] [-4.79236252e-02 9.98844640e-01 -3.56525589e-03 6.41624148e-01] [-1.26289889e-01 -2.51848023e-03 9.91990182e-01 -1.65893914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63592 meters 0.025536849519799235 Centerline is valid? [True, True] Translation: X:19.48, Y:0.64, Z:-1.66 [[ 9.90449616e-01 5.40714750e-02 1.26829941e-01 1.94760542e+01] [-5.40474030e-02 9.98531760e-01 -3.63364898e-03 6.35822251e-01] [-1.26840201e-01 -3.25588270e-03 9.91917821e-01 -1.66339083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66592 meters 0.026088782706256315 Centerline is valid? [True, True] Translation: X:19.51, Y:0.63, Z:-1.67 [[ 9.90222191e-01 5.69881589e-02 1.27327773e-01 1.95079094e+01] [-5.69814407e-02 9.98368388e-01 -3.69824518e-03 6.32417554e-01] [-1.27330780e-01 -3.59323550e-03 9.91853800e-01 -1.66697719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695919999999997 meters 0.02694501226849477 Centerline is valid? [True, True] Translation: X:19.54, Y:0.63, Z:-1.67 [[ 9.90070565e-01 6.08111841e-02 1.26737036e-01 1.95395884e+01] [-6.08290999e-02 9.98141217e-01 -3.73251611e-03 6.27556449e-01] [-1.26728438e-01 -4.01384547e-03 9.91929328e-01 -1.67091818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72592 meters 0.028256775384276633 Centerline is valid? [True, True] Translation: X:19.57, Y:0.62, Z:-1.67 [[ 9.89987449e-01 6.59385845e-02 1.24807667e-01 1.95714447e+01] [-6.59909787e-02 9.97813289e-01 -3.71896451e-03 6.19668011e-01] [-1.24779972e-01 -4.55445191e-03 9.92173984e-01 -1.67309107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75592 meters 0.029249742141138037 Centerline is valid? [True, True] Translation: X:19.60, Y:0.62, Z:-1.68 [[ 9.89972753e-01 7.00679557e-02 1.22655738e-01 1.96029542e+01] [-7.01480438e-02 9.97529838e-01 -3.67063547e-03 6.17118682e-01] [-1.22609953e-01 -4.97023100e-03 9.92442490e-01 -1.67504629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785919999999997 meters 0.031142818396399735 Centerline is valid? [True, True] Translation: X:19.63, Y:0.62, Z:-1.68 [[ 9.89551014e-01 7.68276998e-02 1.22009403e-01 1.96343220e+01] [-7.69545611e-02 9.97027813e-01 -3.67913870e-03 6.16934108e-01] [-1.21929428e-01 -5.74848464e-03 9.92522125e-01 -1.67883431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81592 meters 0.031971484322879315 Centerline is valid? [True, True] Translation: X:19.67, Y:0.62, Z:-1.68 [[ 9.89432708e-01 7.98651029e-02 1.21014386e-01 1.96658885e+01] [-8.00072126e-02 9.96787447e-01 -3.69194969e-03 6.16221121e-01] [-1.20920479e-01 -6.02908794e-03 9.92643888e-01 -1.68183492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84592 meters 0.03374501940217527 Centerline is valid? [True, True] Translation: X:19.70, Y:0.62, Z:-1.68 [[ 9.88816240e-01 8.66848954e-02 1.21359685e-01 1.96967359e+01] [-8.68731331e-02 9.96212328e-01 -3.74915836e-03 6.17381017e-01] [-1.21225010e-01 -6.83566744e-03 9.92601516e-01 -1.68412586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875919999999997 meters 0.03518483547328373 Centerline is valid? [True, True] Translation: X:19.73, Y:0.62, Z:-1.69 [[ 9.88478152e-01 8.97654872e-02 1.21873300e-01 1.97288411e+01] [-8.99740975e-02 9.95936850e-01 -3.80171042e-03 6.17162809e-01] [-1.21719373e-01 -7.20753247e-03 9.92538385e-01 -1.68758015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90592 meters 0.03685097744972947 Centerline is valid? [True, True] Translation: X:19.76, Y:0.62, Z:-1.69 [[ 9.88070622e-01 9.28586727e-02 1.22856469e-01 1.97606878e+01] [-9.30927775e-02 9.95650011e-01 -3.84595052e-03 6.16789519e-01] [-1.22679175e-01 -7.63697921e-03 9.92416997e-01 -1.69016702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93592 meters 0.0376048110122718 Centerline is valid? [True, True] Translation: X:19.79, Y:0.62, Z:-1.69 [[ 9.87528213e-01 9.58398390e-02 1.24910984e-01 1.97927272e+01] [-9.61040268e-02 9.95363564e-01 -3.92316087e-03 6.19929352e-01] [-1.24707837e-01 -8.13021650e-03 9.92160196e-01 -1.69252181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965919999999997 meters 0.03775373067732871 Centerline is valid? [True, True] Translation: X:19.82, Y:0.62, Z:-1.69 [[ 9.87574280e-01 9.71354327e-02 1.23538448e-01 1.98246191e+01] [-9.74015098e-02 9.95237534e-01 -3.89840164e-03 6.21759389e-01] [-1.23328774e-01 -8.18287020e-03 9.92332129e-01 -1.69467809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995919999999998 meters 0.0381769284756901 Centerline is valid? [True, True] Translation: X:19.86, Y:0.63, Z:-1.70 [[ 9.87739409e-01 9.70305689e-02 1.22294431e-01 1.98561858e+01] [-9.72847413e-02 9.95248928e-01 -3.90530263e-03 6.28852443e-01] [-1.22092335e-01 -8.03996075e-03 9.92486182e-01 -1.69973277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02592 meters 0.038287632793553544 Centerline is valid? [True, True] Translation: X:19.89, Y:0.63, Z:-1.70 [[ 9.87591422e-01 9.72213766e-02 1.23333643e-01 1.98891966e+01] [-9.74754394e-02 9.95229945e-01 -3.98688850e-03 6.32462920e-01] [-1.23132946e-01 -8.08458419e-03 9.92357253e-01 -1.70364077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055919999999997 meters 0.03701360313509067 Centerline is valid? [True, True] Translation: X:19.92, Y:0.64, Z:-1.71 [[ 9.87582969e-01 9.55230623e-02 1.24720585e-01 1.99214766e+01] [-9.57635703e-02 9.95395749e-01 -4.07935124e-03 6.39543240e-01] [-1.24536012e-01 -7.91499066e-03 9.92183519e-01 -1.70766035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085919999999998 meters 0.036744474931124024 Centerline is valid? [True, True] Translation: X:19.95, Y:0.64, Z:-1.71 [[ 9.87718821e-01 9.44764981e-02 1.24441640e-01 1.99530904e+01] [-9.47048607e-02 9.95496981e-01 -4.09264376e-03 6.40736281e-01] [-1.24267936e-01 -7.74284696e-03 9.92218488e-01 -1.71031877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11592 meters 0.03476442385954132 Centerline is valid? [True, True] Translation: X:19.98, Y:0.64, Z:-1.71 [[ 9.88249291e-01 9.01549180e-02 1.23431881e-01 1.99848241e+01] [-9.03409657e-02 9.95902454e-01 -4.10030829e-03 6.44279657e-01] [-1.23295776e-01 -7.09882859e-03 9.92344576e-01 -1.71452040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145919999999997 meters 0.03368739792716844 Centerline is valid? [True, True] Translation: X:20.02, Y:0.65, Z:-1.72 [[ 9.88417268e-01 8.78533398e-02 1.23746087e-01 2.00158457e+01] [-8.80202021e-02 9.96110133e-01 -4.12873075e-03 6.45720720e-01] [-1.23627454e-01 -6.81124685e-03 9.92305326e-01 -1.71804308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175919999999998 meters 0.03338147109549833 Centerline is valid? [True, True] Translation: X:20.05, Y:0.65, Z:-1.72 [[ 9.88769994e-01 8.45437867e-02 1.23232491e-01 2.00466982e+01] [-8.46787161e-02 9.96399658e-01 -4.15171833e-03 6.45486486e-01] [-1.23139814e-01 -6.33007464e-03 9.92369143e-01 -1.72217543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20592 meters 0.031182565552841244 Centerline is valid? [True, True] Translation: X:20.08, Y:0.65, Z:-1.72 [[ 9.89063515e-01 7.85385979e-02 1.24840106e-01 2.00786381e+01] [-7.86254419e-02 9.96895216e-01 -4.23899505e-03 6.47625907e-01] [-1.24785429e-01 -5.62297314e-03 9.92167818e-01 -1.72476563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23592 meters 0.030458113624871285 Centerline is valid? [True, True] Translation: X:20.11, Y:0.65, Z:-1.73 [[ 9.89070973e-01 7.64637676e-02 1.26063093e-01 2.01104837e+01] [-7.65328234e-02 9.97057779e-01 -4.30260923e-03 6.48617350e-01] [-1.26021181e-01 -5.39237854e-03 9.92012895e-01 -1.72773355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265919999999998 meters 0.029144545009822803 Centerline is valid? [True, True] Translation: X:20.14, Y:0.65, Z:-1.73 [[ 9.89215979e-01 7.30616862e-02 1.26939896e-01 2.01429842e+01] [-7.30982694e-02 9.97315140e-01 -4.37647847e-03 6.49802481e-01] [-1.26918833e-01 -4.94980430e-03 9.91900756e-01 -1.73039435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.29592 meters 0.028211194266158993 Centerline is valid? [True, True] Translation: X:20.18, Y:0.65, Z:-1.73 [[ 9.89224804e-01 7.14417056e-02 1.27790336e-01 2.01752558e+01] [-7.14630098e-02 9.97433439e-01 -4.42415514e-03 6.49499508e-01] [-1.27778424e-01 -4.75579804e-03 9.91791337e-01 -1.73446672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32592 meters 0.02838715821676849 Centerline is valid? [True, True] Translation: X:20.21, Y:0.65, Z:-1.74 [[ 9.89389157e-01 6.99566451e-02 1.27338772e-01 2.02072408e+01] [-6.99623028e-02 9.97539783e-01 -4.43378441e-03 6.47467383e-01] [-1.27335664e-01 -4.52217551e-03 9.91849373e-01 -1.73892021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355919999999998 meters 0.027313985154766986 Centerline is valid? [True, True] Translation: X:20.24, Y:0.65, Z:-1.74 [[ 9.89700146e-01 6.82816359e-02 1.25822253e-01 2.02391864e+01] [-6.82679452e-02 9.97657205e-01 -4.42585230e-03 6.46406733e-01] [-1.25829682e-01 -4.20936004e-03 9.92042929e-01 -1.74268734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38592 meters 0.027726342330268102 Centerline is valid? [True, True] Translation: X:20.27, Y:0.65, Z:-1.75 [[ 9.89644292e-01 6.89302656e-02 1.25907881e-01 2.02721129e+01] [-6.89184529e-02 9.97612349e-01 -4.45508787e-03 6.45517331e-01] [-1.25914347e-01 -4.26842406e-03 9.92031934e-01 -1.74658910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41592 meters 0.027947812905922978 Centerline is valid? [True, True] Translation: X:20.30, Y:0.65, Z:-1.75 [[ 9.89259963e-01 7.12777141e-02 1.27609615e-01 2.03035316e+01] [-7.12775413e-02 9.97446035e-01 -4.57375762e-03 6.45998301e-01] [-1.27609712e-01 -4.57106435e-03 9.91813928e-01 -1.74957139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445919999999997 meters 0.028015926894560488 Centerline is valid? [True, True] Translation: X:20.34, Y:0.64, Z:-1.75 [[ 9.89166647e-01 7.19571398e-02 1.27951220e-01 2.03365863e+01] [-7.19560665e-02 9.97397024e-01 -4.63689261e-03 6.44849483e-01] [-1.27951823e-01 -4.62020696e-03 9.91769623e-01 -1.75228595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47592 meters 0.02905190712391504 Centerline is valid? [True, True] Translation: X:20.37, Y:0.64, Z:-1.76 [[ 9.89004754e-01 7.41488623e-02 1.27951327e-01 2.03680214e+01] [-7.41584580e-02 9.97235416e-01 -4.69556667e-03 6.42581226e-01] [-1.27945766e-01 -4.84473538e-03 9.91769333e-01 -1.75585278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50592 meters 0.028844970028023813 Centerline is valid? [True, True] Translation: X:20.40, Y:0.64, Z:-1.76 [[ 9.88959049e-01 7.42316884e-02 1.28256210e-01 2.04009074e+01] [-7.42350565e-02 9.97229408e-01 -4.76071945e-03 6.42922663e-01] [-1.28254260e-01 -4.81295038e-03 9.91729641e-01 -1.75977121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535919999999997 meters 0.027890487981647248 Centerline is valid? [True, True] Translation: X:20.43, Y:0.64, Z:-1.76 [[ 9.89321356e-01 7.20152134e-02 1.26716467e-01 2.04324605e+01] [-7.19931254e-02 9.97393769e-01 -4.76014439e-03 6.44318042e-01] [-1.26729018e-01 -4.41340202e-03 9.91927557e-01 -1.76420293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56592 meters 0.02714140725773918 Centerline is valid? [True, True] Translation: X:20.46, Y:0.64, Z:-1.77 [[ 9.89548577e-01 6.99818321e-02 1.26079966e-01 2.04640097e+01] [-6.99370177e-02 9.97539921e-01 -4.78739791e-03 6.43790535e-01] [-1.26104830e-01 -4.08029404e-03 9.92008530e-01 -1.76721884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59592 meters 0.026531229322078145 Centerline is valid? [True, True] Translation: X:20.50, Y:0.64, Z:-1.77 [[ 9.89566990e-01 6.69116414e-02 1.27593123e-01 2.04954430e+01] [-6.68335787e-02 9.97752116e-01 -4.89782288e-03 6.41878923e-01] [-1.27634029e-01 -3.68078116e-03 9.91814502e-01 -1.77106530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625919999999997 meters 0.026006498791464702 Centerline is valid? [True, True] Translation: X:20.53, Y:0.64, Z:-1.77 [[ 9.89610908e-01 6.66592457e-02 1.27384444e-01 2.05274295e+01] [-6.65726021e-02 9.97769343e-01 -4.94235062e-03 6.40887856e-01] [-1.27429746e-01 -3.58930980e-03 9.91841105e-01 -1.77413719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65592 meters 0.02602380020464885 Centerline is valid? [True, True] Translation: X:20.56, Y:0.64, Z:-1.78 [[ 9.89695670e-01 6.52291778e-02 1.27466213e-01 2.05597487e+01] [-6.51244625e-02 9.97864655e-01 -4.99342117e-03 6.39392806e-01] [-1.27519746e-01 -3.35920131e-03 9.91830343e-01 -1.77769084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68592 meters 0.026046543062724394 Centerline is valid? [True, True] Translation: X:20.59, Y:0.64, Z:-1.78 [[ 9.89744374e-01 6.54796798e-02 1.26958598e-01 2.05913238e+01] [-6.53735494e-02 9.97848299e-01 -5.00702111e-03 6.37319516e-01] [-1.27013279e-01 -3.34406319e-03 9.91895380e-01 -1.78061904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715919999999997 meters 0.026121288947777627 Centerline is valid? [True, True] Translation: X:20.62, Y:0.63, Z:-1.78 [[ 9.89761122e-01 6.68207619e-02 1.26126548e-01 2.06237747e+01] [-6.67200231e-02 9.97759069e-01 -5.02777713e-03 6.34953613e-01] [-1.26179867e-01 -3.43886790e-03 9.92001419e-01 -1.78305286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745919999999998 meters 0.026121288947777627 Centerline is valid? [True, True] Translation: X:20.66, Y:0.63, Z:-1.79 [[ 9.89729366e-01 6.72939957e-02 1.26124150e-01 2.06559319e+01] [-6.71894993e-02 9.97727263e-01 -5.08731747e-03 6.34035814e-01] [-1.26179849e-01 -3.43915098e-03 9.92001420e-01 -1.78636583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77592 meters 0.02615668044221505 Centerline is valid? [True, True] Translation: X:20.69, Y:0.63, Z:-1.79 [[ 9.89678250e-01 6.82480764e-02 1.26012545e-01 2.06881618e+01] [-6.81438564e-02 9.97662252e-01 -5.14263943e-03 6.30160744e-01] [-1.26068934e-01 -3.49742236e-03 9.92015318e-01 -1.79020526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805919999999997 meters 0.026376038939929267 Centerline is valid? [True, True] Translation: X:20.72, Y:0.63, Z:-1.79 [[ 9.89607310e-01 6.86052361e-02 1.26375208e-01 2.07206187e+01] [-6.84956545e-02 9.97637771e-01 -5.21759346e-03 6.27239614e-01] [-1.26434635e-01 -3.49278395e-03 9.91968792e-01 -1.79432755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835919999999998 meters 0.02626322946311265 Centerline is valid? [True, True] Translation: X:20.75, Y:0.62, Z:-1.80 [[ 9.89481159e-01 6.95957362e-02 1.26820618e-01 2.07520718e+01] [-6.94859699e-02 9.97568878e-01 -5.29474112e-03 6.23391955e-01] [-1.26880793e-01 -3.57320706e-03 9.91911537e-01 -1.79607027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86592 meters 0.026739245742045604 Centerline is valid? [True, True] Translation: X:20.78, Y:0.62, Z:-1.80 [[ 9.89422206e-01 7.05906663e-02 1.26730642e-01 2.07843575e+01] [-7.04823190e-02 9.97498711e-01 -5.34461983e-03 6.21156728e-01] [-1.26790932e-01 -3.64418397e-03 9.91922769e-01 -1.80037260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895919999999997 meters 0.026893240293207693 Centerline is valid? [True, True] Translation: X:20.82, Y:0.62, Z:-1.81 [[ 9.89481834e-01 7.18570256e-02 1.25547874e-01 2.08163275e+01] [-7.17533228e-02 9.97408039e-01 -5.35385861e-03 6.18613512e-01] [-1.25607171e-01 -3.71093127e-03 9.92073116e-01 -1.80520626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925919999999998 meters 0.02715723756485472 Centerline is valid? [True, True] Translation: X:20.85, Y:0.62, Z:-1.81 [[ 9.89387219e-01 7.25253135e-02 1.25908734e-01 2.08492956e+01] [-7.24188984e-02 9.97359532e-01 -5.42837789e-03 6.16630822e-01] [-1.25969971e-01 -3.74740414e-03 9.92026977e-01 -1.80960355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.95592 meters 0.02748897349879916 Centerline is valid? [True, True] Translation: X:20.88, Y:0.61, Z:-1.81 [[ 9.89264416e-01 7.48294211e-02 1.25524792e-01 2.08811576e+01] [-7.47348906e-02 9.97188442e-01 -5.46876822e-03 6.13310149e-01] [-1.25581096e-01 -3.97102376e-03 9.92075410e-01 -1.81116585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98592 meters 0.02772766253784136 Centerline is valid? [True, True] Translation: X:20.91, Y:0.61, Z:-1.81 [[ 9.89086254e-01 7.56847328e-02 1.26412832e-01 2.09132099e+01] [-7.55892597e-02 9.97123544e-01 -5.55901835e-03 6.11628179e-01] [-1.26469944e-01 -4.05710376e-03 9.91962143e-01 -1.81328725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015919999999998 meters 0.027779922874024542 Centerline is valid? [True, True] Translation: X:20.94, Y:0.61, Z:-1.82 [[ 9.89165929e-01 7.60553212e-02 1.25564141e-01 2.09447535e+01] [-7.59576586e-02 9.97095473e-01 -5.57235980e-03 6.10768854e-01] [-1.25623244e-01 -4.02556970e-03 9.92069854e-01 -1.81565277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04592 meters 0.027416684945931278 Centerline is valid? [True, True] Translation: X:20.98, Y:0.61, Z:-1.82 [[ 9.89072030e-01 7.57347272e-02 1.26494151e-01 2.09777475e+01] [-7.56270754e-02 9.97120106e-01 -5.66029477e-03 6.10456547e-01] [-1.26558543e-01 -3.96794349e-03 9.91951204e-01 -1.81936993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07592 meters 0.028081476042316363 Centerline is valid? [True, True] Translation: X:21.01, Y:0.61, Z:-1.82 [[ 9.88839165e-01 7.56267694e-02 1.28365486e-01 2.10094299e+01] [-7.55108730e-02 9.97128248e-01 -5.77631506e-03 6.08307890e-01] [-1.28433696e-01 -3.98114338e-03 9.91710107e-01 -1.82471959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105919999999998 meters 0.027494231173471616 Centerline is valid? [True, True] Translation: X:21.04, Y:0.61, Z:-1.83 [[ 9.88930789e-01 7.31645244e-02 1.29084653e-01 2.10414242e+01] [-7.30195079e-02 9.97313284e-01 -5.86214236e-03 6.06749178e-01] [-1.29166740e-01 -3.62844474e-03 9.91616250e-01 -1.82718840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.13592 meters 0.027101104652817638 Centerline is valid? [True, True] Translation: X:21.07, Y:0.61, Z:-1.83 [[ 9.88975815e-01 7.05871618e-02 1.30170232e-01 2.10735962e+01] [-7.04105258e-02 9.97500267e-01 -5.96454041e-03 6.06984904e-01] [-1.30265861e-01 -3.26656825e-03 9.91473719e-01 -1.83045128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16592 meters 0.025789987187537947 Centerline is valid? [True, True] Translation: X:21.11, Y:0.61, Z:-1.83 [[ 9.89282448e-01 6.67340795e-02 1.29872251e-01 2.11055134e+01] [-6.65189418e-02 9.97767131e-01 -5.99858274e-03 6.07028191e-01] [-1.29982573e-01 -2.70467209e-03 9.91512590e-01 -1.83358737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195919999999997 meters 0.026011484224760153 Centerline is valid? [True, True] Translation: X:21.14, Y:0.60, Z:-1.84 [[ 9.89195862e-01 6.61972408e-02 1.30803176e-01 2.11377485e+01] [-6.59693910e-02 9.97803129e-01 -6.07909808e-03 6.04590155e-01] [-1.30918238e-01 -2.61558722e-03 9.91389718e-01 -1.83753667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22592 meters 0.026119297590355254 Centerline is valid? [True, True] Translation: X:21.17, Y:0.60, Z:-1.84 [[ 9.89083716e-01 6.40069219e-02 1.32727223e-01 2.11702963e+01] [-6.37440148e-02 9.97946815e-01 -6.23336208e-03 6.02599584e-01] [-1.32853688e-01 -2.29524916e-03 9.91133003e-01 -1.84104484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25592 meters 0.026021684276741414 Centerline is valid? [True, True] Translation: X:21.20, Y:0.60, Z:-1.85 [[ 9.88963800e-01 6.38082065e-02 1.33712811e-01 2.12030455e+01] [-6.35308429e-02 9.97959709e-01 -6.34430921e-03 6.00703781e-01] [-1.33844817e-01 -2.22059544e-03 9.90999815e-01 -1.84529883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285919999999997 meters 0.026319428387713836 Centerline is valid? [True, True] Translation: X:21.24, Y:0.60, Z:-1.85 [[ 9.88897722e-01 6.35351253e-02 1.34330128e-01 2.12353017e+01] [-6.32437987e-02 9.97977334e-01 -6.43911047e-03 5.97167297e-01] [-1.34467533e-01 -2.12792592e-03 9.90915715e-01 -1.84947426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31592 meters 0.026556383474445156 Centerline is valid? [True, True] Translation: X:21.27, Y:0.59, Z:-1.85 [[ 9.88728104e-01 6.34249417e-02 1.35624529e-01 2.12663271e+01] [-6.31182197e-02 9.97984466e-01 -6.56480703e-03 5.90291947e-01] [-1.35767545e-01 -2.06956958e-03 9.90738558e-01 -1.85281587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34592 meters 0.026506655825223872 Centerline is valid? [True, True] Translation: X:21.30, Y:0.59, Z:-1.85 [[ 9.88786082e-01 6.47489395e-02 1.34572134e-01 2.12979525e+01] [-6.44519410e-02 9.97899204e-01 -6.56698383e-03 5.87772306e-01] [-1.34714631e-01 -2.18009306e-03 9.90882039e-01 -1.85488254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375919999999997 meters 0.02721135256238734 Centerline is valid? [True, True] Translation: X:21.33, Y:0.58, Z:-1.86 [[ 9.88635013e-01 6.81743123e-02 1.33989083e-01 2.13298969e+01] [-6.79036548e-02 9.97670091e-01 -6.59413192e-03 5.84069687e-01] [-1.34126451e-01 -2.57915873e-03 9.90960869e-01 -1.85979777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40592 meters 0.02739331398831092 Centerline is valid? [True, True] Translation: X:21.36, Y:0.58, Z:-1.86 [[ 9.88508769e-01 6.94915062e-02 1.34243602e-01 2.13619368e+01] [-6.92242809e-02 9.97578872e-01 -6.66288527e-03 5.79795290e-01] [-1.34381595e-01 -2.70659627e-03 9.90925962e-01 -1.86317178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43592 meters 0.02808246940167535 Centerline is valid? [True, True] Translation: X:21.39, Y:0.57, Z:-1.86 [[ 9.88347094e-01 7.25528490e-02 1.33813701e-01 2.13932273e+01] [-7.23077885e-02 9.97359884e-01 -6.69668711e-03 5.69655876e-01] [-1.33946281e-01 -3.05712154e-03 9.90983879e-01 -1.86406448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465919999999997 meters 0.028347284417823873 Centerline is valid? [True, True] Translation: X:21.43, Y:0.57, Z:-1.87 [[ 9.88299588e-01 7.32181581e-02 1.33802187e-01 2.14252628e+01] [-7.29715503e-02 9.97311162e-01 -6.75275317e-03 5.65004443e-01] [-1.33936839e-01 -3.09000986e-03 9.90985053e-01 -1.86754445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495919999999998 meters 0.028628580465100667 Centerline is valid? [True, True] Translation: X:21.46, Y:0.56, Z:-1.87 [[ 9.88023272e-01 7.51603657e-02 1.34762508e-01 2.14570673e+01] [-7.49198603e-02 9.97165945e-01 -6.86238067e-03 5.60067165e-01] [-1.34896363e-01 -3.31619650e-03 9.90854164e-01 -1.87080828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52592 meters 0.029370753193739413 Centerline is valid? [True, True] Translation: X:21.49, Y:0.55, Z:-1.88 [[ 9.87647700e-01 7.64631151e-02 1.36767732e-01 2.14885721e+01] [-7.62200844e-02 9.97066301e-01 -7.02069298e-03 5.52264253e-01] [-1.36903320e-01 -3.49047677e-03 9.90578264e-01 -1.87569966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555919999999997 meters 0.02949738263779972 Centerline is valid? [True, True] Translation: X:21.52, Y:0.55, Z:-1.88 [[ 9.87567259e-01 7.67805014e-02 1.37170198e-01 2.15205553e+01] [-7.65310466e-02 9.97041924e-01 -7.09937618e-03 5.47861984e-01] [-1.37309532e-01 -3.48666737e-03 9.90522052e-01 -1.87913248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585919999999998 meters 0.029661688733295537 Centerline is valid? [True, True] Translation: X:21.55, Y:0.54, Z:-1.88 [[ 9.87713938e-01 7.81271736e-02 1.35341497e-01 2.15524450e+01] [-7.78886628e-02 9.96937032e-01 -7.06475610e-03 5.40694324e-01] [-1.35478900e-01 -3.56361017e-03 9.90773823e-01 -1.88289278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.61592 meters 0.029862597572225025 Centerline is valid? [True, True] Translation: X:21.59, Y:0.54, Z:-1.89 [[ 9.87652361e-01 7.88658242e-02 1.35362463e-01 2.15850551e+01] [-7.86263932e-02 9.96878709e-01 -7.12249273e-03 5.36357242e-01] [-1.35501679e-01 -3.60851548e-03 9.90770545e-01 -1.88618099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645919999999997 meters 0.030645130795845604 Centerline is valid? [True, True] Translation: X:21.62, Y:0.53, Z:-1.89 [[ 9.87184988e-01 8.14884163e-02 1.37205820e-01 2.16169638e+01] [-8.12604328e-02 9.96666378e-01 -7.27145045e-03 5.28261872e-01] [-1.37340967e-01 -3.97113759e-03 9.90515870e-01 -1.88935304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675919999999998 meters 0.031098642305218745 Centerline is valid? [True, True] Translation: X:21.65, Y:0.52, Z:-1.89 [[ 9.87053010e-01 8.32160910e-02 1.37118336e-01 2.16484019e+01] [-8.30013423e-02 9.96522749e-01 -7.29299304e-03 5.22847901e-01] [-1.37248435e-01 -4.18243520e-03 9.90527826e-01 -1.89275729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70592 meters 0.03170034070377789 Centerline is valid? [True, True] Translation: X:21.68, Y:0.52, Z:-1.90 [[ 9.86811642e-01 8.44197096e-02 1.38116244e-01 2.16803008e+01] [-8.42057707e-02 9.96420895e-01 -7.40193722e-03 5.18388087e-01] [-1.38246781e-01 -4.32586693e-03 9.90388365e-01 -1.89704670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73592 meters 0.03227993510764963 Centerline is valid? [True, True] Translation: X:21.71, Y:0.51, Z:-1.90 [[ 9.86772971e-01 8.72174087e-02 1.36646356e-01 2.17121272e+01] [-8.70271591e-02 9.96178624e-01 -7.37721656e-03 5.12573624e-01] [-1.36767600e-01 -4.61230621e-03 9.90592424e-01 -1.90077475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765919999999998 meters 0.032404295249667446 Centerline is valid? [True, True] Translation: X:21.74, Y:0.51, Z:-1.90 [[ 9.86731418e-01 8.85103735e-02 1.36114005e-01 2.17444605e+01] [-8.83261599e-02 9.96064088e-01 -7.40414223e-03 5.09196412e-01] [-1.36233616e-01 -4.71652764e-03 9.90665512e-01 -1.90386428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.79592 meters 0.03202704156365888 Centerline is valid? [True, True] Translation: X:21.78, Y:0.50, Z:-1.90 [[ 9.86617518e-01 9.07115929e-02 1.35489043e-01 2.17758768e+01] [-9.05415313e-02 9.95864966e-01 -7.42965264e-03 5.04751187e-01] [-1.35602747e-01 -4.93715999e-03 9.90750988e-01 -1.90443658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82592 meters 0.03364692102413271 Centerline is valid? [True, True] Translation: X:21.81, Y:0.50, Z:-1.91 [[ 9.86390127e-01 9.32311171e-02 1.35434397e-01 2.18071255e+01] [-9.30772474e-02 9.95630779e-01 -7.48179104e-03 5.00157347e-01] [-1.35540190e-01 -5.22589608e-03 9.90758067e-01 -1.90823829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855919999999998 meters 0.03580621834867363 Centerline is valid? [True, True] Translation: X:21.84, Y:0.50, Z:-1.91 [[ 9.85780321e-01 9.91329366e-02 1.35682790e-01 2.18384825e+01] [-9.90275225e-02 9.95056106e-01 -7.54296774e-03 4.97846804e-01] [-1.35759745e-01 -6.00062134e-03 9.90723616e-01 -1.91247656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88592 meters 0.03558847995753597 Centerline is valid? [True, True] Translation: X:21.87, Y:0.50, Z:-1.92 [[ 9.85574190e-01 1.01293199e-01 1.35584677e-01 2.18707554e+01] [-1.01205271e-01 9.94836847e-01 -7.55913894e-03 4.97973073e-01] [-1.35650322e-01 -6.27179176e-03 9.90736925e-01 -1.91522446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91592 meters 0.037412257086190115 Centerline is valid? [True, True] Translation: X:21.90, Y:0.50, Z:-1.92 [[ 9.85088960e-01 1.05684260e-01 1.35759264e-01 2.19019179e+01] [-1.05633862e-01 9.94376084e-01 -7.59543064e-03 4.95202218e-01] [-1.35798483e-01 -6.85860049e-03 9.90712739e-01 -1.92026180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945919999999997 meters 0.03926361812115598 Centerline is valid? [True, True] Translation: X:21.93, Y:0.49, Z:-1.92 [[ 9.84859946e-01 1.10233900e-01 1.33788544e-01 2.19339930e+01] [-1.10220236e-01 9.93878653e-01 -7.53146531e-03 4.94322920e-01] [-1.33799800e-01 -7.32876636e-03 9.90981283e-01 -1.92187699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97592 meters 0.03933843700412081 Centerline is valid? [True, True] Translation: X:21.97, Y:0.50, Z:-1.92 [[ 9.84473406e-01 1.12235252e-01 1.34964292e-01 2.19655747e+01] [-1.12234243e-01 9.93652402e-01 -7.64054334e-03 4.97516336e-01] [-1.34965131e-01 -7.62570338e-03 9.90821004e-01 -1.92497232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00592 meters 0.04074184426960423 Centerline is valid? [True, True] Translation: X:22.00, Y:0.50, Z:-1.93 [[ 9.84000573e-01 1.14390349e-01 1.36593266e-01 2.19978677e+01] [-1.14403853e-01 9.93403880e-01 -7.77754219e-03 5.04541107e-01] [-1.36581956e-01 -7.97368992e-03 9.90596684e-01 -1.92958499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035919999999997 meters 0.041257222219790314 Centerline is valid? [True, True] Translation: X:22.03, Y:0.51, Z:-1.93 [[ 9.83957477e-01 1.15447554e-01 1.36013038e-01 2.20300764e+01] [-1.15464970e-01 9.93281023e-01 -7.78781431e-03 5.05640251e-01] [-1.35998254e-01 -8.04186324e-03 9.90676437e-01 -1.93292038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06592 meters 0.04039838932706165 Centerline is valid? [True, True] Translation: X:22.06, Y:0.51, Z:-1.94 [[ 9.83959715e-01 1.15081051e-01 1.36307119e-01 2.20624385e+01] [-1.15087996e-01 9.93324234e-01 -7.85611786e-03 5.10328126e-01] [-1.36301255e-01 -7.95720978e-03 9.90635478e-01 -1.93527648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09592 meters 0.04023510335470869 Centerline is valid? [True, True] Translation: X:22.10, Y:0.52, Z:-1.94 [[ 9.83816850e-01 1.14858565e-01 1.37520604e-01 2.20957604e+01] [-1.14856051e-01 9.93350091e-01 -7.98024063e-03 5.17870736e-01] [-1.37522704e-01 -7.94397839e-03 9.90466758e-01 -1.94098702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125919999999997 meters 0.04091588222784315 Centerline is valid? [True, True] Translation: X:22.13, Y:0.52, Z:-1.95 [[ 9.83885394e-01 1.14802277e-01 1.37076505e-01 2.21274496e+01] [-1.14791213e-01 9.93357328e-01 -8.01220998e-03 5.19633479e-01] [-1.37085771e-01 -7.85208193e-03 9.90528059e-01 -1.94596393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15592 meters 0.04033334228217771 Centerline is valid? [True, True] Translation: X:22.16, Y:0.52, Z:-1.95 [[ 9.84106800e-01 1.13897320e-01 1.36239520e-01 2.21596638e+01] [-1.13870606e-01 9.93463258e-01 -8.01503975e-03 5.22634032e-01] [-1.36261849e-01 -7.62602162e-03 9.90643504e-01 -1.94926621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18592 meters 0.03857119349490437 Centerline is valid? [True, True] Translation: X:22.19, Y:0.53, Z:-1.95 [[ 9.84984783e-01 1.10503907e-01 1.32641863e-01 2.21919364e+01] [-1.10442145e-01 9.93851588e-01 -7.84557077e-03 5.29127230e-01] [-1.32693292e-01 -6.92148402e-03 9.91132980e-01 -1.95180045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215919999999997 meters 0.038103679376809294 Centerline is valid? [True, True] Translation: X:22.22, Y:0.53, Z:-1.95 [[ 9.85488481e-01 1.08809724e-01 1.30280078e-01 2.22231379e+01] [-1.08731966e-01 9.94041039e-01 -7.73126896e-03 5.30799651e-01] [-1.30344981e-01 -6.54653256e-03 9.91447088e-01 -1.95447894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245919999999998 meters 0.03702110582280414 Centerline is valid? [True, True] Translation: X:22.25, Y:0.53, Z:-1.96 [[ 9.86005876e-01 1.04918281e-01 1.29555265e-01 2.22541917e+01] [-1.04802405e-01 9.94463016e-01 -7.73077624e-03 5.34630573e-01] [-1.29649019e-01 -5.95511252e-03 9.91542066e-01 -1.95894526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.27592 meters 0.03610289206696351 Centerline is valid? [True, True] Translation: X:22.29, Y:0.54, Z:-1.96 [[ 9.86101979e-01 1.03007889e-01 1.30354371e-01 2.22864574e+01] [-1.02868126e-01 9.94664237e-01 -7.82329161e-03 5.35834126e-01] [-1.30464692e-01 -5.69474661e-03 9.91436601e-01 -1.96253857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305919999999997 meters 0.03467963559991256 Centerline is valid? [True, True] Translation: X:22.32, Y:0.54, Z:-1.97 [[ 9.86561367e-01 9.85202690e-02 1.30347331e-01 2.23184151e+01] [-9.83360864e-02 9.95122185e-01 -7.86453893e-03 5.39253561e-01] [-1.30486337e-01 -5.05899612e-03 9.91437200e-01 -1.96562463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335919999999998 meters 0.03397750857070449 Centerline is valid? [True, True] Translation: X:22.35, Y:0.54, Z:-1.97 [[ 9.87005424e-01 9.62336734e-02 1.28683230e-01 2.23503871e+01] [-9.60333439e-02 9.95347750e-01 -7.77520855e-03 5.40922338e-01] [-1.28832800e-01 -4.68370786e-03 9.91655269e-01 -1.96962135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36592 meters 0.033645454171505045 Centerline is valid? [True, True] Translation: X:22.38, Y:0.54, Z:-1.97 [[ 9.87256400e-01 9.53645666e-02 1.27398584e-01 2.23820294e+01] [-9.51584142e-02 9.95432225e-01 -7.71758411e-03 5.41902548e-01] [-1.27552640e-01 -4.50381290e-03 9.91821577e-01 -1.97276497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395919999999997 meters 0.0328421161991121 Centerline is valid? [True, True] Translation: X:22.41, Y:0.54, Z:-1.98 [[ 9.87768499e-01 9.26136317e-02 1.25443640e-01 2.24137789e+01] [-9.23861520e-02 9.95693925e-01 -7.64247303e-03 5.44228389e-01] [-1.25611267e-01 -4.04026106e-03 9.92071311e-01 -1.97566108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425919999999998 meters 0.032225242565857945 Centerline is valid? [True, True] Translation: X:22.45, Y:0.55, Z:-1.98 [[ 9.87905601e-01 9.05613736e-02 1.25861677e-01 2.24461679e+01] [-9.03136660e-02 9.95883721e-01 -7.68479581e-03 5.45234870e-01] [-1.26039541e-01 -3.77517665e-03 9.92018035e-01 -1.97899698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.45592 meters 0.03159511651158739 Centerline is valid? [True, True] Translation: X:22.48, Y:0.55, Z:-1.98 [[ 9.88068518e-01 8.78691933e-02 1.26489555e-01 2.24783669e+01] [-8.75946976e-02 9.96126115e-01 -7.74162747e-03 5.46643351e-01] [-1.26679800e-01 -3.43055598e-03 9.91937730e-01 -1.98346762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48592 meters 0.03157457813752586 Centerline is valid? [True, True] Translation: X:22.51, Y:0.54, Z:-1.99 [[ 9.88205440e-01 8.69574275e-02 1.26049251e-01 2.25104056e+01] [-8.66742381e-02 9.96206640e-01 -7.73993504e-03 5.43989631e-01] [-1.26244145e-01 -3.27657685e-03 9.91993790e-01 -1.98744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515919999999998 meters 0.03148528872428531 Centerline is valid? [True, True] Translation: X:22.54, Y:0.54, Z:-1.99 [[ 9.88482095e-01 8.63164095e-02 1.24308590e-01 2.25423562e+01] [-8.60294786e-02 9.96262956e-01 -7.68444120e-03 5.43681164e-01] [-1.24507337e-01 -3.09827064e-03 9.92213850e-01 -1.98947696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54592 meters 0.03148556690987822 Centerline is valid? [True, True] Translation: X:22.57, Y:0.54, Z:-1.99 [[ 9.88331537e-01 8.69115992e-02 1.25088557e-01 2.25742962e+01] [-8.66192647e-02 9.96211075e-01 -7.78445792e-03 5.43745024e-01] [-1.25291166e-01 -3.14145358e-03 9.92115041e-01 -1.99333833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57592 meters 0.03179019864859567 Centerline is valid? [True, True] Translation: X:22.61, Y:0.54, Z:-2.00 [[ 9.88135219e-01 8.74011461e-02 1.26292633e-01 2.26061220e+01] [-8.71004159e-02 9.96168116e-01 -7.91215247e-03 5.42504349e-01] [-1.26500225e-01 -3.18186434e-03 9.91961475e-01 -1.99766837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605919999999998 meters 0.03198594241458233 Centerline is valid? [True, True] Translation: X:22.64, Y:0.54, Z:-2.00 [[ 9.88151287e-01 8.76536358e-02 1.25991561e-01 2.26384862e+01] [-8.73495611e-02 9.96146024e-01 -7.94687733e-03 5.38576998e-01] [-1.26202565e-01 -3.15259047e-03 9.91999483e-01 -2.00071022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.63592 meters 0.03205596570446744 Centerline is valid? [True, True] Translation: X:22.67, Y:0.54, Z:-2.00 [[ 9.87918595e-01 8.70993800e-02 1.28181700e-01 2.26703005e+01] [-8.67731677e-02 9.96194857e-01 -8.13788929e-03 5.35797128e-01] [-1.28402755e-01 -3.08315998e-03 9.91717312e-01 -2.00398778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66592 meters 0.03205596570446744 Centerline is valid? [True, True] Translation: X:22.70, Y:0.53, Z:-2.01 [[ 9.87877222e-01 8.75699534e-02 1.28179943e-01 2.27024204e+01] [-8.72441075e-02 9.96153498e-01 -8.16546555e-03 5.34101278e-01] [-1.28401948e-01 -3.11646728e-03 9.91717312e-01 -2.00728609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695919999999997 meters 0.0320658507929278 Centerline is valid? [True, True] Translation: X:22.73, Y:0.53, Z:-2.01 [[ 9.87956931e-01 8.72883739e-02 1.27756963e-01 2.27335779e+01] [-8.69546788e-02 9.96178538e-01 -8.19780770e-03 5.31079734e-01] [-1.27984318e-01 -3.00998471e-03 9.91771624e-01 -2.01137573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72592 meters 0.03197937258960984 Centerline is valid? [True, True] Translation: X:22.77, Y:0.53, Z:-2.01 [[ 9.88027539e-01 8.79045291e-02 1.26784759e-01 2.27653648e+01] [-8.75750776e-02 9.96124326e-01 -8.18119984e-03 5.28010504e-01] [-1.27012547e-01 -3.01993437e-03 9.91896513e-01 -2.01370288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75592 meters 0.03246168770980331 Centerline is valid? [True, True] Translation: X:22.80, Y:0.52, Z:-2.02 [[ 9.87996414e-01 8.89255014e-02 1.26314451e-01 2.27981208e+01] [-8.86033672e-02 9.96033417e-01 -8.17770231e-03 5.22552462e-01] [-1.26540620e-01 -3.11234511e-03 9.91956544e-01 -2.01635350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785919999999997 meters 0.03253417064920033 Centerline is valid? [True, True] Translation: X:22.83, Y:0.52, Z:-2.02 [[ 9.87924550e-01 9.02610333e-02 1.25928672e-01 2.28310642e+01] [-8.99440219e-02 9.95912960e-01 -8.21278805e-03 5.20936895e-01] [-1.26155291e-01 -3.21291627e-03 9.92005302e-01 -2.01900681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81592 meters 0.03328781538257767 Centerline is valid? [True, True] Translation: X:22.86, Y:0.52, Z:-2.02 [[ 9.87501252e-01 9.41532598e-02 1.26397947e-01 2.28622515e+01] [-9.38582617e-02 9.95550964e-01 -8.30090692e-03 5.18501654e-01] [-1.26617155e-01 -3.66633561e-03 9.91944885e-01 -2.02414311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84592 meters 0.03388529137980751 Centerline is valid? [True, True] Translation: X:22.89, Y:0.51, Z:-2.03 [[ 9.87748805e-01 9.65725302e-02 1.22580764e-01 2.28941403e+01] [-9.63078596e-02 9.95318664e-01 -8.09644508e-03 5.12887902e-01] [-1.22788816e-01 -3.80823704e-03 9.92425516e-01 -2.02657010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875919999999997 meters 0.03412360339437747 Centerline is valid? [True, True] Translation: X:22.93, Y:0.51, Z:-2.03 [[ 9.87387451e-01 9.75978684e-02 1.24662253e-01 2.29252624e+01] [-9.73263119e-02 9.95218070e-01 -8.28144204e-03 5.07580100e-01] [-1.24874378e-01 -3.95592536e-03 9.92164674e-01 -2.02962871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90592 meters 0.035521573904546695 Centerline is valid? [True, True] Translation: X:22.96, Y:0.51, Z:-2.03 [[ 9.87004494e-01 1.03309138e-01 1.23082703e-01 2.29570635e+01] [-1.03085571e-01 9.94638686e-01 -8.20052902e-03 5.05769889e-01] [-1.23270008e-01 -4.59409172e-03 9.92362534e-01 -2.03246992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93592 meters 0.03623310055347004 Centerline is valid? [True, True] Translation: X:22.99, Y:0.51, Z:-2.04 [[ 9.86609525e-01 1.07031333e-01 1.23068836e-01 2.29892944e+01] [-1.06834845e-01 9.94242852e-01 -8.21378962e-03 5.05738062e-01] [-1.23239444e-01 -5.04423700e-03 9.92364144e-01 -2.03602055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965919999999997 meters 0.0386954621092249 Centerline is valid? [True, True] Translation: X:23.02, Y:0.50, Z:-2.04 [[ 9.85661457e-01 1.15803366e-01 1.22723560e-01 2.30208168e+01] [-1.15673097e-01 9.93253406e-01 -8.21011031e-03 5.03105939e-01] [-1.22846352e-01 -6.10342493e-03 9.92406934e-01 -2.03809016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995919999999998 meters 0.040345878793142276 Centerline is valid? [True, True] Translation: X:23.05, Y:0.50, Z:-2.04 [[ 9.85105778e-01 1.20705899e-01 1.22460981e-01 2.30528130e+01] [-1.20609019e-01 9.92665962e-01 -8.23115726e-03 5.00410770e-01] [-1.22556397e-01 -6.66133826e-03 9.92439195e-01 -2.04010229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02592 meters 0.043219831215383336 Centerline is valid? [True, True] Translation: X:23.08, Y:0.50, Z:-2.04 [[ 9.83882906e-01 1.29874253e-01 1.22910963e-01 2.30845768e+01] [-1.29845671e-01 9.91499668e-01 -8.27706954e-03 5.01225435e-01] [-1.22941157e-01 -7.81578923e-03 9.92383185e-01 -2.04247538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055919999999997 meters 0.044336791636275616 Centerline is valid? [True, True] Translation: X:23.12, Y:0.50, Z:-2.05 [[ 9.83310932e-01 1.34398081e-01 1.22624498e-01 2.31157827e+01] [-1.34400580e-01 9.90892411e-01 -8.28936701e-03 5.01716483e-01] [-1.22621760e-01 -8.32977849e-03 9.92418520e-01 -2.04620174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085919999999998 meters 0.04606054683041209 Centerline is valid? [True, True] Translation: X:23.15, Y:0.50, Z:-2.05 [[ 9.83071095e-01 1.37264608e-01 1.21365771e-01 2.31475047e+01] [-1.37283654e-01 9.90497460e-01 -8.24494070e-03 5.00616209e-01] [-1.21344226e-01 -8.55617365e-03 9.92573610e-01 -2.05081849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.11592 meters 0.04734848873421891 Centerline is valid? [True, True] Translation: X:23.18, Y:0.50, Z:-2.05 [[ 9.82736282e-01 1.41099877e-01 1.19667141e-01 2.31797703e+01] [-1.41142492e-01 9.89955642e-01 -8.16240876e-03 5.03949679e-01] [-1.19616876e-01 -8.86862325e-03 9.92780515e-01 -2.05413865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145919999999997 meters 0.047273548677641906 Centerline is valid? [True, True] Translation: X:23.21, Y:0.51, Z:-2.06 [[ 9.82470609e-01 1.41851711e-01 1.20952862e-01 2.32121815e+01] [-1.41898867e-01 9.89846635e-01 -8.26745934e-03 5.06925820e-01] [-1.20897537e-01 -9.04053832e-03 9.92623823e-01 -2.05867535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175919999999998 meters 0.046998398099829246 Centerline is valid? [True, True] Translation: X:23.24, Y:0.51, Z:-2.06 [[ 9.82263071e-01 1.40692322e-01 1.23955356e-01 2.32442305e+01] [-1.40727049e-01 9.90011773e-01 -8.51977390e-03 5.13716790e-01] [-1.23915928e-01 -9.07521219e-03 9.92251220e-01 -2.06198475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20592 meters 0.045469185170916186 Centerline is valid? [True, True] Translation: X:23.28, Y:0.52, Z:-2.06 [[ 9.82456604e-01 1.39360037e-01 1.23926595e-01 2.32767716e+01] [-1.39379132e-01 9.90202104e-01 -8.55871635e-03 5.16084704e-01] [-1.23905118e-01 -8.86421393e-03 9.92254477e-01 -2.06389323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23592 meters 0.04545197818207326 Centerline is valid? [True, True] Translation: X:23.31, Y:0.52, Z:-2.07 [[ 9.83093578e-01 1.36215118e-01 1.22362000e-01 2.33088225e+01] [-1.36207047e-01 9.90644182e-01 -8.47028242e-03 5.21469041e-01] [-1.22370984e-01 -8.33948637e-03 9.92449392e-01 -2.06924206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265919999999998 meters 0.04418756553217397 Centerline is valid? [True, True] Translation: X:23.34, Y:0.52, Z:-2.07 [[ 9.83327145e-01 1.34450004e-01 1.22437421e-01 2.33404242e+01] [-1.34424379e-01 9.90887332e-01 -8.50773271e-03 5.24962880e-01] [-1.22465554e-01 -8.09268976e-03 9.92439770e-01 -2.07391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.29592 meters 0.04235833261809746 Centerline is valid? [True, True] Translation: X:23.37, Y:0.53, Z:-2.08 [[ 9.83913995e-01 1.27864306e-01 1.24755636e-01 2.33716741e+01] [-1.27782806e-01 9.91764117e-01 -8.68849796e-03 5.30674777e-01] [-1.24839112e-01 -7.39289053e-03 9.92149455e-01 -2.07873102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32592 meters 0.0415900823661916 Centerline is valid? [True, True] Translation: X:23.40, Y:0.53, Z:-2.08 [[ 9.84082236e-01 1.24745272e-01 1.26573183e-01 2.34024701e+01] [-1.24630592e-01 9.92163686e-01 -8.85635881e-03 5.31738991e-01] [-1.26686105e-01 -7.05950533e-03 9.91917736e-01 -2.08301981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355919999999998 meters 0.03996345494238544 Centerline is valid? [True, True] Translation: X:23.43, Y:0.53, Z:-2.09 [[ 9.84563989e-01 1.21262140e-01 1.26211115e-01 2.34341963e+01] [-1.21115050e-01 9.92598870e-01 -8.86725589e-03 5.33308700e-01] [-1.26352272e-01 -6.55568471e-03 9.91963773e-01 -2.08539385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38592 meters 0.03752504327053696 Centerline is valid? [True, True] Translation: X:23.47, Y:0.54, Z:-2.09 [[ 9.85617646e-01 1.12122788e-01 1.26437086e-01 2.34658453e+01] [-1.11898503e-01 9.93679805e-01 -8.89778785e-03 5.35268791e-01] [-1.26635624e-01 -5.37830394e-03 9.91934722e-01 -2.09032719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41592 meters 0.0356086930458302 Centerline is valid? [True, True] Translation: X:23.50, Y:0.53, Z:-2.09 [[ 9.86493062e-01 1.05024152e-01 1.25703486e-01 2.34967946e+01] [-1.04743120e-01 9.94459828e-01 -8.86163375e-03 5.33965840e-01] [-1.25937753e-01 -4.42463518e-03 9.92028278e-01 -2.09258875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445919999999997 meters 0.03450886169291595 Centerline is valid? [True, True] Translation: X:23.53, Y:0.53, Z:-2.09 [[ 9.86693248e-01 1.01794725e-01 1.26784339e-01 2.35285847e+01] [-1.01480767e-01 9.94797241e-01 -8.95003326e-03 5.34649218e-01] [-1.27035777e-01 -4.03523459e-03 9.91889928e-01 -2.09467098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47592 meters 0.034367808252683395 Centerline is valid? [True, True] Translation: X:23.56, Y:0.53, Z:-2.10 [[ 9.86866789e-01 1.01403216e-01 1.25743104e-01 2.35600631e+01] [-1.01088004e-01 9.94837662e-01 -8.90182938e-03 5.33621906e-01] [-1.25996650e-01 -3.92619969e-03 9.92022897e-01 -2.09838588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50592 meters 0.034117942830587805 Centerline is valid? [True, True] Translation: X:23.59, Y:0.53, Z:-2.10 [[ 9.86835152e-01 1.00956861e-01 1.26349099e-01 2.35923440e+01] [-1.00627950e-01 9.94883420e-01 -8.99974532e-03 5.31771488e-01] [-1.26611210e-01 -3.83298577e-03 9.91945013e-01 -2.10255511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535919999999997 meters 0.03403953917577041 Centerline is valid? [True, True] Translation: X:23.62, Y:0.52, Z:-2.10 [[ 9.86757479e-01 1.00863057e-01 1.27028817e-01 2.36246933e+01] [-1.00522025e-01 9.94893134e-01 -9.10898339e-03 5.24712886e-01] [-1.27298858e-01 -3.78083642e-03 9.91857200e-01 -2.10297869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56592 meters 0.03385141227236668 Centerline is valid? [True, True] Translation: X:23.66, Y:0.52, Z:-2.10 [[ 9.86932030e-01 1.00958327e-01 1.25588950e-01 2.36568354e+01] [-1.00618406e-01 9.94883807e-01 -9.06351242e-03 5.20703424e-01] [-1.25861450e-01 -3.69148933e-03 9.92040961e-01 -2.10431755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59592 meters 0.033740810621721865 Centerline is valid? [True, True] Translation: X:23.69, Y:0.52, Z:-2.11 [[ 9.86975556e-01 1.00547895e-01 1.25576166e-01 2.36888822e+01] [-1.00198110e-01 9.94925755e-01 -9.11483156e-03 5.18151195e-01] [-1.25855439e-01 -3.58637853e-03 9.92042109e-01 -2.10853372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625919999999997 meters 0.03341974367332017 Centerline is valid? [True, True] Translation: X:23.72, Y:0.51, Z:-2.11 [[ 9.87109550e-01 1.00105424e-01 1.24874498e-01 2.37198682e+01] [-9.97494843e-02 9.94970827e-01 -9.11561237e-03 5.12728947e-01] [-1.25159005e-01 -3.45805878e-03 9.92130669e-01 -2.11296781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65592 meters 0.033194126330632824 Centerline is valid? [True, True] Translation: X:23.75, Y:0.51, Z:-2.12 [[ 9.87297172e-01 9.99791907e-02 1.23484634e-01 2.37511409e+01] [-9.96238055e-02 9.94983881e-01 -9.06494762e-03 5.08627555e-01] [-1.23771526e-01 -3.35221197e-03 9.92305080e-01 -2.11532360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68592 meters 0.032750517032459875 Centerline is valid? [True, True] Translation: X:23.78, Y:0.50, Z:-2.12 [[ 9.87364018e-01 9.89943769e-02 1.23743317e-01 2.37822338e+01] [-9.86233638e-02 9.95082899e-01 -9.13544821e-03 5.03646990e-01] [-1.24039216e-01 -3.18396931e-03 9.92272208e-01 -2.11882908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715919999999997 meters 0.032872444114102145 Centerline is valid? [True, True] Translation: X:23.82, Y:0.50, Z:-2.12 [[ 9.87294776e-01 1.01457125e-01 1.22292586e-01 2.38150445e+01] [-1.01107149e-01 9.94834103e-01 -9.08026158e-03 5.00040382e-01] [-1.22582093e-01 -3.39975985e-03 9.92452554e-01 -2.12086479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745919999999998 meters 0.03355548822062336 Centerline is valid? [True, True] Translation: X:23.85, Y:0.49, Z:-2.12 [[ 9.86837754e-01 1.05054540e-01 1.22942228e-01 2.38463439e+01] [-1.04721361e-01 9.94459168e-01 -9.18689678e-03 4.92817764e-01] [-1.23226151e-01 -3.80870094e-03 9.92371306e-01 -2.12429343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.77592 meters 0.03459981186007993 Centerline is valid? [True, True] Translation: X:23.88, Y:0.49, Z:-2.13 [[ 9.86524731e-01 1.08460141e-01 1.22496339e-01 2.38781464e+01] [-1.08149102e-01 9.94092066e-01 -9.20519163e-03 4.87320080e-01] [-1.22771035e-01 -4.16671983e-03 9.92426275e-01 -2.12782755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805919999999997 meters 0.035528449445846946 Centerline is valid? [True, True] Translation: X:23.91, Y:0.48, Z:-2.13 [[ 9.85990921e-01 1.12491523e-01 1.23156655e-01 2.39100272e+01] [-1.12202751e-01 9.93641811e-01 -9.30024888e-03 4.83221635e-01] [-1.23419801e-01 -4.64855452e-03 9.92343662e-01 -2.13152440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835919999999998 meters 0.03764051342395726 Centerline is valid? [True, True] Translation: X:23.94, Y:0.48, Z:-2.13 [[ 9.85515160e-01 1.21189876e-01 1.18629187e-01 2.39413072e+01] [-1.20982344e-01 9.92614074e-01 -8.97622221e-03 4.81315509e-01] [-1.18840828e-01 -5.50583409e-03 9.92898053e-01 -2.13352006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86592 meters 0.0380913178743624 Centerline is valid? [True, True] Translation: X:23.97, Y:0.48, Z:-2.14 [[ 9.85378074e-01 1.24054873e-01 1.16792291e-01 2.39735714e+01] [-1.23868627e-01 9.92258892e-01 -8.88004912e-03 4.80876797e-01] [-1.16989803e-01 -5.71669508e-03 9.93116663e-01 -2.13608105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895919999999997 meters 0.03864066686955173 Centerline is valid? [True, True] Translation: X:24.01, Y:0.48, Z:-2.14 [[ 9.84910679e-01 1.27336645e-01 1.17202106e-01 2.40057322e+01] [-1.27167205e-01 9.91840884e-01 -8.95335475e-03 4.82428533e-01] [-1.17385930e-01 -6.08600951e-03 9.93067724e-01 -2.14033200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925919999999998 meters 0.039517658376511326 Centerline is valid? [True, True] Translation: X:24.04, Y:0.48, Z:-2.14 [[ 9.84529391e-01 1.28443158e-01 1.19181511e-01 2.40372789e+01] [-1.28273807e-01 9.91696826e-01 -9.12338887e-03 4.80971783e-01] [-1.19363763e-01 -6.30562155e-03 9.92830565e-01 -2.14419179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.95592 meters 0.03928990167550891 Centerline is valid? [True, True] Translation: X:24.07, Y:0.48, Z:-2.15 [[ 9.84314757e-01 1.28724024e-01 1.20642381e-01 2.40698683e+01] [-1.28546723e-01 9.91659997e-01 -9.28387824e-03 4.83882161e-01] [-1.20831281e-01 -6.36992433e-03 9.92652621e-01 -2.14547530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98592 meters 0.0394578507484423 Centerline is valid? [True, True] Translation: X:24.10, Y:0.49, Z:-2.15 [[ 9.84344102e-01 1.29033576e-01 1.20070919e-01 2.41023057e+01] [-1.28854509e-01 9.91620021e-01 -9.28701618e-03 4.85112336e-01] [-1.20263064e-01 -6.33005973e-03 9.92721877e-01 -2.14789738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015919999999998 meters 0.038730994457364526 Centerline is valid? [True, True] Translation: X:24.14, Y:0.49, Z:-2.15 [[ 9.84582891e-01 1.29752355e-01 1.17306677e-01 2.41350352e+01] [-1.29581367e-01 9.91526888e-01 -9.11586574e-03 4.89305539e-01] [-1.17495529e-01 -6.22543407e-03 9.93053898e-01 -2.15119043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04592 meters 0.038533732708338785 Centerline is valid? [True, True] Translation: X:24.17, Y:0.49, Z:-2.16 [[ 9.84296340e-01 1.30649050e-01 1.18707797e-01 2.41663832e+01] [-1.30477012e-01 9.91408149e-01 -9.25371237e-03 4.88853748e-01] [-1.18896866e-01 -6.38024339e-03 9.92886110e-01 -2.15589836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07592 meters 0.038763685127596315 Centerline is valid? [True, True] Translation: X:24.20, Y:0.49, Z:-2.16 [[ 9.84308019e-01 1.30414060e-01 1.18869244e-01 2.41985612e+01] [-1.30234141e-01 9.91439518e-01 -9.31396128e-03 4.88855871e-01] [-1.19066337e-01 -6.31302712e-03 9.92866231e-01 -2.15906090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105919999999998 meters 0.03848776002899185 Centerline is valid? [True, True] Translation: X:24.23, Y:0.49, Z:-2.16 [[ 9.84302997e-01 1.29498325e-01 1.19907437e-01 2.42311786e+01] [-1.29303032e-01 9.91560183e-01 -9.44079458e-03 4.89527504e-01] [-1.20118007e-01 -6.21179274e-03 9.92740187e-01 -2.16154669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.13592 meters 0.03802780232269929 Centerline is valid? [True, True] Translation: X:24.26, Y:0.49, Z:-2.16 [[ 9.84489336e-01 1.27922001e-01 1.20069603e-01 2.42637901e+01] [-1.27711508e-01 9.91766065e-01 -9.47851722e-03 4.90253357e-01] [-1.20293468e-01 -6.00277096e-03 9.92720227e-01 -2.16443361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16592 meters 0.03775316907390214 Centerline is valid? [True, True] Translation: X:24.30, Y:0.49, Z:-2.17 [[ 9.84838296e-01 1.24183653e-01 1.21127830e-01 2.42953116e+01] [-1.23939242e-01 9.92243570e-01 -9.57929012e-03 4.90625372e-01] [-1.21377901e-01 -5.57843967e-03 9.92590694e-01 -2.16871296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195919999999997 meters 0.03693189639843993 Centerline is valid? [True, True] Translation: X:24.33, Y:0.49, Z:-2.17 [[ 9.85133435e-01 1.22742130e-01 1.20193531e-01 2.43269438e+01] [-1.22488349e-01 9.92424239e-01 -9.52544138e-03 4.90181012e-01] [-1.20452146e-01 -5.33847638e-03 9.92704780e-01 -2.17152191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22592 meters 0.036422470304699105 Centerline is valid? [True, True] Translation: X:24.36, Y:0.49, Z:-2.18 [[ 9.85139861e-01 1.21341924e-01 1.21554893e-01 2.43590921e+01] [-1.21065794e-01 9.92597264e-01 -9.68222968e-03 4.91962188e-01] [-1.21829915e-01 -5.17778930e-03 9.92537487e-01 -2.17669573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25592 meters 0.0356427845330525 Centerline is valid? [True, True] Translation: X:24.39, Y:0.49, Z:-2.18 [[ 9.85354235e-01 1.20738907e-01 1.20412411e-01 2.43916940e+01] [-1.20458138e-01 9.92671651e-01 -9.63484043e-03 4.91337886e-01] [-1.20693287e-01 -5.01092400e-03 9.92677199e-01 -2.17920912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285919999999997 meters 0.036112908094729466 Centerline is valid? [True, True] Translation: X:24.42, Y:0.49, Z:-2.18 [[ 9.85103240e-01 1.22340157e-01 1.20849051e-01 2.44232422e+01] [-1.22066209e-01 9.92474604e-01 -9.69540461e-03 4.89223206e-01] [-1.21125751e-01 -5.20061100e-03 9.92623547e-01 -2.18197009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31592 meters 0.03652697619162068 Centerline is valid? [True, True] Translation: X:24.46, Y:0.49, Z:-2.19 [[ 9.84907251e-01 1.23731313e-01 1.21030036e-01 2.44550059e+01] [-1.23460931e-01 9.92301441e-01 -9.75950847e-03 4.87766417e-01] [-1.21305836e-01 -5.33027026e-03 9.92600868e-01 -2.18501530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34592 meters 0.03720154464046515 Centerline is valid? [True, True] Translation: X:24.49, Y:0.49, Z:-2.19 [[ 9.84714173e-01 1.25994156e-01 1.20264166e-01 2.44867207e+01] [-1.25738038e-01 9.92015602e-01 -9.74638297e-03 4.86034847e-01] [-1.20531916e-01 -5.52437880e-03 9.92694081e-01 -2.18755644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375919999999997 meters 0.037234825597226635 Centerline is valid? [True, True] Translation: X:24.52, Y:0.48, Z:-2.19 [[ 9.84244039e-01 1.28616629e-01 1.21331916e-01 2.45181199e+01] [-1.28370211e-01 9.91677119e-01 -9.87829903e-03 4.84540208e-01] [-1.21592598e-01 -5.85274672e-03 9.92562837e-01 -2.19012529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40592 meters 0.03751574130307696 Centerline is valid? [True, True] Translation: X:24.55, Y:0.48, Z:-2.19 [[ 9.83986562e-01 1.29056663e-01 1.22942363e-01 2.45495352e+01] [-1.28803606e-01 9.91619320e-01 -1.00377324e-02 4.82435623e-01] [-1.23207458e-01 -5.95842590e-03 9.92363048e-01 -2.19274570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.43592 meters 0.03713989326839383 Centerline is valid? [True, True] Translation: X:24.58, Y:0.48, Z:-2.20 [[ 9.84127395e-01 1.28599936e-01 1.22291974e-01 2.45813526e+01] [-1.28340285e-01 9.91679458e-01 -1.00311101e-02 4.82912221e-01] [-1.22564439e-01 -5.82309655e-03 9.92443474e-01 -2.19591799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465919999999997 meters 0.03709457141567091 Centerline is valid? [True, True] Translation: X:24.61, Y:0.48, Z:-2.20 [[ 9.84326174e-01 1.28113644e-01 1.21197679e-01 2.46132655e+01] [-1.27848973e-01 9.91743334e-01 -9.98997724e-03 4.81969782e-01] [-1.21476843e-01 -5.66160270e-03 9.92578119e-01 -2.20024136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495919999999998 meters 0.03607987203318574 Centerline is valid? [True, True] Translation: X:24.65, Y:0.48, Z:-2.20 [[ 9.84745770e-01 1.26034381e-01 1.19962924e-01 2.46450254e+01] [-1.25754263e-01 9.92011693e-01 -9.93307508e-03 4.79836020e-01] [-1.20256533e-01 -5.30429550e-03 9.92728679e-01 -2.20344316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52592 meters 0.035864480406440157 Centerline is valid? [True, True] Translation: X:24.68, Y:0.48, Z:-2.21 [[ 9.84535258e-01 1.25358047e-01 1.22375185e-01 2.46778255e+01] [-1.25057349e-01 9.92097434e-01 -1.01656847e-02 4.76902270e-01] [-1.22682458e-01 -5.29544125e-03 9.92431848e-01 -2.20701884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555919999999997 meters 0.035864480406440157 Centerline is valid? [True, True] Translation: X:24.71, Y:0.47, Z:-2.21 [[ 9.84476290e-01 1.25824950e-01 1.22370406e-01 2.47099571e+01] [-1.25520737e-01 9.92038324e-01 -1.02229248e-02 4.74585672e-01] [-1.22682431e-01 -5.29579645e-03 9.92431849e-01 -2.21033328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585919999999998 meters 0.03561649667144275 Centerline is valid? [True, True] Translation: X:24.74, Y:0.47, Z:-2.21 [[ 9.84847974e-01 1.22548866e-01 1.22703886e-01 2.47418375e+01] [-1.22210636e-01 9.92450659e-01 -1.03077944e-02 4.73642524e-01] [-1.23040761e-01 -4.84410948e-03 9.92389795e-01 -2.21467640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.61592 meters 0.03486322701913567 Centerline is valid? [True, True] Translation: X:24.77, Y:0.47, Z:-2.22 [[ 9.85221365e-01 1.21292586e-01 1.20942016e-01 2.47738397e+01] [-1.20949149e-01 9.92606257e-01 -1.02040114e-02 4.73263533e-01] [-1.21285473e-01 -4.57462395e-03 9.92607126e-01 -2.21753901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645919999999997 meters 0.03505311546373414 Centerline is valid? [True, True] Translation: X:24.81, Y:0.47, Z:-2.22 [[ 9.85071624e-01 1.22035790e-01 1.21413185e-01 2.48055241e+01] [-1.21692448e-01 9.92514754e-01 -1.02669604e-02 4.71008313e-01] [-1.21757314e-01 -4.66137640e-03 9.92548955e-01 -2.22094255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675919999999998 meters 0.034966607189831286 Centerline is valid? [True, True] Translation: X:24.84, Y:0.47, Z:-2.22 [[ 9.85198076e-01 1.22306061e-01 1.20108192e-01 2.48371832e+01] [-1.21966063e-01 9.92481798e-01 -1.02058665e-02 4.69650033e-01] [-1.20453434e-01 -4.59432332e-03 9.92708347e-01 -2.22424890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70592 meters 0.03489188652005602 Centerline is valid? [True, True] Translation: X:24.87, Y:0.47, Z:-2.23 [[ 9.85225809e-01 1.23276568e-01 1.18882267e-01 2.48700482e+01] [-1.22944537e-01 9.92361624e-01 -1.01512572e-02 4.70886629e-01] [-1.19225611e-01 -4.61464454e-03 9.92856464e-01 -2.22720951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735919999999997 meters 0.034816488968752834 Centerline is valid? [True, True] Translation: X:24.90, Y:0.47, Z:-2.23 [[ 9.85191649e-01 1.22699930e-01 1.19758686e-01 2.49020781e+01] [-1.22351997e-01 9.92433509e-01 -1.02819803e-02 4.69569388e-01] [-1.20114131e-01 -4.52299327e-03 9.92749786e-01 -2.23070613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765919999999998 meters 0.03467468164171027 Centerline is valid? [True, True] Translation: X:24.93, Y:0.47, Z:-2.23 [[ 9.85346359e-01 1.21548551e-01 1.19659942e-01 2.49336061e+01] [-1.21186767e-01 9.92576045e-01 -1.03229202e-02 4.65996979e-01] [-1.20026328e-01 -4.32954965e-03 9.92761268e-01 -2.23381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.79592 meters 0.033604680048669636 Centerline is valid? [True, True] Translation: X:24.96, Y:0.46, Z:-2.24 [[ 9.85813705e-01 1.16745955e-01 1.20589062e-01 2.49644733e+01] [-1.16336761e-01 9.93154825e-01 -1.04523150e-02 4.62049993e-01] [-1.20983874e-01 -3.72490550e-03 9.92647484e-01 -2.23632018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82592 meters 0.03313073119569907 Centerline is valid? [True, True] Translation: X:25.00, Y:0.46, Z:-2.24 [[ 9.85978449e-01 1.14776803e-01 1.21131269e-01 2.49960938e+01] [-1.14343704e-01 9.93385298e-01 -1.05436108e-02 4.60066648e-01] [-1.21540183e-01 -3.45482490e-03 9.92580500e-01 -2.24057033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855919999999998 meters 0.032164709437997596 Centerline is valid? [True, True] Translation: X:25.03, Y:0.46, Z:-2.24 [[ 9.86324136e-01 1.10522055e-01 1.22268451e-01 2.50278842e+01] [-1.10041849e-01 9.93869421e-01 -1.06941734e-02 4.59688340e-01] [-1.22700817e-01 -2.90672505e-03 9.92439449e-01 -2.24494425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88592 meters 0.032100406267977596 Centerline is valid? [True, True] Translation: X:25.06, Y:0.46, Z:-2.25 [[ 9.86316275e-01 1.10159092e-01 1.22658796e-01 2.50608488e+01] [-1.09666427e-01 9.93909973e-01 -1.07814395e-02 4.56637161e-01] [-1.23099474e-01 -2.81764265e-03 9.92390337e-01 -2.24782112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91592 meters 0.031843861001623675 Centerline is valid? [True, True] Translation: X:25.09, Y:0.45, Z:-2.25 [[ 9.86296693e-01 1.10048625e-01 1.22915146e-01 2.50932118e+01] [-1.09545624e-01 9.93922400e-01 -1.08636511e-02 4.51062919e-01] [-1.23363647e-01 -2.75003317e-03 9.92357722e-01 -2.24988869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945919999999997 meters 0.03188219042217151 Centerline is valid? [True, True] Translation: X:25.13, Y:0.45, Z:-2.25 [[ 9.86229119e-01 1.10805751e-01 1.22777077e-01 2.51257373e+01] [-1.10302328e-01 9.93838189e-01 -1.09109835e-02 4.46538204e-01] [-1.23229548e-01 -2.78186781e-03 9.92374294e-01 -2.25250797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97592 meters 0.03188772274061708 Centerline is valid? [True, True] Translation: X:25.16, Y:0.44, Z:-2.26 [[ 9.85970355e-01 1.11113262e-01 1.24564451e-01 2.51573789e+01] [-1.10589958e-01 9.93803799e-01 -1.11296756e-02 4.42840247e-01] [-1.25029279e-01 -2.80204714e-03 9.92149096e-01 -2.25671247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00592 meters 0.03184840012217155 Centerline is valid? [True, True] Translation: X:25.19, Y:0.44, Z:-2.26 [[ 9.86047415e-01 1.11964742e-01 1.23184380e-01 2.51894999e+01] [-1.11453129e-01 9.93708164e-01 -1.10582913e-02 4.40212341e-01] [-1.23647463e-01 -2.82528503e-03 9.92322187e-01 -2.26019717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035919999999997 meters 0.031623721637870035 Centerline is valid? [True, True] Translation: X:25.22, Y:0.44, Z:-2.26 [[ 9.86047379e-01 1.11426721e-01 1.23671549e-01 2.52221004e+01] [-1.10900064e-01 9.93768945e-01 -1.11561431e-02 4.38066192e-01] [-1.24144037e-01 -2.71469707e-03 9.92260494e-01 -2.26463491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06592 meters 0.030932093695667295 Centerline is valid? [True, True] Translation: X:25.25, Y:0.44, Z:-2.27 [[ 9.86311062e-01 1.09314969e-01 1.23453336e-01 2.52538784e+01] [-1.08766371e-01 9.94004299e-01 -1.11951178e-02 4.35381474e-01] [-1.23936940e-01 -2.38570277e-03 9.92287228e-01 -2.26802549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09592 meters 0.030779076616283582 Centerline is valid? [True, True] Translation: X:25.29, Y:0.43, Z:-2.27 [[ 9.86341434e-01 1.08972972e-01 1.23513025e-01 2.52866768e+01] [-1.08414391e-01 9.94042076e-01 -1.12547889e-02 4.30000959e-01] [-1.24003611e-01 -2.28952480e-03 9.92279125e-01 -2.27095512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125919999999997 meters 0.030676444705559122 Centerline is valid? [True, True] Translation: X:25.32, Y:0.43, Z:-2.27 [[ 9.86473113e-01 1.08295480e-01 1.23056436e-01 2.53189629e+01] [-1.07729149e-01 9.94116441e-01 -1.12664474e-02 4.25715352e-01] [-1.23552531e-01 -2.14271763e-03 9.92335720e-01 -2.27338631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15592 meters 0.03069069048720551 Centerline is valid? [True, True] Translation: X:25.35, Y:0.42, Z:-2.28 [[ 9.86388973e-01 1.09394534e-01 1.22758417e-01 2.53517307e+01] [-1.08836566e-01 9.93995858e-01 -1.12621654e-02 4.21979179e-01] [-1.23253377e-01 -2.25172876e-03 9.92372679e-01 -2.27665697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18592 meters 0.030524768793407316 Centerline is valid? [True, True] Translation: X:25.38, Y:0.42, Z:-2.28 [[ 9.86478610e-01 1.09961844e-01 1.21525078e-01 2.53830095e+01] [-1.09413900e-01 9.93933252e-01 -1.11932574e-02 4.16659044e-01] [-1.22018647e-01 -2.25462376e-03 9.92525247e-01 -2.28183572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215919999999997 meters 0.030571863083411265 Centerline is valid? [True, True] Translation: X:25.42, Y:0.41, Z:-2.28 [[ 9.86477280e-01 1.11053448e-01 1.20539234e-01 2.54157070e+01] [-1.10515835e-01 9.93811738e-01 -1.11570253e-02 4.11284494e-01] [-1.21032332e-01 -2.31534217e-03 9.92645865e-01 -2.28490620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245919999999998 meters 0.0305809579844977 Centerline is valid? [True, True] Translation: X:25.45, Y:0.40, Z:-2.29 [[ 9.86124017e-01 1.11449895e-01 1.23037977e-01 2.54475164e+01] [-1.10885924e-01 9.93767256e-01 -1.14434862e-02 4.02868626e-01] [-1.23546488e-01 -2.35848313e-03 9.92335983e-01 -2.28681458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.27592 meters 0.030786754822354042 Centerline is valid? [True, True] Translation: X:25.48, Y:0.40, Z:-2.29 [[ 9.86173271e-01 1.11574638e-01 1.22529099e-01 2.54787830e+01] [-1.11013233e-01 9.93753303e-01 -1.14208095e-02 3.97841465e-01] [-1.23037970e-01 -2.33945447e-03 9.92399206e-01 -2.29017248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305919999999997 meters 0.03048763051136945 Centerline is valid? [True, True] Translation: X:25.51, Y:0.39, Z:-2.29 [[ 9.86190594e-01 1.11631223e-01 1.22337980e-01 2.55111151e+01] [-1.11065315e-01 9.93747066e-01 -1.14570484e-02 3.93097912e-01] [-1.22851973e-01 -2.28867290e-03 9.92422367e-01 -2.29402524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335919999999998 meters 0.030350020324174228 Centerline is valid? [True, True] Translation: X:25.54, Y:0.38, Z:-2.30 [[ 9.86424157e-01 1.09539104e-01 1.22346096e-01 2.55420844e+01] [-1.08949899e-01 9.93980535e-01 -1.15159024e-02 3.84856543e-01] [-1.22871080e-01 -1.97003044e-03 9.92420685e-01 -2.29773102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36592 meters 0.03010644374549722 Centerline is valid? [True, True] Translation: X:25.57, Y:0.38, Z:-2.30 [[ 9.86171811e-01 1.08935296e-01 1.24892999e-01 2.55733796e+01] [-1.08309533e-01 9.94047064e-01 -1.18101350e-02 3.76795120e-01] [-1.25436060e-01 -1.88028018e-03 9.92099924e-01 -2.30050745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395919999999997 meters 0.03006682076096379 Centerline is valid? [True, True] Translation: X:25.61, Y:0.37, Z:-2.30 [[ 9.86197380e-01 1.09471185e-01 1.24220723e-01 2.56051977e+01] [-1.08849502e-01 9.93988186e-01 -1.18013389e-02 3.71650769e-01] [-1.24765838e-01 -1.88291441e-03 9.92184429e-01 -2.30467038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425919999999998 meters 0.03023576826250462 Centerline is valid? [True, True] Translation: X:25.64, Y:0.37, Z:-2.31 [[ 9.86259274e-01 1.10410925e-01 1.22890485e-01 2.56365416e+01] [-1.09802474e-01 9.93884167e-01 -1.17337155e-02 3.65467938e-01] [-1.23434437e-01 -1.92119346e-03 9.92350870e-01 -2.30746776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.45592 meters 0.030524399046472528 Centerline is valid? [True, True] Translation: X:25.67, Y:0.35, Z:-2.31 [[ 9.86072898e-01 1.14135233e-01 1.20968547e-01 2.56682263e+01] [-1.13567153e-01 9.93462568e-01 -1.16029341e-02 3.54865759e-01] [-1.21502027e-01 -2.29671466e-03 9.92588526e-01 -2.31025831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485919999999997 meters 0.030437385296035246 Centerline is valid? [True, True] Translation: X:25.70, Y:0.35, Z:-2.31 [[ 9.85776431e-01 1.16030778e-01 1.21579958e-01 2.56999203e+01] [-1.15464043e-01 9.93242511e-01 -1.17204317e-02 3.50003333e-01] [-1.22118314e-01 -2.48438818e-03 9.92512441e-01 -2.31282321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515919999999998 meters 0.03102686406457273 Centerline is valid? [True, True] Translation: X:25.73, Y:0.34, Z:-2.32 [[ 9.85396566e-01 1.18291756e-01 1.22477217e-01 2.57313640e+01] [-1.17727481e-01 9.92975122e-01 -1.18594730e-02 3.43210760e-01] [-1.23019708e-01 -2.73265027e-03 9.92400466e-01 -2.31569579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54592 meters 0.030742453717437376 Centerline is valid? [True, True] Translation: X:25.76, Y:0.34, Z:-2.32 [[ 9.85630672e-01 1.18350249e-01 1.20521357e-01 2.57631735e+01] [-1.17798752e-01 9.92968376e-01 -1.17156955e-02 3.37787510e-01] [-1.21060452e-01 -2.64991661e-03 9.92641599e-01 -2.31747729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57592 meters 0.03062313096283658 Centerline is valid? [True, True] Translation: X:25.79, Y:0.33, Z:-2.32 [[ 9.85859713e-01 1.17982415e-01 1.18999060e-01 2.57946419e+01] [-1.17439965e-01 9.93012401e-01 -1.15855657e-02 3.28823932e-01] [-1.19534435e-01 -2.55350291e-03 9.92826772e-01 -2.32310608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605919999999998 meters 0.030096057112198038 Centerline is valid? [True, True] Translation: X:25.83, Y:0.32, Z:-2.33 [[ 9.86074472e-01 1.16698588e-01 1.18484496e-01 2.58258501e+01] [-1.16148864e-01 9.93164563e-01 -1.15582367e-02 3.24646392e-01] [-1.19023433e-01 -2.36455750e-03 9.92888630e-01 -2.32577984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.63592 meters 0.029804316710050353 Centerline is valid? [True, True] Translation: X:25.86, Y:0.32, Z:-2.33 [[ 9.86049547e-01 1.15338450e-01 1.20013883e-01 2.58583074e+01] [-1.14757976e-01 9.93323867e-01 -1.17601749e-02 3.19443303e-01] [-1.20569054e-01 -2.17643521e-03 9.92702557e-01 -2.32907338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66592 meters 0.03001661878284407 Centerline is valid? [True, True] Translation: X:25.89, Y:0.31, Z:-2.33 [[ 9.85868184e-01 1.14738072e-01 1.22061866e-01 2.58894876e+01] [-1.14125612e-01 9.93393603e-01 -1.20206057e-02 3.14690498e-01] [-1.22634698e-01 -2.07965241e-03 9.92449699e-01 -2.33281062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695919999999997 meters 0.029951450500691236 Centerline is valid? [True, True] Translation: X:25.92, Y:0.31, Z:-2.34 [[ 9.85813628e-01 1.14011006e-01 1.23178656e-01 2.59214353e+01] [-1.13374776e-01 9.93477567e-01 -1.21853776e-02 3.09367392e-01] [-1.23764498e-01 -1.95284114e-03 9.92309697e-01 -2.33534332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72592 meters 0.029925567028440205 Centerline is valid? [True, True] Translation: X:25.95, Y:0.30, Z:-2.34 [[ 9.85780120e-01 1.14748625e-01 1.22761185e-01 2.59534551e+01] [-1.14115736e-01 9.93392578e-01 -1.21977348e-02 3.02082108e-01] [-1.23349723e-01 -1.98469857e-03 9.92361278e-01 -2.33791821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75592 meters 0.02983046593491081 Centerline is valid? [True, True] Translation: X:25.99, Y:0.30, Z:-2.34 [[ 9.85759746e-01 1.15741142e-01 1.21990620e-01 2.59853786e+01] [-1.15119836e-01 9.93277267e-01 -1.21529429e-02 2.96998119e-01] [-1.22577105e-01 -2.06365829e-03 9.92456848e-01 -2.34220835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785919999999997 meters 0.030044538499305707 Centerline is valid? [True, True] Translation: X:26.02, Y:0.29, Z:-2.35 [[ 9.85494849e-01 1.17986828e-01 1.21979552e-01 2.60162390e+01] [-1.17375490e-01 9.93012534e-01 -1.22107209e-02 2.89221239e-01] [-1.22567928e-01 -2.28380704e-03 9.92457499e-01 -2.34656365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81592 meters 0.030464238865535318 Centerline is valid? [True, True] Translation: X:26.05, Y:0.28, Z:-2.35 [[ 9.85380636e-01 1.19465417e-01 1.21461995e-01 2.60485468e+01] [-1.18863919e-01 9.92835452e-01 -1.22120292e-02 2.83153022e-01] [-1.22050690e-01 -2.40395162e-03 9.92520957e-01 -2.35181745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84592 meters 0.030561457110454097 Centerline is valid? [True, True] Translation: X:26.08, Y:0.28, Z:-2.36 [[ 9.85008010e-01 1.20147605e-01 1.23789228e-01 2.60802191e+01] [-1.19521410e-01 9.92752934e-01 -1.24998038e-02 2.75172446e-01] [-1.24393940e-01 -2.48305618e-03 9.92229803e-01 -2.35517620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875919999999997 meters 0.03060965599467693 Centerline is valid? [True, True] Translation: X:26.11, Y:0.27, Z:-2.36 [[ 9.85085262e-01 1.20976251e-01 1.22359198e-01 2.61119955e+01] [-1.20367877e-01 9.92652169e-01 -1.23792603e-02 2.69561720e-01] [-1.22957720e-01 -2.53349002e-03 9.92408676e-01 -2.35761557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90592 meters 0.030781965495583877 Centerline is valid? [True, True] Translation: X:26.14, Y:0.26, Z:-2.36 [[ 9.84895592e-01 1.22003487e-01 1.22865058e-01 2.61432808e+01] [-1.21392268e-01 9.92526196e-01 -1.24766714e-02 2.64367275e-01] [-1.23468986e-01 -2.62664945e-03 9.92344955e-01 -2.35956007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.93592 meters 0.031172001342573846 Centerline is valid? [True, True] Translation: X:26.18, Y:0.26, Z:-2.36 [[ 9.84759606e-01 1.23234346e-01 1.22726581e-01 2.61756516e+01] [-1.22630847e-01 9.92373781e-01 -1.24881631e-02 2.60839455e-01] [-1.23329612e-01 -2.75222603e-03 9.92361946e-01 -2.36408463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965919999999997 meters 0.03178323935560998 Centerline is valid? [True, True] Translation: X:26.21, Y:0.26, Z:-2.37 [[ 9.84368003e-01 1.26078518e-01 1.22979030e-01 2.62064731e+01] [-1.25487366e-01 9.92015556e-01 -1.25720869e-02 2.55034951e-01] [-1.23582180e-01 -3.05675443e-03 9.92329633e-01 -2.37017319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995919999999998 meters 0.031669272229343244 Centerline is valid? [True, True] Translation: X:26.24, Y:0.25, Z:-2.37 [[ 9.84382457e-01 1.27478417e-01 1.21410176e-01 2.62391305e+01] [-1.26906611e-01 9.91836375e-01 -1.24626246e-02 2.49011243e-01] [-1.22007745e-01 -3.13976494e-03 9.92524182e-01 -2.37253496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02592 meters 0.03212112207313556 Centerline is valid? [True, True] Translation: X:26.27, Y:0.24, Z:-2.37 [[ 9.84232347e-01 1.29585106e-01 1.20392640e-01 2.62702750e+01] [-1.29031839e-01 9.91562755e-01 -1.24131717e-02 2.42561262e-01] [-1.20985420e-01 -3.31703866e-03 9.92648742e-01 -2.37485586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055919999999997 meters 0.03244401501937521 Centerline is valid? [True, True] Translation: X:26.30, Y:0.24, Z:-2.38 [[ 9.83888152e-01 1.30324861e-01 1.22390909e-01 2.63015234e+01] [-1.29752432e-01 9.91465467e-01 -1.26702172e-02 2.39408445e-01] [-1.22997604e-01 -3.41444155e-03 9.92401094e-01 -2.37912597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085919999999998 meters 0.03262575485148909 Centerline is valid? [True, True] Translation: X:26.33, Y:0.23, Z:-2.38 [[ 9.83637990e-01 1.31937604e-01 1.22673440e-01 2.63326300e+01] [-1.31369235e-01 9.91251565e-01 -1.27459259e-02 2.34167393e-01] [-1.23281906e-01 -3.57813899e-03 9.92365239e-01 -2.38157427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.11592 meters 0.032918279098140296 Centerline is valid? [True, True] Translation: X:26.36, Y:0.23, Z:-2.38 [[ 9.83729836e-01 1.32963889e-01 1.20814796e-01 2.63644738e+01] [-1.32416633e-01 9.91114273e-01 -1.25830224e-02 2.28311328e-01] [-1.21414356e-01 -3.61959402e-03 9.92595312e-01 -2.38370488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145919999999997 meters 0.03303509832341849 Centerline is valid? [True, True] Translation: X:26.40, Y:0.22, Z:-2.39 [[ 9.83772357e-01 1.34328398e-01 1.18944652e-01 2.63971385e+01] [-1.33801954e-01 9.90930040e-01 -1.24375629e-02 2.23835895e-01] [-1.19536546e-01 -3.67929629e-03 9.92822984e-01 -2.38629086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175919999999998 meters 0.033086395553453087 Centerline is valid? [True, True] Translation: X:26.43, Y:0.22, Z:-2.39 [[ 9.83622466e-01 1.36177762e-01 1.18078204e-01 2.64280526e+01] [-1.35665856e-01 9.90677046e-01 -1.24002536e-02 2.19263518e-01] [-1.18666005e-01 -3.82201255e-03 9.92926871e-01 -2.39107481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20592 meters 0.0333377125013951 Centerline is valid? [True, True] Translation: X:26.46, Y:0.21, Z:-2.39 [[ 9.83323135e-01 1.37109701e-01 1.19484481e-01 2.64587360e+01] [-1.36586852e-01 9.90548047e-01 -1.25935566e-02 2.11394493e-01] [-1.20081818e-01 -3.93647357e-03 9.92756194e-01 -2.39425901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235919999999997 meters 0.03296712485631996 Centerline is valid? [True, True] Translation: X:26.49, Y:0.21, Z:-2.40 [[ 9.83491418e-01 1.36775238e-01 1.18478540e-01 2.64906598e+01] [-1.36253349e-01 9.90594751e-01 -1.25325132e-02 2.06631025e-01] [-1.19078357e-01 -3.81747861e-03 9.92877521e-01 -2.39558937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265919999999998 meters 0.03369993963429899 Centerline is valid? [True, True] Translation: X:26.52, Y:0.20, Z:-2.40 [[ 9.83168679e-01 1.38866647e-01 1.18724066e-01 2.65221777e+01] [-1.38351931e-01 9.90302886e-01 -1.26070128e-02 2.01296462e-01] [-1.19323479e-01 -4.03088366e-03 9.92847249e-01 -2.39905703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.29592 meters 0.033415255280475176 Centerline is valid? [True, True] Translation: X:26.55, Y:0.20, Z:-2.40 [[ 9.83334494e-01 1.39150019e-01 1.17006605e-01 2.65538930e+01] [-1.38646517e-01 9.90263400e-01 -1.24716750e-02 1.97266990e-01] [-1.17602792e-01 -3.95872996e-03 9.93052824e-01 -2.40143255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32592 meters 0.03424380650348186 Centerline is valid? [True, True] Translation: X:26.58, Y:0.19, Z:-2.41 [[ 9.82907304e-01 1.42247191e-01 1.16871588e-01 2.65849917e+01] [-1.41761050e-01 9.89821925e-01 -1.25044735e-02 1.91303211e-01] [-1.17460786e-01 -4.27710063e-03 9.93068311e-01 -2.40627525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355919999999998 meters 0.035670860731971954 Centerline is valid? [True, True] Translation: X:26.62, Y:0.18, Z:-2.41 [[ 9.82118305e-01 1.48257131e-01 1.16032142e-01 2.66155714e+01] [-1.47814232e-01 9.88936642e-01 -1.24607481e-02 1.82540472e-01] [-1.16595832e-01 -4.91327318e-03 9.93167293e-01 -2.40893013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38592 meters 0.036337418662080824 Centerline is valid? [True, True] Translation: X:26.65, Y:0.18, Z:-2.41 [[ 9.81651742e-01 1.50593024e-01 1.16968366e-01 2.66473638e+01] [-1.50154234e-01 9.88582223e-01 -1.26053028e-02 1.79037544e-01] [-1.17531118e-01 -5.18927790e-03 9.93055642e-01 -2.41212188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41592 meters 0.038368453426783584 Centerline is valid? [True, True] Translation: X:26.68, Y:0.17, Z:-2.41 [[ 9.80683872e-01 1.58084674e-01 1.15188449e-01 2.66785682e+01] [-1.57705235e-01 9.87407643e-01 -1.24581513e-02 1.73425447e-01] [-1.15707398e-01 -5.94831344e-03 9.93265531e-01 -2.41328112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445919999999997 meters 0.039127706919529257 Centerline is valid? [True, True] Translation: X:26.71, Y:0.17, Z:-2.42 [[ 9.80338062e-01 1.59547046e-01 1.16112121e-01 2.67103959e+01] [-1.59166613e-01 9.87171309e-01 -1.26014187e-02 1.68551347e-01] [-1.16633074e-01 -6.12752275e-03 9.93156171e-01 -2.41642171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47592 meters 0.039127706919529257 Centerline is valid? [True, True] Translation: X:26.74, Y:0.17, Z:-2.42 [[ 9.80267741e-01 1.59982153e-01 1.16107132e-01 2.67424236e+01] [-1.59599342e-01 9.87100855e-01 -1.26472342e-02 1.65434226e-01] [-1.16632781e-01 -6.13294617e-03 9.93156172e-01 -2.41973473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50592 meters 0.039631347642710195 Centerline is valid? [True, True] Translation: X:26.77, Y:0.16, Z:-2.42 [[ 9.79965032e-01 1.60807474e-01 1.17513796e-01 2.67739229e+01] [-1.60415060e-01 9.86965967e-01 -1.28525688e-02 1.61634751e-01] [-1.18048907e-01 -6.25591474e-03 9.92988076e-01 -2.42454042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535919999999997 meters 0.038862468418232925 Centerline is valid? [True, True] Translation: X:26.81, Y:0.16, Z:-2.43 [[ 9.79993641e-01 1.59881993e-01 1.18533586e-01 2.68062603e+01] [-1.59470967e-01 9.87116936e-01 -1.30063443e-02 1.59579186e-01] [-1.19085991e-01 -6.15653099e-03 9.92864857e-01 -2.42840075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56592 meters 0.03839307205725219 Centerline is valid? [True, True] Translation: X:26.84, Y:0.16, Z:-2.43 [[ 9.80006342e-01 1.58777056e-01 1.19905864e-01 2.68378463e+01] [-1.58345648e-01 9.87295793e-01 -1.31785101e-02 1.55321753e-01] [-1.20475000e-01 -6.07154826e-03 9.92697794e-01 -2.42997192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.59592 meters 0.03909405942834821 Centerline is valid? [True, True] Translation: X:26.87, Y:0.15, Z:-2.43 [[ 9.79782431e-01 1.59404364e-01 1.20899279e-01 2.68693032e+01] [-1.58964692e-01 9.87194201e-01 -1.33354935e-02 1.50867396e-01] [-1.21476803e-01 -6.15283443e-03 9.92575201e-01 -2.43422840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625919999999997 meters 0.03885003133682481 Centerline is valid? [True, True] Translation: X:26.90, Y:0.15, Z:-2.44 [[ 9.79956806e-01 1.59413949e-01 1.19464850e-01 2.69014276e+01] [-1.58979050e-01 9.87193390e-01 -1.32239271e-02 1.48482726e-01] [-1.20042988e-01 -6.03353091e-03 9.92750360e-01 -2.43685760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65592 meters 0.039364939845250795 Centerline is valid? [True, True] Translation: X:26.93, Y:0.14, Z:-2.44 [[ 9.79929938e-01 1.59579356e-01 1.19464413e-01 2.69335723e+01] [-1.59139909e-01 9.87166832e-01 -1.32716243e-02 1.44822531e-01] [-1.20049183e-01 -6.00629370e-03 9.92749776e-01 -2.44069723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68592 meters 0.03862956850143153 Centerline is valid? [True, True] Translation: X:26.97, Y:0.14, Z:-2.44 [[ 9.79981628e-01 1.59845566e-01 1.18681946e-01 2.69651039e+01] [-1.59407902e-01 9.87124101e-01 -1.32336431e-02 1.43237651e-01] [-1.19269148e-01 -5.95011295e-03 9.92844130e-01 -2.44441049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715919999999997 meters 0.03889322294248236 Centerline is valid? [True, True] Translation: X:27.00, Y:0.14, Z:-2.45 [[ 9.79836242e-01 1.61329410e-01 1.17871799e-01 2.69960006e+01] [-1.60905029e-01 9.86882005e-01 -1.31711998e-02 1.37500385e-01] [-1.18450459e-01 -6.06054626e-03 9.92941468e-01 -2.44877894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745919999999998 meters 0.040182205400271835 Centerline is valid? [True, True] Translation: X:27.03, Y:0.13, Z:-2.45 [[ 9.79849036e-01 1.61544797e-01 1.17469760e-01 2.70278788e+01] [-1.61119368e-01 9.86847020e-01 -1.31722746e-02 1.31143234e-01] [-1.18052595e-01 -6.01981297e-03 9.92989097e-01 -2.45109772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.77592 meters 0.039137132859412754 Centerline is valid? [True, True] Translation: X:27.06, Y:0.13, Z:-2.46 [[ 9.79536527e-01 1.60641279e-01 1.21254162e-01 2.70593107e+01] [-1.60175811e-01 9.86994249e-01 -1.36404456e-02 1.29973655e-01] [-1.21868379e-01 -6.06066901e-03 9.92527766e-01 -2.45598538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805919999999997 meters 0.03823369395930413 Centerline is valid? [True, True] Translation: X:27.09, Y:0.13, Z:-2.46 [[ 9.79794721e-01 1.61073091e-01 1.18565442e-01 2.70912916e+01] [-1.60629191e-01 9.86924480e-01 -1.33541734e-02 1.27908460e-01] [-1.19166135e-01 -5.96072235e-03 9.92856436e-01 -2.45810860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835919999999998 meters 0.04055586893219339 Centerline is valid? [True, True] Translation: X:27.12, Y:0.12, Z:-2.46 [[ 9.79449383e-01 1.62831255e-01 1.19016337e-01 2.71217769e+01] [-1.62394332e-01 9.86634594e-01 -1.34260598e-02 1.20864946e-01] [-1.19611818e-01 -6.17743263e-03 9.92801517e-01 -2.46390390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86592 meters 0.0394896239451031 Centerline is valid? [True, True] Translation: X:27.15, Y:0.12, Z:-2.47 [[ 9.79335923e-01 1.63941930e-01 1.18423790e-01 2.71539438e+01] [-1.63512614e-01 9.86450246e-01 -1.33991772e-02 1.19274813e-01] [-1.19015864e-01 -6.24148793e-03 9.92872735e-01 -2.46693458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895919999999997 meters 0.04035681179050205 Centerline is valid? [True, True] Translation: X:27.19, Y:0.11, Z:-2.47 [[ 9.78966672e-01 1.66483710e-01 1.17929763e-01 2.71854666e+01] [-1.66073812e-01 9.86022766e-01 -1.33638971e-02 1.14639714e-01] [-1.18506302e-01 -6.50223541e-03 9.92932010e-01 -2.46896666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925919999999998 meters 0.041179202275723914 Centerline is valid? [True, True] Translation: X:27.22, Y:0.11, Z:-2.47 [[ 9.78869096e-01 1.68129091e-01 1.16395453e-01 2.72169173e+01] [-1.67735989e-01 9.85743104e-01 -1.32351902e-02 1.09886124e-01] [-1.16961235e-01 -6.56818773e-03 9.93114761e-01 -2.47198756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.95592 meters 0.04149784904412284 Centerline is valid? [True, True] Translation: X:27.25, Y:0.11, Z:-2.48 [[ 9.78581633e-01 1.70619355e-01 1.15182564e-01 2.72488668e+01] [-1.70246338e-01 9.85313901e-01 -1.31415963e-02 1.08084307e-01] [-1.15733192e-01 -6.74928485e-03 9.93257406e-01 -2.47598289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985919999999997 meters 0.04163391273714156 Centerline is valid? [True, True] Translation: X:27.28, Y:0.11, Z:-2.48 [[ 9.78447688e-01 1.71304519e-01 1.15303439e-01 2.72806705e+01] [-1.70930269e-01 9.85194706e-01 -1.31997688e-02 1.06144300e-01] [-1.15857518e-01 -6.79356448e-03 9.93242610e-01 -2.47947211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015919999999998 meters 0.04202457864978783 Centerline is valid? [True, True] Translation: X:27.31, Y:0.10, Z:-2.48 [[ 9.77948594e-01 1.73062334e-01 1.16901562e-01 2.73124683e+01] [-1.72684741e-01 9.84885607e-01 -1.34284058e-02 1.04152025e-01] [-1.17458617e-01 -7.05482545e-03 9.93052719e-01 -2.48259584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04592 meters 0.04262876689233369 Centerline is valid? [True, True] Translation: X:27.34, Y:0.10, Z:-2.49 [[ 9.77504693e-01 1.74677426e-01 1.18204786e-01 2.73439734e+01] [-1.74297635e-01 9.84598762e-01 -1.36239875e-02 1.00723270e-01] [-1.18764089e-01 -7.28530298e-03 9.92895773e-01 -2.48563562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07592 meters 0.042625226422373326 Centerline is valid? [True, True] Translation: X:27.38, Y:0.10, Z:-2.49 [[ 9.77611229e-01 1.74165209e-01 1.18079485e-01 2.73754058e+01] [-1.73777085e-01 9.84690341e-01 -1.36549492e-02 1.00082853e-01] [-1.18649945e-01 -7.17027697e-03 9.92910257e-01 -2.48982807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105919999999998 meters 0.04168773027517512 Centerline is valid? [True, True] Translation: X:27.41, Y:0.10, Z:-2.49 [[ 9.78134481e-01 1.73155992e-01 1.15195222e-01 2.74076101e+01] [-1.72774539e-01 9.84870726e-01 -1.33645632e-02 9.90373624e-02] [-1.15766557e-01 -6.83046136e-03 9.93252963e-01 -2.49247404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.13592 meters 0.04086959015793591 Centerline is valid? [True, True] Translation: X:27.44, Y:0.10, Z:-2.50 [[ 9.78094736e-01 1.72084492e-01 1.17122218e-01 2.74395767e+01] [-1.71677202e-01 9.85058914e-01 -1.36335785e-02 9.96951523e-02] [-1.17718413e-01 -6.77228345e-03 9.93023923e-01 -2.49605676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16592 meters 0.041306970319928145 Centerline is valid? [True, True] Translation: X:27.47, Y:0.10, Z:-2.50 [[ 9.77830781e-01 1.72743299e-01 1.18349975e-01 2.74710971e+01] [-1.72326774e-01 9.84942856e-01 -1.38221770e-02 9.87393252e-02] [-1.18955651e-01 -6.87911931e-03 9.92875738e-01 -2.49850785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195919999999997 meters 0.04110825915317656 Centerline is valid? [True, True] Translation: X:27.50, Y:0.10, Z:-2.50 [[ 9.77873115e-01 1.75252975e-01 1.14239075e-01 2.75040469e+01] [-1.74877387e-01 9.84499300e-01 -1.33801530e-02 1.03409016e-01] [-1.14813201e-01 -6.89373900e-03 9.93363179e-01 -2.50067570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22592 meters 0.042677917208002104 Centerline is valid? [True, True] Translation: X:27.54, Y:0.10, Z:-2.50 [[ 9.77471631e-01 1.78018992e-01 1.13395104e-01 2.75355196e+01] [-1.77664485e-01 9.84001152e-01 -1.33065626e-02 1.03860728e-01] [-1.13949734e-01 -7.13949525e-03 9.93460863e-01 -2.50482975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.25592 meters 0.042537808486269174 Centerline is valid? [True, True] Translation: X:27.57, Y:0.10, Z:-2.51 [[ 9.77466067e-01 1.78539922e-01 1.12621418e-01 2.75681579e+01] [-1.78188905e-01 9.83906985e-01 -1.32574071e-02 1.04019092e-01] [-1.13175976e-01 -7.10922167e-03 9.93549524e-01 -2.50798210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285919999999997 meters 0.04177502155659137 Centerline is valid? [True, True] Translation: X:27.60, Y:0.11, Z:-2.51 [[ 9.77325862e-01 1.78207088e-01 1.14352060e-01 2.76009086e+01] [-1.77837435e-01 9.83967149e-01 -1.35091235e-02 1.06534636e-01] [-1.14926092e-01 -7.13326125e-03 9.93348433e-01 -2.51131559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31592 meters 0.042263693160901374 Centerline is valid? [True, True] Translation: X:27.63, Y:0.11, Z:-2.52 [[ 9.77264241e-01 1.77359285e-01 1.16182128e-01 2.76332903e+01] [-1.76968568e-01 9.84120411e-01 -1.37528806e-02 1.07828941e-01] [-1.16776405e-01 -7.12038647e-03 9.93132706e-01 -2.51560632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34592 meters 0.04158980874311499 Centerline is valid? [True, True] Translation: X:27.67, Y:0.11, Z:-2.52 [[ 9.77941241e-01 1.74639805e-01 1.14594365e-01 2.76658518e+01] [-1.74236448e-01 9.84609853e-01 -1.36050677e-02 1.12742419e-01] [-1.15206727e-01 -6.66155840e-03 9.93319200e-01 -2.51833529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375919999999997 meters 0.040092419482890565 Centerline is valid? [True, True] Translation: X:27.70, Y:0.11, Z:-2.52 [[ 9.78266312e-01 1.71924524e-01 1.15917993e-01 2.76978861e+01] [-1.71491583e-01 9.85089302e-01 -1.37732834e-02 1.13366660e-01] [-1.16557540e-01 -6.40502087e-03 9.93163287e-01 -2.52136526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40592 meters 0.038140496810642396 Centerline is valid? [True, True] Translation: X:27.73, Y:0.12, Z:-2.52 [[ 9.79466830e-01 1.64717674e-01 1.16244642e-01 2.77302084e+01] [-1.64229069e-01 9.86325200e-01 -1.38351998e-02 1.18257937e-01] [-1.16933922e-01 -5.53963003e-03 9.93124247e-01 -2.52453800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.43592 meters 0.03709848019612915 Centerline is valid? [True, True] Translation: X:27.76, Y:0.12, Z:-2.53 [[ 9.79930601e-01 1.61676036e-01 1.16605643e-01 2.77620867e+01] [-1.61157818e-01 9.86830452e-01 -1.39217774e-02 1.19922080e-01] [-1.17320817e-01 -5.14953531e-03 9.93080716e-01 -2.52855371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465919999999997 meters 0.03470204329003307 Centerline is valid? [True, True] Translation: X:27.79, Y:0.12, Z:-2.53 [[ 9.80950016e-01 1.53916812e-01 1.18518697e-01 2.77938515e+01] [-1.53320270e-01 9.88074662e-01 -1.41900052e-02 1.24820600e-01] [-1.19289402e-01 -4.25163284e-03 9.92850423e-01 -2.53314669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495919999999998 meters 0.03460416111298324 Centerline is valid? [True, True] Translation: X:27.83, Y:0.12, Z:-2.54 [[ 9.80918940e-01 1.51344985e-01 1.22035771e-01 2.78254862e+01] [-1.50689731e-01 9.88472773e-01 -1.46349328e-02 1.21461201e-01] [-1.22843961e-01 -4.03385480e-03 9.92417800e-01 -2.53769849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52592 meters 0.033578338981104176 Centerline is valid? [True, True] Translation: X:27.86, Y:0.12, Z:-2.54 [[ 9.81277581e-01 1.48927465e-01 1.22126656e-01 2.78578361e+01] [-1.48246973e-01 9.88841243e-01 -1.46912133e-02 1.18903620e-01] [-1.22951800e-01 -3.68874890e-03 9.92405788e-01 -2.53895513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555919999999997 meters 0.032745545087466854 Centerline is valid? [True, True] Translation: X:27.89, Y:0.12, Z:-2.54 [[ 9.81901141e-01 1.46012989e-01 1.20624855e-01 2.78898788e+01] [-1.45324414e-01 9.89277305e-01 -1.45337266e-02 1.16907903e-01] [-1.21453544e-01 -3.25905359e-03 9.92591767e-01 -2.54145307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585919999999998 meters 0.03288389529622625 Centerline is valid? [True, True] Translation: X:27.92, Y:0.11, Z:-2.55 [[ 9.82003781e-01 1.45141084e-01 1.20841381e-01 2.79213510e+01] [-1.44437172e-01 9.89406094e-01 -1.46110882e-02 1.13844007e-01] [-1.21681868e-01 -3.10584354e-03 9.92564293e-01 -2.54686973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.61592 meters 0.032340630478481 Centerline is valid? [True, True] Translation: X:27.95, Y:0.11, Z:-2.55 [[ 9.82392375e-01 1.43255361e-01 1.19929657e-01 2.79532273e+01] [-1.42542330e-01 9.89681789e-01 -1.45478896e-02 1.09202828e-01] [-1.20776261e-01 -2.80331704e-03 9.92675796e-01 -2.55141427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645919999999997 meters 0.03201377555931384 Centerline is valid? [True, True] Translation: X:27.98, Y:0.11, Z:-2.55 [[ 9.82520577e-01 1.41478559e-01 1.20984021e-01 2.79844122e+01] [-1.40735611e-01 9.89937967e-01 -1.47074318e-02 1.05053678e-01] [-1.21847462e-01 -2.57640563e-03 9.92545494e-01 -2.55431833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675919999999998 meters 0.03188584659532824 Centerline is valid? [True, True] Translation: X:28.02, Y:0.10, Z:-2.56 [[ 9.82546286e-01 1.41014846e-01 1.21316155e-01 2.80170464e+01] [-1.40258560e-01 9.90004376e-01 -1.47942951e-02 1.01949799e-01] [-1.22189740e-01 -2.47954961e-03 9.92503662e-01 -2.55639777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70592 meters 0.032141158753840826 Centerline is valid? [True, True] Translation: X:28.05, Y:0.10, Z:-2.56 [[ 9.82214160e-01 1.42162911e-01 1.22658269e-01 2.80481900e+01] [-1.41394911e-01 9.89839802e-01 -1.49881766e-02 9.77336728e-02] [-1.23542800e-01 -2.62165586e-03 9.92335782e-01 -2.55995033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735919999999997 meters 0.03248402412063652 Centerline is valid? [True, True] Translation: X:28.08, Y:0.09, Z:-2.56 [[ 9.81792013e-01 1.44628751e-01 1.23154242e-01 2.80792875e+01] [-1.43867297e-01 9.89481764e-01 -1.51009711e-02 9.22243301e-02] [-1.24042911e-01 -2.89185506e-03 9.92272641e-01 -2.56180641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765919999999998 meters 0.03324778248346526 Centerline is valid? [True, True] Translation: X:28.11, Y:0.09, Z:-2.57 [[ 9.81160467e-01 1.48779459e-01 1.23242895e-01 2.81101678e+01] [-1.48043912e-01 9.88864644e-01 -1.51563551e-02 8.56237853e-02] [-1.24125496e-01 -3.37454377e-03 9.92260789e-01 -2.56591357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.79592 meters 0.03309364171219191 Centerline is valid? [True, True] Translation: X:28.14, Y:0.08, Z:-2.57 [[ 9.81362730e-01 1.48923516e-01 1.21445374e-01 2.81420214e+01] [-1.48206683e-01 9.88843170e-01 -1.49654614e-02 8.18818577e-02] [-1.22319137e-01 -3.31246996e-03 9.92485293e-01 -2.56871131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825919999999996 meters 0.03363776906615908 Centerline is valid? [True, True] Translation: X:28.17, Y:0.08, Z:-2.57 [[ 9.80773621e-01 1.50577025e-01 1.24135664e-01 2.81738151e+01] [-1.49834580e-01 9.88591923e-01 -1.53495510e-02 7.75536768e-02] [-1.25030804e-01 -3.54538039e-03 9.92146526e-01 -2.57319266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855919999999998 meters 0.033935885912866295 Centerline is valid? [True, True] Translation: X:28.21, Y:0.07, Z:-2.57 [[ 9.80184886e-01 1.53392042e-01 1.25333441e-01 2.82055183e+01] [-1.52651413e-01 9.88157753e-01 -1.55499441e-02 7.33716176e-02] [-1.26234449e-01 -3.89050671e-03 9.91992806e-01 -2.57451712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88592 meters 0.034644722109983817 Centerline is valid? [True, True] Translation: X:28.24, Y:0.07, Z:-2.58 [[ 9.79901626e-01 1.55064172e-01 1.25490664e-01 2.82367648e+01] [-1.54328692e-01 9.87896060e-01 -1.56214693e-02 6.91311043e-02] [-1.26394063e-01 -4.05930689e-03 9.91971805e-01 -2.57822009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91592 meters 0.03467134815053618 Centerline is valid? [True, True] Translation: X:28.27, Y:0.07, Z:-2.58 [[ 9.79829171e-01 1.56351275e-01 1.24455112e-01 2.82693292e+01] [-1.55631579e-01 9.87692847e-01 -1.55451689e-02 6.60861455e-02] [-1.25353931e-01 -4.13753556e-03 9.92103459e-01 -2.58375201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945919999999997 meters 0.03483960186594602 Centerline is valid? [True, True] Translation: X:28.30, Y:0.06, Z:-2.59 [[ 9.79825532e-01 1.57971225e-01 1.22421480e-01 2.83020887e+01] [-1.57280436e-01 9.87434714e-01 -1.53476701e-02 6.17639906e-02] [-1.23307709e-01 -4.21646465e-03 9.92359527e-01 -2.58748893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97592 meters 0.03458140333350761 Centerline is valid? [True, True] Translation: X:28.33, Y:0.06, Z:-2.59 [[ 9.79616505e-01 1.58577367e-01 1.23307428e-01 2.83341411e+01] [-1.57874952e-01 9.87337305e-01 -1.55095419e-02 5.82520126e-02] [-1.24205486e-01 -4.27375098e-03 9.92247314e-01 -2.59058565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00592 meters 0.034588516561191454 Centerline is valid? [True, True] Translation: X:28.37, Y:0.05, Z:-2.59 [[ 9.79516864e-01 1.59582790e-01 1.22800837e-01 2.83663033e+01] [-1.58890889e-01 9.87174929e-01 -1.54707668e-02 5.49315865e-02] [-1.23694775e-01 -4.35805719e-03 9.92310743e-01 -2.59265470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035919999999997 meters 0.03507770851012896 Centerline is valid? [True, True] Translation: X:28.40, Y:0.05, Z:-2.60 [[ 9.79117095e-01 1.60383111e-01 1.24927864e-01 2.83975913e+01] [-1.59666094e-01 9.87044675e-01 -1.57970666e-02 5.21081465e-02] [-1.25842966e-01 -4.47956613e-03 9.92040060e-01 -2.59783495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06592 meters 0.03543849862562366 Centerline is valid? [True, True] Translation: X:28.43, Y:0.05, Z:-2.60 [[ 9.78816295e-01 1.62145467e-01 1.25010029e-01 2.84290172e+01] [-1.61435284e-01 9.86755871e-01 -1.58587646e-02 4.85522612e-02] [-1.25925807e-01 -4.65821240e-03 9.92028725e-01 -2.60112275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.09592 meters 0.03597432785579949 Centerline is valid? [True, True] Translation: X:28.46, Y:0.05, Z:-2.60 [[ 9.78587375e-01 1.64783587e-01 1.23341470e-01 2.84611759e+01] [-1.64106829e-01 9.86317673e-01 -1.56970112e-02 4.81568845e-02] [-1.24240481e-01 -4.88028057e-03 9.92240135e-01 -2.60419182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125919999999997 meters 0.03594190589467536 Centerline is valid? [True, True] Translation: X:28.49, Y:0.05, Z:-2.61 [[ 9.78482634e-01 1.65718030e-01 1.22919766e-01 2.84940935e+01] [-1.65046840e-01 9.86160850e-01 -1.56945196e-02 4.63906415e-02] [-1.23819525e-01 -4.93070400e-03 9.92292504e-01 -2.60727319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15592 meters 0.036244313245259646 Centerline is valid? [True, True] Translation: X:28.53, Y:0.04, Z:-2.61 [[ 9.78058022e-01 1.66897773e-01 1.24690171e-01 2.85262027e+01] [-1.66209399e-01 9.85961028e-01 -1.59777094e-02 4.39264968e-02] [-1.25606294e-01 -5.09755160e-03 9.92067071e-01 -2.61087435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18592 meters 0.03604034308484989 Centerline is valid? [True, True] Translation: X:28.56, Y:0.04, Z:-2.61 [[ 9.78019135e-01 1.67302449e-01 1.24452650e-01 2.85585734e+01] [-1.66613439e-01 9.85892489e-01 -1.59988263e-02 4.17532549e-02] [-1.25373576e-01 -5.08832587e-03 9.92096555e-01 -2.61275118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215919999999997 meters 0.03522517875312028 Centerline is valid? [True, True] Translation: X:28.59, Y:0.05, Z:-2.62 [[ 9.78254591e-01 1.65259511e-01 1.25328566e-01 2.85910332e+01] [-1.64537663e-01 9.86238384e-01 -1.61619098e-02 4.57864586e-02] [-1.26274752e-01 -4.81080704e-03 9.91983641e-01 -2.61684483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245919999999998 meters 0.03488048727666325 Centerline is valid? [True, True] Translation: X:28.62, Y:0.05, Z:-2.62 [[ 9.78366834e-01 1.64718615e-01 1.25164358e-01 2.86231594e+01] [-1.63991100e-01 9.86329354e-01 -1.61655552e-02 4.51278071e-02] [-1.26116049e-01 -4.70999784e-03 9.92004314e-01 -2.61939406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.27592 meters 0.03444546115503359 Centerline is valid? [True, True] Translation: X:28.66, Y:0.05, Z:-2.62 [[ 9.78556103e-01 1.62908210e-01 1.26051054e-01 2.86557710e+01] [-1.62148675e-01 9.86631164e-01 -1.63326007e-02 4.73741193e-02] [-1.27026613e-01 -4.45664532e-03 9.91889297e-01 -2.62276881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305919999999997 meters 0.033631474436663956 Centerline is valid? [True, True] Translation: X:28.69, Y:0.05, Z:-2.63 [[ 9.79080322e-01 1.60998137e-01 1.24423967e-01 2.86878626e+01] [-1.60236327e-01 9.86946182e-01 -1.61726199e-02 4.88365137e-02] [-1.25403521e-01 -4.10294556e-03 9.92097335e-01 -2.62648862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335919999999998 meters 0.033220130094691984 Centerline is valid? [True, True] Translation: X:28.72, Y:0.05, Z:-2.63 [[ 9.79407947e-01 1.59562200e-01 1.23693077e-01 2.87198580e+01] [-1.58791521e-01 9.87180389e-01 -1.61286064e-02 4.84340592e-02] [-1.24680896e-01 -3.84492669e-03 9.92189443e-01 -2.62990834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36592 meters 0.033220130094691984 Centerline is valid? [True, True] Translation: X:28.75, Y:0.04, Z:-2.63 [[ 9.79333299e-01 1.60024977e-01 1.23686278e-01 2.87518199e+01] [-1.59251412e-01 9.87105453e-01 -1.61805947e-02 4.46285763e-02] [-1.24680699e-01 -3.85101923e-03 9.92189444e-01 -2.63321912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395919999999997 meters 0.032675695330398734 Centerline is valid? [True, True] Translation: X:28.78, Y:0.04, Z:-2.64 [[ 9.79447364e-01 1.58929708e-01 1.24194239e-01 2.87838293e+01] [-1.58134457e-01 9.87283059e-01 -1.62989118e-02 4.37209015e-02] [-1.25205250e-01 -3.67546237e-03 9.92124053e-01 -2.63712133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425919999999998 meters 0.03175376251660731 Centerline is valid? [True, True] Translation: X:28.82, Y:0.04, Z:-2.64 [[ 9.80189690e-01 1.53776267e-01 1.24824001e-01 2.88156279e+01] [-1.52928082e-01 9.88101116e-01 -1.64068716e-02 4.20314641e-02] [-1.25861722e-01 -3.00724863e-03 9.92043237e-01 -2.64182366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.45592 meters 0.031016810123909402 Centerline is valid? [True, True] Translation: X:28.85, Y:0.04, Z:-2.65 [[ 9.80940328e-01 1.46564238e-01 1.27573500e-01 2.88471775e+01] [-1.45610234e-01 9.89198982e-01 -1.68235871e-02 3.63915690e-02] [-1.28661312e-01 -2.07307213e-03 9.91686427e-01 -2.64523974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485919999999997 meters 0.03067233461041148 Centerline is valid? [True, True] Translation: X:28.88, Y:0.03, Z:-2.65 [[ 9.81351323e-01 1.43755233e-01 1.27608834e-01 2.88790826e+01] [-1.42769893e-01 9.89611899e-01 -1.68833647e-02 3.20330117e-02] [-1.28710292e-01 -1.65018715e-03 9.91680865e-01 -2.64890880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515919999999998 meters 0.03047172254804235 Centerline is valid? [True, True] Translation: X:28.91, Y:0.03, Z:-2.65 [[ 9.81787041e-01 1.41828603e-01 1.26407486e-01 2.89107255e+01] [-1.40838893e-01 9.89890337e-01 -1.67787824e-02 2.86285347e-02] [-1.27509260e-01 -1.32989929e-03 9.91836489e-01 -2.65285891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54592 meters 0.029881228990069262 Centerline is valid? [True, True] Translation: X:28.94, Y:0.03, Z:-2.66 [[ 9.82303973e-01 1.38339386e-01 1.26258141e-01 2.89418909e+01] [-1.37316287e-01 9.90384541e-01 -1.68136129e-02 2.57105600e-02] [-1.27370096e-01 -8.21220368e-04 9.91854921e-01 -2.65824582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575919999999996 meters 0.02964890005587995 Centerline is valid? [True, True] Translation: X:28.97, Y:0.02, Z:-2.66 [[ 9.82488778e-01 1.36839087e-01 1.26454992e-01 2.89739935e+01] [-1.35793085e-01 9.90593125e-01 -1.68967328e-02 2.10065472e-02] [-1.27577579e-01 -5.70863028e-04 9.91828430e-01 -2.66174493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605919999999998 meters 0.029420402766817552 Centerline is valid? [True, True] Translation: X:29.01, Y:0.01, Z:-2.66 [[ 9.82876290e-01 1.34693161e-01 1.25745580e-01 2.90053977e+01] [-1.33633506e-01 9.90887330e-01 -1.68637544e-02 1.20666750e-02] [-1.26871134e-01 -2.28838315e-04 9.91919182e-01 -2.66338249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.63592 meters 0.029337502562740102 Centerline is valid? [True, True] Translation: X:29.04, Y:0.01, Z:-2.67 [[ 9.82942687e-01 1.34352404e-01 1.25591023e-01 2.90377066e+01] [-1.33285267e-01 9.90933608e-01 -1.69003660e-02 5.00161473e-03] [-1.26722970e-01 -1.27341875e-04 9.91938140e-01 -2.66531872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66592 meters 0.02952028326259415 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.00, Z:-2.67 [[ 9.82812505e-01 1.34160578e-01 1.26808989e-01 2.90686042e+01] [-1.33062730e-01 9.90959604e-01 -1.71281100e-02 -4.72297976e-03] [-1.27960503e-01 -3.98296268e-05 9.91779264e-01 -2.66919340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695919999999997 meters 0.029343093611487066 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.01, Z:-2.67 [[ 9.82817213e-01 1.35548536e-01 1.25287353e-01 2.91002608e+01] [-1.34481120e-01 9.90770694e-01 -1.69782319e-02 -1.15543147e-02] [-1.26432412e-01 -1.62284988e-04 9.91975211e-01 -2.67185640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72592 meters 0.029272989920125166 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.02, Z:-2.67 [[ 9.82581030e-01 1.39109115e-01 1.23220025e-01 2.91315093e+01] [-1.38097842e-01 9.90276903e-01 -1.67523377e-02 -2.13505744e-02] [-1.24352348e-01 -5.55890393e-04 9.92237968e-01 -2.67401418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.75592 meters 0.029613152674999657 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.03, Z:-2.68 [[ 9.81930866e-01 1.41593503e-01 1.25550999e-01 2.91624420e+01] [-1.40556380e-01 9.89924538e-01 -1.71263928e-02 -2.74274686e-02] [-1.26711001e-01 -8.30060212e-04 9.91939329e-01 -2.67848885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785919999999997 meters 0.03032293618387591 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.04, Z:-2.68 [[ 9.80930874e-01 1.49616101e-01 1.24054997e-01 2.91930624e+01] [-1.48660549e-01 9.88742546e-01 -1.69770038e-02 -3.68388690e-02] [-1.25198487e-01 -1.78881682e-03 9.92130102e-01 -2.67996239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81592 meters 0.030774285337943127 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.04, Z:-2.68 [[ 9.80310322e-01 1.54076716e-01 1.23499138e-01 2.92243566e+01] [-1.53158199e-01 9.88056225e-01 -1.69547304e-02 -4.46208180e-02] [-1.24636421e-01 -2.29400842e-03 9.92199829e-01 -2.68272133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84592 meters 0.03177845862507324 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.06, Z:-2.69 [[ 9.79671895e-01 1.60578333e-01 1.20239662e-01 2.92550078e+01] [-1.59750298e-01 9.87018580e-01 -1.65579365e-02 -5.60080686e-02] [-1.21337626e-01 -2.98697685e-03 9.92606799e-01 -2.68544138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875919999999997 meters 0.032323273508708845 Centerline is valid? [True, True] Translation: X:29.29, Y:-0.06, Z:-2.69 [[ 9.79136696e-01 1.63107123e-01 1.21191570e-01 2.92862428e+01] [-1.62278784e-01 9.86602929e-01 -1.67408740e-02 -6.23247089e-02] [-1.22298513e-01 -3.27521651e-03 9.92487958e-01 -2.68979570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90592 meters 0.033159757196668437 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.07, Z:-2.70 [[ 9.78384411e-01 1.67247620e-01 1.21623095e-01 2.93166269e+01] [-1.66438961e-01 9.85907766e-01 -1.68507665e-02 -6.88570206e-02] [-1.22727405e-01 -3.75629429e-03 9.92433310e-01 -2.69580943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.93592 meters 0.033357786821072224 Centerline is valid? [True, True] Translation: X:29.35, Y:-0.07, Z:-2.70 [[ 9.78044704e-01 1.68970040e-01 1.21974108e-01 2.93478715e+01] [-1.68164110e-01 9.85613326e-01 -1.69470876e-02 -7.36046123e-02] [-1.23082857e-01 -3.93665817e-03 9.92388590e-01 -2.69787723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965919999999997 meters 0.033880895016813184 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.08, Z:-2.70 [[ 9.77465613e-01 1.71200280e-01 1.23496723e-01 2.93792419e+01] [-1.70385329e-01 9.85227211e-01 -1.72099622e-02 -7.80757976e-02] [-1.24618682e-01 -4.21988351e-03 9.92195735e-01 -2.70080318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995919999999998 meters 0.034981529527848165 Centerline is valid? [True, True] Translation: X:29.41, Y:-0.08, Z:-2.70 [[ 9.76979321e-01 1.74108121e-01 1.23279231e-01 2.94101955e+01] [-1.73312814e-01 9.84716108e-01 -1.72294769e-02 -8.41861783e-02] [-1.24394837e-01 -4.53302780e-03 9.92222443e-01 -2.70346202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02592 meters 0.035212740342801946 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.09, Z:-2.71 [[ 9.76959300e-01 1.76791025e-01 1.19563619e-01 2.94421544e+01] [-1.76057379e-01 9.84237284e-01 -1.67561409e-02 -8.96117065e-02] [-1.20641307e-01 -4.67998969e-03 9.92685133e-01 -2.70718548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055919999999997 meters 0.035041878649859394 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.09, Z:-2.71 [[ 9.76850604e-01 1.77538558e-01 1.19343868e-01 2.94750880e+01] [-1.76806471e-01 9.84102580e-01 -1.67804615e-02 -9.31799914e-02] [-1.20425787e-01 -4.70876417e-03 9.92711165e-01 -2.71066405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085919999999998 meters 0.0358828019202108 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.10, Z:-2.72 [[ 9.76283873e-01 1.79956626e-01 1.20355360e-01 2.95068625e+01] [-1.79223583e-01 9.83661863e-01 -1.69778511e-02 -9.63967825e-02] [-1.21444255e-01 -4.99531674e-03 9.92585684e-01 -2.71524624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.11592 meters 0.035828200350121485 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.10, Z:-2.72 [[ 9.76174804e-01 1.80501941e-01 1.20423424e-01 2.95393838e+01] [-1.79766063e-01 9.83561836e-01 -1.70375376e-02 -9.99276444e-02] [-1.21519193e-01 -5.01643007e-03 9.92576406e-01 -2.71843943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145919999999997 meters 0.03610327550898598 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.10, Z:-2.72 [[ 9.75921881e-01 1.81045671e-01 1.21650922e-01 2.95707463e+01] [-1.80292043e-01 9.83461560e-01 -1.72666837e-02 -1.03380354e-01] [-1.22765064e-01 -5.08175879e-03 9.92422750e-01 -2.72179823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175919999999998 meters 0.03616956559358949 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.11, Z:-2.73 [[ 9.75806308e-01 1.81465980e-01 1.21951411e-01 2.96032416e+01] [-1.80705593e-01 9.83384013e-01 -1.73600758e-02 -1.06744116e-01] [-1.23075331e-01 -5.09723049e-03 9.92384241e-01 -2.72567031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20592 meters 0.03679701635888694 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.11, Z:-2.73 [[ 9.75294940e-01 1.83125592e-01 1.23550793e-01 2.96343142e+01] [-1.82351351e-01 9.83075121e-01 -1.76434609e-02 -1.09310479e-01] [-1.24690680e-01 -5.32207591e-03 9.92181390e-01 -2.73060093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235919999999997 meters 0.036996821592483665 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.11, Z:-2.73 [[ 9.75083733e-01 1.84349515e-01 1.23397610e-01 2.96657511e+01] [-1.83581079e-01 9.82845777e-01 -1.76682360e-02 -1.13373459e-01] [-1.24537950e-01 -5.42545681e-03 9.92200012e-01 -2.73421825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265919999999998 meters 0.037347304585906405 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.12, Z:-2.74 [[ 9.74871251e-01 1.86672200e-01 1.21571102e-01 2.96981047e+01] [-1.85938359e-01 9.82406361e-01 -1.74547741e-02 -1.15309277e-01] [-1.22690545e-01 -5.58857373e-03 9.92429241e-01 -2.73649660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.29592 meters 0.037616036932483755 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.12, Z:-2.74 [[ 9.74536497e-01 1.87651814e-01 1.22741240e-01 2.97298867e+01] [-1.86905300e-01 9.82218965e-01 -1.76724103e-02 -1.16325009e-01] [-1.23875034e-01 -5.71857957e-03 9.92281348e-01 -2.74081706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325919999999996 meters 0.03759370955260885 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.12, Z:-2.74 [[ 9.74279747e-01 1.88116274e-01 1.24061445e-01 2.97624176e+01] [-1.87351021e-01 9.82129691e-01 -1.79126751e-02 -1.16937269e-01] [-1.25214094e-01 -5.79108191e-03 9.92112843e-01 -2.74332178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355919999999998 meters 0.038096724272100695 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.12, Z:-2.75 [[ 9.74134190e-01 1.88293647e-01 1.24932307e-01 2.97948661e+01] [-1.87512475e-01 9.82095624e-01 -1.80902335e-02 -1.21498543e-01] [-1.26101748e-01 -5.80405101e-03 9.92000334e-01 -2.74677320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38592 meters 0.037508856167094005 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.12, Z:-2.75 [[ 9.74086624e-01 1.87987129e-01 1.25762031e-01 2.98275372e+01] [-1.87186012e-01 9.82154665e-01 -1.82650175e-02 -1.22687775e-01] [-1.26951353e-01 -5.74918369e-03 9.91892283e-01 -2.75099327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.41592 meters 0.037104895989461435 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.12, Z:-2.76 [[ 9.74657697e-01 1.85785887e-01 1.24603282e-01 2.98602566e+01] [-1.84977146e-01 9.82575543e-01 -1.81316983e-02 -1.20853718e-01] [-1.25800751e-01 -5.37656025e-03 9.92040959e-01 -2.75828748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445919999999997 meters 0.03601367653483282 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.12, Z:-2.76 [[ 9.75457004e-01 1.83214559e-01 1.22131318e-01 2.98921357e+01] [-1.82414795e-01 9.83060633e-01 -1.77942118e-02 -1.23501282e-01] [-1.23322649e-01 -4.92107078e-03 9.92354426e-01 -2.75941417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47592 meters 0.03566104583869834 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.13, Z:-2.76 [[ 9.75483716e-01 1.82137326e-01 1.23521313e-01 2.99236227e+01] [-1.81304664e-01 9.83261421e-01 -1.80443259e-02 -1.26865734e-01] [-1.24740287e-01 -4.79304411e-03 9.92177851e-01 -2.76213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50592 meters 0.03491350232463793 Centerline is valid? [True, True] Translation: X:29.96, Y:-0.13, Z:-2.76 [[ 9.76191971e-01 1.78903212e-01 1.22649404e-01 2.99552750e+01] [-1.78050707e-01 9.83857285e-01 -1.79663088e-02 -1.28578055e-01] [-1.23883740e-01 -4.29924674e-03 9.92287426e-01 -2.76479640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535919999999997 meters 0.03436554680788276 Centerline is valid? [True, True] Translation: X:29.99, Y:-0.13, Z:-2.77 [[ 9.76467076e-01 1.77815446e-01 1.22039815e-01 2.99870393e+01] [-1.76957610e-01 9.84055322e-01 -1.79200144e-02 -1.31785212e-01] [-1.23280385e-01 -4.09757002e-03 9.92363420e-01 -2.76787436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56592 meters 0.03396378090400522 Centerline is valid? [True, True] Translation: X:30.02, Y:-0.14, Z:-2.77 [[ 9.76567682e-01 1.76397211e-01 1.23286604e-01 3.00181174e+01] [-1.75507419e-01 9.84311201e-01 -1.81274992e-02 -1.36799645e-01] [-1.24550026e-01 -3.93498384e-03 9.92205527e-01 -2.77224903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59592 meters 0.03396096158629652 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.14, Z:-2.78 [[ 9.76522329e-01 1.76515332e-01 1.23476634e-01 3.00502664e+01] [-1.75617062e-01 9.84290150e-01 -1.82084632e-02 -1.41332106e-01] [-1.24750907e-01 -3.90363273e-03 9.92180413e-01 -2.77660869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625919999999997 meters 0.033488541517517095 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.15, Z:-2.78 [[ 9.76788970e-01 1.76306582e-01 1.21652363e-01 3.00819335e+01] [-1.75426808e-01 9.84328090e-01 -1.79901892e-02 -1.46169613e-01] [-1.22917627e-01 -3.76846735e-03 9.92409722e-01 -2.77734834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65592 meters 0.0336586934373958 Centerline is valid? [True, True] Translation: X:30.11, Y:-0.15, Z:-2.78 [[ 9.76598220e-01 1.77351130e-01 1.21665498e-01 3.01138535e+01] [-1.76476105e-01 9.84140010e-01 -1.80173713e-02 -1.53152266e-01] [-1.22931285e-01 -3.87532040e-03 9.92407618e-01 -2.77941376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68592 meters 0.03413017276611497 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.16, Z:-2.78 [[ 9.76716223e-01 1.77033518e-01 1.21179841e-01 3.01455774e+01] [-1.76155969e-01 9.84197629e-01 -1.80027982e-02 -1.58725500e-01] [-1.22452011e-01 -3.76292718e-03 9.92467302e-01 -2.78251368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715919999999997 meters 0.03357220316405849 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.16, Z:-2.79 [[ 9.76623887e-01 1.76943265e-01 1.22052711e-01 3.01784861e+01] [-1.76046403e-01 9.84213977e-01 -1.81799528e-02 -1.60072455e-01] [-1.23342804e-01 -3.73196453e-03 9.92357106e-01 -2.78573703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745919999999998 meters 0.03386606125455463 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.16, Z:-2.79 [[ 9.76338086e-01 1.77910383e-01 1.22930212e-01 3.02094309e+01] [-1.77004932e-01 9.84039137e-01 -1.83366066e-02 -1.64322061e-01] [-1.24230412e-01 -3.85652649e-03 9.92245903e-01 -2.79097877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77592 meters 0.034356705706775445 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.17, Z:-2.79 [[ 9.76104442e-01 1.79215352e-01 1.22890093e-01 3.02407505e+01] [-1.78316669e-01 9.83801783e-01 -1.83634816e-02 -1.72769404e-01] [-1.24190511e-01 -3.98867609e-03 9.92250375e-01 -2.79377271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805919999999997 meters 0.035170244113071826 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.18, Z:-2.80 [[ 9.75387560e-01 1.82691596e-01 1.23462097e-01 3.02724080e+01] [-1.81805673e-01 9.83160422e-01 -1.85008565e-02 -1.76265538e-01] [-1.24762998e-01 -4.40060443e-03 9.92176813e-01 -2.79598371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835919999999998 meters 0.03522815609883661 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.18, Z:-2.80 [[ 9.74882576e-01 1.85060045e-01 1.23922326e-01 3.03043941e+01] [-1.84180032e-01 9.82716117e-01 -1.86212172e-02 -1.77774591e-01] [-1.25226510e-01 -4.67051770e-03 9.92117184e-01 -2.79962419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86592 meters 0.03714270906817286 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.18, Z:-2.80 [[ 9.73856945e-01 1.91819349e-01 1.21688078e-01 3.03354954e+01] [-1.91017169e-01 9.81415453e-01 -1.83343865e-02 -1.84100855e-01] [-1.22943450e-01 -5.38944258e-03 9.92399044e-01 -2.80287034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895919999999997 meters 0.03764877883157875 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.19, Z:-2.81 [[ 9.73180592e-01 1.95059830e-01 1.21947519e-01 3.03671150e+01] [-1.94273472e-01 9.80774412e-01 -1.84219975e-02 -1.88289763e-01] [-1.23196398e-01 -5.76323742e-03 9.92365574e-01 -2.80582151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925919999999998 meters 0.03911519249615303 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.19, Z:-2.81 [[ 9.72376185e-01 1.98548709e-01 1.22731274e-01 3.03988121e+01] [-1.97773588e-01 9.80071434e-01 -1.85901302e-02 -1.92003534e-01] [-1.23976462e-01 -6.19640465e-03 9.92265812e-01 -2.81052856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95592 meters 0.0394891958346176 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.19, Z:-2.81 [[ 9.71565039e-01 2.01895515e-01 1.23691456e-01 3.04310839e+01] [-2.01128888e-01 9.79384646e-01 -1.87852246e-02 -1.89504178e-01] [-1.24934165e-01 -6.62685758e-03 9.92142903e-01 -2.81378978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985919999999997 meters 0.039865090709340724 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.19, Z:-2.82 [[ 9.71403812e-01 2.02680391e-01 1.23674138e-01 3.04633562e+01] [-2.01914295e-01 9.79222160e-01 -1.88302467e-02 -1.94082322e-01] [-1.24920978e-01 -6.67980287e-03 9.92144208e-01 -2.81697019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015919999999998 meters 0.038947775482774706 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.20, Z:-2.82 [[ 9.71858370e-01 2.00868129e-01 1.23058127e-01 3.04951583e+01] [-2.00088349e-01 9.79597644e-01 -1.87911980e-02 -1.96237026e-01] [-1.24322004e-01 -6.36011436e-03 9.92221542e-01 -2.81921745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04592 meters 0.03914544824068735 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.20, Z:-2.82 [[ 9.71730481e-01 2.00854147e-01 1.24086600e-01 3.05283855e+01] [-2.00054699e-01 9.79600500e-01 -1.89994240e-02 -1.97690559e-01] [-1.25371408e-01 -6.36178800e-03 9.92089481e-01 -2.82334361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075919999999996 meters 0.03807721079390928 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.19, Z:-2.83 [[ 9.71679393e-01 2.00641502e-01 1.24828464e-01 3.05616353e+01] [-1.99824154e-01 9.79644335e-01 -1.91646792e-02 -1.94774088e-01] [-1.26132727e-01 -6.32181839e-03 9.91993231e-01 -2.82682126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105919999999998 meters 0.03825204562506768 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.20, Z:-2.83 [[ 9.71644528e-01 2.01409372e-01 1.23859497e-01 3.05939110e+01] [-2.00606908e-01 9.79486636e-01 -1.90472597e-02 -1.98377554e-01] [-1.25155019e-01 -6.33990504e-03 9.92116942e-01 -2.82966849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13592 meters 0.03893042886278243 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.20, Z:-2.83 [[ 9.71349236e-01 2.02395208e-01 1.24566618e-01 3.06263632e+01] [-2.01584317e-01 9.79282700e-01 -1.92134399e-02 -1.99077927e-01] [-1.25874642e-01 -6.44771637e-03 9.92025202e-01 -2.83411451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16592 meters 0.03929959214406091 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.20, Z:-2.84 [[ 9.71342864e-01 2.03189248e-01 1.23317357e-01 3.06595339e+01] [-2.02394445e-01 9.79118350e-01 -1.90721004e-02 -2.01047104e-01] [-1.24617533e-01 -6.43319944e-03 9.92183997e-01 -2.83758646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195919999999997 meters 0.039664960064656064 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.20, Z:-2.84 [[ 9.70790327e-01 2.04653877e-01 1.25231511e-01 3.06919559e+01] [-2.03838975e-01 9.78811686e-01 -1.94256343e-02 -2.00005415e-01] [-1.26553598e-01 -6.66884501e-03 9.91937354e-01 -2.84236596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22592 meters 0.03968066629065799 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.20, Z:-2.84 [[ 9.70684771e-01 2.06100403e-01 1.23667694e-01 3.07245961e+01] [-2.05311013e-01 9.78507771e-01 -1.92335714e-02 -2.02685470e-01] [-1.24973846e-01 -6.72060469e-03 9.92137274e-01 -2.84376227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25592 meters 0.03917955123772093 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.20, Z:-2.85 [[ 9.70818991e-01 2.07130638e-01 1.20861021e-01 3.07570983e+01] [-2.06378013e-01 9.78290741e-01 -1.88505092e-02 -1.99117506e-01] [-1.22141736e-01 -6.64262499e-03 9.92490439e-01 -2.84567695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285919999999997 meters 0.03917955123772093 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.20, Z:-2.85 [[ 9.70725363e-01 2.07573410e-01 1.20853420e-01 3.07890002e+01] [-2.06818158e-01 9.78196848e-01 -1.88991240e-02 -2.03741453e-01] [-1.22141390e-01 -6.64882264e-03 9.92490440e-01 -2.84899092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31592 meters 0.03932802147670522 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.20, Z:-2.85 [[ 9.70565998e-01 2.08761983e-01 1.20083628e-01 3.08216739e+01] [-2.08018710e-01 9.77943522e-01 -1.88330570e-02 -2.03311644e-01] [-1.21366633e-01 -6.70091674e-03 9.92585129e-01 -2.85264053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34592 meters 0.039888248760677716 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.20, Z:-2.86 [[ 9.70170772e-01 2.09673448e-01 1.21678753e-01 3.08538985e+01] [-2.08911247e-01 9.77747420e-01 -1.91330630e-02 -2.02989684e-01] [-1.22982782e-01 -6.85772159e-03 9.92385110e-01 -2.85712745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375919999999997 meters 0.03952711914663453 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.20, Z:-2.86 [[ 9.69912632e-01 2.10033732e-01 1.23106933e-01 3.08878783e+01] [-2.09250127e-01 9.77669535e-01 -1.94078411e-02 -1.96496737e-01] [-1.24434199e-01 -6.93623108e-03 9.92203618e-01 -2.85820483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40592 meters 0.03852152740656015 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.19, Z:-2.86 [[ 9.70269821e-01 2.06972935e-01 1.25453886e-01 3.09211863e+01] [-2.06127219e-01 9.78324271e-01 -1.98290087e-02 -1.91579156e-01] [-1.26838650e-01 -6.61997190e-03 9.91901272e-01 -2.86153636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.43592 meters 0.03777870477928458 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.19, Z:-2.86 [[ 9.71013554e-01 2.04509899e-01 1.23727038e-01 3.09530655e+01] [-2.03662125e-01 9.78845060e-01 -1.95981504e-02 -1.92631492e-01] [-1.25117616e-01 -6.16844181e-03 9.92122741e-01 -2.86476717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465919999999997 meters 0.03636146366330766 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.19, Z:-2.87 [[ 9.71771829e-01 2.00086766e-01 1.24999196e-01 3.09845554e+01] [-1.99182840e-01 9.79761949e-01 -1.98171495e-02 -1.91863897e-01] [-1.26434606e-01 -5.63994729e-03 9.91958911e-01 -2.86908162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495919999999998 meters 0.03394428096756591 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.19, Z:-2.87 [[ 9.73559980e-01 1.90175786e-01 1.26546970e-01 3.10178951e+01] [-1.89159953e-01 9.81740370e-01 -2.01086389e-02 -1.85172184e-01] [-1.28060446e-01 -4.36065279e-03 9.91756778e-01 -2.87195103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52592 meters 0.03298091410940222 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.19, Z:-2.87 [[ 9.74267915e-01 1.86205052e-01 1.27002787e-01 3.10501992e+01] [-1.85141603e-01 9.82503551e-01 -2.02326403e-02 -1.85216169e-01] [-1.28548109e-01 -3.80148729e-03 9.91695988e-01 -2.87272108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555919999999997 meters 0.03144849345420307 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.18, Z:-2.87 [[ 9.75782283e-01 1.76210731e-01 1.29609851e-01 3.10825949e+01] [-1.75008804e-01 9.84349322e-01 -2.06961386e-02 -1.83582840e-01] [-1.31228251e-01 -2.48793967e-03 9.91349059e-01 -2.87445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585919999999998 meters 0.0309774540931 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.18, Z:-2.88 [[ 9.76434432e-01 1.71411168e-01 1.31125936e-01 3.11145756e+01] [-1.70133589e-01 9.85197873e-01 -2.09693395e-02 -1.84927079e-01] [-1.32779372e-01 -1.83374086e-03 9.91143923e-01 -2.87913380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.61592 meters 0.030156172976027847 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.19, Z:-2.89 [[ 9.78147915e-01 1.62447594e-01 1.29759147e-01 3.11462590e+01] [-1.61111565e-01 9.86717013e-01 -2.07990230e-02 -1.86264586e-01] [-1.31414310e-01 -5.61178292e-04 9.91327375e-01 -2.88676456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645919999999997 meters 0.02992889350688923 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.19, Z:-2.89 [[ 9.78783638e-01 1.59611846e-01 1.28478200e-01 3.11776376e+01] [-1.58274096e-01 9.87179840e-01 -2.06221852e-02 -1.92177417e-01] [-1.30122634e-01 -1.50113479e-04 9.91497896e-01 -2.89011958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675919999999998 meters 0.029641847312200136 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.20, Z:-2.89 [[ 9.79876670e-01 1.53587995e-01 1.27485055e-01 3.12098447e+01] [-1.52212430e-01 9.88134724e-01 -2.05217870e-02 -1.98955224e-01] [-1.29124310e-01 7.04010314e-04 9.91628165e-01 -2.89071566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70592 meters 0.029792320935568058 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.20, Z:-2.89 [[ 9.80037966e-01 1.51037754e-01 1.29279476e-01 3.12410874e+01] [-1.49592319e-01 9.88527361e-01 -2.08757109e-02 -2.02938971e-01] [-1.30949319e-01 1.11977274e-03 9.91388431e-01 -2.89301786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735919999999997 meters 0.029848596835087636 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.21, Z:-2.90 [[ 9.80163462e-01 1.49532774e-01 1.30075118e-01 3.12720432e+01] [-1.48048717e-01 9.88755799e-01 -2.10605620e-02 -2.09394277e-01] [-1.31761771e-01 1.38533908e-03 9.91280443e-01 -2.89715084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765919999999998 meters 0.029975484168443572 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.22, Z:-2.90 [[ 9.80102701e-01 1.49804851e-01 1.30219820e-01 3.13039815e+01] [-1.48311702e-01 9.88714577e-01 -2.11453180e-02 -2.17550345e-01] [-1.31917906e-01 1.41146003e-03 9.91259640e-01 -2.90222653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.79592 meters 0.029909354105976886 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.23, Z:-2.91 [[ 9.79557303e-01 1.53447524e-01 1.30082079e-01 3.13345843e+01] [-1.51980752e-01 9.88156306e-01 -2.11888024e-02 -2.27731097e-01] [-1.31792796e-01 9.85673967e-04 9.91276797e-01 -2.90835744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825919999999996 meters 0.029898154151114315 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.23, Z:-2.91 [[ 9.79109797e-01 1.55606666e-01 1.30883809e-01 3.13669634e+01] [-1.54132589e-01 9.87818802e-01 -2.13812738e-02 -2.34165289e-01] [-1.32616556e-01 7.61154257e-04 9.91167125e-01 -2.91182227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855919999999998 meters 0.02970938795452477 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.24, Z:-2.91 [[ 9.78542696e-01 1.59799107e-01 1.30070893e-01 3.13988071e+01] [-1.58371530e-01 9.87149522e-01 -2.13138238e-02 -2.41380793e-01] [-1.31805350e-01 2.56960309e-04 9.91275584e-01 -2.91230812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88592 meters 0.030064208186611072 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.25, Z:-2.92 [[ 9.77712064e-01 1.64335064e-01 1.30664097e-01 3.14309610e+01] [-1.62926408e-01 9.86404532e-01 -2.14728944e-02 -2.48255324e-01] [-1.32416407e-01 -2.94324113e-04 9.91194133e-01 -2.91614429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.91592 meters 0.030359351862087748 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.25, Z:-2.92 [[ 9.76845434e-01 1.67770759e-01 1.32762839e-01 3.14623075e+01] [-1.66338661e-01 9.85825784e-01 -2.18854812e-02 -2.54167624e-01] [-1.34552773e-01 -7.04860367e-04 9.90906178e-01 -2.92075972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945919999999997 meters 0.03081247296934517 Centerline is valid? [True, True] Translation: X:31.49, Y:-0.26, Z:-2.93 [[ 9.76182996e-01 1.69950623e-01 1.34846370e-01 3.14936970e+01] [-1.68485295e-01 9.85452111e-01 -2.22899613e-02 -2.59704955e-01] [-1.36672832e-01 -9.60549179e-04 9.90615775e-01 -2.92559282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97592 meters 0.030937482227593908 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.27, Z:-2.93 [[ 9.75446618e-01 1.73361093e-01 1.35830140e-01 3.15252287e+01] [-1.71898665e-01 9.84857352e-01 -2.25132352e-02 -2.67312896e-01] [-1.37676231e-01 -1.38856053e-03 9.90476313e-01 -2.92783215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00592 meters 0.030855595078536555 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.27, Z:-2.93 [[ 9.75335242e-01 1.74521840e-01 1.35141752e-01 3.15561421e+01] [-1.73077048e-01 9.84652184e-01 -2.24591343e-02 -2.74019455e-01] [-1.36987231e-01 -1.48475043e-03 9.90571701e-01 -2.93101893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.03592 meters 0.030614575071870657 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.28, Z:-2.93 [[ 9.75472480e-01 1.74696584e-01 1.33919918e-01 3.15880259e+01] [-1.73271382e-01 9.84621268e-01 -2.23156279e-02 -2.77998118e-01] [-1.35758864e-01 -1.43620838e-03 9.90740868e-01 -2.93486744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06592 meters 0.030538347997782714 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.28, Z:-2.94 [[ 9.75381715e-01 1.75845225e-01 1.33075044e-01 3.16197649e+01] [-1.74440699e-01 9.84416641e-01 -2.22333047e-02 -2.82384928e-01] [-1.34910909e-01 -1.52774487e-03 9.90856555e-01 -2.93888627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09592 meters 0.03080639770738763 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.29, Z:-2.94 [[ 9.75159109e-01 1.76548040e-01 1.33774066e-01 3.16505810e+01] [-1.75127115e-01 9.84290765e-01 -2.24094559e-02 -2.88818686e-01] [-1.35628924e-01 -1.57468121e-03 9.90758455e-01 -2.94195440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12592 meters 0.030865099867894423 Centerline is valid? [True, True] Translation: X:31.68, Y:-0.30, Z:-2.94 [[ 9.74888680e-01 1.77599979e-01 1.34351441e-01 3.16817440e+01] [-1.76168387e-01 9.84101348e-01 -2.25662800e-02 -2.95748254e-01] [-1.36223205e-01 -1.66886567e-03 9.90676765e-01 -2.94456760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.155919999999995 meters 0.0306897539302735 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.30, Z:-2.95 [[ 9.74779100e-01 1.78671833e-01 1.33723900e-01 3.17136363e+01] [-1.77255312e-01 9.83907168e-01 -2.25219579e-02 -3.02323754e-01] [-1.35595943e-01 -1.74933781e-03 9.90762676e-01 -2.94857920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185919999999996 meters 0.030502876710855175 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.31, Z:-2.95 [[ 9.74848517e-01 1.78809580e-01 1.33031964e-01 3.17452355e+01] [-1.77400233e-01 9.83882239e-01 -2.24699083e-02 -3.06724702e-01] [-1.34905622e-01 -1.69514464e-03 9.90857003e-01 -2.95345963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.21592 meters 0.03000677713083474 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.31, Z:-2.96 [[ 9.75290273e-01 1.79490610e-01 1.28809954e-01 3.17763275e+01] [-1.78168293e-01 9.83758257e-01 -2.18117227e-02 -3.12083507e-01] [-1.30632855e-01 -1.67708858e-03 9.91429395e-01 -2.95636311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24592 meters 0.03009429295034122 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.32, Z:-2.96 [[ 9.74937798e-01 1.80037569e-01 1.30701048e-01 3.18080760e+01] [-1.78673117e-01 9.83658233e-01 -2.21900478e-02 -3.17476025e-01] [-1.32560204e-01 -1.71884728e-03 9.91173465e-01 -2.95945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27592 meters 0.030010649035831234 Centerline is valid? [True, True] Translation: X:31.84, Y:-0.32, Z:-2.96 [[ 9.74822102e-01 1.80745674e-01 1.30586643e-01 3.18402053e+01] [-1.79381993e-01 9.83528303e-01 -2.22301030e-02 -3.22777241e-01] [-1.32453654e-01 -1.75449649e-03 9.91187647e-01 -2.96062359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30592 meters 0.029954945307964633 Centerline is valid? [True, True] Translation: X:31.87, Y:-0.33, Z:-2.96 [[ 9.74709147e-01 1.80718225e-01 1.31464832e-01 3.18708583e+01] [-1.79327099e-01 9.83533446e-01 -2.24444387e-02 -3.30167506e-01] [-1.33356178e-01 -1.69840730e-03 9.91066721e-01 -2.96465634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33592 meters 0.029730269556965463 Centerline is valid? [True, True] Translation: X:31.90, Y:-0.34, Z:-2.97 [[ 9.75246698e-01 1.78192647e-01 1.30924632e-01 3.19014607e+01] [-1.76782583e-01 9.83994775e-01 -2.24098642e-02 -3.42170211e-01] [-1.32822427e-01 -1.29004856e-03 9.91139011e-01 -2.96811703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365919999999996 meters 0.029726229583996625 Centerline is valid? [True, True] Translation: X:31.93, Y:-0.35, Z:-2.97 [[ 9.75614090e-01 1.76013267e-01 1.31135343e-01 3.19333836e+01] [-1.74570970e-01 9.84387350e-01 -2.25060281e-02 -3.48642976e-01] [-1.33049332e-01 -9.35225827e-04 9.91108975e-01 -2.97266050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39592 meters 0.029472538085376795 Centerline is valid? [True, True] Translation: X:31.96, Y:-0.36, Z:-2.98 [[ 9.75664078e-01 1.74657366e-01 1.32568516e-01 3.19646891e+01] [-1.73161841e-01 9.84629028e-01 -2.28178254e-02 -3.55703986e-01] [-1.34516111e-01 -6.93275718e-04 9.90911164e-01 -2.97547769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42592 meters 0.029611151811524256 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.36, Z:-2.98 [[ 9.75536592e-01 1.74580783e-01 1.33603545e-01 3.19960956e+01] [-1.73052780e-01 9.84642654e-01 -2.30560176e-02 -3.63202583e-01] [-1.35576886e-01 -6.28476016e-04 9.90766629e-01 -2.97760555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45592 meters 0.029796278264011503 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.38, Z:-2.98 [[ 9.74941745e-01 1.77495556e-01 1.34104147e-01 3.20258887e+01] [-1.75975361e-01 9.84121115e-01 -2.32013613e-02 -3.75297495e-01] [-1.36092862e-01 -9.79050083e-04 9.90695601e-01 -2.98064716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48592 meters 0.02995226557157001 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.38, Z:-2.98 [[ 9.74675209e-01 1.81774673e-01 1.30254387e-01 3.20564410e+01] [-1.80371710e-01 9.83339100e-01 -2.25889476e-02 -3.83662207e-01] [-1.32190330e-01 -1.47731922e-03 9.91223251e-01 -2.98397151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51592 meters 0.030015403301549833 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.39, Z:-2.99 [[ 9.74252401e-01 1.83955885e-01 1.30355251e-01 3.20874240e+01] [-1.82562403e-01 9.82933001e-01 -2.26646090e-02 -3.90980904e-01] [-1.32299766e-01 -1.71691812e-03 9.91208265e-01 -2.98864882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545919999999995 meters 0.030075721654375994 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.40, Z:-2.99 [[ 9.74102381e-01 1.85761224e-01 1.28908182e-01 3.21183864e+01] [-1.84406941e-01 9.82593109e-01 -2.24691638e-02 -4.02153126e-01] [-1.30838190e-01 -1.88429747e-03 9.91401945e-01 -2.99078572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575919999999996 meters 0.03019986453307389 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.41, Z:-2.99 [[ 9.73763419e-01 1.87403614e-01 1.29091789e-01 3.21490690e+01] [-1.86052341e-01 9.82280853e-01 -2.25577342e-02 -4.08995598e-01] [-1.31031794e-01 -2.05193320e-03 9.91376043e-01 -2.99435057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60592 meters 0.030402556341467473 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.42, Z:-3.00 [[ 9.73678719e-01 1.89542518e-01 1.26583515e-01 3.21807231e+01] [-1.88254338e-01 9.81869960e-01 -2.21739956e-02 -4.15218134e-01] [-1.28491466e-01 -2.23954814e-03 9.91708086e-01 -2.99751432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63592 meters 0.030773285915024973 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.42, Z:-3.00 [[ 9.73046660e-01 1.92918863e-01 1.26342828e-01 3.22121963e+01] [-1.91656753e-01 9.81211201e-01 -2.21871388e-02 -4.21791152e-01] [-1.28249316e-01 -2.62533484e-03 9.91738484e-01 -3.00093491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66592 meters 0.031592480835931316 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.43, Z:-3.00 [[ 9.72085541e-01 1.96100673e-01 1.28818585e-01 3.22437395e+01] [-1.94808723e-01 9.80579027e-01 -2.26788988e-02 -4.28097382e-01] [-1.30764151e-01 -3.04915461e-03 9.91408816e-01 -3.00434987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69592 meters 0.03248668789037974 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.43, Z:-3.01 [[ 9.70826399e-01 2.02162634e-01 1.28943291e-01 3.22748267e+01] [-2.00914058e-01 9.79344535e-01 -2.27557373e-02 -4.33035849e-01] [-1.30880267e-01 -3.81464922e-03 9.91390843e-01 -3.00616826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725919999999995 meters 0.033494998346674236 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.44, Z:-3.01 [[ 9.69878743e-01 2.06717298e-01 1.28853337e-01 3.23058524e+01] [-2.05503546e-01 9.78390936e-01 -2.27918751e-02 -4.38832665e-01] [-1.30780412e-01 -4.37446254e-03 9.91401709e-01 -3.01089205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755919999999996 meters 0.03414848111605789 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.45, Z:-3.01 [[ 9.69197799e-01 2.10422744e-01 1.27976155e-01 3.23366040e+01] [-2.09250527e-01 9.77598768e-01 -2.26906674e-02 -4.45754964e-01] [-1.29883964e-01 -4.78733303e-03 9.91517643e-01 -3.01485351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78592 meters 0.03508238324813113 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.45, Z:-3.02 [[ 9.68179517e-01 2.15087759e-01 1.27928411e-01 3.23677688e+01] [-2.13949854e-01 9.76580026e-01 -2.27357089e-02 -4.51752352e-01] [-1.29822503e-01 -5.35801707e-03 9.91522773e-01 -3.01703018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81592 meters 0.03587454508445757 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.45, Z:-3.02 [[ 9.67667072e-01 2.15770443e-01 1.30627536e-01 3.24003485e+01] [-2.14582733e-01 9.76428559e-01 -2.32705766e-02 -4.53457377e-01] [-1.32569559e-01 -5.51224297e-03 9.91158376e-01 -3.01890144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84592 meters 0.03555900369104197 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.46, Z:-3.02 [[ 9.67843477e-01 2.15103129e-01 1.30421043e-01 3.24321573e+01] [-2.13905900e-01 9.76576638e-01 -2.32881228e-02 -4.56335352e-01] [-1.32375492e-01 -5.35857277e-03 9.91185157e-01 -3.02134721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87592 meters 0.0353255664501779 Centerline is valid? [True, True] Translation: X:32.46, Y:-0.46, Z:-3.03 [[ 9.68312258e-01 2.13352661e-01 1.29815305e-01 3.24635292e+01] [-2.12143792e-01 9.76962240e-01 -2.32334635e-02 -4.58574769e-01] [-1.31781573e-01 -5.04226363e-03 9.91265955e-01 -3.02668282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905919999999995 meters 0.035043972304097545 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.46, Z:-3.03 [[ 9.68610725e-01 2.12409527e-01 1.29133482e-01 3.24953587e+01] [-2.11197962e-01 9.77168775e-01 -2.31647584e-02 -4.62210766e-01] [-1.31105622e-01 -4.83509479e-03 9.91356615e-01 -3.03233390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935919999999996 meters 0.034385505166006 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.47, Z:-3.04 [[ 9.69000722e-01 2.10842503e-01 1.28775152e-01 3.25268995e+01] [-2.09616871e-01 9.77509422e-01 -2.31537977e-02 -4.65115948e-01] [-1.30760729e-01 -4.55739770e-03 9.91403481e-01 -3.03563900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96592 meters 0.033638332135534875 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.47, Z:-3.04 [[ 9.69631710e-01 2.06603324e-01 1.30879386e-01 3.25590934e+01] [-2.05292462e-01 9.78416590e-01 -2.35792515e-02 -4.69235770e-01] [-1.32926115e-01 -4.00536153e-03 9.91117856e-01 -3.03848316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99592 meters 0.03336801975531729 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.48, Z:-3.04 [[ 9.69911183e-01 2.04507699e-01 1.32094275e-01 3.25902749e+01] [-2.03149077e-01 9.78857869e-01 -2.38269929e-02 -4.75843011e-01] [-1.34174324e-01 -3.72476304e-03 9.90950744e-01 -3.04215170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02592 meters 0.03256395800343319 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.48, Z:-3.05 [[ 9.71078927e-01 1.98280488e-01 1.33005888e-01 3.26218167e+01] [-1.96838288e-01 9.80141215e-01 -2.40392711e-02 -4.83070706e-01] [-1.35131071e-01 -2.83662179e-03 9.90823671e-01 -3.04507055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05592 meters 0.032317538084727315 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.49, Z:-3.05 [[ 9.71497356e-01 1.96337662e-01 1.32832263e-01 3.26530074e+01] [-1.94877137e-01 9.80533071e-01 -2.40374409e-02 -4.88551754e-01] [-1.34965882e-01 -2.53366074e-03 9.90847007e-01 -3.04907120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08592 meters 0.0317841617088658 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.49, Z:-3.05 [[ 9.72252658e-01 1.93492951e-01 1.31473370e-01 3.26841800e+01] [-1.92028726e-01 9.81099502e-01 -2.38481650e-02 -4.94564946e-01] [-1.33602909e-01 -2.06022183e-03 9.91032804e-01 -3.05258202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.115919999999996 meters 0.03174837429318489 Centerline is valid? [True, True] Translation: X:32.72, Y:-0.50, Z:-3.06 [[ 9.72111646e-01 1.92306675e-01 1.34227759e-01 3.27154795e+01] [-1.90760821e-01 9.81333079e-01 -2.44069157e-02 -5.01356289e-01] [-1.36415753e-01 -1.87915043e-03 9.90649893e-01 -3.05710668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14592 meters 0.031719776366580354 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.51, Z:-3.06 [[ 9.72360119e-01 1.92055382e-01 1.32780001e-01 3.27465490e+01] [-1.90532649e-01 9.81382499e-01 -2.42012437e-02 -5.10747637e-01] [-1.34955948e-01 -1.76660118e-03 9.90850025e-01 -3.05929025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17592 meters 0.031719776366580354 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.52, Z:-3.06 [[ 9.72267400e-01 1.92531568e-01 1.32769340e-01 3.27782824e+01] [-1.91005285e-01 9.81289179e-01 -2.42596095e-02 -5.16158818e-01] [-1.34955857e-01 -1.77281807e-03 9.90850026e-01 -3.06260079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20592 meters 0.031515180321713354 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.52, Z:-3.06 [[ 9.72476556e-01 1.92798531e-01 1.30836059e-01 3.28099359e+01] [-1.91311645e-01 9.81236840e-01 -2.39607603e-02 -5.24120335e-01] [-1.33000761e-01 -1.72918402e-03 9.91114427e-01 -3.06444586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23592 meters 0.031482893270286964 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.54, Z:-3.07 [[ 9.72904419e-01 1.92429536e-01 1.28171233e-01 3.28406953e+01] [-1.90995953e-01 9.81309463e-01 -2.35007337e-02 -5.35859748e-01] [-1.30297879e-01 -1.61621919e-03 9.91473575e-01 -3.06632916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26592 meters 0.031503140260780285 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.55, Z:-3.07 [[ 9.72656608e-01 1.93595314e-01 1.28296447e-01 3.28726043e+01] [-1.92161283e-01 9.81079971e-01 -2.35824413e-02 -5.45004142e-01] [-1.30434525e-01 -1.71599249e-03 9.91455440e-01 -3.06949462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.295919999999995 meters 0.031441442751171264 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.56, Z:-3.07 [[ 9.72421435e-01 1.95443373e-01 1.27273094e-01 3.29037132e+01] [-1.94039627e-01 9.80713177e-01 -2.34582041e-02 -5.55323529e-01] [-1.29403151e-01 -1.88476320e-03 9.91590274e-01 -3.07075161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325919999999996 meters 0.032516763655944254 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.56, Z:-3.07 [[ 9.70820568e-01 2.02529613e-01 1.28410206e-01 3.29339480e+01] [-2.01153996e-01 9.79272157e-01 -2.37299975e-02 -5.64222849e-01] [-1.30554567e-01 -2.79265656e-03 9.91437192e-01 -3.07363989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.35592 meters 0.03307260840485212 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.57, Z:-3.08 [[ 9.69873565e-01 2.07122820e-01 1.28239640e-01 3.29645142e+01] [-2.05784029e-01 9.78309194e-01 -2.37498262e-02 -5.72784510e-01] [-1.30377150e-01 -3.35534109e-03 9.91458794e-01 -3.07557022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38592 meters 0.03401298425619508 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.58, Z:-3.08 [[ 9.69011426e-01 2.11311428e-01 1.27923168e-01 3.29954458e+01] [-2.10008754e-01 9.77411171e-01 -2.37429113e-02 -5.81879730e-01] [-1.30050682e-01 -3.85783281e-03 9.91499842e-01 -3.07948337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41592 meters 0.03480540799754164 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.59, Z:-3.08 [[ 9.68043930e-01 2.17427014e-01 1.24965765e-01 3.30258756e+01] [-2.16228036e-01 9.76066124e-01 -2.32456057e-02 -5.90363072e-01] [-1.27029072e-01 -4.51833439e-03 9.91888703e-01 -3.08213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44592 meters 0.03515748725240983 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.60, Z:-3.09 [[ 9.67388858e-01 2.20204224e-01 1.25175467e-01 3.30566633e+01] [-2.19017957e-01 9.75441772e-01 -2.33341848e-02 -5.96332071e-01] [-1.27239665e-01 -4.84244470e-03 9.91860181e-01 -3.08668300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.475919999999995 meters 0.03583482823812401 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.60, Z:-3.09 [[ 9.66516728e-01 2.23437717e-01 1.26178451e-01 3.30880720e+01] [-2.22252819e-01 9.74704024e-01 -2.35743423e-02 -6.03357948e-01] [-1.28254041e-01 -5.25852023e-03 9.91727407e-01 -3.08984275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505919999999996 meters 0.036301228846755865 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.61, Z:-3.09 [[ 9.66036560e-01 2.24317344e-01 1.28277409e-01 3.31195897e+01] [-2.23093172e-01 9.74501119e-01 -2.40209286e-02 -6.09156259e-01] [-1.30394790e-01 -5.41271892e-03 9.91447377e-01 -3.09269135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.53592 meters 0.03708320153107602 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.61, Z:-3.09 [[ 9.65555475e-01 2.26250301e-01 1.28504573e-01 3.31511744e+01] [-2.25031705e-01 9.74052921e-01 -2.41172066e-02 -6.14220173e-01] [-1.30626779e-01 -5.63110224e-03 9.91415622e-01 -3.09470517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56592 meters 0.03664558990824152 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.62, Z:-3.10 [[ 9.65616141e-01 2.26565707e-01 1.27489015e-01 3.31827476e+01] [-2.25363166e-01 9.73979877e-01 -2.39717075e-02 -6.18791260e-01] [-1.29602902e-01 -5.58386046e-03 9.91550255e-01 -3.09682218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59592 meters 0.03615463511912837 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.62, Z:-3.10 [[ 9.66368772e-01 2.24808005e-01 1.24870960e-01 3.32144438e+01] [-2.23637116e-01 9.74389121e-01 -2.35006541e-02 -6.24939348e-01] [-1.26956041e-01 -5.21548315e-03 9.91894633e-01 -3.10168180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62592 meters 0.037573710481910376 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.63, Z:-3.11 [[ 9.66803092e-01 2.21500025e-01 1.27395135e-01 3.32451517e+01] [-2.20248451e-01 9.75148317e-01 -2.40079209e-02 -6.34195142e-01] [-1.29546907e-01 -4.84764913e-03 9.91561445e-01 -3.10959784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.655919999999995 meters 0.0344571594912176 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.64, Z:-3.11 [[ 9.67851750e-01 2.17210262e-01 1.26817556e-01 3.32770894e+01] [-2.15931013e-01 9.76115650e-01 -2.39172546e-02 -6.36688852e-01] [-1.28983674e-01 -4.23548660e-03 9.91637672e-01 -3.10899238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685919999999996 meters 0.0344571594912176 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.64, Z:-3.11 [[ 9.67750298e-01 2.17664555e-01 1.26812860e-01 3.33087855e+01] [-2.16385930e-01 9.76014295e-01 -2.39421241e-02 -6.42323364e-01] [-1.28982516e-01 -4.27052102e-03 9.91637672e-01 -3.11229199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.71592 meters 0.03409903361681653 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.65, Z:-3.11 [[ 9.68138377e-01 2.16629415e-01 1.25617592e-01 3.33402322e+01] [-2.15358565e-01 9.76245572e-01 -2.37754590e-02 -6.49004102e-01] [-1.27784082e-01 -4.03489009e-03 9.91793803e-01 -3.11485243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74592 meters 0.03373788919137961 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.65, Z:-3.12 [[ 9.68470917e-01 2.14948967e-01 1.25940559e-01 3.33711944e+01] [-2.13650493e-01 9.76618004e-01 -2.38901774e-02 -6.54647575e-01] [-1.28130986e-01 -3.77032046e-03 9.91750087e-01 -3.11793208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77592 meters 0.034086482084135554 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.66, Z:-3.12 [[ 9.68099117e-01 2.16209977e-01 1.26638638e-01 3.34020172e+01] [-2.14900743e-01 9.76339074e-01 -2.40766075e-02 -6.61848722e-01] [-1.28847853e-01 -3.90619495e-03 9.91656681e-01 -3.12222642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80592 meters 0.033904512630447435 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.67, Z:-3.12 [[ 9.68077858e-01 2.17202433e-01 1.25093421e-01 3.34336822e+01] [-2.15926547e-01 9.76118643e-01 -2.38352693e-02 -6.68402416e-01] [-1.27283098e-01 -3.93659394e-03 9.91858617e-01 -3.12429472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83592 meters 0.03436256843201479 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.68, Z:-3.13 [[ 9.67499407e-01 2.20053405e-01 1.24584895e-01 3.34644452e+01] [-2.18804678e-01 9.75478603e-01 -2.37909374e-02 -6.75039373e-01] [-1.26765176e-01 -4.24203993e-03 9.91923684e-01 -3.12830801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865919999999996 meters 0.03410980226821382 Centerline is valid? [True, True] Translation: X:33.50, Y:-0.68, Z:-3.13 [[ 9.67134281e-01 2.21139774e-01 1.25492962e-01 3.34961116e+01] [-2.19874971e-01 9.75232358e-01 -2.40176109e-02 -6.80001510e-01] [-1.27696046e-01 -4.36450641e-03 9.91803746e-01 -3.13011874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89592 meters 0.03440640411034099 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.69, Z:-3.13 [[ 9.66913147e-01 2.21987313e-01 1.25700434e-01 3.35273886e+01] [-2.20718590e-01 9.75039482e-01 -2.41104045e-02 -6.87373183e-01] [-1.27915090e-01 -4.43175560e-03 9.91775221e-01 -3.13077544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92592 meters 0.03421273192448259 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.69, Z:-3.13 [[ 9.66766515e-01 2.22522624e-01 1.25881642e-01 3.35593993e+01] [-2.21247636e-01 9.74917347e-01 -2.42002024e-02 -6.93020284e-01] [-1.28109289e-01 -4.45507029e-03 9.91750050e-01 -3.13368432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95592 meters 0.034112888541655846 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.70, Z:-3.14 [[ 9.66778412e-01 2.23416446e-01 1.24195785e-01 3.35908777e+01] [-2.22175489e-01 9.74712904e-01 -2.39333918e-02 -6.96390638e-01] [-1.26402348e-01 -4.45497270e-03 9.91969052e-01 -3.13721034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98592 meters 0.034575416326832954 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.70, Z:-3.14 [[ 9.66499950e-01 2.23959203e-01 1.25379910e-01 3.36214434e+01] [-2.22692264e-01 9.74588045e-01 -2.42136027e-02 -7.02674467e-01] [-1.27616620e-01 -4.51869017e-03 9.91813279e-01 -3.14204837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01592 meters 0.03392458722182059 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.71, Z:-3.14 [[ 9.66324939e-01 2.23821826e-01 1.26964180e-01 3.36526711e+01] [-2.22515445e-01 9.74619628e-01 -2.45653600e-02 -7.09136518e-01] [-1.29240046e-01 -4.51337106e-03 9.91603066e-01 -3.14443533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.045919999999995 meters 0.03399937555072882 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.72, Z:-3.15 [[ 9.66550466e-01 2.22587812e-01 1.27416099e-01 3.36834175e+01] [-2.21256917e-01 9.74903029e-01 -2.46872747e-02 -7.17556296e-01] [-1.29713428e-01 -4.33019642e-03 9.91542070e-01 -3.14799135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075919999999996 meters 0.03316744576728643 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.72, Z:-3.15 [[ 9.66842476e-01 2.21521696e-01 1.27058117e-01 3.37153883e+01] [-2.20183050e-01 9.75146700e-01 -2.46645099e-02 -7.22977405e-01] [-1.29364027e-01 -4.12934782e-03 9.91588572e-01 -3.15068868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10592 meters 0.03302743338480597 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.73, Z:-3.15 [[ 9.66987103e-01 2.21549103e-01 1.25904479e-01 3.37463066e+01] [-2.20231554e-01 9.75140727e-01 -2.44668079e-02 -7.29641949e-01] [-1.28195184e-01 -4.06905137e-03 9.91740610e-01 -3.15222356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13592 meters 0.03300588638048832 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.74, Z:-3.16 [[ 9.66904377e-01 2.21764006e-01 1.26161210e-01 3.37777965e+01] [-2.20435677e-01 9.75091951e-01 -2.45723439e-02 -7.36726571e-01] [-1.28468042e-01 -4.05132476e-03 9.91705374e-01 -3.15600771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16592 meters 0.03320490939456232 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.75, Z:-3.16 [[ 9.66673724e-01 2.23189388e-01 1.25412953e-01 3.38090746e+01] [-2.21880893e-01 9.74766244e-01 -2.44875258e-02 -7.45026648e-01] [-1.27713669e-01 -4.15529027e-03 9.91802376e-01 -3.15912233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19592 meters 0.03350611345370577 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.75, Z:-3.16 [[ 9.66390041e-01 2.24694165e-01 1.24911253e-01 3.38399674e+01] [-2.23401080e-01 9.74419944e-01 -2.44485286e-02 -7.52022533e-01] [-1.27209458e-01 -4.27849420e-03 9.91866649e-01 -3.16361050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225919999999995 meters 0.034521772083247755 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.76, Z:-3.17 [[ 9.65414593e-01 2.28801282e-01 1.24998552e-01 3.38707745e+01] [-2.27533843e-01 9.73461458e-01 -2.45181757e-02 -7.61233739e-01] [-1.27291062e-01 -4.77119618e-03 9.91853931e-01 -3.16775263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255919999999996 meters 0.035075067192809575 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.77, Z:-3.17 [[ 9.64997893e-01 2.30735704e-01 1.24659946e-01 3.39020502e+01] [-2.29484543e-01 9.73003812e-01 -2.45036177e-02 -7.67392180e-01] [-1.26948462e-01 -4.96159129e-03 9.91896905e-01 -3.17062204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28592 meters 0.036945782771744665 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.77, Z:-3.17 [[ 9.63149041e-01 2.36816812e-01 1.27521460e-01 3.39342038e+01] [-2.35554310e-01 9.71536698e-01 -2.51119691e-02 -7.72058365e-01] [-1.29838714e-01 -5.85166051e-03 9.91517860e-01 -3.17213607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31592 meters 0.03764618691943247 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.78, Z:-3.18 [[ 9.62332590e-01 2.40075838e-01 1.27591448e-01 3.39659546e+01] [-2.38837185e-01 9.70733882e-01 -2.51501473e-02 -7.76732033e-01] [-1.29895284e-01 -6.27077581e-03 9.91507888e-01 -3.17562711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34592 meters 0.038868910059186496 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.78, Z:-3.18 [[ 9.60954750e-01 2.44744860e-01 1.29096559e-01 3.39977203e+01] [-2.43511419e-01 9.69562740e-01 -2.55006171e-02 -7.80816366e-01] [-1.31408358e-01 -6.93154704e-03 9.91304089e-01 -3.18017399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37592 meters 0.04046458671647156 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.79, Z:-3.18 [[ 9.60109320e-01 2.48127876e-01 1.28928856e-01 3.40292623e+01] [-2.46920861e-01 9.68699535e-01 -2.55205690e-02 -7.85825539e-01] [-1.31225688e-01 -7.33268812e-03 9.91325401e-01 -3.18398045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405919999999995 meters 0.040996134756763856 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.78, Z:-3.19 [[ 9.59428511e-01 2.50199296e-01 1.29989403e-01 3.40623746e+01] [-2.48983924e-01 9.68164319e-01 -2.57848354e-02 -7.83896402e-01] [-1.32302449e-01 -7.62656540e-03 9.91180053e-01 -3.18714880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435919999999996 meters 0.040651699392029304 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.78, Z:-3.19 [[ 9.59145332e-01 2.50547745e-01 1.31400379e-01 3.40946770e+01] [-2.49302597e-01 9.68073522e-01 -2.61126738e-02 -7.84794850e-01] [-1.33747699e-01 -7.71260657e-03 9.90985403e-01 -3.18961387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46592 meters 0.04033324892457774 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.78, Z:-3.19 [[ 9.59009619e-01 2.49136543e-01 1.35024193e-01 3.41276865e+01] [-2.47803803e-01 9.68437769e-01 -2.68619066e-02 -7.82683632e-01] [-1.37454811e-01 -7.69868161e-03 9.90478120e-01 -3.19257218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49592 meters 0.040445917699940576 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.79, Z:-3.20 [[ 9.59131167e-01 2.48170227e-01 1.35937276e-01 3.41590435e+01] [-2.46802000e-01 9.68686954e-01 -2.70990500e-02 -7.85536941e-01] [-1.38405843e-01 -7.55804803e-03 9.90346757e-01 -3.19720112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52592 meters 0.04012270603084838 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.79, Z:-3.20 [[ 9.59667710e-01 2.47586362e-01 1.33187388e-01 3.41907313e+01] [-2.46260142e-01 9.68838569e-01 -2.66039424e-02 -7.88403424e-01] [-1.35623852e-01 -7.26780072e-03 9.90733743e-01 -3.20075712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55592 meters 0.038255879656596214 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.78, Z:-3.21 [[ 9.60575608e-01 2.44705061e-01 1.31961867e-01 3.42236306e+01] [-2.43369101e-01 9.69574098e-01 -2.64111666e-02 -7.84662701e-01] [-1.34409755e-01 -6.74551855e-03 9.90902879e-01 -3.20590065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58592 meters 0.038276085840256345 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.78, Z:-3.21 [[ 9.60636571e-01 2.42937251e-01 1.34754856e-01 3.42565307e+01] [-2.41518955e-01 9.70019667e-01 -2.70266327e-02 -7.83642253e-01] [-1.37280637e-01 -6.58308036e-03 9.90510318e-01 -3.21083677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.615919999999996 meters 0.03867251524930909 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.79, Z:-3.21 [[ 9.60473010e-01 2.42193097e-01 1.37237389e-01 3.42883566e+01] [-2.40705358e-01 9.70206056e-01 -2.75887656e-02 -7.86668586e-01] [-1.39830354e-01 -6.53551008e-03 9.90153907e-01 -3.21460066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64592 meters 0.037663958700886346 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.79, Z:-3.22 [[ 9.61313458e-01 2.39240242e-01 1.36530370e-01 3.43208337e+01] [-2.37730327e-01 9.70941751e-01 -2.75028669e-02 -7.86641267e-01] [-1.39142829e-01 -6.01853334e-03 9.90254033e-01 -3.21797261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67592 meters 0.03739826170543709 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.79, Z:-3.22 [[ 9.61485294e-01 2.38715133e-01 1.36239182e-01 3.43525039e+01] [-2.37198682e-01 9.71071864e-01 -2.74994653e-02 -7.90385909e-01] [-1.38862575e-01 -5.87542287e-03 9.90294231e-01 -3.22237690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70592 meters 0.036270796952215134 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.79, Z:-3.22 [[ 9.62470807e-01 2.35390932e-01 1.35059451e-01 3.43854985e+01] [-2.33860577e-01 9.71886350e-01 -2.73157931e-02 -7.90699739e-01] [-1.37692327e-01 -5.29442776e-03 9.90460899e-01 -3.22498544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73592 meters 0.035601698708849557 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.79, Z:-3.23 [[ 9.62909665e-01 2.33162603e-01 1.35794614e-01 3.44173974e+01] [-2.31587423e-01 9.72425108e-01 -2.75077264e-02 -7.93020834e-01] [-1.38463866e-01 -4.96086919e-03 9.90355061e-01 -3.22810870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76592 meters 0.03539071461398026 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.80, Z:-3.23 [[ 9.63409249e-01 2.31060586e-01 1.35844119e-01 3.44493001e+01] [-2.29459186e-01 9.72928346e-01 -2.75484221e-02 -7.97060410e-01] [-1.38531948e-01 -4.63027635e-03 9.90347141e-01 -3.23175730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.795919999999995 meters 0.035142804055540586 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.80, Z:-3.24 [[ 9.63771664e-01 2.27472516e-01 1.39285444e-01 3.44812200e+01] [-2.25742372e-01 9.73775620e-01 -2.83094094e-02 -8.02697717e-01] [-1.42072383e-01 -4.15882009e-03 9.89847535e-01 -3.23527880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825919999999996 meters 0.03427001677306923 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.81, Z:-3.24 [[ 9.64753344e-01 2.22896405e-01 1.39886304e-01 3.45138431e+01] [-2.21095434e-01 9.74836048e-01 -2.84866415e-02 -8.05475347e-01] [-1.42715782e-01 -3.44564048e-03 9.89757714e-01 -3.23852109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85592 meters 0.033762036136942966 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.81, Z:-3.24 [[ 9.65320441e-01 2.21239155e-01 1.38599002e-01 3.45461443e+01] [-2.19451259e-01 9.75214498e-01 -2.82458381e-02 -8.09573362e-01] [-1.41412841e-01 -3.14944060e-03 9.89945700e-01 -3.24195734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88592 meters 0.032884417231929114 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.82, Z:-3.24 [[ 9.65957238e-01 2.20334724e-01 1.35569992e-01 3.45775521e+01] [-2.18611266e-01 9.75419953e-01 -2.76591527e-02 -8.15135261e-01] [-1.38331947e-01 -2.91956896e-03 9.90381618e-01 -3.24426076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91592 meters 0.03340640147150233 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.82, Z:-3.25 [[ 9.65889865e-01 2.19019985e-01 1.38155764e-01 3.46082031e+01] [-2.17207889e-01 9.75716569e-01 -2.82473189e-02 -8.24784795e-01] [-1.40987595e-01 -2.72472278e-03 9.90007613e-01 -3.24803970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94592 meters 0.03405929643597128 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.83, Z:-3.25 [[ 9.65098173e-01 2.20429120e-01 1.41409052e-01 3.46392678e+01] [-2.18536178e-01 9.75398568e-01 -2.89753835e-02 -8.32478496e-01] [-1.44317205e-01 -2.93890415e-03 9.89527113e-01 -3.25138097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.975919999999995 meters 0.034368161821175795 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.84, Z:-3.26 [[ 9.64540913e-01 2.21498500e-01 1.43524361e-01 3.46702184e+01] [-2.19550694e-01 9.75155835e-01 -2.94718425e-02 -8.39222356e-01] [-1.46486587e-01 -3.08407519e-03 9.89207849e-01 -3.25529539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005919999999996 meters 0.03371738048852586 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.85, Z:-3.26 [[ 9.65045395e-01 2.21292810e-01 1.40416802e-01 3.47011452e+01] [-2.19417938e-01 9.75203019e-01 -2.88935890e-02 -8.48510179e-01] [-1.43328832e-01 -2.92634002e-03 9.89670795e-01 -3.25812027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.03592 meters 0.03376404905246988 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.86, Z:-3.26 [[ 9.64849397e-01 2.22000852e-01 1.40645875e-01 3.47327595e+01] [-2.20118103e-01 9.75041936e-01 -2.90042024e-02 -8.56246908e-01] [-1.43574584e-01 -2.97401602e-03 9.89635031e-01 -3.26236710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06592 meters 0.034089137040573425 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.86, Z:-3.27 [[ 9.64867221e-01 2.21798070e-01 1.40843398e-01 3.47643346e+01] [-2.19897623e-01 9.75088370e-01 -2.91153926e-02 -8.62167246e-01] [-1.43792497e-01 -2.87864049e-03 9.89603674e-01 -3.26794764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09592 meters 0.034089137040573425 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.87, Z:-3.27 [[ 9.64761903e-01 2.22264594e-01 1.40829401e-01 3.47959599e+01] [-2.20359229e-01 9.74982136e-01 -2.91829614e-02 -8.68326551e-01] [-1.43792489e-01 -2.87844893e-03 9.89603675e-01 -3.27126212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12592 meters 0.03407825882132216 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.87, Z:-3.27 [[ 9.64635595e-01 2.22957697e-01 1.40598840e-01 3.48283197e+01] [-2.21055745e-01 9.74823784e-01 -2.92052594e-02 -8.74930126e-01] [-1.43570631e-01 -2.90774861e-03 9.89635801e-01 -3.27358996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.155919999999995 meters 0.0345950399883204 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.88, Z:-3.28 [[ 9.64125798e-01 2.24236284e-01 1.42054692e-01 3.48594341e+01] [-2.22298293e-01 9.74529992e-01 -2.95763913e-02 -8.82788360e-01] [-1.45068658e-01 -3.06315377e-03 9.89416849e-01 -3.27773796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185919999999996 meters 0.034497490046267815 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.89, Z:-3.28 [[ 9.64016603e-01 2.27138274e-01 1.38131072e-01 3.48898964e+01] [-2.25327497e-01 9.73856779e-01 -2.88182731e-02 -8.92717219e-01] [-1.41065614e-01 -3.34343506e-03 9.89994603e-01 -3.27945759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.21592 meters 0.0349857805712335 Centerline is valid? [True, True] Translation: X:34.92, Y:-0.90, Z:-3.28 [[ 9.63357823e-01 2.31024567e-01 1.36269418e-01 3.49209328e+01] [-2.29292594e-01 9.72940499e-01 -2.84902047e-02 -9.03216088e-01] [-1.39163973e-01 -3.79930670e-03 9.90262063e-01 -3.28373080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24592 meters 0.03516706956414776 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.91, Z:-3.29 [[ 9.62850683e-01 2.34177834e-01 1.34459302e-01 3.49528236e+01] [-2.32513166e-01 9.72184993e-01 -2.81774148e-02 -9.11656535e-01] [-1.37317842e-01 -4.13291487e-03 9.90518414e-01 -3.28656930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27592 meters 0.03602716126119528 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.92, Z:-3.29 [[ 9.62141408e-01 2.36438385e-01 1.35575816e-01 3.49838565e+01] [-2.34759112e-01 9.71636387e-01 -2.84761367e-02 -9.19902639e-01] [-1.38463248e-01 -4.42958807e-03 9.90357667e-01 -3.29031804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30592 meters 0.03642984498022877 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.93, Z:-3.29 [[ 9.61364863e-01 2.39343721e-01 1.35985970e-01 3.50157164e+01] [-2.37674937e-01 9.70923009e-01 -2.86205471e-02 -9.25368459e-01] [-1.38882055e-01 -4.80566850e-03 9.90297269e-01 -3.29201995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.335919999999994 meters 0.03662578555084014 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.93, Z:-3.30 [[ 9.61020286e-01 2.40420863e-01 1.36520399e-01 3.50466407e+01] [-2.38741556e-01 9.70656251e-01 -2.87908302e-02 -9.31275188e-01] [-1.39436295e-01 -4.92452050e-03 9.90218798e-01 -3.29577015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365919999999996 meters 0.036270864789563345 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.94, Z:-3.30 [[ 9.61515821e-01 2.39741862e-01 1.34205683e-01 3.50773518e+01] [-2.38104839e-01 9.70825353e-01 -2.83587724e-02 -9.41403911e-01] [-1.37089065e-01 -4.68761427e-03 9.90547634e-01 -3.29857261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39592 meters 0.03610804021863626 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.95, Z:-3.30 [[ 9.62206531e-01 2.37298775e-01 1.33595970e-01 3.51082689e+01] [-2.35646707e-01 9.71427317e-01 -2.82771402e-02 -9.51438316e-01] [-1.36488906e-01 -4.27300145e-03 9.90632384e-01 -3.30245504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42592 meters 0.03558977419111789 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.96, Z:-3.31 [[ 9.62437161e-01 2.36285997e-01 1.33729725e-01 3.51397523e+01] [-2.34616763e-01 9.71674885e-01 -2.83353458e-02 -9.57561634e-01] [-1.36637061e-01 -4.10424548e-03 9.90612673e-01 -3.30620387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45592 meters 0.035426512447181126 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.96, Z:-3.31 [[ 9.62565978e-01 2.35937169e-01 1.33418102e-01 3.51707284e+01] [-2.34264590e-01 9.71760123e-01 -2.83260477e-02 -9.63994736e-01] [-1.36333558e-01 -3.98944713e-03 9.90654958e-01 -3.31003054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48592 meters 0.03489948448669095 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.97, Z:-3.31 [[ 9.62887379e-01 2.35018948e-01 1.32717705e-01 3.52018048e+01] [-2.33348781e-01 9.71983391e-01 -2.82247026e-02 -9.73962900e-01] [-1.35632745e-01 -3.79230472e-03 9.90751925e-01 -3.31271259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51592 meters 0.034950602781966655 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.98, Z:-3.32 [[ 9.62838511e-01 2.36088796e-01 1.31164331e-01 3.52323788e+01] [-2.34463591e-01 9.71723788e-01 -2.79231764e-02 -9.84104519e-01] [-1.34047850e-01 -3.86775048e-03 9.90967312e-01 -3.31564705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545919999999995 meters 0.034549722462650326 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.00, Z:-3.32 [[ 9.62856262e-01 2.37645447e-01 1.28189161e-01 3.52630057e+01] [-2.36100653e-01 9.71343964e-01 -2.73383410e-02 -9.95552623e-01] [-1.31012600e-01 -3.94265179e-03 9.91372863e-01 -3.31779677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575919999999996 meters 0.03456475023067301 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.00, Z:-3.32 [[ 9.62822178e-01 2.38836507e-01 1.26216391e-01 3.52941569e+01] [-2.37344718e-01 9.71051528e-01 -2.69520967e-02 -1.00375648e+00] [-1.28999764e-01 -4.00671729e-03 9.91636530e-01 -3.32085819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60592 meters 0.03456247071357272 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.01, Z:-3.32 [[ 9.62119882e-01 2.40931986e-01 1.27581785e-01 3.53249801e+01] [-2.39419641e-01 9.70532531e-01 -2.72917705e-02 -1.01307339e+00] [-1.30397733e-01 -4.28763014e-03 9.91452494e-01 -3.32347602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63592 meters 0.035381510682844154 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.02, Z:-3.33 [[ 9.61733376e-01 2.41710332e-01 1.29015618e-01 3.53551224e+01] [-2.40167572e-01 9.70338381e-01 -2.76217909e-02 -1.02279107e+00] [-1.31865278e-01 -4.42056952e-03 9.91257790e-01 -3.32648739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66592 meters 0.03550778671002842 Centerline is valid? [True, True] Translation: X:35.39, Y:-1.03, Z:-3.33 [[ 9.61404581e-01 2.43225481e-01 1.28618032e-01 3.53857636e+01] [-2.41700737e-01 9.69958976e-01 -2.75742264e-02 -1.03206062e+00] [-1.31460969e-01 -4.57708557e-03 9.91310781e-01 -3.33081689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69592 meters 0.03576512214013351 Centerline is valid? [True, True] Translation: X:35.42, Y:-1.04, Z:-3.34 [[ 9.61391555e-01 2.43995563e-01 1.27249533e-01 3.54166620e+01] [-2.42502826e-01 9.69765537e-01 -2.73346308e-02 -1.04105012e+00] [-1.30071740e-01 -4.57908819e-03 9.91494011e-01 -3.33591524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725919999999995 meters 0.035146136220608165 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.05, Z:-3.34 [[ 9.61820325e-01 2.43810324e-01 1.24330966e-01 3.54476020e+01] [-2.42378066e-01 9.69812939e-01 -2.67532448e-02 -1.04895072e+00] [-1.27100496e-01 -4.40328433e-03 9.91880071e-01 -3.33791590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755919999999996 meters 0.034578727854524746 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.06, Z:-3.34 [[ 9.61810025e-01 2.44115756e-01 1.23810235e-01 3.54793983e+01] [-2.42695152e-01 9.69736105e-01 -2.66636459e-02 -1.05928397e+00] [-1.26572271e-01 -4.40278180e-03 9.91947617e-01 -3.33886670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78592 meters 0.03515005822723786 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.07, Z:-3.34 [[ 9.61235997e-01 2.45241958e-01 1.26022777e-01 3.55102854e+01] [-2.43774183e-01 9.69451024e-01 -2.71819729e-02 -1.06699357e+00] [-1.28839070e-01 -4.59280863e-03 9.91654880e-01 -3.34158076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81592 meters 0.036269434602775937 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.08, Z:-3.35 [[ 9.60401027e-01 2.47118815e-01 1.28694048e-01 3.55405787e+01] [-2.45597183e-01 9.68972831e-01 -2.78150452e-02 -1.07691828e+00] [-1.31574657e-01 -4.89329767e-03 9.91294187e-01 -3.34562534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84592 meters 0.03688309707957712 Centerline is valid? [True, True] Translation: X:35.57, Y:-1.09, Z:-3.35 [[ 9.59796486e-01 2.49380873e-01 1.28840543e-01 3.55707308e+01] [-2.47868718e-01 9.68391759e-01 -2.79016089e-02 -1.08621128e+00] [-1.31726247e-01 -5.15567388e-03 9.91272725e-01 -3.35009749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87592 meters 0.03672416643310745 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.09, Z:-3.35 [[ 9.59578572e-01 2.51428537e-01 1.26462067e-01 3.56023419e+01] [-2.49982458e-01 9.67861452e-01 -2.74404725e-02 -1.09432008e+00] [-1.29297078e-01 -5.28200901e-03 9.91591834e-01 -3.35444035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905919999999995 meters 0.0371658059198244 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.10, Z:-3.36 [[ 9.59260890e-01 2.53338808e-01 1.25051960e-01 3.56331473e+01] [-2.51933556e-01 9.67362428e-01 -2.71921949e-02 -1.10182163e+00] [-1.27859406e-01 -5.42037583e-03 9.91777491e-01 -3.35776866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935919999999996 meters 0.03730260741633511 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.11, Z:-3.36 [[ 9.58838050e-01 2.55368539e-01 1.24163210e-01 3.56643357e+01] [-2.53993492e-01 9.66827574e-01 -2.70508510e-02 -1.10891270e+00] [-1.26952352e-01 -5.59926207e-03 9.91893013e-01 -3.36044874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96592 meters 0.03751746909212989 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.12, Z:-3.36 [[ 9.58754086e-01 2.55528270e-01 1.24482551e-01 3.56961683e+01] [-2.54140603e-01 9.66785464e-01 -2.71738912e-02 -1.11668317e+00] [-1.27291618e-01 -5.58299135e-03 9.91849623e-01 -3.36306039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99592 meters 0.037160240556269694 Centerline is valid? [True, True] Translation: X:35.73, Y:-1.12, Z:-3.37 [[ 9.59058596e-01 2.53950787e-01 1.25361905e-01 3.57277369e+01] [-2.52522388e-01 9.67202318e-01 -2.74247839e-02 -1.12091839e+00] [-1.28214871e-01 -5.35471297e-03 9.91731957e-01 -3.36678491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02592 meters 0.03609266928894278 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.13, Z:-3.37 [[ 9.59564150e-01 2.52150623e-01 1.25126757e-01 3.57592438e+01] [-2.50705659e-01 9.67674803e-01 -2.74253247e-02 -1.12618080e+00] [-1.27997322e-01 -5.05362756e-03 9.91761638e-01 -3.36912003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05592 meters 0.03586401936854065 Centerline is valid? [True, True] Translation: X:35.79, Y:-1.13, Z:-3.37 [[ 9.59908500e-01 2.51183420e-01 1.24428937e-01 3.57904154e+01] [-2.49739820e-01 9.67927376e-01 -2.73242934e-02 -1.13305846e+00] [-1.27301584e-01 -4.84603875e-03 9.91852218e-01 -3.37194658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085919999999994 meters 0.0348636219073705 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.14, Z:-3.37 [[ 9.60693747e-01 2.48575326e-01 1.23603523e-01 3.58215785e+01] [-2.47122759e-01 9.68602487e-01 -2.71949378e-02 -1.13878091e+00] [-1.26482671e-01 -4.41923696e-03 9.91958973e-01 -3.37395101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.115919999999996 meters 0.03486669971506861 Centerline is valid? [True, True] Translation: X:35.85, Y:-1.14, Z:-3.38 [[ 9.60595977e-01 2.48633387e-01 1.24244949e-01 3.58534413e+01] [-2.47159203e-01 9.68587684e-01 -2.73902567e-02 -1.14456951e+00] [-1.27152260e-01 -4.39731209e-03 9.91873463e-01 -3.37754770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14592 meters 0.034567880393368354 Centerline is valid? [True, True] Translation: X:35.89, Y:-1.15, Z:-3.38 [[ 9.60676726e-01 2.47468444e-01 1.25934898e-01 3.58859770e+01] [-2.45935737e-01 9.68886672e-01 -2.78249952e-02 -1.14988149e+00] [-1.28902452e-01 -4.24106663e-03 9.91648209e-01 -3.38088108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17592 meters 0.03450313467727803 Centerline is valid? [True, True] Translation: X:35.92, Y:-1.16, Z:-3.38 [[ 9.60666217e-01 2.47435358e-01 1.26079983e-01 3.59180528e+01] [-2.45890764e-01 9.68895382e-01 -2.79189913e-02 -1.15723516e+00] [-1.29066459e-01 -4.18107165e-03 9.91627131e-01 -3.38312405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20592 meters 0.03412029045945256 Centerline is valid? [True, True] Translation: X:35.95, Y:-1.17, Z:-3.38 [[ 9.60836471e-01 2.48221781e-01 1.23203989e-01 3.59487568e+01] [-2.46746054e-01 9.68694424e-01 -2.73404094e-02 -1.16547290e+00] [-1.26133502e-01 -4.13043570e-03 9.92004677e-01 -3.38469678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23592 meters 0.03439983903280643 Centerline is valid? [True, True] Translation: X:35.98, Y:-1.17, Z:-3.39 [[ 9.60358971e-01 2.49260997e-01 1.24818279e-01 3.59794593e+01] [-2.47747973e-01 9.68426929e-01 -2.77529386e-02 -1.17350609e+00] [-1.27795107e-01 -4.27069201e-03 9.91791395e-01 -3.38900946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26592 meters 0.034842095555758276 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.18, Z:-3.39 [[ 9.59730061e-01 2.51888676e-01 1.24379680e-01 3.60107921e+01] [-2.50401372e-01 9.67745512e-01 -2.77088004e-02 -1.18158733e+00] [-1.27347410e-01 -4.55187391e-03 9.91847729e-01 -3.39166574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.295919999999995 meters 0.03559519678519834 Centerline is valid? [True, True] Translation: X:36.04, Y:-1.19, Z:-3.40 [[ 9.59036997e-01 2.53803634e-01 1.25824298e-01 3.60423337e+01] [-2.52290819e-01 9.67243806e-01 -2.80849043e-02 -1.18730413e+00] [-1.28830824e-01 -4.80985301e-03 9.91654922e-01 -3.39621389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325919999999996 meters 0.0358776333538349 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.19, Z:-3.40 [[ 9.58198027e-01 2.57688032e-01 1.24311780e-01 3.60740734e+01] [-2.56237235e-01 9.66214092e-01 -2.77994098e-02 -1.19126115e+00] [-1.27275368e-01 -5.21596710e-03 9.91853706e-01 -3.40086838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35592 meters 0.03643037575872282 Centerline is valid? [True, True] Translation: X:36.11, Y:-1.20, Z:-3.40 [[ 9.57644919e-01 2.60369660e-01 1.22979063e-01 3.61050062e+01] [-2.58965364e-01 9.65493556e-01 -2.75523678e-02 -1.19741926e+00] [-1.25909293e-01 -5.46193269e-03 9.92026722e-01 -3.40461644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38592 meters 0.03646329745546818 Centerline is valid? [True, True] Translation: X:36.14, Y:-1.20, Z:-3.41 [[ 9.57118965e-01 2.62876063e-01 1.21735216e-01 3.61368444e+01] [-2.61513940e-01 9.64812870e-01 -2.73237075e-02 -1.19916217e+00] [-1.24634451e-01 -5.68341724e-03 9.92186450e-01 -3.40756335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41592 meters 0.03698824672467709 Centerline is valid? [True, True] Translation: X:36.17, Y:-1.20, Z:-3.41 [[ 9.56916342e-01 2.63937796e-01 1.21028737e-01 3.61691052e+01] [-2.62593780e-01 9.64522626e-01 -2.72141668e-02 -1.20387754e+00] [-1.23917802e-01 -5.73971259e-03 9.92275886e-01 -3.41098053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44592 meters 0.037764436550881325 Centerline is valid? [True, True] Translation: X:36.20, Y:-1.21, Z:-3.41 [[ 9.56265289e-01 2.65673064e-01 1.22370426e-01 3.62005100e+01] [-2.64305747e-01 9.64044670e-01 -2.75743832e-02 -1.20918302e+00] [-1.25296328e-01 -5.97478148e-03 9.92101372e-01 -3.41438196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.475919999999995 meters 0.037277567285389036 Centerline is valid? [True, True] Translation: X:36.23, Y:-1.21, Z:-3.42 [[ 9.56299538e-01 2.65190652e-01 1.23146709e-01 3.62324007e+01] [-2.63795340e-01 9.64177948e-01 -2.78011248e-02 -1.21325023e+00] [-1.26107939e-01 -5.89932500e-03 9.91998985e-01 -3.41763478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505919999999996 meters 0.037532645970375055 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.21, Z:-3.42 [[ 9.55958918e-01 2.66389438e-01 1.23203959e-01 3.62653722e+01] [-2.64996207e-01 9.63846741e-01 -2.78652110e-02 -1.21251826e+00] [-1.26172732e-01 -6.01058484e-03 9.91990078e-01 -3.42232011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53592 meters 0.03620646087079726 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.21, Z:-3.43 [[ 9.56188723e-01 2.66083554e-01 1.22076482e-01 3.62979813e+01] [-2.64707386e-01 9.63932100e-01 -2.76569409e-02 -1.21381730e+00] [-1.25032497e-01 -5.86929147e-03 9.92135286e-01 -3.42519847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56592 meters 0.03603677822410719 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.22, Z:-3.43 [[ 9.56279497e-01 2.65223190e-01 1.23232234e-01 3.63303208e+01] [-2.63809118e-01 9.64169738e-01 -2.79547217e-02 -1.21723061e+00] [-1.26231031e-01 -5.77725972e-03 9.91984047e-01 -3.42721620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59592 meters 0.03660477048758279 Centerline is valid? [True, True] Translation: X:36.36, Y:-1.22, Z:-3.43 [[ 9.56261328e-01 2.64731816e-01 1.24424023e-01 3.63625495e+01] [-2.63278950e-01 9.64305143e-01 -2.82804938e-02 -1.22437754e+00] [-1.27469472e-01 -5.71468351e-03 9.91826031e-01 -3.43066980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62592 meters 0.035563362640072135 Centerline is valid? [True, True] Translation: X:36.39, Y:-1.23, Z:-3.43 [[ 9.57071119e-01 2.62680521e-01 1.22530886e-01 3.63944492e+01] [-2.61248099e-01 9.64868282e-01 -2.79039200e-02 -1.22826134e+00] [-1.25555982e-01 -5.30492524e-03 9.92072353e-01 -3.43261707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.655919999999995 meters 0.034993260867718486 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.23, Z:-3.44 [[ 9.57830669e-01 2.58968391e-01 1.24482058e-01 3.64268651e+01] [-2.57454235e-01 9.65873557e-01 -2.83828825e-02 -1.22757268e+00] [-1.27584197e-01 -4.86243760e-03 9.91815824e-01 -3.43875120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685919999999996 meters 0.03469732340588342 Centerline is valid? [True, True] Translation: X:36.46, Y:-1.23, Z:-3.44 [[ 9.58095895e-01 2.57055595e-01 1.26390970e-01 3.64590875e+01] [-2.55470821e-01 9.66385543e-01 -2.88728390e-02 -1.23075807e+00] [-1.29564331e-01 -4.62625641e-03 9.91560226e-01 -3.44345404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.71592 meters 0.03401812510308652 Centerline is valid? [True, True] Translation: X:36.49, Y:-1.23, Z:-3.45 [[ 9.58908358e-01 2.53434846e-01 1.27536423e-01 3.64913434e+01] [-2.51781992e-01 9.67343680e-01 -2.91896225e-02 -1.23250435e+00] [-1.30769220e-01 -4.12120158e-03 9.91404270e-01 -3.44645446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74592 meters 0.03348243605268976 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.23, Z:-3.45 [[ 9.59656287e-01 2.51210049e-01 1.26306462e-01 3.65239856e+01] [-2.49562782e-01 9.67925418e-01 -2.89620840e-02 -1.23416292e+00] [-1.29530802e-01 -3.72774606e-03 9.91568392e-01 -3.44916823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77592 meters 0.0329510667589824 Centerline is valid? [True, True] Translation: X:36.56, Y:-1.24, Z:-3.45 [[ 9.60055054e-01 2.49967627e-01 1.25739724e-01 3.65554802e+01] [-2.48317519e-01 9.68247901e-01 -2.88861912e-02 -1.23816965e+00] [-1.28967837e-01 -3.49104244e-03 9.91642632e-01 -3.45142315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80592 meters 0.032798340876105656 Centerline is valid? [True, True] Translation: X:36.59, Y:-1.24, Z:-3.46 [[ 9.60234658e-01 2.48365447e-01 1.27530415e-01 3.65874893e+01] [-2.46646158e-01 9.68660897e-01 -2.93554087e-02 -1.24344321e+00] [-1.30824596e-01 -3.26680611e-03 9.91400148e-01 -3.45541543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.835919999999994 meters 0.031857875252851636 Centerline is valid? [True, True] Translation: X:36.62, Y:-1.25, Z:-3.46 [[ 9.61425238e-01 2.43876327e-01 1.27223622e-01 3.66192246e+01] [-2.42117990e-01 9.69802886e-01 -2.93469071e-02 -1.24658619e+00] [-1.30538851e-01 -2.58827031e-03 9.91439816e-01 -3.45840249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865919999999996 meters 0.03158457539945444 Centerline is valid? [True, True] Translation: X:36.65, Y:-1.25, Z:-3.46 [[ 9.61811794e-01 2.41625301e-01 1.28589610e-01 3.66519955e+01] [-2.39800962e-01 9.70367020e-01 -2.97211340e-02 -1.25152548e+00] [-1.31960494e-01 -2.24977500e-03 9.91252423e-01 -3.46299836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89592 meters 0.03093743549662306 Centerline is valid? [True, True] Translation: X:36.68, Y:-1.26, Z:-3.47 [[ 9.62780388e-01 2.37769460e-01 1.28528631e-01 3.66841841e+01] [-2.35905326e-01 9.71320188e-01 -2.97618990e-02 -1.25651819e+00] [-1.31918924e-01 -1.66641578e-03 9.91259109e-01 -3.46619796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92592 meters 0.031035791641505397 Centerline is valid? [True, True] Translation: X:36.71, Y:-1.26, Z:-3.47 [[ 9.63151364e-01 2.34517046e-01 1.31686009e-01 3.67149106e+01] [-2.32525323e-01 9.72111241e-01 -3.05239272e-02 -1.26400870e+00] [-1.35171831e-01 -1.22116967e-03 9.90821419e-01 -3.46894988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95592 meters 0.030803293453077942 Centerline is valid? [True, True] Translation: X:36.75, Y:-1.27, Z:-3.47 [[ 9.63676904e-01 2.32356167e-01 1.31671696e-01 3.67459430e+01] [-2.30336680e-01 9.72630389e-01 -3.05800770e-02 -1.27093807e+00] [-1.35173362e-01 -8.59507275e-04 9.90821590e-01 -3.47078952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98592 meters 0.030803293453077942 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.28, Z:-3.47 [[ 9.63562602e-01 2.32837511e-01 1.31657912e-01 3.67773893e+01] [-2.30814402e-01 9.72515267e-01 -3.06393190e-02 -1.27786318e+00] [-1.35173313e-01 -8.65640323e-04 9.90821592e-01 -3.47410011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01592 meters 0.030847915217336302 Centerline is valid? [True, True] Translation: X:36.81, Y:-1.29, Z:-3.48 [[ 9.63885180e-01 2.31449754e-01 1.31743578e-01 3.68086014e+01] [-2.29401691e-01 9.72846672e-01 -3.07281238e-02 -1.28585197e+00] [-1.35278318e-01 -6.03816449e-04 9.90807455e-01 -3.47872072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045919999999995 meters 0.030627781881204484 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.29, Z:-3.48 [[ 9.64312266e-01 2.30103419e-01 1.30974312e-01 3.68395493e+01] [-2.28057966e-01 9.73166119e-01 -3.06148365e-02 -1.29451607e+00] [-1.34504342e-01 -3.47472966e-04 9.90912943e-01 -3.48197016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075919999999996 meters 0.030577193027919395 Centerline is valid? [True, True] Translation: X:36.87, Y:-1.31, Z:-3.49 [[ 9.64557572e-01 2.28869268e-01 1.31329921e-01 3.68707266e+01] [-2.26792690e-01 9.73457162e-01 -3.07608605e-02 -1.30572266e+00] [-1.34884267e-01 -1.14045088e-04 9.90861353e-01 -3.48644142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10592 meters 0.030789864891582138 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.32, Z:-3.49 [[ 9.64090450e-01 2.29985545e-01 1.32801557e-01 3.69012131e+01] [-2.27862972e-01 9.73194023e-01 -3.11746494e-02 -1.31643989e+00] [-1.36411400e-01 -2.05375805e-04 9.90652254e-01 -3.49022798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13592 meters 0.03074819454264896 Centerline is valid? [True, True] Translation: X:36.93, Y:-1.33, Z:-3.49 [[ 9.63923522e-01 2.30672603e-01 1.32821661e-01 3.69330146e+01] [-2.28547114e-01 9.73031393e-01 -3.12429873e-02 -1.32571112e+00] [-1.36446547e-01 -2.40156786e-04 9.90647406e-01 -3.49397181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16592 meters 0.030776207158678324 Centerline is valid? [True, True] Translation: X:36.96, Y:-1.34, Z:-3.50 [[ 9.63579681e-01 2.33049829e-01 1.31156300e-01 3.69640611e+01] [-2.30991323e-01 9.72464661e-01 -3.09110434e-02 -1.33563444e+00] [-1.34748680e-01 -5.10713920e-04 9.90879676e-01 -3.49682605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19592 meters 0.031133307200267708 Centerline is valid? [True, True] Translation: X:36.99, Y:-1.35, Z:-3.50 [[ 9.62484259e-01 2.38061676e-01 1.30194815e-01 3.69949795e+01] [-2.36073416e-01 9.71249343e-01 -3.07254916e-02 -1.34730055e+00] [-1.33766191e-01 -1.16273273e-03 9.91012237e-01 -3.49981503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225919999999995 meters 0.03143813431153549 Centerline is valid? [True, True] Translation: X:37.03, Y:-1.36, Z:-3.50 [[ 9.61177011e-01 2.43817989e-01 1.29195747e-01 3.70253748e+01] [-2.41903231e-01 9.69819178e-01 -3.05546962e-02 -1.35871765e+00] [-1.32746298e-01 -1.88439718e-03 9.91148258e-01 -3.50229964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255919999999996 meters 0.03176810625075574 Centerline is valid? [True, True] Translation: X:37.06, Y:-1.37, Z:-3.51 [[ 9.60482176e-01 2.45627613e-01 1.30923892e-01 3.70561172e+01] [-2.43669746e-01 9.69361977e-01 -3.10227654e-02 -1.36720146e+00] [-1.34532691e-01 -2.10537833e-03 9.90906919e-01 -3.50655265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28592 meters 0.032006966574242283 Centerline is valid? [True, True] Translation: X:37.09, Y:-1.38, Z:-3.51 [[ 9.59835544e-01 2.48532048e-01 1.30182753e-01 3.70876548e+01] [-2.46614847e-01 9.68620602e-01 -3.09070651e-02 -1.37626078e+00] [-1.33779093e-01 -2.43930002e-03 9.91008176e-01 -3.50872375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31592 meters 0.0324954494246374 Centerline is valid? [True, True] Translation: X:37.12, Y:-1.39, Z:-3.51 [[ 9.58893795e-01 2.52684745e-01 1.29124397e-01 3.71178309e+01] [-2.50827598e-01 9.67544225e-01 -3.07195139e-02 -1.38592652e+00] [-1.32695917e-01 -2.93121104e-03 9.91152461e-01 -3.51347909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34592 meters 0.032660079744000925 Centerline is valid? [True, True] Translation: X:37.15, Y:-1.39, Z:-3.52 [[ 9.58650185e-01 2.53755726e-01 1.28832662e-01 3.71491855e+01] [-2.51908735e-01 9.67263637e-01 -3.07090658e-02 -1.39496286e+00] [-1.32407750e-01 -3.01482124e-03 9.91190748e-01 -3.51730241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37592 meters 0.03289585929509453 Centerline is valid? [True, True] Translation: X:37.18, Y:-1.40, Z:-3.52 [[ 9.58232907e-01 2.55697153e-01 1.28096303e-01 3.71806276e+01] [-2.53880003e-01 9.66751632e-01 -3.05978096e-02 -1.40460217e+00] [-1.31661083e-01 -3.20126194e-03 9.91289620e-01 -3.52067788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405919999999995 meters 0.03274576896367043 Centerline is valid? [True, True] Translation: X:37.21, Y:-1.41, Z:-3.52 [[ 9.58115647e-01 2.56160701e-01 1.28047264e-01 3.72120703e+01] [-2.54340517e-01 9.66628910e-01 -3.06504754e-02 -1.41167254e+00] [-1.31625635e-01 -3.20090741e-03 9.91294329e-01 -3.52361621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435919999999996 meters 0.032854040694347615 Centerline is valid? [True, True] Translation: X:37.24, Y:-1.42, Z:-3.53 [[ 9.57616708e-01 2.57833131e-01 1.28422415e-01 3.72430100e+01] [-2.56008854e-01 9.66183550e-01 -3.08028249e-02 -1.42030354e+00] [-1.32021613e-01 -3.37997550e-03 9.91241075e-01 -3.52812383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46592 meters 0.032828601134186175 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.43, Z:-3.53 [[ 9.57736043e-01 2.57885399e-01 1.27423674e-01 3.72733524e+01] [-2.56082637e-01 9.66169855e-01 -3.06185366e-02 -1.42862286e+00] [-1.31008986e-01 -3.30651446e-03 9.91375667e-01 -3.53125392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49592 meters 0.03289893096301102 Centerline is valid? [True, True] Translation: X:37.30, Y:-1.44, Z:-3.53 [[ 9.57504175e-01 2.57695710e-01 1.29532527e-01 3.73038285e+01] [-2.55823251e-01 9.66220553e-01 -3.11818265e-02 -1.43615340e+00] [-1.33192413e-01 -3.28070304e-03 9.91084768e-01 -3.53454082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52592 meters 0.03315071064991381 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.44, Z:-3.54 [[ 9.56737871e-01 2.60102641e-01 1.30381223e-01 3.73347523e+01] [-2.58220486e-01 9.65574308e-01 -3.14394187e-02 -1.44218581e+00] [-1.34070235e-01 -3.58782013e-03 9.90965337e-01 -3.53705593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55592 meters 0.03351482512671364 Centerline is valid? [True, True] Translation: X:37.37, Y:-1.45, Z:-3.54 [[ 9.56467867e-01 2.62457528e-01 1.27613735e-01 3.73661271e+01] [-2.60669428e-01 9.64936108e-01 -3.08181120e-02 -1.45026687e+00] [-1.31227546e-01 -3.78846539e-03 9.91345035e-01 -3.54040036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585919999999994 meters 0.03355568539109595 Centerline is valid? [True, True] Translation: X:37.40, Y:-1.46, Z:-3.54 [[ 9.56214720e-01 2.64471972e-01 1.25331501e-01 3.73970718e+01] [-2.62760172e-01 9.64385252e-01 -3.03014413e-02 -1.45753158e+00] [-1.28881733e-01 -3.95744270e-03 9.91652075e-01 -3.54373687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.615919999999996 meters 0.03412273820111593 Centerline is valid? [True, True] Translation: X:37.43, Y:-1.46, Z:-3.55 [[ 9.55432406e-01 2.68224561e-01 1.23306535e-01 3.74287378e+01] [-2.66592068e-01 9.63346646e-01 -2.98648401e-02 -1.46391854e+00] [-1.26797420e-01 -4.33870810e-03 9.91919145e-01 -3.54630443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64592 meters 0.03473588930321769 Centerline is valid? [True, True] Translation: X:37.46, Y:-1.47, Z:-3.55 [[ 9.54344525e-01 2.71023935e-01 1.25588834e-01 3.74604628e+01] [-2.69347047e-01 9.62560916e-01 -3.04737869e-02 -1.47016614e+00] [-1.29146029e-01 -4.74448987e-03 9.91614236e-01 -3.55021346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67592 meters 0.03521663572017095 Centerline is valid? [True, True] Translation: X:37.49, Y:-1.47, Z:-3.55 [[ 9.53544540e-01 2.73779598e-01 1.25688275e-01 3.74924026e+01] [-2.72116306e-01 9.61779117e-01 -3.05556116e-02 -1.47322150e+00] [-1.29249861e-01 -5.06569255e-03 9.91599119e-01 -3.55235478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70592 meters 0.035488426050062416 Centerline is valid? [True, True] Translation: X:37.53, Y:-1.48, Z:-3.56 [[ 9.53423944e-01 2.75113447e-01 1.23674467e-01 3.75251488e+01] [-2.73507591e-01 9.61398188e-01 -3.01184469e-02 -1.47538818e+00] [-1.27186398e-01 -5.11025720e-03 9.91865669e-01 -3.55506271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73592 meters 0.03529176212331142 Centerline is valid? [True, True] Translation: X:37.56, Y:-1.48, Z:-3.56 [[ 9.53490117e-01 2.74766389e-01 1.23935579e-01 3.75568494e+01] [-2.73143957e-01 9.61497894e-01 -3.02353869e-02 -1.48041704e+00] [-1.27471466e-01 -5.02311183e-03 9.91829518e-01 -3.55967998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76592 meters 0.03492098512786959 Centerline is valid? [True, True] Translation: X:37.59, Y:-1.49, Z:-3.56 [[ 9.53789243e-01 2.74577790e-01 1.22037364e-01 3.75886967e+01] [-2.72996762e-01 9.61552556e-01 -2.98236580e-02 -1.48542722e+00] [-1.25534253e-01 -4.87032093e-03 9.92077331e-01 -3.56260785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.795919999999995 meters 0.034109061194372695 Centerline is valid? [True, True] Translation: X:37.62, Y:-1.49, Z:-3.57 [[ 9.54432724e-01 2.71410042e-01 1.24075642e-01 3.76207063e+01] [-2.69742068e-01 9.62453399e-01 -3.03755146e-02 -1.48739060e+00] [-1.27661243e-01 -4.47703503e-03 9.91807725e-01 -3.56699479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825919999999996 meters 0.033686670028681386 Centerline is valid? [True, True] Translation: X:37.65, Y:-1.49, Z:-3.57 [[ 9.54948778e-01 2.69605850e-01 1.24038373e-01 3.76518361e+01] [-2.67916852e-01 9.62961677e-01 -3.04198672e-02 -1.49282889e+00] [-1.27645574e-01 -4.18255545e-03 9.91811027e-01 -3.56992999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85592 meters 0.03265696970401505 Centerline is valid? [True, True] Translation: X:37.68, Y:-1.50, Z:-3.57 [[ 9.56474674e-01 2.65195467e-01 1.21768477e-01 3.76834790e+01] [-2.63525838e-01 9.64188402e-01 -2.99141756e-02 -1.49735679e+00] [-1.25340857e-01 -3.47698848e-03 9.92107645e-01 -3.57161321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88592 meters 0.03170657749559073 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.50, Z:-3.57 [[ 9.57370891e-01 2.62693757e-01 1.20137282e-01 3.77150790e+01] [-2.61043815e-01 9.64874393e-01 -2.95555943e-02 -1.50231401e+00] [-1.23681457e-01 -3.06542881e-03 9.92317238e-01 -3.57357835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91592 meters 0.031441791826526407 Centerline is valid? [True, True] Translation: X:37.75, Y:-1.51, Z:-3.58 [[ 9.57661405e-01 2.61688054e-01 1.20016650e-01 3.77467810e+01] [-2.60030409e-01 9.65148127e-01 -2.95513013e-02 -1.50738455e+00] [-1.23567068e-01 -2.90783786e-03 9.92331963e-01 -3.57768126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94592 meters 0.03132418588090631 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.51, Z:-3.58 [[ 9.58080840e-01 2.59508273e-01 1.21394235e-01 3.77778299e+01] [-2.57787834e-01 9.65737375e-01 -2.99458542e-02 -1.51180358e+00] [-1.25006147e-01 -2.60340779e-03 9.92152552e-01 -3.58285028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.975919999999995 meters 0.031103754644145973 Centerline is valid? [True, True] Translation: X:37.81, Y:-1.52, Z:-3.59 [[ 9.57974303e-01 2.59411310e-01 1.22437769e-01 3.78102304e+01] [-2.57652958e-01 9.65763549e-01 -3.02608766e-02 -1.51854331e+00] [-1.26095948e-01 -2.55731105e-03 9.92014754e-01 -3.58532642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005919999999996 meters 0.030857684406647323 Centerline is valid? [True, True] Translation: X:37.84, Y:-1.52, Z:-3.59 [[ 9.58460037e-01 2.57390637e-01 1.22900033e-01 3.78418114e+01] [-2.55594544e-01 9.66304839e-01 -3.04366186e-02 -1.52267652e+00] [-1.26592998e-01 -2.24029541e-03 9.91952214e-01 -3.58915392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03592 meters 0.030626399077459617 Centerline is valid? [True, True] Translation: X:37.87, Y:-1.53, Z:-3.59 [[ 9.58828252e-01 2.56682228e-01 1.21501512e-01 3.78730213e+01] [-2.54914456e-01 9.66493637e-01 -3.01441390e-02 -1.52845318e+00] [-1.25167903e-01 -2.06943968e-03 9.92133415e-01 -3.59183805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06592 meters 0.03041188360148413 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.54, Z:-3.60 [[ 9.59213411e-01 2.55700395e-01 1.20527755e-01 3.79044252e+01] [-2.53946463e-01 9.66754261e-01 -2.99565348e-02 -1.53596128e+00] [-1.24180618e-01 -1.87288707e-03 9.92257863e-01 -3.59532364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09592 meters 0.030310586806028578 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.54, Z:-3.60 [[ 9.59058987e-01 2.55457023e-01 1.22260251e-01 3.79355972e+01] [-2.53643055e-01 9.66818711e-01 -3.04430795e-02 -1.54308561e+00] [-1.25980397e-01 -1.81375470e-03 9.92031073e-01 -3.59905075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12592 meters 0.030009844533901035 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.55, Z:-3.60 [[ 9.59251574e-01 2.55152129e-01 1.21382904e-01 3.79671887e+01] [-2.53354875e-01 9.66899413e-01 -3.02792388e-02 -1.54803342e+00] [-1.25090871e-01 -1.70754296e-03 9.92143819e-01 -3.60181392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.155919999999995 meters 0.03000362014297633 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.56, Z:-3.61 [[ 9.58983464e-01 2.56016559e-01 1.21680880e-01 3.79993440e+01] [-2.54210169e-01 9.66670777e-01 -3.04105056e-02 -1.55521153e+00] [-1.25410944e-01 -1.76934506e-03 9.92103303e-01 -3.60520192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185919999999996 meters 0.030322168952637278 Centerline is valid? [True, True] Translation: X:38.03, Y:-1.57, Z:-3.61 [[ 9.58180100e-01 2.57646842e-01 1.24535137e-01 3.80293717e+01] [-2.55760518e-01 9.66237141e-01 -3.11824383e-02 -1.56506169e+00] [-1.28364531e-01 -1.97277926e-03 9.91725091e-01 -3.60793432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21592 meters 0.030623798089214324 Centerline is valid? [True, True] Translation: X:38.06, Y:-1.57, Z:-3.61 [[ 9.57450757e-01 2.59868830e-01 1.25523862e-01 3.80604247e+01] [-2.57966631e-01 9.65641295e-01 -3.14659489e-02 -1.57278285e+00] [-1.29388044e-01 -2.25387103e-03 9.91591475e-01 -3.61156086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24592 meters 0.030695578760165754 Centerline is valid? [True, True] Translation: X:38.09, Y:-1.58, Z:-3.62 [[ 9.57084352e-01 2.62232649e-01 1.23383877e-01 3.80919714e+01] [-2.60407476e-01 9.65001508e-01 -3.09844482e-02 -1.57744219e+00] [-1.27190761e-01 -2.47535343e-03 9.91875185e-01 -3.61672674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27592 meters 0.030681111334953114 Centerline is valid? [True, True] Translation: X:38.12, Y:-1.58, Z:-3.62 [[ 9.56591636e-01 2.64089668e-01 1.23244024e-01 3.81232229e+01] [-2.62276906e-01 9.64494450e-01 -3.10045393e-02 -1.58464517e+00] [-1.27056155e-01 -2.66537820e-03 9.91891944e-01 -3.61976837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30592 meters 0.030682826498606264 Centerline is valid? [True, True] Translation: X:38.15, Y:-1.59, Z:-3.62 [[ 9.56202916e-01 2.65491445e-01 1.23248840e-01 3.81544704e+01] [-2.63682881e-01 9.64109159e-01 -3.10623144e-02 -1.59462442e+00] [-1.27072114e-01 -2.79673359e-03 9.91889538e-01 -3.62201535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.335919999999994 meters 0.030519875699139467 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.60, Z:-3.62 [[ 9.56388671e-01 2.65503649e-01 1.21772423e-01 3.81859176e+01] [-2.63730766e-01 9.64106058e-01 -3.07504722e-02 -1.60189588e+00] [-1.25565893e-01 -2.70573120e-03 9.92081592e-01 -3.62355845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365919999999996 meters 0.03089426344386128 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.61, Z:-3.63 [[ 9.55745071e-01 2.66100223e-01 1.25467246e-01 3.82173360e+01] [-2.64215369e-01 9.63941260e-01 -3.17409310e-02 -1.60618729e+00] [-1.29389324e-01 -2.81413625e-03 9.91589877e-01 -3.62775854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39592 meters 0.03098294650812504 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.61, Z:-3.63 [[ 9.55556718e-01 2.66486896e-01 1.26079706e-01 3.82490153e+01] [-2.64579171e-01 9.63834406e-01 -3.19546601e-02 -1.61222376e+00] [-1.30035457e-01 -2.82357405e-03 9.91505324e-01 -3.63158740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42592 meters 0.030723047540385805 Centerline is valid? [True, True] Translation: X:38.28, Y:-1.62, Z:-3.64 [[ 9.55462919e-01 2.66466174e-01 1.26832125e-01 3.82806962e+01] [-2.64526750e-01 9.63840277e-01 -3.22105380e-02 -1.61851539e+00] [-1.30828929e-01 -2.77451510e-03 9.91401076e-01 -3.63562870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45592 meters 0.030603416490865166 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.63, Z:-3.64 [[ 9.55522166e-01 2.67229562e-01 1.24762779e-01 3.83118238e+01] [-2.65351632e-01 9.63628911e-01 -3.17463745e-02 -1.62572467e+00] [-1.28708590e-01 -2.77164236e-03 9.91678585e-01 -3.63974700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48592 meters 0.029970327278088998 Centerline is valid? [True, True] Translation: X:38.34, Y:-1.63, Z:-3.64 [[ 9.56191479e-01 2.65487609e-01 1.23345797e-01 3.83428503e+01] [-2.63631695e-01 9.64111130e-01 -3.14333993e-02 -1.63374673e+00] [-1.27264234e-01 -2.46151306e-03 9.91865795e-01 -3.64169577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51592 meters 0.030019573667745422 Centerline is valid? [True, True] Translation: X:38.37, Y:-1.64, Z:-3.65 [[ 9.56653107e-01 2.63968370e-01 1.23026552e-01 3.83737454e+01] [-2.62106068e-01 9.64528766e-01 -3.13794269e-02 -1.64144202e+00] [-1.26945824e-01 -2.22677938e-03 9.91907152e-01 -3.64528358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545919999999995 meters 0.0298624038517092 Centerline is valid? [True, True] Translation: X:38.41, Y:-1.65, Z:-3.65 [[ 9.57032100e-01 2.62341903e-01 1.23556807e-01 3.84051503e+01] [-2.60442642e-01 9.64972987e-01 -3.15715633e-02 -1.64797564e+00] [-1.27511525e-01 -1.96446167e-03 9.91835143e-01 -3.64981178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575919999999996 meters 0.029689617646510402 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.65, Z:-3.65 [[ 9.57101499e-01 2.61609265e-01 1.24568509e-01 3.84372819e+01] [-2.59664902e-01 9.65172140e-01 -3.18885404e-02 -1.65350578e+00] [-1.28572392e-01 -1.82549995e-03 9.91698446e-01 -3.65442717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60592 meters 0.029588429165061783 Centerline is valid? [True, True] Translation: X:38.47, Y:-1.66, Z:-3.66 [[ 9.56764286e-01 2.63371063e-01 1.23441418e-01 3.84686469e+01] [-2.61468256e-01 9.64692572e-01 -3.16637538e-02 -1.66198097e+00] [-1.27422335e-01 -1.98126336e-03 9.91846572e-01 -3.65559360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63592 meters 0.029477814746065603 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.67, Z:-3.66 [[ 9.56620864e-01 2.63764427e-01 1.23712767e-01 3.85002694e+01] [-2.61848158e-01 9.64585105e-01 -3.17980634e-02 -1.66905572e+00] [-1.27718691e-01 -1.97526934e-03 9.91808467e-01 -3.65879043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66592 meters 0.029713157991773032 Centerline is valid? [True, True] Translation: X:38.53, Y:-1.68, Z:-3.66 [[ 9.56260876e-01 2.65433266e-01 1.22924035e-01 3.85319635e+01] [-2.63546922e-01 9.64126901e-01 -3.16597263e-02 -1.67593947e+00] [-1.26917914e-01 -2.12129358e-03 9.91910955e-01 -3.66284719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69592 meters 0.029688129274096628 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.68, Z:-3.67 [[ 9.56107017e-01 2.66758065e-01 1.21241525e-01 3.85624466e+01] [-2.64926081e-01 9.63761002e-01 -3.12874223e-02 -1.68323737e+00] [-1.25194026e-01 -2.20591803e-03 9.92129825e-01 -3.66772195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725919999999995 meters 0.02967620492633854 Centerline is valid? [True, True] Translation: X:38.59, Y:-1.69, Z:-3.67 [[ 9.55949952e-01 2.66915940e-01 1.22129316e-01 3.85935578e+01] [-2.65050891e-01 9.63717333e-01 -3.15741673e-02 -1.69237045e+00] [-1.26125788e-01 -2.18716039e-03 9.92011846e-01 -3.67103072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755919999999996 meters 0.029553164119985684 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.70, Z:-3.67 [[ 9.55734806e-01 2.67269963e-01 1.23035558e-01 3.86254112e+01] [-2.65371674e-01 9.63619209e-01 -3.18730995e-02 -1.70097125e+00] [-1.27078149e-01 -2.18792139e-03 9.91890295e-01 -3.67389225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78592 meters 0.0296187993223073 Centerline is valid? [True, True] Translation: X:38.66, Y:-1.71, Z:-3.68 [[ 9.55601975e-01 2.67727069e-01 1.23073479e-01 3.86575892e+01] [-2.65823159e-01 9.63492311e-01 -3.19470657e-02 -1.70786652e+00] [-1.27133445e-01 -2.18710177e-03 9.91883211e-01 -3.67758238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81592 meters 0.029157804417478412 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.71, Z:-3.68 [[ 9.55936816e-01 2.67230903e-01 1.21541963e-01 3.86898105e+01] [-2.65362977e-01 9.63630370e-01 -3.16069862e-02 -1.71283111e+00] [-1.25567890e-01 -2.03845529e-03 9.92082935e-01 -3.68115762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84592 meters 0.02929541956781355 Centerline is valid? [True, True] Translation: X:38.72, Y:-1.72, Z:-3.68 [[ 9.55782182e-01 2.67561408e-01 1.22029973e-01 3.87214181e+01] [-2.65675822e-01 9.63538629e-01 -3.17752692e-02 -1.72089076e+00] [-1.26082429e-01 -2.05017722e-03 9.92017650e-01 -3.68453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87592 meters 0.029319261996231204 Centerline is valid? [True, True] Translation: X:38.75, Y:-1.73, Z:-3.69 [[ 9.55279952e-01 2.69419213e-01 1.21874939e-01 3.87528160e+01] [-2.67545279e-01 9.63020413e-01 -3.17994846e-02 -1.73030358e+00] [-1.25935446e-01 -2.22965448e-03 9.92035933e-01 -3.68504047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905919999999995 meters 0.029319261996231204 Centerline is valid? [True, True] Translation: X:38.78, Y:-1.74, Z:-3.69 [[ 9.55147706e-01 2.69894735e-01 1.21859314e-01 3.87840637e+01] [-2.68017030e-01 9.62887251e-01 -3.18592600e-02 -1.73808267e+00] [-1.25935427e-01 -2.23007247e-03 9.92035934e-01 -3.68835251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935919999999996 meters 0.029549995756931787 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.75, Z:-3.69 [[ 9.55002800e-01 2.70242385e-01 1.22223993e-01 3.88156876e+01] [-2.68347986e-01 9.62789761e-01 -3.20192744e-02 -1.74697562e+00] [-1.26328974e-01 -2.22006570e-03 9.91985918e-01 -3.69316281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96592 meters 0.029834234300161105 Centerline is valid? [True, True] Translation: X:38.85, Y:-1.76, Z:-3.70 [[ 9.54627949e-01 2.71425950e-01 1.22529314e-01 3.88472083e+01] [-2.69523484e-01 9.62456530e-01 -3.21639551e-02 -1.75658467e+00] [-1.26659271e-01 -2.31991728e-03 9.91943571e-01 -3.69787083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99592 meters 0.02955564876394649 Centerline is valid? [True, True] Translation: X:38.88, Y:-1.76, Z:-3.70 [[ 9.54755059e-01 2.70754914e-01 1.23022571e-01 3.88790553e+01] [-2.68823267e-01 9.62645851e-01 -3.23576462e-02 -1.76450558e+00] [-1.27188159e-01 -2.17770298e-03 9.91876217e-01 -3.70178524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02592 meters 0.029530504139975208 Centerline is valid? [True, True] Translation: X:38.91, Y:-1.77, Z:-3.70 [[ 9.54862589e-01 2.71332503e-01 1.20897098e-01 3.89105078e+01] [-2.69465082e-01 9.62483244e-01 -3.18523877e-02 -1.77316065e+00] [-1.25004019e-01 -2.16289299e-03 9.92153878e-01 -3.70379296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05592 meters 0.029823097362911413 Centerline is valid? [True, True] Translation: X:38.94, Y:-1.78, Z:-3.71 [[ 9.54086477e-01 2.73623310e-01 1.21857618e-01 3.89414953e+01] [-2.71741157e-01 9.61833795e-01 -3.21324463e-02 -1.78138065e+00] [-1.25998962e-01 -2.45659757e-03 9.92027332e-01 -3.70696913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085919999999994 meters 0.029838635026306227 Centerline is valid? [True, True] Translation: X:38.97, Y:-1.79, Z:-3.71 [[ 9.53987727e-01 2.74463591e-01 1.20735888e-01 3.89722305e+01] [-2.72615911e-01 9.61594266e-01 -3.18909541e-02 -1.78874249e+00] [-1.24851843e-01 -2.49094513e-03 9.92172270e-01 -3.70924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.115919999999996 meters 0.030626411946652273 Centerline is valid? [True, True] Translation: X:39.00, Y:-1.79, Z:-3.71 [[ 9.52951864e-01 2.77760789e-01 1.21374173e-01 3.90031711e+01] [-2.75913032e-01 9.60645940e-01 -3.21150439e-02 -1.79463431e+00] [-1.25517907e-01 -2.88462506e-03 9.92087161e-01 -3.71488823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14592 meters 0.030472469839149082 Centerline is valid? [True, True] Translation: X:39.04, Y:-1.80, Z:-3.72 [[ 9.52481712e-01 2.79665905e-01 1.20687905e-01 3.90355247e+01] [-2.77847250e-01 9.60092493e-01 -3.19892149e-02 -1.80109937e+00] [-1.24817844e-01 -3.06366034e-03 9.92174944e-01 -3.71775943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17592 meters 0.030698398336294577 Centerline is valid? [True, True] Translation: X:39.07, Y:-1.81, Z:-3.72 [[ 9.52157875e-01 2.81220571e-01 1.19625962e-01 3.90671039e+01] [-2.79438505e-01 9.59637891e-01 -3.17685430e-02 -1.80880537e+00] [-1.23731574e-01 -3.17943156e-03 9.92310631e-01 -3.72027856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20592 meters 0.030848323423796387 Centerline is valid? [True, True] Translation: X:39.10, Y:-1.82, Z:-3.72 [[ 9.51871548e-01 2.82315256e-01 1.19325827e-01 3.90989343e+01] [-2.80543097e-01 9.59316166e-01 -3.17500168e-02 -1.81554553e+00] [-1.23434709e-01 -3.25409942e-03 9.92347360e-01 -3.72386673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23592 meters 0.031229211898715973 Centerline is valid? [True, True] Translation: X:39.13, Y:-1.82, Z:-3.73 [[ 9.51422829e-01 2.83331933e-01 1.20489073e-01 3.91318467e+01] [-2.81525327e-01 9.59016020e-01 -3.21210815e-02 -1.81660886e+00] [-1.24651880e-01 -3.35999558e-03 9.92194849e-01 -3.72902715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26592 meters 0.03154238252787559 Centerline is valid? [True, True] Translation: X:39.16, Y:-1.82, Z:-3.73 [[ 9.50680027e-01 2.84482615e-01 1.23600676e-01 3.91632650e+01] [-2.82583520e-01 9.58674634e-01 -3.30075756e-02 -1.82078810e+00] [-1.27882914e-01 -3.54787127e-03 9.91782926e-01 -3.73386303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.295919999999995 meters 0.031602158835876526 Centerline is valid? [True, True] Translation: X:39.20, Y:-1.83, Z:-3.74 [[ 9.50490551e-01 2.85483747e-01 1.22746659e-01 3.91961314e+01] [-2.83612023e-01 9.58376779e-01 -3.28354857e-02 -1.82581174e+00] [-1.27011545e-01 -3.60260949e-03 9.91894696e-01 -3.73621777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325919999999996 meters 0.03162201251335785 Centerline is valid? [True, True] Translation: X:39.23, Y:-1.83, Z:-3.74 [[ 9.50375725e-01 2.86634531e-01 1.20940594e-01 3.92274532e+01] [-2.84819410e-01 9.58033077e-01 -3.24118498e-02 -1.83160607e+00] [-1.25155445e-01 -3.64279336e-03 9.92130457e-01 -3.73919226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35592 meters 0.03174489911437996 Centerline is valid? [True, True] Translation: X:39.26, Y:-1.83, Z:-3.74 [[ 9.49971369e-01 2.87474927e-01 1.22117013e-01 3.92599852e+01] [-2.85624143e-01 9.57780871e-01 -3.27818968e-02 -1.83379272e+00] [-1.26385312e-01 -3.73770375e-03 9.91974184e-01 -3.74367600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38592 meters 0.03191700278652766 Centerline is valid? [True, True] Translation: X:39.29, Y:-1.84, Z:-3.75 [[ 9.49662355e-01 2.87550666e-01 1.24322267e-01 3.92909829e+01] [-2.85625539e-01 9.57758039e-01 -3.34303821e-02 -1.84001014e+00] [-1.28683580e-01 -3.76203924e-03 9.91678569e-01 -3.74746283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41592 meters 0.031186181393752743 Centerline is valid? [True, True] Translation: X:39.32, Y:-1.84, Z:-3.75 [[ 9.51020105e-01 2.83599428e-01 1.23012700e-01 3.93234400e+01] [-2.81674829e-01 9.58937697e-01 -3.31328185e-02 -1.84333138e+00] [-1.27357964e-01 -3.13960477e-03 9.91851850e-01 -3.74955490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44592 meters 0.03079242088102271 Centerline is valid? [True, True] Translation: X:39.36, Y:-1.85, Z:-3.75 [[ 9.51463580e-01 2.82321225e-01 1.22522579e-01 3.93552861e+01] [-2.80394465e-01 9.59315534e-01 -3.30552553e-02 -1.84671654e+00] [-1.26870014e-01 -2.90378164e-03 9.91915101e-01 -3.75364762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.475919999999995 meters 0.030223216376910948 Centerline is valid? [True, True] Translation: X:39.39, Y:-1.85, Z:-3.76 [[ 9.52587839e-01 2.78558062e-01 1.22400227e-01 3.93880807e+01] [-2.76597139e-01 9.60416525e-01 -3.30775143e-02 -1.84659874e+00] [-1.26769208e-01 -2.34631467e-03 9.91929465e-01 -3.75830034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505919999999996 meters 0.030002300525603345 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.85, Z:-3.76 [[ 9.52641523e-01 2.77712418e-01 1.23894882e-01 3.94201506e+01] [-2.75688399e-01 9.60661727e-01 -3.35403282e-02 -1.85239874e+00] [-1.28335637e-01 -2.20447242e-03 9.91728342e-01 -3.76067802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53592 meters 0.0295266038504784 Centerline is valid? [True, True] Translation: X:39.45, Y:-1.86, Z:-3.76 [[ 9.53971985e-01 2.72356880e-01 1.25535580e-01 3.94523012e+01] [-2.70225036e-01 9.62195215e-01 -3.40411313e-02 -1.85723277e+00] [-1.30061071e-01 -1.44857115e-03 9.91504927e-01 -3.76229743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56592 meters 0.029415063427230742 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.86, Z:-3.77 [[ 9.54662755e-01 2.69680153e-01 1.26062044e-01 3.94841650e+01] [-2.67502955e-01 9.62949373e-01 -3.42151055e-02 -1.86387946e+00] [-1.30618501e-01 -1.05808248e-03 9.91432140e-01 -3.76630453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59592 meters 0.02902808323948287 Centerline is valid? [True, True] Translation: X:39.51, Y:-1.87, Z:-3.77 [[ 9.56589875e-01 2.63620835e-01 1.24257257e-01 3.95146849e+01] [-2.61446430e-01 9.64626367e-01 -3.37895778e-02 -1.87173702e+00] [-1.28769463e-01 -1.63848319e-04 9.91674543e-01 -3.77050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62592 meters 0.028952185327674705 Centerline is valid? [True, True] Translation: X:39.55, Y:-1.88, Z:-3.77 [[ 9.57186365e-01 2.61593481e-01 1.23948024e-01 3.95463734e+01] [-2.59405121e-01 9.65178130e-01 -3.37662715e-02 -1.87962131e+00] [-1.28464958e-01 1.67862572e-04 9.91714035e-01 -3.77329153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.655919999999995 meters 0.028823009599050722 Centerline is valid? [True, True] Translation: X:39.58, Y:-1.89, Z:-3.78 [[ 9.57701855e-01 2.59299599e-01 1.24783309e-01 3.95774183e+01] [-2.57053361e-01 9.65796781e-01 -3.40609467e-02 -1.88674052e+00] [-1.29347308e-01 5.44262882e-04 9.91599202e-01 -3.77544568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685919999999996 meters 0.0287958288048675 Centerline is valid? [True, True] Translation: X:39.61, Y:-1.89, Z:-3.78 [[ 9.58503612e-01 2.56549156e-01 1.24311527e-01 3.96092897e+01] [-2.54288932e-01 9.66530696e-01 -3.39934217e-02 -1.89307249e+00] [-1.28871891e-01 9.71771987e-04 9.91660774e-01 -3.77809901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71592 meters 0.02877806654748633 Centerline is valid? [True, True] Translation: X:39.64, Y:-1.90, Z:-3.78 [[ 9.59189961e-01 2.54955696e-01 1.22279238e-01 3.96386921e+01] [-2.52747867e-01 9.66951954e-01 -3.35027606e-02 -1.90490983e+00] [-1.26779868e-01 1.22969515e-03 9.91930115e-01 -3.78278563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74592 meters 0.02884919948245103 Centerline is valid? [True, True] Translation: X:39.67, Y:-1.92, Z:-3.79 [[ 9.59219832e-01 2.55077269e-01 1.21790397e-01 3.96696340e+01] [-2.52880434e-01 9.66919842e-01 -3.34291180e-02 -1.91587567e+00] [-1.26288560e-01 1.26746448e-03 9.91992739e-01 -3.78648667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77592 meters 0.029183906096682626 Centerline is valid? [True, True] Translation: X:39.70, Y:-1.93, Z:-3.79 [[ 9.59091699e-01 2.53968901e-01 1.25071617e-01 3.96991476e+01] [-2.51633286e-01 9.67211193e-01 -3.43976353e-02 -1.92682991e+00] [-1.29706597e-01 1.51830463e-03 9.91551256e-01 -3.79004666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80592 meters 0.029164608054866707 Centerline is valid? [True, True] Translation: X:39.73, Y:-1.94, Z:-3.79 [[ 9.58676684e-01 2.55101593e-01 1.25945195e-01 3.97303639e+01] [-2.52734897e-01 9.66913193e-01 -3.46979665e-02 -1.93716858e+00] [-1.30629577e-01 1.43338551e-03 9.91430209e-01 -3.79279729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.835919999999994 meters 0.028988018095649933 Centerline is valid? [True, True] Translation: X:39.76, Y:-1.95, Z:-3.80 [[ 9.58858915e-01 2.55786888e-01 1.23136707e-01 3.97608914e+01] [-2.53522308e-01 9.66732219e-01 -3.39890521e-02 -1.94726022e+00] [-1.27734176e-01 1.37280344e-03 9.91807489e-01 -3.79605233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865919999999996 meters 0.028895691403164118 Centerline is valid? [True, True] Translation: X:39.79, Y:-1.96, Z:-3.80 [[ 9.58207912e-01 2.58744175e-01 1.22020691e-01 3.97902687e+01] [-2.56537068e-01 9.65945339e-01 -3.37392156e-02 -1.95979810e+00] [-1.26595143e-01 1.02635302e-03 9.91953939e-01 -3.80119285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89592 meters 0.028887930558478134 Centerline is valid? [True, True] Translation: X:39.82, Y:-1.97, Z:-3.81 [[ 9.57029586e-01 2.62803645e-01 1.22591259e-01 3.98202661e+01] [-2.60601039e-01 9.64849180e-01 -3.39581821e-02 -1.97242904e+00] [-1.27206410e-01 5.51575343e-04 9.91876114e-01 -3.80648972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92592 meters 0.029085339139374763 Centerline is valid? [True, True] Translation: X:39.85, Y:-1.98, Z:-3.81 [[ 9.56123934e-01 2.64969563e-01 1.24972611e-01 3.98507625e+01] [-2.62689588e-01 9.64256718e-01 -3.46866272e-02 -1.98297732e+00] [-1.29696580e-01 3.35710649e-04 9.91553672e-01 -3.81042104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95592 meters 0.0291583656415342 Centerline is valid? [True, True] Translation: X:39.88, Y:-1.99, Z:-3.81 [[ 9.55670300e-01 2.66820995e-01 1.24502345e-01 3.98820191e+01] [-2.64565788e-01 9.63746095e-01 -3.46180310e-02 -1.99350936e+00] [-1.29225466e-01 1.44363138e-04 9.91615227e-01 -3.81321275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98592 meters 0.029118379737243603 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.01, Z:-3.82 [[ 9.55326639e-01 2.68782672e-01 1.22910083e-01 3.99115755e+01] [-2.66592812e-01 9.63200847e-01 -3.42403327e-02 -2.00500436e+00] [-1.27590305e-01 -5.62427576e-05 9.91826956e-01 -3.81647587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01592 meters 0.029080457707784873 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.01, Z:-3.82 [[ 9.55200364e-01 2.69719165e-01 1.21835286e-01 3.99421964e+01] [-2.67567775e-01 9.62939020e-01 -3.39989543e-02 -2.01486566e+00] [-1.26490120e-01 -1.23382822e-04 9.91967859e-01 -3.81876517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045919999999995 meters 0.029155480783421617 Centerline is valid? [True, True] Translation: X:39.97, Y:-2.02, Z:-3.82 [[ 9.54238301e-01 2.72446565e-01 1.23296938e-01 3.99727021e+01] [-2.70257990e-01 9.62170817e-01 -3.44664560e-02 -2.02459285e+00] [-1.28022983e-01 -4.32770314e-04 9.91771107e-01 -3.82099827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075919999999996 meters 0.029084489733526325 Centerline is valid? [True, True] Translation: X:40.00, Y:-2.03, Z:-3.83 [[ 9.53846302e-01 2.73549037e-01 1.23887674e-01 4.00041777e+01] [-2.71341550e-01 9.61857912e-01 -3.46860282e-02 -2.03365377e+00] [-1.28650669e-01 -5.30733819e-04 9.91689832e-01 -3.82543126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10592 meters 0.029281462079658167 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.04, Z:-3.83 [[ 9.53378785e-01 2.75052405e-01 1.24157430e-01 4.00343803e+01] [-2.72842355e-01 9.61428985e-01 -3.48045369e-02 -2.04466693e+00] [-1.28941624e-01 -6.93498514e-04 9.91651943e-01 -3.83200216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13592 meters 0.02957231313681248 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.05, Z:-3.84 [[ 9.53069468e-01 2.76429858e-01 1.23471141e-01 4.00658733e+01] [-2.74247004e-01 9.61033755e-01 -3.46799957e-02 -2.05493474e+00] [-1.28246521e-01 -8.09145444e-04 9.91741990e-01 -3.83500910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16592 meters 0.029613330186410425 Centerline is valid? [True, True] Translation: X:40.10, Y:-2.06, Z:-3.84 [[ 9.52794967e-01 2.76760218e-01 1.24842028e-01 4.00962815e+01] [-2.74522576e-01 9.60938678e-01 -3.51313484e-02 -2.06430304e+00] [-1.29688493e-01 -7.98983173e-04 9.91554465e-01 -3.83768969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19592 meters 0.029453577662824876 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.07, Z:-3.84 [[ 9.52587143e-01 2.77378251e-01 1.25056149e-01 4.01274380e+01] [-2.75130209e-01 9.60760441e-01 -3.52525674e-02 -2.07423876e+00] [-1.29927296e-01 -8.25581931e-04 9.91523180e-01 -3.83982802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225919999999995 meters 0.029570858877700085 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.09, Z:-3.84 [[ 9.52109584e-01 2.79419323e-01 1.24145810e-01 4.01572398e+01] [-2.77212575e-01 9.60168620e-01 -3.50629330e-02 -2.08702093e+00] [-1.28998172e-01 -1.03102511e-03 9.91644295e-01 -3.84373299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255919999999996 meters 0.02973463977423682 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.10, Z:-3.85 [[ 9.51644891e-01 2.80675436e-01 1.24873143e-01 4.01875271e+01] [-2.78444689e-01 9.59802058e-01 -3.53350224e-02 -2.09681651e+00] [-1.29771173e-01 -1.14387004e-03 9.91543309e-01 -3.84775582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28592 meters 0.029887763626166783 Centerline is valid? [True, True] Translation: X:40.22, Y:-2.11, Z:-3.85 [[ 9.50947634e-01 2.83452440e-01 1.23908482e-01 4.02188970e+01] [-2.81271834e-01 9.58985195e-01 -3.51219568e-02 -2.10576337e+00] [-1.28781805e-01 -1.45282436e-03 9.91671889e-01 -3.85122744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31592 meters 0.029782590306920514 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.11, Z:-3.85 [[ 9.50703542e-01 2.84944563e-01 1.22349384e-01 4.02504049e+01] [-2.82823443e-01 9.58542701e-01 -3.47388949e-02 -2.11221573e+00] [-1.27175769e-01 -1.57688362e-03 9.91878943e-01 -3.85443685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34592 meters 0.0300366764614374 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.12, Z:-3.86 [[ 9.50222753e-01 2.86747777e-01 1.21870552e-01 4.02812063e+01] [-2.84652883e-01 9.58004474e-01 -3.46433681e-02 -2.12164678e+00] [-1.26686443e-01 -1.77188734e-03 9.91941231e-01 -3.85795007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37592 meters 0.029833918787451116 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.13, Z:-3.86 [[ 9.49983756e-01 2.88119882e-01 1.20489820e-01 4.03119949e+01] [-2.86075912e-01 9.57592510e-01 -3.43097188e-02 -2.13290352e+00] [-1.25265462e-01 -1.87555972e-03 9.92121488e-01 -3.85807981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405919999999995 meters 0.0300630371073842 Centerline is valid? [True, True] Translation: X:40.34, Y:-2.14, Z:-3.86 [[ 9.49756583e-01 2.88192081e-01 1.22097328e-01 4.03433447e+01] [-2.86088540e-01 9.57570790e-01 -3.48070189e-02 -2.13957345e+00] [-1.26947942e-01 -1.87245104e-03 9.91907614e-01 -3.86322564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435919999999996 meters 0.03004821132663254 Centerline is valid? [True, True] Translation: X:40.37, Y:-2.15, Z:-3.87 [[ 9.49568402e-01 2.88876682e-01 1.21943071e-01 4.03749083e+01] [-2.86776542e-01 9.57364421e-01 -3.48221143e-02 -2.14581238e+00] [-1.26803255e-01 -1.90443282e-03 9.91926060e-01 -3.86797329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46592 meters 0.02987571258993337 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.15, Z:-3.87 [[ 9.49656041e-01 2.88473408e-01 1.22214962e-01 4.04071025e+01] [-2.86352184e-01 9.57486231e-01 -3.49649078e-02 -2.15197156e+00] [-1.27105590e-01 -1.79188534e-03 9.91887573e-01 -3.87251396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49592 meters 0.029488262428824647 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.16, Z:-3.87 [[ 9.50268064e-01 2.87150504e-01 1.20561995e-01 4.04384728e+01] [-2.85068072e-01 9.57884251e-01 -3.45536796e-02 -2.15817340e+00] [-1.25406543e-01 -1.53311739e-03 9.92104253e-01 -3.87450174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52592 meters 0.029385895293395074 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.17, Z:-3.88 [[ 9.50516441e-01 2.86778069e-01 1.19485710e-01 4.04695892e+01] [-2.84722896e-01 9.57995998e-01 -3.43007468e-02 -2.16731344e+00] [-1.24303534e-01 -1.41689370e-03 9.92243228e-01 -3.87647803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55592 meters 0.02905301537478683 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.18, Z:-3.88 [[ 9.51282012e-01 2.84520645e-01 1.18787783e-01 4.05000903e+01] [-2.82465061e-01 9.58669326e-01 -3.41557266e-02 -2.17687438e+00] [-1.23596213e-01 -1.06167006e-03 9.92332026e-01 -3.87935500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585919999999994 meters 0.0291859325641947 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.19, Z:-3.88 [[ 9.51117955e-01 2.84678988e-01 1.19718460e-01 4.05316364e+01] [-2.82584860e-01 9.58622347e-01 -3.44817783e-02 -2.18553215e+00] [-1.24581029e-01 -1.03438570e-03 9.92208898e-01 -3.88349204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.615919999999996 meters 0.02904504606464116 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.19, Z:-3.89 [[ 9.51730568e-01 2.82999804e-01 1.18827762e-01 4.05625893e+01] [-2.80915955e-01 9.59119675e-01 -3.42881106e-02 -2.19395559e+00] [-1.23673573e-01 -7.47571087e-04 9.92322674e-01 -3.88809167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64592 meters 0.028881793130491232 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.20, Z:-3.89 [[ 9.51724107e-01 2.82901305e-01 1.19113708e-01 4.05943889e+01] [-2.80799792e-01 9.59148781e-01 -3.44251785e-02 -2.20377308e+00] [-1.23986696e-01 -6.83832240e-04 9.92283645e-01 -3.89026707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67592 meters 0.028640237805879713 Centerline is valid? [True, True] Translation: X:40.63, Y:-2.21, Z:-3.89 [[ 9.51589811e-01 2.83648207e-01 1.18408300e-01 4.06257737e+01] [-2.81571395e-01 9.58928132e-01 -3.42693460e-02 -2.21496449e+00] [-1.23265488e-01 -7.30029683e-04 9.92373461e-01 -3.89084990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70592 meters 0.029047299467026968 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.23, Z:-3.90 [[ 9.51257805e-01 2.84402282e-01 1.19264116e-01 4.06571659e+01] [-2.82292842e-01 9.58704725e-01 -3.45832625e-02 -2.22516528e+00] [-1.24174630e-01 -7.69807847e-04 9.92260081e-01 -3.89575650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73592 meters 0.02912134528659334 Centerline is valid? [True, True] Translation: X:40.69, Y:-2.24, Z:-3.90 [[ 9.51019102e-01 2.85450006e-01 1.18663227e-01 4.06883395e+01] [-2.83361821e-01 9.58393234e-01 -3.44744537e-02 -2.23505499e+00] [-1.23566767e-01 -8.38764204e-04 9.92335906e-01 -3.89875272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76592 meters 0.028913408577970773 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.25, Z:-3.90 [[ 9.50976195e-01 2.85700039e-01 1.18405089e-01 4.07191689e+01] [-2.83614901e-01 9.58318755e-01 -3.44637768e-02 -2.24550486e+00] [-1.23316120e-01 -8.07216275e-04 9.92367111e-01 -3.90305921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.795919999999995 meters 0.028913408577970773 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.25, Z:-3.91 [[ 9.50833238e-01 2.86182632e-01 1.18387727e-01 4.07501819e+01] [-2.84093806e-01 9.58174749e-01 -3.45233264e-02 -2.25414955e+00] [-1.23316107e-01 -8.07293519e-04 9.92367113e-01 -3.90637078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825919999999996 meters 0.02896459353902318 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.26, Z:-3.91 [[ 9.50680926e-01 2.87305480e-01 1.16881723e-01 4.07804803e+01] [-2.85270510e-01 9.57838601e-01 -3.41460218e-02 -2.26339049e+00] [-1.21764165e-01 -8.80937086e-04 9.92558669e-01 -3.90838546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85592 meters 0.028975939772990518 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.27, Z:-3.91 [[ 9.49971455e-01 2.89228879e-01 1.17902040e-01 4.08108767e+01] [-2.87165848e-01 9.57259360e-01 -3.45006187e-02 -2.27278112e+00] [-1.22841407e-01 -1.08283634e-03 9.92425723e-01 -3.90957782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88592 meters 0.029274654436977306 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.28, Z:-3.91 [[ 9.49281786e-01 2.90668321e-01 1.19900034e-01 4.08417565e+01] [-2.88538714e-01 9.56823077e-01 -3.51427045e-02 -2.28153797e+00] [-1.24937990e-01 -1.23547229e-03 9.92163783e-01 -3.91373233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91592 meters 0.0293567302704058 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.29, Z:-3.92 [[ 9.48319753e-01 2.94129858e-01 1.19068356e-01 4.08722727e+01] [-2.92050409e-01 9.55764078e-01 -3.49511877e-02 -2.28909203e+00] [-1.24081445e-01 -1.62906031e-03 9.92270700e-01 -3.91738389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94592 meters 0.029551099873053235 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.30, Z:-3.92 [[ 9.47867683e-01 2.95738710e-01 1.18682224e-01 4.09037686e+01] [-2.93680359e-01 9.55267184e-01 -3.48777027e-02 -2.29712230e+00] [-1.23687921e-01 -1.79519101e-03 9.92319543e-01 -3.92154301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.975919999999995 meters 0.029479513831034285 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.30, Z:-3.92 [[ 9.47659352e-01 2.97201553e-01 1.16674715e-01 4.09345777e+01] [-2.95215967e-01 9.54812890e-01 -3.43493641e-02 -2.30458766e+00] [-1.21611207e-01 -1.89274274e-03 9.92576008e-01 -3.92483273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005919999999996 meters 0.029367216594915275 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.31, Z:-3.93 [[ 9.47114237e-01 2.98993238e-01 1.16523241e-01 4.09661132e+01] [-2.97019505e-01 9.54252993e-01 -3.43604431e-02 -2.31390275e+00] [-1.21466191e-01 -2.06641047e-03 9.92593418e-01 -3.92670828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03592 meters 0.029715091065844433 Centerline is valid? [True, True] Translation: X:41.00, Y:-2.32, Z:-3.93 [[ 9.46439941e-01 3.01238942e-01 1.16217635e-01 4.09973193e+01] [-2.99285011e-01 9.53545938e-01 -3.43311168e-02 -2.32066748e+00] [-1.21160723e-01 -2.28985599e-03 9.92630261e-01 -3.92790169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06592 meters 0.02965926195459448 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.33, Z:-3.93 [[ 9.46439471e-01 3.01290336e-01 1.16088160e-01 4.10296791e+01] [-2.99334400e-01 9.53529818e-01 -3.43482725e-02 -2.32667825e+00] [-1.21042324e-01 -2.24061882e-03 9.92644818e-01 -3.93207616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09592 meters 0.029503670938375227 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.33, Z:-3.94 [[ 9.46113066e-01 3.02602262e-01 1.15334023e-01 4.10618136e+01] [-3.00674012e-01 9.53114067e-01 -3.41864551e-02 -2.33127893e+00] [-1.20271378e-01 -2.33369143e-03 9.92738309e-01 -3.93622470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12592 meters 0.029393575853913712 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.34, Z:-3.94 [[ 9.45899400e-01 3.03227633e-01 1.15444046e-01 4.10940819e+01] [-3.01292877e-01 9.52915237e-01 -3.42805035e-02 -2.33920400e+00] [-1.20403186e-01 -2.35656101e-03 9.92722277e-01 -3.93866192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.155919999999995 meters 0.02960663097992344 Centerline is valid? [True, True] Translation: X:41.13, Y:-2.34, Z:-3.94 [[ 9.45286673e-01 3.05041866e-01 1.15683040e-01 4.11261122e+01] [-3.03105181e-01 9.52335569e-01 -3.44124020e-02 -2.34274947e+00] [-1.20666297e-01 -2.53454377e-03 9.92689892e-01 -3.94016268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185919999999996 meters 0.029768788154709888 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.35, Z:-3.94 [[ 9.45024096e-01 3.06141853e-01 1.14920077e-01 4.11584538e+01] [-3.04232193e-01 9.51982343e-01 -3.42401931e-02 -2.34842244e+00] [-1.19884240e-01 -2.60457949e-03 9.92784461e-01 -3.94357191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21592 meters 0.029612797337491573 Centerline is valid? [True, True] Translation: X:41.19, Y:-2.35, Z:-3.95 [[ 9.45085225e-01 3.05622183e-01 1.15797231e-01 4.11918010e+01] [-3.03671704e-01 9.52149588e-01 -3.45638162e-02 -2.35202937e+00] [-1.20819754e-01 -2.49859030e-03 9.92671317e-01 -3.94707673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24592 meters 0.029545507262359046 Centerline is valid? [True, True] Translation: X:41.22, Y:-2.36, Z:-3.95 [[ 9.45091094e-01 3.05168206e-01 1.16940971e-01 4.12241297e+01] [-3.03167692e-01 9.52295429e-01 -3.49680859e-02 -2.35765351e+00] [-1.22033500e-01 -2.40469766e-03 9.92523069e-01 -3.95035136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27592 meters 0.02889429159934286 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.36, Z:-3.95 [[ 9.45613485e-01 3.04515512e-01 1.14391605e-01 4.12580804e+01] [-3.02590300e-01 9.52504796e-01 -3.42596596e-02 -2.35816790e+00] [-1.19391150e-01 -2.21739408e-03 9.92844820e-01 -3.95203277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30592 meters 0.028605713248734364 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.36, Z:-3.96 [[ 9.45636657e-01 3.04612347e-01 1.13941347e-01 4.12901637e+01] [-3.02699969e-01 9.52473881e-01 -3.41501786e-02 -2.36328099e+00] [-1.18928723e-01 -2.19638135e-03 9.92900365e-01 -3.95589145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.335919999999994 meters 0.028318611920828858 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.37, Z:-3.96 [[ 9.46010101e-01 3.03786281e-01 1.13043287e-01 4.13224151e+01] [-3.01891634e-01 9.52738056e-01 -3.39358083e-02 -2.36923739e+00] [-1.18009875e-01 -2.02320518e-03 9.93010361e-01 -3.95792970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365919999999996 meters 0.02800903904423082 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.37, Z:-3.96 [[ 9.46536302e-01 3.01972655e-01 1.13496894e-01 4.13557898e+01] [-3.00046857e-01 9.53314923e-01 -3.40960478e-02 -2.37098788e+00] [-1.18494357e-01 -1.78123929e-03 9.92953128e-01 -3.96008664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39592 meters 0.02776396819668133 Centerline is valid? [True, True] Translation: X:41.39, Y:-2.38, Z:-3.96 [[ 9.46850389e-01 3.00834113e-01 1.13899859e-01 4.13878326e+01] [-2.98879747e-01 9.53675156e-01 -3.42723429e-02 -2.37607498e+00] [-1.18933756e-01 -1.59157990e-03 9.92900916e-01 -3.96440839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42592 meters 0.027597422023725494 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.38, Z:-3.97 [[ 9.47266257e-01 2.99212903e-01 1.14709529e-01 4.14198140e+01] [-2.97211751e-01 9.54185431e-01 -3.45736726e-02 -2.38167620e+00] [-1.19799051e-01 -1.34254663e-03 9.92797253e-01 -3.96908800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45592 meters 0.02699981101937006 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.39, Z:-3.97 [[ 9.47959802e-01 2.97549850e-01 1.13297404e-01 4.14514279e+01] [-2.95582319e-01 9.54705663e-01 -3.41788035e-02 -2.38839664e+00] [-1.18335571e-01 -1.08857747e-03 9.92973065e-01 -3.96954916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48592 meters 0.027041708723666843 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.39, Z:-3.97 [[ 9.48221399e-01 2.96169325e-01 1.14716645e-01 4.14840836e+01] [-2.94135037e-01 9.55135053e-01 -3.46642670e-02 -2.39488205e+00] [-1.19836381e-01 -8.72784759e-04 9.92793272e-01 -3.97343958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51592 meters 0.027113307008278617 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.40, Z:-3.98 [[ 9.48130292e-01 2.96087298e-01 1.15677399e-01 4.15161318e+01] [-2.94010163e-01 9.55160542e-01 -3.50194793e-02 -2.40202988e+00] [-1.20859310e-01 -8.07301840e-04 9.92669318e-01 -3.97791131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545919999999995 meters 0.026990690606342897 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.41, Z:-3.98 [[ 9.49127329e-01 2.93305191e-01 1.14583497e-01 4.15473220e+01] [-2.91240270e-01 9.56018781e-01 -3.47447183e-02 -2.41041918e+00] [-1.19734781e-01 -3.94166753e-04 9.92805835e-01 -3.98272609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575919999999996 meters 0.02689109864365671 Centerline is valid? [True, True] Translation: X:41.58, Y:-2.42, Z:-3.99 [[ 9.49073428e-01 2.93443612e-01 1.14675521e-01 4.15782975e+01] [-2.91373152e-01 9.55976306e-01 -3.47992655e-02 -2.42098580e+00] [-1.19838703e-01 -3.86309751e-04 9.92793300e-01 -3.98602992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60592 meters 0.026927966389314145 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.43, Z:-3.99 [[ 9.48399194e-01 2.94603695e-01 1.17250293e-01 4.16079476e+01] [-2.92439610e-01 9.55619396e-01 -3.56460919e-02 -2.43157614e+00] [-1.22548125e-01 -4.81905237e-04 9.92462455e-01 -3.99006957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63592 meters 0.027179525599618108 Centerline is valid? [True, True] Translation: X:41.64, Y:-2.44, Z:-3.99 [[ 9.47940424e-01 2.95811614e-01 1.17917095e-01 4.16391008e+01] [-2.93624680e-01 9.55246119e-01 -3.59082156e-02 -2.44094927e+00] [-1.23261915e-01 -5.84520325e-04 9.92374001e-01 -3.99301343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66592 meters 0.026966894932514748 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.45, Z:-4.00 [[ 9.47674419e-01 2.97874142e-01 1.14822436e-01 4.16696665e+01] [-2.95808539e-01 9.54604840e-01 -3.50272289e-02 -2.45106310e+00] [-1.20043759e-01 -7.71048423e-04 9.92768302e-01 -3.99555288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69592 meters 0.027142720022798255 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.46, Z:-4.00 [[ 9.47292240e-01 2.99044988e-01 1.14932619e-01 4.17004699e+01] [-2.96977054e-01 9.54238621e-01 -3.51181216e-02 -2.46207911e+00] [-1.20175043e-01 -8.65226656e-04 9.92752341e-01 -3.99969643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725919999999995 meters 0.02753445116592342 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.47, Z:-4.00 [[ 9.46332886e-01 3.01647341e-01 1.16029958e-01 4.17304179e+01] [-2.99551289e-01 9.53418884e-01 -3.55169951e-02 -2.47293711e+00] [-1.21338760e-01 -1.14602295e-03 9.92610494e-01 -4.00229588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755919999999996 meters 0.027823290979251705 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.48, Z:-4.00 [[ 9.44921164e-01 3.05545795e-01 1.17327578e-01 4.17607726e+01] [-3.03425252e-01 9.52176021e-01 -3.59714019e-02 -2.48211240e+00] [-1.22707417e-01 -1.61001105e-03 9.92441584e-01 -4.00441564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78592 meters 0.02824642602463621 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.49, Z:-4.01 [[ 9.43447010e-01 3.10753179e-01 1.15499790e-01 4.17920806e+01] [-3.08730540e-01 9.50488101e-01 -3.54658085e-02 -2.48837684e+00] [-1.20802289e-01 -2.19820162e-03 9.92674153e-01 -4.00841740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81592 meters 0.028516010070848544 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.50, Z:-4.01 [[ 9.42937358e-01 3.12650090e-01 1.14538466e-01 4.18238188e+01] [-3.10668310e-01 9.49865420e-01 -3.52261879e-02 -2.49657889e+00] [-1.19809599e-01 -2.36738299e-03 9.92794065e-01 -4.01207266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84592 meters 0.028721146251366986 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.51, Z:-4.01 [[ 9.42214983e-01 3.14816417e-01 1.14549334e-01 4.18545400e+01] [-3.12842867e-01 9.49149062e-01 -3.52902122e-02 -2.50570136e+00] [-1.19834331e-01 -2.58497551e-03 9.92790537e-01 -4.01477871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87592 meters 0.02928459240804296 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.52, Z:-4.02 [[ 9.41258804e-01 3.17564280e-01 1.14825054e-01 4.18845773e+01] [-3.15594999e-01 9.48232342e-01 -3.54291073e-02 -2.51536524e+00] [-1.20131849e-01 -2.89025381e-03 9.92753738e-01 -4.01774595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905919999999995 meters 0.029438108774483156 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.52, Z:-4.02 [[ 9.40861620e-01 3.18426810e-01 1.15688284e-01 4.19153463e+01] [-3.16427562e-01 9.47942793e-01 -3.57499535e-02 -2.52360616e+00] [-1.21049618e-01 -2.97120237e-03 9.92642011e-01 -4.02055575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935919999999996 meters 0.02932385762894396 Centerline is valid? [True, True] Translation: X:41.95, Y:-2.53, Z:-4.03 [[ 9.40939968e-01 3.17578528e-01 1.17370592e-01 4.19484769e+01] [-3.15506909e-01 9.48227692e-01 -3.63267692e-02 -2.52612866e+00] [-1.22830647e-01 -2.84992347e-03 9.92423554e-01 -4.02520941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96592 meters 0.029053832513206403 Centerline is valid? [True, True] Translation: X:41.98, Y:-2.53, Z:-4.03 [[ 9.41123740e-01 3.16990402e-01 1.17486982e-01 4.19802250e+01] [-3.14902429e-01 9.48424854e-01 -3.64246726e-02 -2.53082122e+00] [-1.22973845e-01 -2.71681184e-03 9.92406193e-01 -4.02876793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99592 meters 0.028926070413314547 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.54, Z:-4.03 [[ 9.41605244e-01 3.15089910e-01 1.18734632e-01 4.20111376e+01] [-3.12935104e-01 9.49058685e-01 -3.68677693e-02 -2.53720567e+00] [-1.24302796e-01 -2.44134942e-03 9.92241329e-01 -4.03457710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02592 meters 0.028770345814111777 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.55, Z:-4.04 [[ 9.41854292e-01 3.14768974e-01 1.17605214e-01 4.20420246e+01] [-3.12645772e-01 9.49165474e-01 -3.65721853e-02 -2.54673417e+00] [-1.23138598e-01 -2.32310327e-03 9.92386764e-01 -4.03650571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05592 meters 0.028917015671711233 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.55, Z:-4.04 [[ 9.41957304e-01 3.14716048e-01 1.16919832e-01 4.20739229e+01] [-3.12610373e-01 9.49183201e-01 -3.64143618e-02 -2.55208100e+00] [-1.22438524e-01 -2.24957822e-03 9.92473550e-01 -4.03970508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085919999999994 meters 0.02886080882335874 Centerline is valid? [True, True] Translation: X:42.11, Y:-2.56, Z:-4.04 [[ 9.42021015e-01 3.13639491e-01 1.19275634e-01 4.21057995e+01] [-3.11432480e-01 9.49539811e-01 -3.72015814e-02 -2.55501832e+00] [-1.24924848e-01 -2.10163509e-03 9.92163981e-01 -4.04439143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.115919999999996 meters 0.02874756764215985 Centerline is valid? [True, True] Translation: X:42.14, Y:-2.56, Z:-4.05 [[ 9.42191150e-01 3.13038672e-01 1.19509945e-01 4.21371548e+01] [-3.10813314e-01 9.49738297e-01 -3.73128941e-02 -2.56320048e+00] [-1.25183551e-01 -1.98940359e-03 9.92131605e-01 -4.04822587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14592 meters 0.028772051465633008 Centerline is valid? [True, True] Translation: X:42.17, Y:-2.57, Z:-4.05 [[ 9.42706343e-01 3.12204489e-01 1.17614234e-01 4.21672861e+01] [-3.10035202e-01 9.50013241e-01 -3.67833609e-02 -2.57410638e+00] [-1.23219010e-01 -1.78864510e-03 9.92377890e-01 -4.05044812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17592 meters 0.02859283664587137 Centerline is valid? [True, True] Translation: X:42.20, Y:-2.58, Z:-4.05 [[ 9.42992475e-01 3.11259344e-01 1.17825346e-01 4.21984857e+01] [-3.09067637e-01 9.50323640e-01 -3.69076488e-02 -2.58294793e+00] [-1.23460062e-01 -1.61236609e-03 9.92348232e-01 -4.05352319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20592 meters 0.028413773624804933 Centerline is valid? [True, True] Translation: X:42.23, Y:-2.59, Z:-4.06 [[ 9.43556281e-01 3.09533100e-01 1.17859256e-01 4.22298797e+01] [-3.07319538e-01 9.50887736e-01 -3.69758636e-02 -2.59124006e+00] [-1.23516175e-01 -1.33164388e-03 9.92341666e-01 -4.05718375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23592 meters 0.028327870959308096 Centerline is valid? [True, True] Translation: X:42.26, Y:-2.60, Z:-4.06 [[ 9.44505899e-01 3.06502111e-01 1.18173867e-01 4.22609594e+01] [-3.04249578e-01 9.51869542e-01 -3.71021402e-02 -2.59839470e+00] [-1.23857989e-01 -9.11158861e-04 9.92299536e-01 -4.06024658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265919999999994 meters 0.02834015785149061 Centerline is valid? [True, True] Translation: X:42.29, Y:-2.61, Z:-4.06 [[ 9.44309823e-01 3.06320457e-01 1.20194578e-01 4.22915730e+01] [-3.03980807e-01 9.51928077e-01 -3.77968937e-02 -2.60688219e+00] [-1.25994555e-01 -8.44866788e-04 9.92030573e-01 -4.06373847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.295919999999995 meters 0.028333677795517202 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.62, Z:-4.07 [[ 9.43813504e-01 3.08724185e-01 1.17921363e-01 4.23220536e+01] [-3.06484046e-01 9.51150983e-01 -3.71394185e-02 -2.61560323e+00] [-1.23626857e-01 -1.08833162e-03 9.92328179e-01 -4.06505419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325919999999996 meters 0.028415321302250128 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.63, Z:-4.07 [[ 9.43229647e-01 3.10678432e-01 1.17459545e-01 4.23534166e+01] [-3.08463669e-01 9.50514211e-01 -3.70526464e-02 -2.62596484e+00] [-1.23158424e-01 -1.28284753e-03 9.92386193e-01 -4.06857819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35592 meters 0.02877077973421898 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.64, Z:-4.07 [[ 9.42096571e-01 3.14757783e-01 1.15678820e-01 4.23838052e+01] [-3.12632652e-01 9.49170457e-01 -3.65550034e-02 -2.63718857e+00] [-1.21304891e-01 -1.72663311e-03 9.92613793e-01 -4.07308498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38592 meters 0.029045546963816782 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.65, Z:-4.08 [[ 9.41380187e-01 3.17100815e-01 1.15110455e-01 4.24149384e+01] [-3.15006232e-01 9.48389816e-01 -3.64394193e-02 -2.64684893e+00] [-1.20724553e-01 -1.95716334e-03 9.92684115e-01 -4.07669638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41592 meters 0.029126221097075508 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.66, Z:-4.08 [[ 9.40956115e-01 3.18213194e-01 1.15507373e-01 4.24467255e+01] [-3.16104605e-01 9.48016971e-01 -3.66292357e-02 -2.65561329e+00] [-1.21158856e-01 -2.04590924e-03 9.92631022e-01 -4.07866868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44592 meters 0.02924794431421229 Centerline is valid? [True, True] Translation: X:42.48, Y:-2.66, Z:-4.08 [[ 9.40544997e-01 3.19345256e-01 1.15731221e-01 4.24792983e+01] [-3.17229246e-01 9.47636031e-01 -3.67635478e-02 -2.66251521e+00] [-1.21411339e-01 -2.13555700e-03 9.92599983e-01 -4.08264794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.475919999999995 meters 0.029297229245016144 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.67, Z:-4.09 [[ 9.40335414e-01 3.20209497e-01 1.15044282e-01 4.25115381e+01] [-3.18117376e-01 9.47344264e-01 -3.66084703e-02 -2.67009024e+00] [-1.20708920e-01 -2.17334402e-03 9.92685566e-01 -4.08631799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505919999999996 meters 0.02905780332267975 Centerline is valid? [True, True] Translation: X:42.54, Y:-2.68, Z:-4.09 [[ 9.40532122e-01 3.20352128e-01 1.13021425e-01 4.25433124e+01] [-3.18327579e-01 9.47296208e-01 -3.60200940e-02 -2.67549119e+00] [-1.18603881e-01 -2.09978111e-03 9.92939429e-01 -4.09141566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53592 meters 0.0290171917815063 Centerline is valid? [True, True] Translation: X:42.58, Y:-2.68, Z:-4.09 [[ 9.40336061e-01 3.20841128e-01 1.13265454e-01 4.25750304e+01] [-3.18808228e-01 9.47130606e-01 -3.61238015e-02 -2.68353308e+00] [-1.18867180e-01 -2.14144560e-03 9.92907855e-01 -4.09452730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56592 meters 0.028923692098146332 Centerline is valid? [True, True] Translation: X:42.61, Y:-2.69, Z:-4.10 [[ 9.40564885e-01 3.19719035e-01 1.14531371e-01 4.26077626e+01] [-3.17624167e-01 9.47510367e-01 -3.65922677e-02 -2.68785346e+00] [-1.20218906e-01 -1.96052916e-03 9.92745471e-01 -4.09566110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59592 meters 0.028856383343434985 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.70, Z:-4.10 [[ 9.40592759e-01 3.19440176e-01 1.15079262e-01 4.26401144e+01] [-3.17315284e-01 9.47604593e-01 -3.68313056e-02 -2.69549845e+00] [-1.20815036e-01 -1.87314941e-03 9.92673269e-01 -4.09885508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62592 meters 0.02869208129184591 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.70, Z:-4.10 [[ 9.41298506e-01 3.17302451e-01 1.15222731e-01 4.26719506e+01] [-3.15148570e-01 9.48323142e-01 -3.69404465e-02 -2.70158352e+00] [-1.20989676e-01 -1.54029165e-03 9.92652571e-01 -4.10265563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.655919999999995 meters 0.02848845595998562 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.71, Z:-4.11 [[ 9.41713009e-01 3.16434012e-01 1.14219631e-01 4.27029357e+01] [-3.14304523e-01 9.48613545e-01 -3.66743604e-02 -2.70929338e+00] [-1.19955304e-01 -1.36302440e-03 9.92778357e-01 -4.10615783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685919999999996 meters 0.028347152335768178 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.72, Z:-4.11 [[ 9.42611701e-01 3.13631567e-01 1.14535676e-01 4.27343270e+01] [-3.11462694e-01 9.49544274e-01 -3.68328880e-02 -2.71560016e+00] [-1.20308651e-01 -9.54478791e-04 9.92736076e-01 -4.10836793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71592 meters 0.028347152335768178 Centerline is valid? [True, True] Translation: X:42.77, Y:-2.73, Z:-4.11 [[ 9.42450445e-01 3.14122063e-01 1.14518509e-01 4.27651361e+01] [-3.11950320e-01 9.49382118e-01 -3.68861905e-02 -2.72513605e+00] [-1.20308591e-01 -9.60678977e-04 9.92736078e-01 -4.11167805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74592 meters 0.028261096245026252 Centerline is valid? [True, True] Translation: X:42.80, Y:-2.73, Z:-4.11 [[ 9.42972318e-01 3.11948076e-01 1.16153369e-01 4.27966632e+01] [-3.09689888e-01 9.50098939e-01 -3.74723897e-02 -2.73246830e+00] [-1.22046632e-01 -6.36097599e-04 9.92524163e-01 -4.11388123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77592 meters 0.027972258764598287 Centerline is valid? [True, True] Translation: X:42.83, Y:-2.74, Z:-4.12 [[ 9.43678249e-01 3.10466797e-01 1.14375389e-01 4.28286858e+01] [-3.08263430e-01 9.50584135e-01 -3.69250560e-02 -2.73700024e+00] [-1.20187434e-01 -4.12377494e-04 9.92751132e-01 -4.11502453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80592 meters 0.027827997080919018 Centerline is valid? [True, True] Translation: X:42.86, Y:-2.74, Z:-4.12 [[ 9.43946440e-01 3.09562259e-01 1.14613816e-01 4.28611969e+01] [-3.07335758e-01 9.50879146e-01 -3.70618681e-02 -2.74435508e+00] [-1.20456843e-01 -2.40505400e-04 9.92718536e-01 -4.11768709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.835919999999994 meters 0.027665059851597243 Centerline is valid? [True, True] Translation: X:42.89, Y:-2.75, Z:-4.12 [[ 9.44498165e-01 3.08083782e-01 1.14050867e-01 4.28933051e+01] [-3.05860466e-01 9.51359229e-01 -3.69457949e-02 -2.75226131e+00] [-1.19885745e-01 1.15842310e-05 9.92787695e-01 -4.12261845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865919999999996 meters 0.027772077512325726 Centerline is valid? [True, True] Translation: X:42.92, Y:-2.76, Z:-4.13 [[ 9.45172277e-01 3.05560211e-01 1.15248967e-01 4.29232106e+01] [-3.03263441e-01 9.52172674e-01 -3.73963158e-02 -2.76162662e+00] [-1.21163743e-01 3.95162628e-04 9.92632455e-01 -4.12734303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89592 meters 0.027785014889944986 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.77, Z:-4.13 [[ 9.46082188e-01 3.02745460e-01 1.15211459e-01 4.29537889e+01] [-3.00424763e-01 9.53071120e-01 -3.74219494e-02 -2.77277669e+00] [-1.21134039e-01 7.91864614e-04 9.92635843e-01 -4.13015962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92592 meters 0.027583967552118952 Centerline is valid? [True, True] Translation: X:42.99, Y:-2.78, Z:-4.13 [[ 9.46995072e-01 3.00775511e-01 1.12846917e-01 4.29850412e+01] [-2.98527912e-01 9.53694353e-01 -3.67173965e-02 -2.78210066e+00] [-1.18665161e-01 1.08323912e-03 9.92933737e-01 -4.13115154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95592 meters 0.027732790479745934 Centerline is valid? [True, True] Translation: X:43.02, Y:-2.79, Z:-4.13 [[ 9.47157617e-01 3.00103593e-01 1.13270836e-01 4.30165559e+01] [-2.97827109e-01 9.53905825e-01 -3.69146286e-02 -2.79092960e+00] [-1.19127923e-01 1.22884604e-03 9.92878154e-01 -4.13450224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98592 meters 0.027561621593847226 Centerline is valid? [True, True] Translation: X:43.05, Y:-2.80, Z:-4.14 [[ 9.47575682e-01 2.98346267e-01 1.14410802e-01 4.30472217e+01] [-2.96002824e-01 9.54456479e-01 -3.73518034e-02 -2.79832841e+00] [-1.20343903e-01 1.52774004e-03 9.92731087e-01 -4.13779824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.015919999999994 meters 0.027609303806056276 Centerline is valid? [True, True] Translation: X:43.08, Y:-2.81, Z:-4.14 [[ 9.47443711e-01 2.98326740e-01 1.15548997e-01 4.30771031e+01] [-2.95929240e-01 9.54462465e-01 -3.77794514e-02 -2.80925393e+00] [-1.21557801e-01 1.59957671e-03 9.92583066e-01 -4.14167581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045919999999995 meters 0.027581271689529105 Centerline is valid? [True, True] Translation: X:43.11, Y:-2.82, Z:-4.15 [[ 9.47243722e-01 2.98766815e-01 1.16050517e-01 4.31070964e+01] [-2.96344119e-01 9.54324789e-01 -3.80047524e-02 -2.82170711e+00] [-1.22104444e-01 1.60887493e-03 9.92515953e-01 -4.14547645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075919999999996 meters 0.027664400351442544 Centerline is valid? [True, True] Translation: X:43.14, Y:-2.83, Z:-4.15 [[ 9.47021606e-01 2.99407681e-01 1.16211520e-01 4.31376978e+01] [-2.96974594e-01 9.54123943e-01 -3.81259975e-02 -2.83139491e+00] [-1.22295410e-01 1.59427440e-03 9.92492464e-01 -4.15052639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10592 meters 0.027363787385329533 Centerline is valid? [True, True] Translation: X:43.17, Y:-2.84, Z:-4.15 [[ 9.46846924e-01 3.00432592e-01 1.14983305e-01 4.31677090e+01] [-2.98050420e-01 9.53801856e-01 -3.77884461e-02 -2.84161815e+00] [-1.21024171e-01 1.50905150e-03 9.92648414e-01 -4.15183468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13592 meters 0.027232589837246694 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.85, Z:-4.15 [[ 9.46631626e-01 3.00985683e-01 1.15309079e-01 4.31985334e+01] [-2.98587367e-01 9.53627487e-01 -3.79499685e-02 -2.85438645e+00] [-1.21384305e-01 1.49480599e-03 9.92604461e-01 -4.15482852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16592 meters 0.027208532587864365 Centerline is valid? [True, True] Translation: X:43.23, Y:-2.87, Z:-4.16 [[ 9.46121390e-01 3.03014537e-01 1.14177522e-01 4.32279732e+01] [-3.00673866e-01 9.52985108e-01 -3.76113070e-02 -2.86704299e+00] [-1.20206251e-01 1.25466503e-03 9.92748147e-01 -4.15698961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19592 meters 0.02726637506980949 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.88, Z:-4.16 [[ 9.45957766e-01 3.03267288e-01 1.14860160e-01 4.32592583e+01] [-3.00892842e-01 9.52904660e-01 -3.78973136e-02 -2.87692158e+00] [-1.20943797e-01 1.28865814e-03 9.92658520e-01 -4.16125846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225919999999995 meters 0.027098412223020188 Centerline is valid? [True, True] Translation: X:43.29, Y:-2.89, Z:-4.17 [[ 9.45693986e-01 3.03899995e-01 1.15358906e-01 4.32896194e+01] [-3.01501173e-01 9.52703080e-01 -3.81298310e-02 -2.88841208e+00] [-1.21490440e-01 1.27830660e-03 9.92591779e-01 -4.16506310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255919999999996 meters 0.02715830752668061 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.90, Z:-4.17 [[ 9.45739828e-01 3.04278225e-01 1.13977805e-01 4.33198494e+01] [-3.01931600e-01 9.52582349e-01 -3.77382828e-02 -2.89954710e+00] [-1.20056183e-01 1.27709602e-03 9.92766278e-01 -4.16841648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28592 meters 0.027053141432267468 Centerline is valid? [True, True] Translation: X:43.35, Y:-2.91, Z:-4.17 [[ 9.45755993e-01 3.04337322e-01 1.13685516e-01 4.33512945e+01] [-3.01996016e-01 9.52563407e-01 -3.77009699e-02 -2.91017141e+00] [-1.19766475e-01 1.32334538e-03 9.92801209e-01 -4.17098259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31592 meters 0.027081763171923418 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.92, Z:-4.17 [[ 9.45484209e-01 3.04911926e-01 1.14404229e-01 4.33815668e+01] [-3.02536772e-01 9.52379633e-01 -3.80070512e-02 -2.92215678e+00] [-1.20545060e-01 1.32358076e-03 9.92706974e-01 -4.17494176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34592 meters 0.027265143377092703 Centerline is valid? [True, True] Translation: X:43.41, Y:-2.94, Z:-4.18 [[ 9.45978234e-01 3.03099212e-01 1.15134910e-01 4.34102393e+01] [-3.00671980e-01 9.52957615e-01 -3.83163818e-02 -2.93711073e+00] [-1.21332354e-01 1.62862177e-03 9.92610602e-01 -4.17894679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37592 meters 0.027352430108953194 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.95, Z:-4.18 [[ 9.46206964e-01 3.03200186e-01 1.12969152e-01 4.34397455e+01] [-3.00858284e-01 9.52925483e-01 -3.76472695e-02 -2.94989628e+00] [-1.19065843e-01 1.63440332e-03 9.92885015e-01 -4.18134641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405919999999995 meters 0.027441522047152684 Centerline is valid? [True, True] Translation: X:43.47, Y:-2.96, Z:-4.19 [[ 9.46242936e-01 3.02892771e-01 1.13491299e-01 4.34702485e+01] [-3.00523517e-01 9.53023112e-01 -3.78492136e-02 -2.96134575e+00] [-1.19624084e-01 1.70774680e-03 9.92817789e-01 -4.18541311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435919999999996 meters 0.027426356383710077 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.97, Z:-4.19 [[ 9.46002247e-01 3.03558073e-01 1.13720030e-01 4.34999893e+01] [-3.01175791e-01 9.52811436e-01 -3.79935518e-02 -2.97374333e+00] [-1.19886994e-01 1.69226546e-03 9.92786102e-01 -4.19039098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46592 meters 0.02737208460663647 Centerline is valid? [True, True] Translation: X:43.53, Y:-2.99, Z:-4.19 [[ 9.45878016e-01 3.03631332e-01 1.14554762e-01 4.35305771e+01] [-3.01205974e-01 9.52787967e-01 -3.83412369e-02 -2.98651288e+00] [-1.20788000e-01 1.76155443e-03 9.92676763e-01 -4.19253500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49592 meters 0.027442667132261123 Centerline is valid? [True, True] Translation: X:43.56, Y:-3.00, Z:-4.20 [[ 9.45388849e-01 3.04677319e-01 1.15808703e-01 4.35603205e+01] [-3.02197848e-01 9.52454096e-01 -3.88285541e-02 -3.00117870e+00] [-1.22132653e-01 1.71094131e-03 9.92512311e-01 -4.19644141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52592 meters 0.02724332695394822 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.01, Z:-4.20 [[ 9.44950107e-01 3.06449465e-01 1.14708417e-01 4.35899848e+01] [-3.04022143e-01 9.51885699e-01 -3.85246976e-02 -3.01338506e+00] [-1.20995175e-01 1.53001840e-03 9.92651916e-01 -4.19972000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55592 meters 0.02730015849126706 Centerline is valid? [True, True] Translation: X:43.62, Y:-3.03, Z:-4.20 [[ 9.44037721e-01 3.09174351e-01 1.14908672e-01 4.36189998e+01] [-3.06752191e-01 9.51004574e-01 -3.86444538e-02 -3.02843181e+00] [-1.21226547e-01 1.23333515e-03 9.92624100e-01 -4.20456482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585919999999994 meters 0.027378183422169633 Centerline is valid? [True, True] Translation: X:43.65, Y:-3.04, Z:-4.21 [[ 9.43533160e-01 3.10811411e-01 1.14636135e-01 4.36489790e+01] [-3.08409351e-01 9.50471025e-01 -3.85811241e-02 -3.04095499e+00] [-1.20949778e-01 1.04771403e-03 9.92658075e-01 -4.20842154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.615919999999996 meters 0.027366007882035377 Centerline is valid? [True, True] Translation: X:43.68, Y:-3.05, Z:-4.21 [[ 9.42619743e-01 3.13035369e-01 1.16089959e-01 4.36785875e+01] [-3.10580053e-01 9.49741099e-01 -3.91391747e-02 -3.05415626e+00] [-1.22507351e-01 8.38133088e-04 9.92467252e-01 -4.21171464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64592 meters 0.027246385425484444 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.07, Z:-4.21 [[ 9.41825594e-01 3.15340522e-01 1.16296625e-01 4.37092113e+01] [-3.12885509e-01 9.48978393e-01 -3.92768171e-02 -3.06555863e+00] [-1.22748557e-01 6.04382882e-04 9.92437618e-01 -4.21436645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67592 meters 0.027587648673958402 Centerline is valid? [True, True] Translation: X:43.74, Y:-3.08, Z:-4.22 [[ 9.40169565e-01 3.19125762e-01 1.19331207e-01 4.37381963e+01] [-3.16561856e-01 9.47712359e-01 -4.03717227e-02 -3.07925359e+00] [-1.25975316e-01 1.80556743e-04 9.92033360e-01 -4.21812606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70592 meters 0.027585079925720304 Centerline is valid? [True, True] Translation: X:43.77, Y:-3.09, Z:-4.22 [[ 9.39948051e-01 3.20298739e-01 1.17925315e-01 4.37677860e+01] [-3.17796826e-01 9.47316585e-01 -3.99557984e-02 -3.09067020e+00] [-1.24510398e-01 8.00841766e-05 9.92218300e-01 -4.22070819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73592 meters 0.027644781182369627 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.10, Z:-4.23 [[ 9.39381387e-01 3.21912098e-01 1.18047496e-01 4.37976385e+01] [-3.19409982e-01 9.46769558e-01 -4.00583070e-02 -3.10280518e+00] [-1.24659030e-01 -7.55207620e-05 9.92199637e-01 -4.22524690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765919999999994 meters 0.027873535752637325 Centerline is valid? [True, True] Translation: X:43.83, Y:-3.11, Z:-4.23 [[ 9.38830205e-01 3.23230149e-01 1.18828095e-01 4.38281859e+01] [-3.20696445e-01 9.46320367e-01 -4.03925020e-02 -3.11499114e+00] [-1.25505520e-01 -1.86046558e-04 9.92092904e-01 -4.22935227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.795919999999995 meters 0.02758804748938792 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.13, Z:-4.23 [[ 9.38885906e-01 3.23900085e-01 1.16541794e-01 4.38575256e+01] [-3.21460446e-01 9.46091270e-01 -3.96798484e-02 -3.12717179e+00] [-1.23111480e-01 -2.08726520e-04 9.92392825e-01 -4.23167028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825919999999996 meters 0.02777744729270365 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.14, Z:-4.23 [[ 9.38216485e-01 3.25857168e-01 1.16477177e-01 4.38873625e+01] [-3.23427830e-01 9.45418923e-01 -3.97177474e-02 -3.14141411e+00] [-1.23062040e-01 -4.08115259e-04 9.92398895e-01 -4.23459000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85592 meters 0.028045304745461453 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.15, Z:-4.24 [[ 9.37544130e-01 3.28120861e-01 1.15532270e-01 4.39184574e+01] [-3.25739959e-01 9.44635536e-01 -3.94611728e-02 -3.15270521e+00] [-1.22083922e-01 -6.36885956e-04 9.92519577e-01 -4.23781215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88592 meters 0.027987195785620214 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.16, Z:-4.24 [[ 9.36940231e-01 3.29543018e-01 1.16380420e-01 4.39485514e+01] [-3.27129670e-01 9.44140251e-01 -3.98166592e-02 -3.16333441e+00] [-1.23000741e-01 -7.65658371e-04 9.92406284e-01 -4.24145263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91592 meters 0.028186594116964316 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.18, Z:-4.25 [[ 9.35904317e-01 3.32041967e-01 1.17606297e-01 4.39775514e+01] [-3.29589479e-01 9.43264031e-01 -4.02956925e-02 -3.17781549e+00] [-1.24313651e-01 -1.04888575e-03 9.92242418e-01 -4.24575581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94592 meters 0.02860417186866761 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.19, Z:-4.25 [[ 9.35721994e-01 3.32656178e-01 1.17320997e-01 4.40078024e+01] [-3.30212910e-01 9.43047571e-01 -4.02580781e-02 -3.19062292e+00] [-1.24031379e-01 -1.07053863e-03 9.92277719e-01 -4.24944700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.975919999999995 meters 0.028565712168854708 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.20, Z:-4.25 [[ 9.35395257e-01 3.33620010e-01 1.17189596e-01 4.40377731e+01] [-3.31181361e-01 9.42706956e-01 -4.02802840e-02 -3.20302404e+00] [-1.23913756e-01 -1.13302311e-03 9.92292345e-01 -4.25331682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005919999999996 meters 0.028637712020595122 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.21, Z:-4.26 [[ 9.35594020e-01 3.33553349e-01 1.15784257e-01 4.40680435e+01] [-3.31165257e-01 9.42730636e-01 -3.98562508e-02 -3.21450492e+00] [-1.22447552e-01 -1.05445335e-03 9.92474425e-01 -4.25758222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03592 meters 0.028572379398218415 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.23, Z:-4.26 [[ 9.35056813e-01 3.35232814e-01 1.15272359e-01 4.40981347e+01] [-3.32874080e-01 9.42134512e-01 -3.97166091e-02 -3.22913192e+00] [-1.21916378e-01 -1.23389447e-03 9.92539608e-01 -4.25946538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06592 meters 0.02869683289675268 Centerline is valid? [True, True] Translation: X:44.13, Y:-3.24, Z:-4.26 [[ 9.34604272e-01 3.36369198e-01 1.15631388e-01 4.41291926e+01] [-3.33996309e-01 9.41729265e-01 -3.99056077e-02 -3.24120101e+00] [-1.22316480e-01 -1.32450545e-03 9.92490264e-01 -4.26184311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09592 meters 0.028941815075938404 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.25, Z:-4.26 [[ 9.33905192e-01 3.38164381e-01 1.16042851e-01 4.41594132e+01] [-3.35780366e-01 9.41085856e-01 -4.01118041e-02 -3.25235774e+00] [-1.22770669e-01 -1.50428887e-03 9.92433927e-01 -4.26447750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12592 meters 0.029284595522628565 Centerline is valid? [True, True] Translation: X:44.19, Y:-3.26, Z:-4.27 [[ 9.32668288e-01 3.40942192e-01 1.17848570e-01 4.41890303e+01] [-3.38497794e-01 9.40082456e-01 -4.07948538e-02 -3.26383382e+00] [-1.24696060e-01 -1.84341438e-03 9.92193275e-01 -4.26758044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.155919999999995 meters 0.029242057774951292 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.28, Z:-4.27 [[ 9.32082839e-01 3.42975858e-01 1.16572473e-01 4.42190984e+01] [-3.40592902e-01 9.39342009e-01 -4.04111959e-02 -3.27593833e+00] [-1.23361486e-01 -2.03717468e-03 9.92359710e-01 -4.27047803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185919999999996 meters 0.02933969740618853 Centerline is valid? [True, True] Translation: X:44.25, Y:-3.29, Z:-4.27 [[ 9.32087435e-01 3.43567328e-01 1.14780243e-01 4.42480830e+01] [-3.41254170e-01 9.39125868e-01 -3.98521624e-02 -3.28848039e+00] [-1.21484996e-01 -2.02353682e-03 9.92591205e-01 -4.27481395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21592 meters 0.029395122299755612 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.30, Z:-4.28 [[ 9.31934714e-01 3.43758758e-01 1.15445248e-01 4.42781001e+01] [-3.41413487e-01 9.39055843e-01 -4.01366925e-02 -3.30023651e+00] [-1.22206874e-01 -2.00978766e-03 9.92502615e-01 -4.27852390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24592 meters 0.029669986025555074 Centerline is valid? [True, True] Translation: X:44.31, Y:-3.31, Z:-4.28 [[ 9.31146420e-01 3.45368202e-01 1.16992091e-01 4.43073475e+01] [-3.42966534e-01 9.38464664e-01 -4.07189313e-02 -3.31349401e+00] [-1.23855968e-01 -2.20908490e-03 9.92297747e-01 -4.28134115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27592 meters 0.02971941632280519 Centerline is valid? [True, True] Translation: X:44.34, Y:-3.32, Z:-4.28 [[ 9.31034386e-01 3.46441318e-01 1.14688211e-01 4.43381108e+01] [-3.44135475e-01 9.38068932e-01 -3.99681603e-02 -3.32404642e+00] [-1.21432070e-01 -2.25655050e-03 9.92597179e-01 -4.28352005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30592 meters 0.02992034371030387 Centerline is valid? [True, True] Translation: X:44.37, Y:-3.33, Z:-4.29 [[ 9.30127226e-01 3.48726554e-01 1.15122256e-01 4.43685660e+01] [-3.46416295e-01 9.37221095e-01 -4.01543121e-02 -3.33284320e+00] [-1.21897882e-01 -2.53160647e-03 9.92539419e-01 -4.28721241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.335919999999994 meters 0.030313108691198853 Centerline is valid? [True, True] Translation: X:44.40, Y:-3.34, Z:-4.29 [[ 9.29372474e-01 3.51024432e-01 1.14230697e-01 4.43982479e+01] [-3.48760647e-01 9.36362233e-01 -3.98971168e-02 -3.34350585e+00] [-1.20966173e-01 -2.75988962e-03 9.92652793e-01 -4.28929200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365919999999996 meters 0.030379329759782494 Centerline is valid? [True, True] Translation: X:44.43, Y:-3.35, Z:-4.29 [[ 9.28917108e-01 3.52246225e-01 1.14173568e-01 4.44289521e+01] [-3.49987448e-01 9.35902973e-01 -3.99300869e-02 -3.35407634e+00] [-1.20920604e-01 -2.86757477e-03 9.92658040e-01 -4.29334305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39592 meters 0.03080742773803216 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.36, Z:-4.30 [[ 9.28321773e-01 3.53711388e-01 1.14485541e-01 4.44590056e+01] [-3.51443781e-01 9.35349774e-01 -4.01007253e-02 -3.36463554e+00] [-1.21268109e-01 -3.00885517e-03 9.92615229e-01 -4.29724465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42592 meters 0.030692220155898103 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.37, Z:-4.30 [[ 9.28420244e-01 3.53705231e-01 1.13703385e-01 4.44894246e+01] [-3.51462023e-01 9.35352333e-01 -3.98805630e-02 -3.37487134e+00] [-1.20458690e-01 -2.93649961e-03 9.92713998e-01 -4.30093131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45592 meters 0.029899298184451126 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.38, Z:-4.30 [[ 9.29841650e-01 3.50093658e-01 1.13264898e-01 4.45202269e+01] [-3.47834553e-01 9.36711606e-01 -3.97805283e-02 -3.38380110e+00] [-1.20023455e-01 -2.40785328e-03 9.92768136e-01 -4.30471704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48592 meters 0.029628922010629742 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.39, Z:-4.31 [[ 9.30392652e-01 3.48112448e-01 1.14835692e-01 4.45513576e+01] [-3.45768020e-01 9.37450368e-01 -4.03891674e-02 -3.39225513e+00] [-1.21712734e-01 -2.12872520e-03 9.92563086e-01 -4.30877441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.515919999999994 meters 0.029148451647042384 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.40, Z:-4.31 [[ 9.31281841e-01 3.46383241e-01 1.12839638e-01 4.45827061e+01] [-3.44099929e-01 9.38091343e-01 -3.97475966e-02 -3.40041877e+00] [-1.19621789e-01 -1.81189644e-03 9.92817881e-01 -4.31085230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545919999999995 meters 0.02897848748965666 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.41, Z:-4.31 [[ 9.31239764e-01 3.46386197e-01 1.13177315e-01 4.46136282e+01] [-3.44082351e-01 9.38090342e-01 -3.99230032e-02 -3.41098927e+00] [-1.19999324e-01 -1.76442868e-03 9.92772406e-01 -4.31373436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575919999999996 meters 0.028800681852770613 Centerline is valid? [True, True] Translation: X:44.64, Y:-3.42, Z:-4.32 [[ 9.31104938e-01 3.46348908e-01 1.14394180e-01 4.46441774e+01] [-3.43986907e-01 9.38104196e-01 -4.04168844e-02 -3.42233430e+00] [-1.21312004e-01 -1.71773962e-03 9.92612939e-01 -4.31627391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60592 meters 0.028800681852770613 Centerline is valid? [True, True] Translation: X:44.67, Y:-3.43, Z:-4.32 [[ 9.30930513e-01 3.46824166e-01 1.14373853e-01 4.46746700e+01] [-3.44458681e-01 9.37928593e-01 -4.04743349e-02 -3.43272769e+00] [-1.21311984e-01 -1.71827299e-03 9.92612941e-01 -4.31958537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63592 meters 0.029110232754991416 Centerline is valid? [True, True] Translation: X:44.71, Y:-3.44, Z:-4.32 [[ 9.31197881e-01 3.45963003e-01 1.14804645e-01 4.47057189e+01] [-3.43565022e-01 9.38246875e-01 -4.06924813e-02 -3.44324042e+00] [-1.21793193e-01 -1.55010813e-03 9.92554288e-01 -4.32311058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66592 meters 0.028608614255868567 Centerline is valid? [True, True] Translation: X:44.74, Y:-3.45, Z:-4.33 [[ 9.31979987e-01 3.44298621e-01 1.13453798e-01 4.47365751e+01] [-3.41937024e-01 9.38859350e-01 -4.02764521e-02 -3.45077340e+00] [-1.20384286e-01 -1.25720664e-03 9.92726570e-01 -4.32646617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69592 meters 0.028368501891961995 Centerline is valid? [True, True] Translation: X:44.77, Y:-3.46, Z:-4.33 [[ 9.32221199e-01 3.43539804e-01 1.13771873e-01 4.47672685e+01] [-3.41152780e-01 9.39137459e-01 -4.04427274e-02 -3.46128317e+00] [-1.20741114e-01 -1.11202291e-03 9.92683407e-01 -4.33030778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725919999999995 meters 0.028359079967456916 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.47, Z:-4.33 [[ 9.32560426e-01 3.42612863e-01 1.13786985e-01 4.47978914e+01] [-3.40213160e-01 9.39476194e-01 -4.04905695e-02 -3.47297357e+00] [-1.20772754e-01 -9.51927043e-04 9.92679725e-01 -4.33404579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755919999999996 meters 0.028138222828220243 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.48, Z:-4.34 [[ 9.33886679e-01 3.38737458e-01 1.14510284e-01 4.48281963e+01] [-3.36269784e-01 9.40880855e-01 -4.08148249e-02 -3.48444975e+00] [-1.21566044e-01 -3.89927075e-04 9.92583269e-01 -4.33655595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78592 meters 0.02796081283948815 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.50, Z:-4.34 [[ 9.34346226e-01 3.38075857e-01 1.12702465e-01 4.48579178e+01] [-3.35673378e-01 9.41118833e-01 -4.02333906e-02 -3.49550564e+00] [-1.19668350e-01 -2.39300509e-04 9.92813894e-01 -4.34026273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81592 meters 0.02790818959402296 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.51, Z:-4.34 [[ 9.35470508e-01 3.35199129e-01 1.11966394e-01 4.48885819e+01] [-3.32800600e-01 9.42147287e-01 -4.00281123e-02 -3.50796801e+00] [-1.18906223e-01 1.82635424e-04 9.92905472e-01 -4.34452730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84592 meters 0.02781003138493497 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.52, Z:-4.35 [[ 9.35296232e-01 3.35578189e-01 1.12286406e-01 4.49187079e+01] [-3.33160836e-01 9.42012336e-01 -4.02071720e-02 -3.52061109e+00] [-1.19267829e-01 1.96183651e-04 9.92862098e-01 -4.34879164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87592 meters 0.02791962753898289 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.54, Z:-4.35 [[ 9.34735070e-01 3.37028530e-01 1.12614912e-01 4.49486941e+01] [-3.34599619e-01 9.41494432e-01 -4.03897284e-02 -3.53540151e+00] [-1.19638803e-01 7.27889062e-05 9.92817481e-01 -4.35079761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905919999999995 meters 0.027952450882318534 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.55, Z:-4.35 [[ 9.34204325e-01 3.37754891e-01 1.14821220e-01 4.49781389e+01] [-3.35227596e-01 9.41234101e-01 -4.12410861e-02 -3.54863219e+00] [-1.22003026e-01 3.63595893e-05 9.92529728e-01 -4.35433807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935919999999996 meters 0.028324858941609264 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.56, Z:-4.36 [[ 9.32957640e-01 3.41090865e-01 1.15095890e-01 4.50067098e+01] [-3.38573119e-01 9.40030256e-01 -4.13685937e-02 -3.56428112e+00] [-1.22304069e-01 -3.73229062e-04 9.92492607e-01 -4.35870416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96592 meters 0.028104311379255367 Centerline is valid? [True, True] Translation: X:45.04, Y:-3.58, Z:-4.36 [[ 9.32667260e-01 3.42383660e-01 1.13601109e-01 4.50358661e+01] [-3.39933341e-01 9.39560110e-01 -4.08916012e-02 -3.57686121e+00] [-1.20735686e-01 -4.78546786e-04 9.92684575e-01 -4.36159870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99592 meters 0.028464036703822373 Centerline is valid? [True, True] Translation: X:45.07, Y:-3.59, Z:-4.37 [[ 9.32056700e-01 3.43766417e-01 1.14433206e-01 4.50656126e+01] [-3.41285788e-01 9.39054981e-01 -4.12280784e-02 -3.59019292e+00] [-1.21631901e-01 -6.27520068e-04 9.92575079e-01 -4.36620725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02592 meters 0.02837161074677317 Centerline is valid? [True, True] Translation: X:45.10, Y:-3.60, Z:-4.37 [[ 9.31482672e-01 3.45441209e-01 1.14063151e-01 4.50958413e+01] [-3.42981148e-01 9.38440068e-01 -4.11603208e-02 -3.60227164e+00] [-1.21259902e-01 -7.81384707e-04 9.92620484e-01 -4.36902211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05592 meters 0.028501076381490128 Centerline is valid? [True, True] Translation: X:45.13, Y:-3.62, Z:-4.37 [[ 9.31105265e-01 3.46667652e-01 1.13421886e-01 4.51261635e+01] [-3.44236548e-01 9.37987619e-01 -4.09930045e-02 -3.61625966e+00] [-1.20599274e-01 -8.75156224e-04 9.92700886e-01 -4.36952233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085919999999994 meters 0.02826218045471372 Centerline is valid? [True, True] Translation: X:45.16, Y:-3.63, Z:-4.37 [[ 9.30986943e-01 3.47607291e-01 1.11501041e-01 4.51556237e+01] [-3.45257483e-01 9.37639761e-01 -4.03602380e-02 -3.62801646e+00] [-1.18577323e-01 -9.21714276e-04 9.92944394e-01 -4.37322020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.115919999999996 meters 0.028303311119948275 Centerline is valid? [True, True] Translation: X:45.19, Y:-3.64, Z:-4.38 [[ 9.30654329e-01 3.48266204e-01 1.12219302e-01 4.51854917e+01] [-3.45883792e-01 9.37395185e-01 -4.06776245e-02 -3.64010886e+00] [-1.19360475e-01 -9.58030136e-04 9.92850522e-01 -4.37729607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14592 meters 0.028401694268098854 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.65, Z:-4.38 [[ 9.30007276e-01 3.49511449e-01 1.13702302e-01 4.52146107e+01] [-3.47066928e-01 9.36931479e-01 -4.12789428e-02 -3.65352128e+00] [-1.20958729e-01 -1.07259150e-03 9.92656958e-01 -4.38126689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17592 meters 0.028721233098830255 Centerline is valid? [True, True] Translation: X:45.24, Y:-3.67, Z:-4.38 [[ 9.29001859e-01 3.51851426e-01 1.14700129e-01 4.52439121e+01] [-3.49374264e-01 9.36054909e-01 -4.16992844e-02 -3.66947243e+00] [-1.22037572e-01 -1.33456055e-03 9.92524584e-01 -4.38359930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20592 meters 0.028936661015695805 Centerline is valid? [True, True] Translation: X:45.27, Y:-3.68, Z:-4.39 [[ 9.28417213e-01 3.53270361e-01 1.15071852e-01 4.52746385e+01] [-3.50779961e-01 9.35520126e-01 -4.18988503e-02 -3.68116321e+00] [-1.22453655e-01 -1.46528585e-03 9.92473151e-01 -4.38733296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23592 meters 0.02902606061225145 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.69, Z:-4.39 [[ 9.27320690e-01 3.56474670e-01 1.14026963e-01 4.53050322e+01] [-3.54045727e-01 9.34303233e-01 -4.15823545e-02 -3.69192179e+00] [-1.21358816e-01 -1.81058116e-03 9.92607052e-01 -4.39054512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265919999999994 meters 0.02908955437970648 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.70, Z:-4.39 [[ 9.26849124e-01 3.57781641e-01 1.13767299e-01 4.53351471e+01] [-3.55365849e-01 9.33803310e-01 -4.15510860e-02 -3.70377297e+00] [-1.21102497e-01 -1.91742521e-03 9.92638156e-01 -4.39388862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.295919999999995 meters 0.029344836446134816 Centerline is valid? [True, True] Translation: X:45.36, Y:-3.72, Z:-4.40 [[ 9.26190599e-01 3.59245566e-01 1.14514620e-01 4.53645283e+01] [-3.56801103e-01 9.33240788e-01 -4.18879942e-02 -3.71645912e+00] [-1.21917790e-01 -2.06267610e-03 9.92538059e-01 -4.39895811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325919999999996 meters 0.029344369368534854 Centerline is valid? [True, True] Translation: X:45.39, Y:-3.73, Z:-4.40 [[ 9.25747512e-01 3.60516104e-01 1.14103827e-01 4.53941120e+01] [-3.58091199e-01 9.32750480e-01 -4.17999376e-02 -3.72920523e+00] [-1.21499950e-01 -2.16338812e-03 9.92589080e-01 -4.40318190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35592 meters 0.029349971653538923 Centerline is valid? [True, True] Translation: X:45.42, Y:-3.74, Z:-4.41 [[ 9.25661917e-01 3.60439823e-01 1.15035430e-01 4.54246712e+01] [-3.57966552e-01 9.32780080e-01 -4.22051001e-02 -3.73908585e+00] [-1.22515156e-01 -2.11118234e-03 9.92464397e-01 -4.40756075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38592 meters 0.029316356883098468 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.75, Z:-4.41 [[ 9.25757413e-01 3.59730365e-01 1.16478650e-01 4.54555859e+01] [-3.57181022e-01 9.33054193e-01 -4.27970844e-02 -3.75055920e+00] [-1.24076304e-01 -1.98424514e-03 9.92270696e-01 -4.41112585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41592 meters 0.028798369594515497 Centerline is valid? [True, True] Translation: X:45.49, Y:-3.76, Z:-4.41 [[ 9.26768662e-01 3.57329735e-01 1.15824465e-01 4.54851904e+01] [-3.54782431e-01 9.33976939e-01 -4.26204695e-02 -3.76440036e+00] [-1.23406941e-01 -1.59316985e-03 9.92354870e-01 -4.41225511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44592 meters 0.028854157515131006 Centerline is valid? [True, True] Translation: X:45.52, Y:-3.78, Z:-4.42 [[ 9.27065892e-01 3.56588689e-01 1.15729595e-01 4.55159318e+01] [-3.54032124e-01 9.34260375e-01 -4.26474793e-02 -3.77652325e+00] [-1.23329183e-01 -1.43497080e-03 9.92364778e-01 -4.41620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.475919999999995 meters 0.028923628290277073 Centerline is valid? [True, True] Translation: X:45.55, Y:-3.79, Z:-4.42 [[ 9.27111672e-01 3.55768416e-01 1.17867643e-01 4.55457933e+01] [-3.53101100e-01 9.34573259e-01 -4.35021550e-02 -3.78996072e+00] [-1.25632640e-01 -1.28783871e-03 9.92075996e-01 -4.42150314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505919999999996 meters 0.028781269175269596 Centerline is valid? [True, True] Translation: X:45.58, Y:-3.80, Z:-4.43 [[ 9.27126891e-01 3.56121227e-01 1.16676471e-01 4.55757818e+01] [-3.53502575e-01 9.34438911e-01 -4.31259868e-02 -3.80281312e+00] [-1.24385114e-01 -1.26217098e-03 9.92233214e-01 -4.42500952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53592 meters 0.028695638718950343 Centerline is valid? [True, True] Translation: X:45.61, Y:-3.82, Z:-4.43 [[ 9.26723186e-01 3.58049656e-01 1.13949900e-01 4.56051327e+01] [-3.55559522e-01 9.33701453e-01 -4.21784626e-02 -3.81635104e+00] [-1.21497171e-01 -1.42821257e-03 9.92590750e-01 -4.42808586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56592 meters 0.029366049413204802 Centerline is valid? [True, True] Translation: X:45.63, Y:-3.83, Z:-4.43 [[ 9.24923849e-01 3.62714355e-01 1.13816391e-01 4.56336421e+01] [-3.60257686e-01 9.31898264e-01 -4.21903407e-02 -3.83314632e+00] [-1.21368340e-01 -1.98037748e-03 9.92605563e-01 -4.43174753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59592 meters 0.029705839217345018 Centerline is valid? [True, True] Translation: X:45.66, Y:-3.85, Z:-4.44 [[ 9.23688620e-01 3.65719158e-01 1.14231480e-01 4.56626732e+01] [-3.63259699e-01 9.30722348e-01 -4.24063849e-02 -3.84801459e+00] [-1.21826619e-01 -2.32539799e-03 9.92548673e-01 -4.43531293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62592 meters 0.030300921042940757 Centerline is valid? [True, True] Translation: X:45.69, Y:-3.86, Z:-4.44 [[ 9.22636489e-01 3.68099190e-01 1.15086467e-01 4.56925849e+01] [-3.65613387e-01 9.29782888e-01 -4.27858909e-02 -3.86171248e+00] [-1.22754880e-01 -2.60132885e-03 9.92433611e-01 -4.43782347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.655919999999995 meters 0.030759800914574045 Centerline is valid? [True, True] Translation: X:45.72, Y:-3.87, Z:-4.44 [[ 9.21154323e-01 3.71476750e-01 1.16102266e-01 4.57225732e+01] [-3.68965672e-01 9.28437343e-01 -4.32253707e-02 -3.87418213e+00] [-1.23850900e-01 -3.02051356e-03 9.92296242e-01 -4.44130851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685919999999996 meters 0.03138163766468372 Centerline is valid? [True, True] Translation: X:45.75, Y:-3.89, Z:-4.45 [[ 9.20371827e-01 3.73587267e-01 1.15534640e-01 4.57518833e+01] [-3.71109746e-01 9.27589410e-01 -4.30748525e-02 -3.88919067e+00] [-1.23260925e-01 -3.23115033e-03 9.92369036e-01 -4.44681706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71592 meters 0.03126027558357078 Centerline is valid? [True, True] Translation: X:45.78, Y:-3.90, Z:-4.45 [[ 9.20274041e-01 3.74209813e-01 1.14292196e-01 4.57822730e+01] [-3.71782660e-01 9.27338473e-01 -4.26733030e-02 -3.90158334e+00] [-1.21956319e-01 -3.22072357e-03 9.92530243e-01 -4.45015286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74592 meters 0.03171356064191592 Centerline is valid? [True, True] Translation: X:45.81, Y:-3.91, Z:-4.45 [[ 9.19753353e-01 3.75035506e-01 1.15767612e-01 4.58130918e+01] [-3.72543837e-01 9.27004518e-01 -4.32864119e-02 -3.91334773e+00] [-1.23551041e-01 -3.31568797e-03 9.92332679e-01 -4.45486920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77592 meters 0.03162706925896049 Centerline is valid? [True, True] Translation: X:45.84, Y:-3.93, Z:-4.46 [[ 9.19344267e-01 3.75915935e-01 1.16160789e-01 4.58438698e+01] [-3.73406325e-01 9.26647582e-01 -4.34968480e-02 -3.92511392e+00] [-1.23991272e-01 -3.38659531e-03 9.92277529e-01 -4.45849437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80592 meters 0.031839103672705746 Centerline is valid? [True, True] Translation: X:45.87, Y:-3.94, Z:-4.46 [[ 9.18805452e-01 3.77927207e-01 1.13875228e-01 4.58740934e+01] [-3.75523621e-01 9.25828590e-01 -4.27016688e-02 -3.93825023e+00] [-1.21567064e-01 -3.52831168e-03 9.92576949e-01 -4.46063969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.835919999999994 meters 0.03175225834440113 Centerline is valid? [True, True] Translation: X:45.90, Y:-3.95, Z:-4.46 [[ 9.18635317e-01 3.78732226e-01 1.12565781e-01 4.59047337e+01] [-3.76382541e-01 9.25499537e-01 -4.22704380e-02 -3.95074855e+00] [-1.20188756e-01 -3.53667759e-03 9.92744758e-01 -4.46334602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865919999999996 meters 0.03226423406541128 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.96, Z:-4.47 [[ 9.18075795e-01 3.80482253e-01 1.11220907e-01 4.59338125e+01] [-3.78194595e-01 9.24780949e-01 -4.18215925e-02 -3.96472012e+00] [-1.18767350e-01 -3.66775405e-03 9.92915336e-01 -4.46732152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89592 meters 0.032394054993243916 Centerline is valid? [True, True] Translation: X:45.96, Y:-3.98, Z:-4.47 [[ 9.17541476e-01 3.81587864e-01 1.11840694e-01 4.59642537e+01] [-3.79275280e-01 9.24324864e-01 -4.21166031e-02 -3.97666081e+00] [-1.19448319e-01 -3.77468052e-03 9.92833244e-01 -4.47056540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92592 meters 0.03293666028484599 Centerline is valid? [True, True] Translation: X:45.99, Y:-3.99, Z:-4.47 [[ 9.16961108e-01 3.82685133e-01 1.12846865e-01 4.59940562e+01] [-3.80331408e-01 9.23870614e-01 -4.25571325e-02 -3.99034163e+00] [-1.20541885e-01 -3.89597191e-03 9.92700597e-01 -4.47371070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95592 meters 0.03270328845248601 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.00, Z:-4.48 [[ 9.16763899e-01 3.83087796e-01 1.13082688e-01 4.60240966e+01] [-3.80719793e-01 9.23703701e-01 -4.27072755e-02 -4.00338981e+00] [-1.20815534e-01 -3.90032924e-03 9.92667313e-01 -4.47618959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98592 meters 0.03220063883139731 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.01, Z:-4.48 [[ 9.17349274e-01 3.82108096e-01 1.11640996e-01 4.60546583e+01] [-3.79785891e-01 9.24110359e-01 -4.22222819e-02 -4.01491148e+00] [-1.19302077e-01 -3.66709568e-03 9.92851231e-01 -4.48044628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.015919999999994 meters 0.03216464282247932 Centerline is valid? [True, True] Translation: X:46.09, Y:-4.03, Z:-4.48 [[ 9.17239520e-01 3.82059688e-01 1.12703405e-01 4.60857235e+01] [-3.79685446e-01 9.24130475e-01 -4.26828676e-02 -4.02558749e+00] [-1.20460054e-01 -3.64142970e-03 9.92711496e-01 -4.48459432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045919999999995 meters 0.03184810141362032 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.04, Z:-4.49 [[ 9.17776395e-01 3.81076531e-01 1.11656467e-01 4.61153367e+01] [-3.78731721e-01 9.24537163e-01 -4.23475799e-02 -4.03932033e+00] [-1.19368222e-01 -3.42223668e-03 9.92844155e-01 -4.48963786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075919999999996 meters 0.03190031836752088 Centerline is valid? [True, True] Translation: X:46.14, Y:-4.05, Z:-4.49 [[ 9.17871293e-01 3.81007307e-01 1.11111306e-01 4.61444058e+01] [-3.78677572e-01 9.24565996e-01 -4.22020714e-02 -4.05372031e+00] [-1.18809033e-01 -3.33928956e-03 9.92911508e-01 -4.49280095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10592 meters 0.032055226874100916 Centerline is valid? [True, True] Translation: X:46.17, Y:-4.07, Z:-4.49 [[ 9.17894621e-01 3.80890235e-01 1.11319785e-01 4.61745196e+01] [-3.78543482e-01 9.24614469e-01 -4.23428415e-02 -4.06789580e+00] [-1.19055859e-01 -3.27311264e-03 9.92882163e-01 -4.49492449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13592 meters 0.0319793242702236 Centerline is valid? [True, True] Translation: X:46.20, Y:-4.08, Z:-4.50 [[ 9.17626660e-01 3.80915456e-01 1.13422782e-01 4.62049538e+01] [-3.78471430e-01 9.24604052e-01 -4.32056069e-02 -4.07838684e+00] [-1.21328847e-01 -3.28066560e-03 9.92606945e-01 -4.49899295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16592 meters 0.032271371592904115 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.09, Z:-4.50 [[ 9.16433257e-01 3.83783677e-01 1.13402706e-01 4.62351258e+01] [-3.81354809e-01 9.23416003e-01 -4.32596306e-02 -4.09115471e+00] [-1.21320213e-01 -3.60210307e-03 9.92606886e-01 -4.50156326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19592 meters 0.03285489136821239 Centerline is valid? [True, True] Translation: X:46.26, Y:-4.11, Z:-4.51 [[ 9.15586271e-01 3.85289499e-01 1.15125071e-01 4.62645643e+01] [-3.82790012e-01 9.22787924e-01 -4.39801457e-02 -4.10512772e+00] [-1.23181113e-01 -3.80110958e-03 9.92376927e-01 -4.50579841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225919999999995 meters 0.03292954128474008 Centerline is valid? [True, True] Translation: X:46.29, Y:-4.12, Z:-4.51 [[ 9.14987189e-01 3.87934035e-01 1.10930741e-01 4.62939692e+01] [-3.85626144e-01 9.21678682e-01 -4.24368315e-02 -4.12040082e+00] [-1.18705191e-01 -3.94863687e-03 9.92921692e-01 -4.50792650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255919999999996 meters 0.033492223002463205 Centerline is valid? [True, True] Translation: X:46.32, Y:-4.13, Z:-4.51 [[ 9.14451450e-01 3.89190609e-01 1.10946904e-01 4.63244486e+01] [-3.86884019e-01 9.21148314e-01 -4.25034116e-02 -4.13282708e+00] [-1.18740482e-01 -4.05627757e-03 9.92917038e-01 -4.51156117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28592 meters 0.034087323005010786 Centerline is valid? [True, True] Translation: X:46.35, Y:-4.14, Z:-4.51 [[ 9.12961219e-01 3.92322769e-01 1.12181361e-01 4.63544488e+01] [-3.89980538e-01 9.19816818e-01 -4.30372144e-02 -4.14490624e+00] [-1.20070782e-01 -4.45723999e-03 9.92755328e-01 -4.51473931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.31592 meters 0.03404265580853424 Centerline is valid? [True, True] Translation: X:46.39, Y:-4.16, Z:-4.52 [[ 9.12240175e-01 3.94185372e-01 1.11515723e-01 4.63853169e+01] [-3.91878222e-01 9.19019322e-01 -4.28362503e-02 -4.15674136e+00] [-1.19370528e-01 -4.62363486e-03 9.92839010e-01 -4.51714092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34592 meters 0.035009308002788744 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.17, Z:-4.52 [[ 9.11209812e-01 3.96684227e-01 1.11077914e-01 4.64151682e+01] [-3.94408448e-01 9.17942102e-01 -4.27115189e-02 -4.16911168e+00] [-1.18906079e-01 -4.89091235e-03 9.92893460e-01 -4.51958150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37592 meters 0.03485697058015799 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.18, Z:-4.53 [[ 9.10429948e-01 3.97815575e-01 1.13402282e-01 4.64462480e+01] [-3.95447043e-01 9.17451184e-01 -4.36458610e-02 -4.17853884e+00] [-1.21404061e-01 -5.10809805e-03 9.92590027e-01 -4.52501680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405919999999995 meters 0.035696701874776054 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.19, Z:-4.53 [[ 9.10308895e-01 3.98496506e-01 1.11974334e-01 4.64760641e+01] [-3.96186901e-01 9.17155730e-01 -4.31428674e-02 -4.19308950e+00] [-1.19890183e-01 -5.08942827e-03 9.92774114e-01 -4.52793834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435919999999996 meters 0.03527031495774158 Centerline is valid? [True, True] Translation: X:46.51, Y:-4.21, Z:-4.53 [[ 9.10698658e-01 3.97698433e-01 1.11641888e-01 4.65065600e+01] [-3.95389344e-01 9.17503031e-01 -4.30749887e-02 -4.20509170e+00] [-1.19562626e-01 -4.91367826e-03 9.92814501e-01 -4.52996735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46592 meters 0.03452530083916575 Centerline is valid? [True, True] Translation: X:46.54, Y:-4.21, Z:-4.54 [[ 9.11457202e-01 3.95619418e-01 1.12831935e-01 4.65374181e+01] [-3.93237597e-01 9.18402844e-01 -4.35936782e-02 -4.21327320e+00] [-1.20871676e-01 -4.63598703e-03 9.92657315e-01 -4.53513359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49592 meters 0.03460526076199387 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.22, Z:-4.54 [[ 9.11282568e-01 3.96132832e-01 1.12440479e-01 4.65685030e+01] [-3.93764576e-01 9.18181515e-01 -4.34990180e-02 -4.22390760e+00] [-1.20472159e-01 -4.63518065e-03 9.92705885e-01 -4.53925535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52592 meters 0.03460526076199387 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.24, Z:-4.54 [[ 9.11098960e-01 3.96560702e-01 1.12420171e-01 4.65986617e+01] [-3.94189227e-01 9.17996800e-01 -4.35514467e-02 -4.23518634e+00] [-1.20472149e-01 -4.63514225e-03 9.92705886e-01 -4.54256911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55592 meters 0.034273718219777434 Centerline is valid? [True, True] Translation: X:46.63, Y:-4.25, Z:-4.54 [[ 9.10936424e-01 3.97733866e-01 1.09556392e-01 4.66290537e+01] [-3.95483639e-01 9.17489230e-01 -4.24994521e-02 -4.24730180e+00] [-1.17420282e-01 -4.61346180e-03 9.93071595e-01 -4.54263761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585919999999994 meters 0.03428651014168019 Centerline is valid? [True, True] Translation: X:46.66, Y:-4.26, Z:-4.55 [[ 9.10269325e-01 3.99624687e-01 1.08212133e-01 4.66609829e+01] [-3.97436067e-01 9.16666572e-01 -4.20353246e-02 -4.25538331e+00] [-1.15992798e-01 -4.74393783e-03 9.93238726e-01 -4.54586371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.615919999999996 meters 0.03398462399185928 Centerline is valid? [True, True] Translation: X:46.69, Y:-4.26, Z:-4.55 [[ 9.09962503e-01 3.99914398e-01 1.09711973e-01 4.66927403e+01] [-3.97659791e-01 9.16539952e-01 -4.26756003e-02 -4.26368720e+00] [-1.17621994e-01 -4.79484420e-03 9.93046865e-01 -4.55031543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64592 meters 0.0350385511700191 Centerline is valid? [True, True] Translation: X:46.72, Y:-4.28, Z:-4.56 [[ 9.09501548e-01 4.00500377e-01 1.11383945e-01 4.67231326e+01] [-3.98174871e-01 9.16283486e-01 -4.33744727e-02 -4.27537636e+00] [-1.19430762e-01 -4.90113796e-03 9.92830435e-01 -4.55552903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67592 meters 0.034339133736188514 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.28, Z:-4.56 [[ 9.09753335e-01 3.99475328e-01 1.12997046e-01 4.67547593e+01] [-3.97066518e-01 9.16731481e-01 -4.40632796e-02 -4.28390657e+00] [-1.21190143e-01 -4.78062820e-03 9.92617799e-01 -4.55669558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70592 meters 0.033624124941002795 Centerline is valid? [True, True] Translation: X:46.79, Y:-4.29, Z:-4.56 [[ 9.10725487e-01 3.97771431e-01 1.11161939e-01 4.67880093e+01] [-3.95422331e-01 9.17473817e-01 -4.33932525e-02 -4.28769534e+00] [-1.19248765e-01 -4.43657200e-03 9.92854495e-01 -4.55968808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73592 meters 0.03375305307427344 Centerline is valid? [True, True] Translation: X:46.82, Y:-4.30, Z:-4.56 [[ 9.11209234e-01 3.96615064e-01 1.11329342e-01 4.68198623e+01] [-3.94243346e-01 9.17975232e-01 -4.35161844e-02 -4.29619212e+00] [-1.19456753e-01 -4.23850315e-03 9.92830358e-01 -4.56478916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765919999999994 meters 0.03306184612345622 Centerline is valid? [True, True] Translation: X:46.85, Y:-4.31, Z:-4.57 [[ 9.11907190e-01 3.95104158e-01 1.10986396e-01 4.68507791e+01] [-3.92728679e-01 9.18627742e-01 -4.34425692e-02 -4.30583937e+00] [-1.19119522e-01 -3.97194963e-03 9.92871977e-01 -4.56834994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.795919999999995 meters 0.03215207245441244 Centerline is valid? [True, True] Translation: X:46.88, Y:-4.32, Z:-4.57 [[ 9.13061080e-01 3.91845712e-01 1.13032751e-01 4.68820119e+01] [-3.89349490e-01 9.20024062e-01 -4.43023634e-02 -4.31544378e+00] [-1.21352542e-01 -3.55848037e-03 9.92603092e-01 -4.56945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825919999999996 meters 0.031974826578139 Centerline is valid? [True, True] Translation: X:46.91, Y:-4.33, Z:-4.57 [[ 9.13737635e-01 3.90032611e-01 1.13833635e-01 4.69132223e+01] [-3.87479302e-01 9.20795183e-01 -4.46768543e-02 -4.32526566e+00] [-1.22242893e-01 -3.28525426e-03 9.92494777e-01 -4.57325322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85592 meters 0.03154546692444922 Centerline is valid? [True, True] Translation: X:46.94, Y:-4.33, Z:-4.58 [[ 9.14395668e-01 3.88537852e-01 1.13661339e-01 4.69440975e+01] [-3.85972966e-01 9.21427809e-01 -4.46728246e-02 -4.33442391e+00] [-1.22087802e-01 -3.02156681e-03 9.92514705e-01 -4.57873824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88592 meters 0.031073114847186258 Centerline is valid? [True, True] Translation: X:46.97, Y:-4.35, Z:-4.58 [[ 9.15127502e-01 3.87261745e-01 1.12115997e-01 4.69747492e+01] [-3.84749354e-01 9.21965700e-01 -4.41268886e-02 -4.34588459e+00] [-1.20455759e-01 -2.75482799e-03 9.92714874e-01 -4.58253555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91592 meters 0.03105057098672978 Centerline is valid? [True, True] Translation: X:47.00, Y:-4.36, Z:-4.59 [[ 9.14644989e-01 3.88000297e-01 1.13491472e-01 4.70045971e+01] [-3.85423519e-01 9.21654908e-01 -4.47318879e-02 -4.35810800e+00] [-1.21955958e-01 -2.82848555e-03 9.92531483e-01 -4.58661799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94592 meters 0.03153787683771425 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.37, Z:-4.59 [[ 9.13541329e-01 3.90678724e-01 1.13191766e-01 4.70345284e+01] [-3.88128372e-01 9.20521811e-01 -4.46761958e-02 -4.37006841e+00] [-1.21649529e-01 -3.11938470e-03 9.92568215e-01 -4.58902435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.975919999999995 meters 0.03189818643702586 Centerline is valid? [True, True] Translation: X:47.07, Y:-4.38, Z:-4.59 [[ 9.12629025e-01 3.92407781e-01 1.14561758e-01 4.70650079e+01] [-3.89801068e-01 9.19785310e-01 -4.52781455e-02 -4.38143443e+00] [-1.23139719e-01 -3.33414578e-03 9.92383743e-01 -4.59352083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005919999999996 meters 0.0319925139142288 Centerline is valid? [True, True] Translation: X:47.10, Y:-4.39, Z:-4.60 [[ 9.12298143e-01 3.93346039e-01 1.13978032e-01 4.70956003e+01] [-3.90765431e-01 9.19384271e-01 -4.51103080e-02 -4.39256026e+00] [-1.22533570e-01 -3.38462438e-03 9.92458598e-01 -4.59615793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03592 meters 0.031776671913405365 Centerline is valid? [True, True] Translation: X:47.13, Y:-4.40, Z:-4.60 [[ 9.12185951e-01 3.93214703e-01 1.15321241e-01 4.71263980e+01] [-3.90563526e-01 9.19440588e-01 -4.57070768e-02 -4.40396960e+00] [-1.24003724e-01 -3.34691718e-03 9.92276108e-01 -4.59986405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06592 meters 0.03155136682831579 Centerline is valid? [True, True] Translation: X:47.16, Y:-4.42, Z:-4.60 [[ 9.12701570e-01 3.92227616e-01 1.14600791e-01 4.71568630e+01] [-3.89593924e-01 9.19862859e-01 -4.54851144e-02 -4.41731486e+00] [-1.23257530e-01 -3.13343667e-03 9.92369771e-01 -4.60274279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09592 meters 0.031267356137263225 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.43, Z:-4.61 [[ 9.13663640e-01 3.89500586e-01 1.16224117e-01 4.71861460e+01] [-3.86762949e-01 9.21022091e-01 -4.61814688e-02 -4.43059759e+00] [-1.25032688e-01 -2.75685334e-03 9.92148793e-01 -4.60707262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12592 meters 0.030680605183595187 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.44, Z:-4.61 [[ 9.14625422e-01 3.87790853e-01 1.14361670e-01 4.72166945e+01] [-3.85119478e-01 9.21744205e-01 -4.55039405e-02 -4.44240694e+00] [-1.23058218e-01 -2.42384587e-03 9.92396493e-01 -4.60921200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.155919999999995 meters 0.030644653971570315 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.45, Z:-4.61 [[ 9.15067360e-01 3.86794879e-01 1.14199161e-01 4.72471329e+01] [-3.84115711e-01 9.22163084e-01 -4.55012906e-02 -4.45492769e+00] [-1.22909916e-01 -2.22894590e-03 9.92415329e-01 -4.61463599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185919999999996 meters 0.03051549133803957 Centerline is valid? [True, True] Translation: X:47.28, Y:-4.47, Z:-4.62 [[ 9.14960224e-01 3.86831453e-01 1.14931352e-01 4.72778588e+01] [-3.84109324e-01 9.22147850e-01 -4.58625061e-02 -4.46752544e+00] [-1.23724760e-01 -2.18383520e-03 9.92314171e-01 -4.61696279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21592 meters 0.03082626332375416 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.48, Z:-4.62 [[ 9.13974065e-01 3.89235016e-01 1.14662598e-01 4.73067558e+01] [-3.86536048e-01 9.21135249e-01 -4.58228780e-02 -4.48423091e+00] [-1.23455629e-01 -2.44030533e-03 9.92347093e-01 -4.61882789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24592 meters 0.0318426439250617 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.50, Z:-4.62 [[ 9.11760307e-01 3.94347769e-01 1.14817153e-01 4.73357386e+01] [-3.91673665e-01 9.18956134e-01 -4.59495860e-02 -4.49959239e+00] [-1.23632044e-01 -3.07584639e-03 9.92323363e-01 -4.62381908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27592 meters 0.0323825430178794 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.51, Z:-4.63 [[ 9.10539431e-01 3.96960250e-01 1.15501101e-01 4.73654520e+01] [-3.94266859e-01 9.17829537e-01 -4.62880564e-02 -4.51301085e+00] [-1.24384840e-01 -3.39115572e-03 9.92228256e-01 -4.62878399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30592 meters 0.032653545010612385 Centerline is valid? [True, True] Translation: X:47.39, Y:-4.53, Z:-4.63 [[ 9.09458567e-01 3.99581160e-01 1.14978312e-01 4.73942154e+01] [-3.96925101e-01 9.16690460e-01 -4.61417786e-02 -4.52920102e+00] [-1.23836907e-01 -3.67374237e-03 9.92295785e-01 -4.63286971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.335919999999994 meters 0.03298695241039215 Centerline is valid? [True, True] Translation: X:47.42, Y:-4.54, Z:-4.64 [[ 9.08775199e-01 4.01325025e-01 1.14306005e-01 4.74242426e+01] [-3.98705992e-01 9.15927701e-01 -4.59345063e-02 -4.54348769e+00] [-1.23130703e-01 -3.83034913e-03 9.92383070e-01 -4.63502255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365919999999996 meters 0.03315887525629327 Centerline is valid? [True, True] Translation: X:47.45, Y:-4.56, Z:-4.64 [[ 9.08162167e-01 4.02658735e-01 1.14487648e-01 4.74539047e+01] [-4.00034042e-01 9.15341612e-01 -4.60705860e-02 -4.55672539e+00] [-1.23346032e-01 -3.95939339e-03 9.92355823e-01 -4.63801779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39592 meters 0.033666798812074857 Centerline is valid? [True, True] Translation: X:47.48, Y:-4.57, Z:-4.64 [[ 9.07260216e-01 4.05247896e-01 1.12485743e-01 4.74834250e+01] [-4.02726845e-01 9.14197287e-01 -4.53255897e-02 -4.56966310e+00] [-1.21202261e-01 -4.17892414e-03 9.92619035e-01 -4.64168678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42592 meters 0.03368977320454595 Centerline is valid? [True, True] Translation: X:47.51, Y:-4.58, Z:-4.64 [[ 9.06285512e-01 4.07696101e-01 1.11491977e-01 4.75137036e+01] [-4.05230597e-01 9.13107026e-01 -4.49857917e-02 -4.58218228e+00] [-1.20144639e-01 -4.40998915e-03 9.92746603e-01 -4.64471063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45592 meters 0.03541460222169083 Centerline is valid? [True, True] Translation: X:47.54, Y:-4.60, Z:-4.65 [[ 9.04158303e-01 4.11880377e-01 1.13368062e-01 4.75429878e+01] [-4.09356044e-01 9.11224241e-01 -4.58040556e-02 -4.59712219e+00] [-1.22169518e-01 -4.99378433e-03 9.92496686e-01 -4.64945155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48592 meters 0.03571291803292322 Centerline is valid? [True, True] Translation: X:47.57, Y:-4.61, Z:-4.65 [[ 9.03253897e-01 4.13516162e-01 1.14615795e-01 4.75746036e+01] [-4.10942293e-01 9.10481788e-01 -4.63610344e-02 -4.60909806e+00] [-1.23526631e-01 -5.22469256e-03 9.92327503e-01 -4.65211986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.515919999999994 meters 0.036403973013207185 Centerline is valid? [True, True] Translation: X:47.61, Y:-4.62, Z:-4.66 [[ 9.01109840e-01 4.18012565e-01 1.15180520e-01 4.76061029e+01] [-4.15440895e-01 9.08422693e-01 -4.66591221e-02 -4.62022711e+00] [-1.24136698e-01 -5.80570444e-03 9.92248141e-01 -4.65511038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545919999999995 meters 0.03691544721509702 Centerline is valid? [True, True] Translation: X:47.64, Y:-4.63, Z:-4.66 [[ 9.00443214e-01 4.19590866e-01 1.14653932e-01 4.76366319e+01] [-4.17046911e-01 9.07693951e-01 -4.65141446e-02 -4.63339614e+00] [-1.23587591e-01 -5.93272255e-03 9.92315933e-01 -4.65789396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575919999999996 meters 0.037524870230692293 Centerline is valid? [True, True] Translation: X:47.67, Y:-4.65, Z:-4.66 [[ 8.99786934e-01 4.21231274e-01 1.13787900e-01 4.76676656e+01] [-4.18730245e-01 9.06933093e-01 -4.62314421e-02 -4.64503422e+00] [-1.22672141e-01 -6.04798762e-03 9.92428822e-01 -4.66060489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60592 meters 0.037512193153671713 Centerline is valid? [True, True] Translation: X:47.70, Y:-4.65, Z:-4.66 [[ 8.99137149e-01 4.22621452e-01 1.13769484e-01 4.76997071e+01] [-4.20123832e-01 9.06285269e-01 -4.62923055e-02 -4.65444243e+00] [-1.22671729e-01 -6.17414012e-03 9.92428097e-01 -4.66468361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63592 meters 0.03767503754704056 Centerline is valid? [True, True] Translation: X:47.73, Y:-4.66, Z:-4.67 [[ 8.99256567e-01 4.22738304e-01 1.12383068e-01 4.77322351e+01] [-4.20294113e-01 9.06231589e-01 -4.57948291e-02 -4.66230745e+00] [-1.21204314e-01 -6.05264087e-03 9.92609127e-01 -4.66884595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66592 meters 0.037868864065048954 Centerline is valid? [True, True] Translation: X:47.76, Y:-4.67, Z:-4.67 [[ 8.98525738e-01 4.24040088e-01 1.13320353e-01 4.77641880e+01] [-4.21556665e-01 9.05622072e-01 -4.62454404e-02 -4.67290892e+00] [-1.22235334e-01 -6.21823186e-03 9.92481666e-01 -4.67242618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69592 meters 0.03743556614673342 Centerline is valid? [True, True] Translation: X:47.80, Y:-4.68, Z:-4.67 [[ 8.98748112e-01 4.23626282e-01 1.13104396e-01 4.77958169e+01] [-4.21140960e-01 9.05816587e-01 -4.62234090e-02 -4.68322703e+00] [-1.22033289e-01 -6.08969244e-03 9.92507326e-01 -4.67483661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725919999999995 meters 0.03784037543872256 Centerline is valid? [True, True] Translation: X:47.83, Y:-4.70, Z:-4.68 [[ 8.98720366e-01 4.23489139e-01 1.13836082e-01 4.78271692e+01] [-4.20962641e-01 9.05880952e-01 -4.65849270e-02 -4.69529807e+00] [-1.22850149e-01 -6.05391503e-03 9.92406767e-01 -4.67818461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755919999999996 meters 0.037453167705616644 Centerline is valid? [True, True] Translation: X:47.86, Y:-4.71, Z:-4.68 [[ 8.98866866e-01 4.22895372e-01 1.14881950e-01 4.78586936e+01] [-4.20308763e-01 9.06158876e-01 -4.70811526e-02 -4.70551636e+00] [-1.24011700e-01 -5.96620211e-03 9.92262819e-01 -4.68145460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78592 meters 0.036225525303765736 Centerline is valid? [True, True] Translation: X:47.89, Y:-4.71, Z:-4.68 [[ 8.99867266e-01 4.20848860e-01 1.14565007e-01 4.78915864e+01] [-4.18252846e-01 9.07113392e-01 -4.70090444e-02 -4.71219153e+00] [-1.23707155e-01 -5.61524007e-03 9.92302882e-01 -4.68434620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81592 meters 0.035356474977619026 Centerline is valid? [True, True] Translation: X:47.92, Y:-4.72, Z:-4.69 [[ 9.01416456e-01 4.17159801e-01 1.15870932e-01 4.79226299e+01] [-4.14467488e-01 9.08818719e-01 -4.75945169e-02 -4.72168178e+00] [-1.25160191e-01 -5.12225321e-03 9.92123324e-01 -4.69017883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84592 meters 0.03486379302295859 Centerline is valid? [True, True] Translation: X:47.95, Y:-4.73, Z:-4.69 [[ 9.02115740e-01 4.15177905e-01 1.17535099e-01 4.79539788e+01] [-4.12382403e-01 9.09727269e-01 -4.83430490e-02 -4.73220220e+00] [-1.26995851e-01 -4.85838135e-03 9.91891350e-01 -4.69394180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87592 meters 0.033464495165872604 Centerline is valid? [True, True] Translation: X:47.99, Y:-4.74, Z:-4.70 [[ 9.04536931e-01 4.09782103e-01 1.17862502e-01 4.79865515e+01] [-4.06916996e-01 9.12174440e-01 -4.85422337e-02 -4.73882664e+00] [-1.27402901e-01 -4.05201229e-03 9.91842771e-01 -4.69751288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905919999999995 meters 0.03259492269028874 Centerline is valid? [True, True] Translation: X:48.02, Y:-4.75, Z:-4.70 [[ 9.05927256e-01 4.06899957e-01 1.17167537e-01 4.80178610e+01] [-4.04036390e-01 9.13465771e-01 -4.83205929e-02 -4.74899007e+00] [-1.26690182e-01 -3.56500662e-03 9.91935930e-01 -4.70070053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935919999999996 meters 0.03183090692061998 Centerline is valid? [True, True] Translation: X:48.05, Y:-4.76, Z:-4.70 [[ 9.07091425e-01 4.04368322e-01 1.16924788e-01 4.80477957e+01] [-4.01487591e-01 9.14590818e-01 -4.82840621e-02 -4.76074404e+00] [-1.26462883e-01 -3.14579292e-03 9.91966352e-01 -4.70405365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96592 meters 0.030690083457125563 Centerline is valid? [True, True] Translation: X:48.08, Y:-4.77, Z:-4.71 [[ 9.09764613e-01 3.98664611e-01 1.15736241e-01 4.80781980e+01] [-3.95789003e-01 9.17093974e-01 -4.78508984e-02 -4.77296210e+00] [-1.25217469e-01 -2.27407751e-03 9.92126713e-01 -4.70727840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99592 meters 0.030222978874137975 Centerline is valid? [True, True] Translation: X:48.11, Y:-4.78, Z:-4.71 [[ 9.11570580e-01 3.94807754e-01 1.14742818e-01 4.81083547e+01] [-3.91944803e-01 9.18762214e-01 -4.74896411e-02 -4.78382382e+00] [-1.24170644e-01 -1.68269137e-03 9.92259452e-01 -4.71267197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02592 meters 0.029849350821606096 Centerline is valid? [True, True] Translation: X:48.14, Y:-4.80, Z:-4.72 [[ 9.12232231e-01 3.93298674e-01 1.14666953e-01 4.81385153e+01] [-3.90419791e-01 9.19409671e-01 -4.75209899e-02 -4.79647844e+00] [-1.24115847e-01 -1.41806903e-03 9.92266721e-01 -4.71586450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05592 meters 0.029381437478693824 Centerline is valid? [True, True] Translation: X:48.17, Y:-4.81, Z:-4.72 [[ 9.12941729e-01 3.91632761e-01 1.14722181e-01 4.81677481e+01] [-3.88729658e-01 9.20120917e-01 -4.76104011e-02 -4.81152703e+00] [-1.24204071e-01 -1.13039224e-03 9.92256051e-01 -4.71682637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085919999999994 meters 0.02958122466198643 Centerline is valid? [True, True] Translation: X:48.20, Y:-4.82, Z:-4.72 [[ 9.12749267e-01 3.91896758e-01 1.15350367e-01 4.81975284e+01] [-3.88955231e-01 9.20008532e-01 -4.79388038e-02 -4.82487610e+00] [-1.24910383e-01 -1.11002050e-03 9.92167407e-01 -4.72067414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.115919999999996 meters 0.029568422651842 Centerline is valid? [True, True] Translation: X:48.23, Y:-4.84, Z:-4.73 [[ 9.12256630e-01 3.92963122e-01 1.15619314e-01 4.82262921e+01] [-3.90007767e-01 9.19553454e-01 -4.81184757e-02 -4.83947122e+00] [-1.25226926e-01 -1.19603196e-03 9.92127404e-01 -4.72520088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14592 meters 0.02947513876184475 Centerline is valid? [True, True] Translation: X:48.26, Y:-4.85, Z:-4.73 [[ 9.11886678e-01 3.93931123e-01 1.15243034e-01 4.82554615e+01] [-3.90994311e-01 9.19139095e-01 -4.80288675e-02 -4.85476336e+00] [-1.24844444e-01 -1.26248632e-03 9.92175524e-01 -4.72883119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17592 meters 0.029746227472172346 Centerline is valid? [True, True] Translation: X:48.28, Y:-4.87, Z:-4.73 [[ 9.11425139e-01 3.94988465e-01 1.15275016e-01 4.82834807e+01] [-3.92049973e-01 9.18685094e-01 -4.81094178e-02 -4.87106188e+00] [-1.24904104e-01 -1.34543406e-03 9.92167906e-01 -4.73457128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20592 meters 0.029628412794939097 Centerline is valid? [True, True] Translation: X:48.31, Y:-4.89, Z:-4.74 [[ 9.10764415e-01 3.96877436e-01 1.14002113e-01 4.83133642e+01] [-3.94010687e-01 9.17870342e-01 -4.76404731e-02 -4.88504653e+00] [-1.23546587e-01 -1.52880310e-03 9.92337596e-01 -4.73613019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23592 meters 0.0300057006492505 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.90, Z:-4.74 [[ 9.09432986e-01 3.99869706e-01 1.14174703e-01 4.83430581e+01] [-3.97010987e-01 9.16570048e-01 -4.77663460e-02 -4.89985341e+00] [-1.23749428e-01 -1.88832084e-03 9.92311702e-01 -4.73920861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265919999999994 meters 0.03004129374196626 Centerline is valid? [True, True] Translation: X:48.37, Y:-4.91, Z:-4.74 [[ 9.08630861e-01 4.01842124e-01 1.13634796e-01 4.83734014e+01] [-3.99016582e-01 9.15706607e-01 -4.76148817e-02 -4.91343330e+00] [-1.23189799e-01 -2.07781717e-03 9.92380953e-01 -4.74165145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.295919999999995 meters 0.03089550250019967 Centerline is valid? [True, True] Translation: X:48.40, Y:-4.93, Z:-4.75 [[ 9.06359650e-01 4.07491046e-01 1.11638847e-01 4.84032215e+01] [-4.04798071e-01 9.13205127e-01 -4.68499548e-02 -4.92922434e+00] [-1.21040105e-01 -2.72828128e-03 9.92643868e-01 -4.74613088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325919999999996 meters 0.031446551044356674 Centerline is valid? [True, True] Translation: X:48.43, Y:-4.94, Z:-4.75 [[ 9.04794998e-01 4.10590245e-01 1.12967530e-01 4.84332957e+01] [-4.07847584e-01 9.11814651e-01 -4.74804287e-02 -4.94303230e+00] [-1.22500450e-01 -3.11347975e-03 9.92463574e-01 -4.74979476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.35592 meters 0.03292908727071544 Centerline is valid? [True, True] Translation: X:48.46, Y:-4.96, Z:-4.75 [[ 9.01517278e-01 4.18303013e-01 1.10856607e-01 4.84645176e+01] [-4.15712024e-01 9.08298644e-01 -4.66592622e-02 -4.95636540e+00] [-1.20208616e-01 -4.02029345e-03 9.92740513e-01 -4.75167009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38592 meters 0.03381117700642312 Centerline is valid? [True, True] Translation: X:48.50, Y:-4.97, Z:-4.75 [[ 8.99790715e-01 4.22113071e-01 1.10441042e-01 4.84962683e+01] [-4.19561677e-01 9.06532276e-01 -4.65535365e-02 -4.96816651e+00] [-1.19769225e-01 -4.44838897e-03 9.92791793e-01 -4.75493895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41592 meters 0.03381117700642312 Centerline is valid? [True, True] Translation: X:48.53, Y:-4.98, Z:-4.76 [[ 8.99570866e-01 4.22587820e-01 1.10416448e-01 4.85268354e+01] [-4.20032843e-01 9.06311067e-01 -4.66118022e-02 -4.98063113e+00] [-1.19769229e-01 -4.44791547e-03 9.92791795e-01 -4.75833779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44592 meters 0.034217795277865413 Centerline is valid? [True, True] Translation: X:48.56, Y:-4.99, Z:-4.76 [[ 8.97853985e-01 4.26733181e-01 1.08429763e-01 4.85587936e+01] [-4.24291886e-01 9.04364567e-01 -4.58380356e-02 -4.98877486e+00] [-1.17620646e-01 -4.85000562e-03 9.93046757e-01 -4.76088078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.475919999999995 meters 0.03399570404069085 Centerline is valid? [True, True] Translation: X:48.59, Y:-5.00, Z:-4.76 [[ 8.97418702e-01 4.27608190e-01 1.08585950e-01 4.85902084e+01] [-4.25159051e-01 9.03950805e-01 -4.59643583e-02 -4.99799688e+00] [-1.17811093e-01 -4.91702466e-03 9.93023851e-01 -4.76480679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505919999999996 meters 0.03466125398011763 Centerline is valid? [True, True] Translation: X:48.62, Y:-5.01, Z:-4.77 [[ 8.96971105e-01 4.28118438e-01 1.10260781e-01 4.86225397e+01] [-4.25588857e-01 9.03708792e-01 -4.67391044e-02 -5.00798892e+00] [-1.19653510e-01 -5.00213370e-03 9.92803111e-01 -4.76939127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53592 meters 0.03369999169255134 Centerline is valid? [True, True] Translation: X:48.65, Y:-5.02, Z:-4.77 [[ 8.97639037e-01 4.27316625e-01 1.07910435e-01 4.86539950e+01] [-4.24880742e-01 9.04089662e-01 -4.58065288e-02 -5.01756786e+00] [-1.17134600e-01 -4.73133750e-03 9.93104778e-01 -4.77139190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56592 meters 0.03364257114022566 Centerline is valid? [True, True] Translation: X:48.69, Y:-5.03, Z:-4.78 [[ 8.98184604e-01 4.26310034e-01 1.07350698e-01 4.86851423e+01] [-4.23886839e-01 9.04565753e-01 -4.56151994e-02 -5.02755084e+00] [-1.16551982e-01 -4.53367829e-03 9.93174245e-01 -4.77662587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59592 meters 0.03308850133966807 Centerline is valid? [True, True] Translation: X:48.72, Y:-5.04, Z:-4.78 [[ 8.98546611e-01 4.25881268e-01 1.06014783e-01 4.87170491e+01] [-4.23508483e-01 9.04768512e-01 -4.51054902e-02 -5.03734180e+00] [-1.15128421e-01 -4.36877474e-03 9.93341009e-01 -4.77961754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62592 meters 0.03289541648037478 Centerline is valid? [True, True] Translation: X:48.75, Y:-5.04, Z:-4.78 [[ 8.99055548e-01 4.25106450e-01 1.04802804e-01 4.87497920e+01] [-4.22777000e-01 9.05133728e-01 -4.46379062e-02 -5.04476525e+00] [-1.13836415e-01 -4.17625806e-03 9.93490729e-01 -4.78330180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.655919999999995 meters 0.03294222019687632 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.06, Z:-4.79 [[ 8.98889335e-01 4.25338511e-01 1.05285873e-01 4.87806399e+01] [-4.22982174e-01 9.05024727e-01 -4.49035017e-02 -5.05631250e+00] [-1.14385507e-01 -4.17076862e-03 9.93427683e-01 -4.78669389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685919999999996 meters 0.03297954518016879 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.07, Z:-4.79 [[ 8.99032132e-01 4.24603099e-01 1.07020714e-01 4.88119072e+01] [-4.22155874e-01 9.05370358e-01 -4.57048334e-02 -5.06790271e+00] [-1.16299796e-01 -4.08930924e-03 9.93205736e-01 -4.78774123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71592 meters 0.03226038873378055 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.08, Z:-4.79 [[ 8.99408870e-01 4.23746199e-01 1.07251308e-01 4.88435380e+01] [-4.21275241e-01 9.05772431e-01 -4.58636505e-02 -5.07807784e+00] [-1.16579826e-01 -3.93214671e-03 9.93173541e-01 -4.79042207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74592 meters 0.03217552877459279 Centerline is valid? [True, True] Translation: X:48.88, Y:-5.08, Z:-4.80 [[ 9.00373229e-01 4.21241118e-01 1.09013616e-01 4.88771653e+01] [-4.18662335e-01 9.06941498e-01 -4.66794172e-02 -5.08278398e+00] [-1.18532262e-01 -3.61099751e-03 9.92943636e-01 -4.79535036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77592 meters 0.031490841867140316 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.09, Z:-4.80 [[ 9.01407926e-01 4.19305396e-01 1.07920042e-01 4.89087742e+01] [-4.16757276e-01 9.07839365e-01 -4.62715916e-02 -5.09051381e+00] [-1.17375991e-01 -3.26688348e-03 9.93082174e-01 -4.79905198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80592 meters 0.03040280375023625 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.10, Z:-4.80 [[ 9.03778749e-01 4.14578103e-01 1.06343637e-01 4.89416677e+01] [-4.12065189e-01 9.10010123e-01 -4.56492637e-02 -5.09632072e+00] [-1.15698972e-01 -2.56367657e-03 9.93281015e-01 -4.80332047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.835919999999994 meters 0.02952868793302298 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.11, Z:-4.81 [[ 9.05303309e-01 4.11354706e-01 1.05892510e-01 4.89725903e+01] [-4.08836487e-01 9.11472914e-01 -4.54956446e-02 -5.10603434e+00] [-1.15233003e-01 -2.10536433e-03 9.93336259e-01 -4.80591220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865919999999996 meters 0.028683868859273487 Centerline is valid? [True, True] Translation: X:49.00, Y:-5.11, Z:-4.81 [[ 9.08449356e-01 4.04340621e-01 1.05964282e-01 4.90039276e+01] [-4.01764485e-01 9.14607738e-01 -4.55849178e-02 -5.11496547e+00] [-1.15347586e-01 -1.16109599e-03 9.93324512e-01 -4.80703491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89592 meters 0.02858476337152192 Centerline is valid? [True, True] Translation: X:49.04, Y:-5.12, Z:-4.81 [[ 9.10069543e-01 4.00161622e-01 1.07907849e-01 4.90351005e+01] [-3.97453201e-01 9.16444397e-01 -4.64824718e-02 -5.12481774e+00] [-1.17492045e-01 -5.86038175e-04 9.93073651e-01 -4.81066571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92592 meters 0.02842660492599212 Centerline is valid? [True, True] Translation: X:49.07, Y:-5.13, Z:-4.81 [[ 9.12376736e-01 3.94990330e-01 1.07477118e-01 4.90669185e+01] [-3.92260150e-01 9.18685267e-01 -4.63611379e-02 -5.13400043e+00] [-1.17049846e-01 1.39833276e-04 9.93126031e-01 -4.81330027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95592 meters 0.0284626945485769 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.15, Z:-4.82 [[ 9.12825564e-01 3.93483187e-01 1.09180909e-01 4.90968623e+01] [-3.90646725e-01 9.19331725e-01 -4.71626487e-02 -5.14610198e+00] [-1.18931182e-01 4.00107088e-04 9.92902419e-01 -4.81917691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98592 meters 0.028366717657914396 Centerline is valid? [True, True] Translation: X:49.13, Y:-5.16, Z:-4.82 [[ 9.14202685e-01 3.90640317e-01 1.07859141e-01 4.91268102e+01] [-3.87845166e-01 9.20543031e-01 -4.66546340e-02 -5.15929163e+00] [-1.17514162e-01 8.19145000e-04 9.93070869e-01 -4.82254606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.015919999999994 meters 0.028419930217191507 Centerline is valid? [True, True] Translation: X:49.16, Y:-5.17, Z:-4.83 [[ 9.13999062e-01 3.91134666e-01 1.07793266e-01 4.91566410e+01] [-3.88339005e-01 9.20333099e-01 -4.66883762e-02 -5.17284407e+00] [-1.17467153e-01 8.12802438e-04 9.93076436e-01 -4.82647351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045919999999995 meters 0.028445665365880165 Centerline is valid? [True, True] Translation: X:49.19, Y:-5.19, Z:-4.83 [[ 9.13408536e-01 3.93070176e-01 1.05738751e-01 4.91856080e+01] [-3.90385846e-01 9.19508271e-01 -4.58631712e-02 -5.18877518e+00] [-1.15255101e-01 6.12900377e-04 9.93335737e-01 -4.82949504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075919999999996 meters 0.0282849155959241 Centerline is valid? [True, True] Translation: X:49.22, Y:-5.20, Z:-4.83 [[ 9.12856784e-01 3.94515194e-01 1.05120186e-01 4.92152301e+01] [-3.91865061e-01 9.18889291e-01 -4.56535309e-02 -5.20324204e+00] [-1.14604825e-01 4.82207224e-04 9.93411044e-01 -4.83218830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10592 meters 0.02858309441166709 Centerline is valid? [True, True] Translation: X:49.24, Y:-5.22, Z:-4.84 [[ 9.12161604e-01 3.95992710e-01 1.05598207e-01 4.92446942e+01] [-3.93320680e-01 9.18253585e-01 -4.59259987e-02 -5.21677404e+00] [-1.15152293e-01 3.57974051e-04 9.93347785e-01 -4.83678817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13592 meters 0.028551993851142012 Centerline is valid? [True, True] Translation: X:49.27, Y:-5.23, Z:-4.84 [[ 9.11212343e-01 3.97905386e-01 1.06599111e-01 4.92743238e+01] [-3.95187609e-01 9.17426440e-01 -4.64271655e-02 -5.23171746e+00] [-1.16270462e-01 1.78358575e-04 9.93217573e-01 -4.83945816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16592 meters 0.028686122393226644 Centerline is valid? [True, True] Translation: X:49.30, Y:-5.25, Z:-4.84 [[ 9.11056442e-01 3.97902632e-01 1.07933566e-01 4.93043942e+01] [-3.95108228e-01 9.17427619e-01 -4.70749546e-02 -5.24592892e+00] [-1.17752483e-01 2.42500509e-04 9.93042947e-01 -4.84183775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19592 meters 0.02873879163030667 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.26, Z:-4.85 [[ 9.10573077e-01 3.99263497e-01 1.06982858e-01 4.93333555e+01] [-3.96519989e-01 9.16836214e-01 -4.67253067e-02 -5.26038405e+00] [-1.16741467e-01 1.25964725e-04 9.93162330e-01 -4.84574972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225919999999995 meters 0.028683281579466563 Centerline is valid? [True, True] Translation: X:49.36, Y:-5.28, Z:-4.85 [[ 9.10176138e-01 4.00416882e-01 1.06045828e-01 4.93615070e+01] [-3.97721652e-01 9.16333083e-01 -4.63806944e-02 -5.27651485e+00] [-1.15744914e-01 3.78794064e-05 9.93278971e-01 -4.85002861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255919999999996 meters 0.02892020242375573 Centerline is valid? [True, True] Translation: X:49.39, Y:-5.29, Z:-4.85 [[ 9.09473221e-01 4.02021893e-01 1.06004051e-01 4.93912947e+01] [-3.99332130e-01 9.15630049e-01 -4.64269691e-02 -5.29077093e+00] [-1.15725153e-01 -1.06738570e-04 9.93281268e-01 -4.85387953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28592 meters 0.028777179147783754 Centerline is valid? [True, True] Translation: X:49.42, Y:-5.31, Z:-4.86 [[ 9.08704835e-01 4.04279963e-01 1.03986703e-01 4.94211847e+01] [-4.01699511e-01 9.14635229e-01 -4.56059184e-02 -5.30517022e+00] [-1.13547461e-01 -3.29089420e-04 9.93532519e-01 -4.85637085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31592 meters 0.028664470757663544 Centerline is valid? [True, True] Translation: X:49.45, Y:-5.32, Z:-4.86 [[ 9.08232909e-01 4.05834310e-01 1.02036738e-01 4.94515532e+01] [-4.03352878e-01 9.13946554e-01 -4.48124076e-02 -5.31882912e+00] [-1.11442537e-01 -4.56708402e-04 9.93770775e-01 -4.85831031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34592 meters 0.028918854762512276 Centerline is valid? [True, True] Translation: X:49.48, Y:-5.33, Z:-4.86 [[ 9.06589739e-01 4.09014410e-01 1.03933910e-01 4.94812498e+01] [-4.06452564e-01 9.12527573e-01 -4.57136908e-02 -5.33292506e+00] [-1.13540117e-01 -8.00641164e-04 9.93533090e-01 -4.86249202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37592 meters 0.029192774869417504 Centerline is valid? [True, True] Translation: X:49.51, Y:-5.35, Z:-4.87 [[ 9.05092366e-01 4.12177269e-01 1.04487833e-01 4.95111756e+01] [-4.09601656e-01 9.11102951e-01 -4.60206091e-02 -5.34619848e+00] [-1.14167822e-01 -1.14548761e-03 9.93460818e-01 -4.86570494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405919999999995 meters 0.029641488763880737 Centerline is valid? [True, True] Translation: X:49.54, Y:-5.36, Z:-4.87 [[ 9.03478985e-01 4.15176717e-01 1.06555228e-01 4.95407554e+01] [-4.12510984e-01 9.09739555e-01 -4.69960703e-02 -5.35969066e+00] [-1.16449179e-01 -1.49523982e-03 9.93195526e-01 -4.86970200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435919999999996 meters 0.03009988606612456 Centerline is valid? [True, True] Translation: X:49.57, Y:-5.37, Z:-4.87 [[ 9.01374553e-01 4.19496971e-01 1.07453274e-01 4.95707100e+01] [-4.16808856e-01 9.07754508e-01 -4.74566316e-02 -5.37319536e+00] [-1.17449107e-01 -2.01127589e-03 9.93076866e-01 -4.87246158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46592 meters 0.03036968339584497 Centerline is valid? [True, True] Translation: X:49.60, Y:-5.39, Z:-4.87 [[ 9.00426555e-01 4.21996343e-01 1.05598790e-01 4.96004666e+01] [-4.19410481e-01 9.06594764e-01 -4.66988423e-02 -5.38594436e+00] [-1.15442051e-01 -2.24036152e-03 9.93311690e-01 -4.87435025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49592 meters 0.030379112842116446 Centerline is valid? [True, True] Translation: X:49.63, Y:-5.40, Z:-4.88 [[ 8.99686952e-01 4.23681813e-01 1.05152789e-01 4.96317344e+01] [-4.21122064e-01 9.05807934e-01 -4.65638722e-02 -5.39560867e+00] [-1.14976496e-01 -2.38925132e-03 9.93365339e-01 -4.87824179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52592 meters 0.03051936464019412 Centerline is valid? [True, True] Translation: X:49.66, Y:-5.41, Z:-4.88 [[ 8.98805333e-01 4.25934515e-01 1.03579740e-01 4.96624315e+01] [-4.23459072e-01 9.04750308e-01 -4.59270552e-02 -5.40807646e+00] [-1.13275720e-01 -2.58229834e-03 9.93560236e-01 -4.88079502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55592 meters 0.03096268746661161 Centerline is valid? [True, True] Translation: X:49.69, Y:-5.42, Z:-4.88 [[ 8.97906444e-01 4.27884873e-01 1.03337085e-01 4.96924484e+01] [-4.25427020e-01 9.03829011e-01 -4.58799420e-02 -5.42130668e+00] [-1.13030389e-01 -2.76649254e-03 9.93587680e-01 -4.88334285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585919999999994 meters 0.031147978744432054 Centerline is valid? [True, True] Translation: X:49.72, Y:-5.43, Z:-4.89 [[ 8.97442398e-01 4.28867362e-01 1.03295345e-01 4.97223251e+01] [-4.26411074e-01 9.03363025e-01 -4.59221167e-02 -5.43373110e+00] [-1.13007692e-01 -2.83382444e-03 9.93590072e-01 -4.88612606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.615919999999996 meters 0.031565804656334545 Centerline is valid? [True, True] Translation: X:49.75, Y:-5.44, Z:-4.89 [[ 8.95986210e-01 4.32184938e-01 1.02102355e-01 4.97528449e+01] [-4.29800046e-01 9.01779457e-01 -4.54503102e-02 -5.44453690e+00] [-1.11716746e-01 -3.16074587e-03 9.93735064e-01 -4.88940826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64592 meters 0.03236116624071591 Centerline is valid? [True, True] Translation: X:49.78, Y:-5.45, Z:-4.89 [[ 8.94133915e-01 4.36291606e-01 1.00867127e-01 4.97844062e+01] [-4.33984150e-01 8.99798213e-01 -4.49547902e-02 -5.45435547e+00] [-1.10373459e-01 -3.57913198e-03 9.93883740e-01 -4.89288921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67592 meters 0.032435819053670704 Centerline is valid? [True, True] Translation: X:49.82, Y:-5.46, Z:-4.90 [[ 8.92935965e-01 4.38436662e-01 1.02169739e-01 4.98151797e+01] [-4.36076584e-01 8.98753875e-01 -4.55925925e-02 -5.46450544e+00] [-1.11814913e-01 -3.84256524e-03 9.93721621e-01 -4.89614418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70592 meters 0.03380657424476028 Centerline is valid? [True, True] Translation: X:49.85, Y:-5.47, Z:-4.90 [[ 8.90872054e-01 4.41351092e-01 1.07499751e-01 4.98466383e+01] [-4.38753583e-01 8.97323759e-01 -4.80142111e-02 -5.47367490e+00] [-1.17653205e-01 -4.39138194e-03 9.93045034e-01 -4.90040923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73592 meters 0.03345786118720272 Centerline is valid? [True, True] Translation: X:49.88, Y:-5.49, Z:-4.90 [[ 8.90787224e-01 4.41659470e-01 1.06934717e-01 4.98778705e+01] [-4.39084533e-01 8.97172194e-01 -4.78207877e-02 -5.48521874e+00] [-1.17059358e-01 -4.35523364e-03 9.93115370e-01 -4.90281671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765919999999994 meters 0.03318046603247876 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.49, Z:-4.91 [[ 8.90971484e-01 4.42150598e-01 1.03308578e-01 4.99089605e+01] [-4.39744601e-01 8.96930916e-01 -4.62559948e-02 -5.49493110e+00] [-1.13112773e-01 -4.21661693e-03 9.93573209e-01 -4.90558233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.795919999999995 meters 0.03284358421524224 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.50, Z:-4.91 [[ 8.91527918e-01 4.41167496e-01 1.02709360e-01 4.99402529e+01] [-4.38776279e-01 8.97415802e-01 -4.60462346e-02 -5.50488029e+00] [-1.12487104e-01 -4.01492704e-03 9.93645073e-01 -4.90959601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825919999999996 meters 0.03287205153574766 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.51, Z:-4.91 [[ 8.91488368e-01 4.41208558e-01 1.02876130e-01 4.99722752e+01] [-4.38803117e-01 8.97395799e-01 -4.61801257e-02 -5.51416775e+00] [-1.12695673e-01 -3.97332139e-03 9.93621607e-01 -4.91256819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85592 meters 0.032644137518099116 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.53, Z:-4.91 [[ 8.91368559e-01 4.41419984e-01 1.03007229e-01 5.00035767e+01] [-4.39003099e-01 8.97291915e-01 -4.62979418e-02 -5.52569878e+00] [-1.12864391e-01 -3.95196303e-03 9.93602542e-01 -4.91459577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88592 meters 0.03306646729828055 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.54, Z:-4.92 [[ 8.90669569e-01 4.42792380e-01 1.03163110e-01 5.00345300e+01] [-4.40370565e-01 8.96614897e-01 -4.64272845e-02 -5.53620586e+00] [-1.13055229e-01 -4.07862764e-03 9.93580334e-01 -4.91671677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91592 meters 0.03320291367325702 Centerline is valid? [True, True] Translation: X:50.07, Y:-5.55, Z:-4.92 [[ 8.90187058e-01 4.43808771e-01 1.02960073e-01 5.00654241e+01] [-4.41396512e-01 8.96111928e-01 -4.63953786e-02 -5.54685574e+00] [-1.12854426e-01 -4.14565157e-03 9.93602885e-01 -4.92069119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94592 meters 0.033810379115063634 Centerline is valid? [True, True] Translation: X:50.10, Y:-5.56, Z:-4.93 [[ 8.89003097e-01 4.46109747e-01 1.03245279e-01 5.00963032e+01] [-4.43692816e-01 8.94967462e-01 -4.65824799e-02 -5.55637878e+00] [-1.13182063e-01 -4.39721957e-03 9.93564535e-01 -4.92640179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.975919999999995 meters 0.033710960650915375 Centerline is valid? [True, True] Translation: X:50.13, Y:-5.57, Z:-4.93 [[ 8.88583426e-01 4.46555252e-01 1.04918549e-01 5.01265850e+01] [-4.44055457e-01 8.94744872e-01 -4.73958366e-02 -5.56761008e+00] [-1.15040194e-01 -4.47449953e-03 9.93350760e-01 -4.93006502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005919999999996 meters 0.03346800640234367 Centerline is valid? [True, True] Translation: X:50.16, Y:-5.58, Z:-4.93 [[ 8.88530453e-01 4.46994574e-01 1.03486646e-01 5.01584831e+01] [-4.44559079e-01 8.94525765e-01 -4.68068404e-02 -5.57684610e+00] [-1.13493875e-01 -4.41662501e-03 9.93528879e-01 -4.93222877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03592 meters 0.03335722507564096 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.59, Z:-4.94 [[ 8.88819335e-01 4.46246038e-01 1.04233694e-01 5.01893245e+01] [-4.43763276e-01 8.94899987e-01 -4.72034824e-02 -5.58708251e+00] [-1.14343099e-01 -4.29971783e-03 9.93432015e-01 -4.93535520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06592 meters 0.033050018745173784 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.59, Z:-4.94 [[ 8.88906621e-01 4.46157520e-01 1.03867644e-01 5.02217758e+01] [-4.43685094e-01 8.94944492e-01 -4.70945232e-02 -5.59349416e+00] [-1.13967351e-01 -4.22189184e-03 9.93475525e-01 -4.93851725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09592 meters 0.03332605096063494 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.61, Z:-4.94 [[ 8.88412590e-01 4.46894790e-01 1.04919572e-01 5.02519768e+01] [-4.44370151e-01 8.94576152e-01 -4.76306326e-02 -5.60537624e+00] [-1.15144429e-01 -4.30747248e-03 9.93339421e-01 -4.94283378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12592 meters 0.03310427245178349 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.62, Z:-4.95 [[ 8.88481918e-01 4.47002608e-01 1.03867948e-01 5.02831475e+01] [-4.44522480e-01 8.94522677e-01 -4.72117104e-02 -5.61614741e+00] [-1.14015993e-01 -4.22488703e-03 9.93469931e-01 -4.94559136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.155919999999995 meters 0.03303828101112635 Centerline is valid? [True, True] Translation: X:50.31, Y:-5.63, Z:-4.95 [[ 8.88453915e-01 4.46996151e-01 1.04134917e-01 5.03141502e+01] [-4.44496460e-01 8.94526102e-01 -4.73914498e-02 -5.62704868e+00] [-1.14335197e-01 -4.18248298e-03 9.93433425e-01 -4.94793986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185919999999996 meters 0.03293522328208122 Centerline is valid? [True, True] Translation: X:50.35, Y:-5.64, Z:-4.95 [[ 8.88444718e-01 4.46305851e-01 1.07131088e-01 5.03466047e+01] [-4.43647347e-01 8.94870836e-01 -4.88182148e-02 -5.63508496e+00] [-1.17656342e-01 -4.15613799e-03 9.93045675e-01 -4.95310062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21592 meters 0.03304845433335821 Centerline is valid? [True, True] Translation: X:50.38, Y:-5.65, Z:-4.96 [[ 8.88378635e-01 4.46305529e-01 1.07679036e-01 5.03767636e+01] [-4.43612210e-01 8.94871159e-01 -4.91306060e-02 -5.64738551e+00] [-1.18286125e-01 -4.12115467e-03 9.92971001e-01 -4.95671905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24592 meters 0.032183272660183955 Centerline is valid? [True, True] Translation: X:50.41, Y:-5.66, Z:-4.96 [[ 8.89188749e-01 4.45041288e-01 1.06214972e-01 5.04067627e+01] [-4.42405136e-01 8.95501792e-01 -4.85204761e-02 -5.65975899e+00] [-1.16709313e-01 -3.84618760e-03 9.93158670e-01 -4.95876651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27592 meters 0.03207363055978739 Centerline is valid? [True, True] Translation: X:50.44, Y:-5.67, Z:-4.96 [[ 8.89707446e-01 4.44044248e-01 1.06044168e-01 5.04365441e+01] [-4.41404697e-01 8.95997334e-01 -4.84837223e-02 -5.67155904e+00] [-1.16544210e-01 -3.67206517e-03 9.93178717e-01 -4.96210196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30592 meters 0.031511949166913925 Centerline is valid? [True, True] Translation: X:50.47, Y:-5.68, Z:-4.97 [[ 8.90453318e-01 4.42416485e-01 1.06585844e-01 5.04679408e+01] [-4.39731163e-01 8.96803176e-01 -4.87910608e-02 -5.68090442e+00] [-1.17172493e-01 -3.42295526e-03 9.93105679e-01 -4.96526878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.335919999999994 meters 0.031511949166913925 Centerline is valid? [True, True] Translation: X:50.50, Y:-5.69, Z:-4.97 [[ 8.90239143e-01 4.42852742e-01 1.06563208e-01 5.04973993e+01] [-4.40164624e-01 8.96587817e-01 -4.88404535e-02 -5.69400276e+00] [-1.17172403e-01 -3.42567111e-03 9.93105681e-01 -4.96858041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365919999999996 meters 0.031355011512814494 Centerline is valid? [True, True] Translation: X:50.53, Y:-5.71, Z:-4.97 [[ 8.90368475e-01 4.42272450e-01 1.07884467e-01 5.05270140e+01] [-4.39505135e-01 8.96874556e-01 -4.95102813e-02 -5.70699327e+00] [-1.18655867e-01 -3.33338365e-03 9.92929843e-01 -4.97252154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39592 meters 0.03135219834169874 Centerline is valid? [True, True] Translation: X:50.56, Y:-5.72, Z:-4.98 [[ 8.90777868e-01 4.41830608e-01 1.06303831e-01 5.05565574e+01] [-4.39133648e-01 8.97092896e-01 -4.88464458e-02 -5.72091612e+00] [-1.16946266e-01 -3.17025618e-03 9.93133184e-01 -4.97504474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42592 meters 0.03141160532759891 Centerline is valid? [True, True] Translation: X:50.59, Y:-5.73, Z:-4.98 [[ 8.90397765e-01 4.42227187e-01 1.07828267e-01 5.05868748e+01] [-4.39447589e-01 8.96897313e-01 -4.96087346e-02 -5.73374817e+00] [-1.18649214e-01 -3.21336573e-03 9.92931034e-01 -4.97901032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45592 meters 0.031259557321747684 Centerline is valid? [True, True] Translation: X:50.62, Y:-5.75, Z:-4.98 [[ 8.90343070e-01 4.42634309e-01 1.06602474e-01 5.06176330e+01] [-4.39913298e-01 8.96696602e-01 -4.91069722e-02 -5.74575070e+00] [-1.17326507e-01 -3.17379341e-03 9.93088323e-01 -4.98173634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48592 meters 0.031287707476903986 Centerline is valid? [True, True] Translation: X:50.65, Y:-5.76, Z:-4.98 [[ 8.89755348e-01 4.43257038e-01 1.08897286e-01 5.06475950e+01] [-4.40414120e-01 8.96388595e-01 -5.02283764e-02 -5.75755935e+00] [-1.19878366e-01 -3.26893578e-03 9.92783205e-01 -4.98492474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.515919999999994 meters 0.03192066372751394 Centerline is valid? [True, True] Translation: X:50.68, Y:-5.77, Z:-4.99 [[ 8.88719646e-01 4.45197369e-01 1.09438083e-01 5.06763064e+01] [-4.42333016e-01 8.95425660e-01 -5.05409676e-02 -5.77325006e+00] [-1.20494373e-01 -3.49132627e-03 9.92707871e-01 -4.98714204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545919999999995 meters 0.03155447771909186 Centerline is valid? [True, True] Translation: X:50.71, Y:-5.79, Z:-4.99 [[ 8.89263390e-01 4.44429229e-01 1.08135492e-01 5.07058473e+01] [-4.41619891e-01 8.95807919e-01 -5.00004362e-02 -5.78617182e+00] [-1.19090285e-01 -3.29122664e-03 9.92877974e-01 -4.99037391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575919999999996 meters 0.03128144336003643 Centerline is valid? [True, True] Translation: X:50.74, Y:-5.80, Z:-4.99 [[ 8.89263785e-01 4.44696747e-01 1.07026742e-01 5.07359350e+01] [-4.41939821e-01 8.95675338e-01 -4.95467844e-02 -5.79866960e+00] [-1.17894507e-01 -3.23921826e-03 9.93020842e-01 -4.99340969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60592 meters 0.031025377502051636 Centerline is valid? [True, True] Translation: X:50.77, Y:-5.81, Z:-5.00 [[ 8.89259395e-01 4.44490643e-01 1.07915691e-01 5.07664477e+01] [-4.41678919e-01 8.95777832e-01 -5.00180798e-02 -5.81029873e+00] [-1.18901052e-01 -3.18503851e-03 9.92901000e-01 -4.99846368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63592 meters 0.031401349285128916 Centerline is valid? [True, True] Translation: X:50.80, Y:-5.82, Z:-5.00 [[ 8.89040341e-01 4.44585756e-01 1.09319611e-01 5.07965072e+01] [-4.41694956e-01 8.95730591e-01 -5.07175931e-02 -5.82393015e+00] [-1.20469240e-01 -3.19593459e-03 9.92711916e-01 -5.00127398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66592 meters 0.03128094280834031 Centerline is valid? [True, True] Translation: X:50.83, Y:-5.84, Z:-5.00 [[ 8.88554303e-01 4.45546885e-01 1.09358237e-01 5.08275481e+01] [-4.42653420e-01 8.95252639e-01 -5.08002201e-02 -5.83522486e+00] [-1.20537130e-01 -3.26904361e-03 9.92703437e-01 -5.00242458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.695919999999994 meters 0.031231682723760923 Centerline is valid? [True, True] Translation: X:50.86, Y:-5.85, Z:-5.01 [[ 8.87699194e-01 4.47720838e-01 1.07406668e-01 5.08586452e+01] [-4.44939205e-01 8.94166737e-01 -4.99494761e-02 -5.84649920e+00] [-1.18402891e-01 -3.44932799e-03 9.92959645e-01 -5.00665210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725919999999995 meters 0.031440568419642 Centerline is valid? [True, True] Translation: X:50.89, Y:-5.86, Z:-5.01 [[ 8.87373280e-01 4.48726702e-01 1.05891494e-01 5.08882579e+01] [-4.46023628e-01 8.93662258e-01 -4.93020470e-02 -5.85918981e+00] [-1.16754377e-01 -3.48078931e-03 9.93154721e-01 -5.01159847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755919999999996 meters 0.03166474952452114 Centerline is valid? [True, True] Translation: X:50.92, Y:-5.87, Z:-5.02 [[ 8.87073902e-01 4.48845995e-01 1.07875688e-01 5.09182775e+01] [-4.46033290e-01 8.93602260e-01 -5.02921949e-02 -5.87107459e+00] [-1.18971409e-01 -3.50325460e-03 9.92891500e-01 -5.01621858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78592 meters 0.0315039366347812 Centerline is valid? [True, True] Translation: X:50.95, Y:-5.88, Z:-5.02 [[ 8.87209787e-01 4.48655848e-01 1.07548708e-01 5.09504151e+01] [-4.45851279e-01 8.93698104e-01 -5.02029485e-02 -5.87992002e+00] [-1.18639923e-01 -3.41018174e-03 9.92931488e-01 -5.01690524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81592 meters 0.03130328299622829 Centerline is valid? [True, True] Translation: X:50.98, Y:-5.89, Z:-5.02 [[ 8.87418974e-01 4.47902716e-01 1.08952839e-01 5.09827411e+01] [-4.45010811e-01 8.94076224e-01 -5.09223242e-02 -5.88879328e+00] [-1.20220391e-01 -3.29575476e-03 9.92741757e-01 -5.01863324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84592 meters 0.030707947885483665 Centerline is valid? [True, True] Translation: X:51.01, Y:-5.90, Z:-5.02 [[ 8.87715580e-01 4.47485889e-01 1.08247070e-01 5.10137519e+01] [-4.44620779e-01 8.94285405e-01 -5.06554719e-02 -5.89903416e+00] [-1.19471384e-01 -3.16124504e-03 9.92832612e-01 -5.02262456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87592 meters 0.03049131474471988 Centerline is valid? [True, True] Translation: X:51.04, Y:-5.91, Z:-5.03 [[ 8.88458619e-01 4.46192581e-01 1.07487033e-01 5.10447151e+01] [-4.43351259e-01 8.94932229e-01 -5.03583900e-02 -5.90805825e+00] [-1.18663150e-01 -2.91316580e-03 9.92930295e-01 -5.02828421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905919999999995 meters 0.0302826158662716 Centerline is valid? [True, True] Translation: X:51.07, Y:-5.92, Z:-5.03 [[ 8.89005170e-01 4.44832548e-01 1.08599322e-01 5.10748284e+01] [-4.41914171e-01 8.95609679e-01 -5.09427908e-02 -5.92019445e+00] [-1.19923615e-01 -2.70317497e-03 9.92779441e-01 -5.03165840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935919999999996 meters 0.02972444723178464 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.93, Z:-5.03 [[ 8.90829070e-01 4.41474987e-01 1.07347116e-01 5.11048765e+01] [-4.38592027e-01 8.97270937e-01 -5.04172606e-02 -5.93191972e+00] [-1.18577407e-01 -2.16842798e-03 9.92942444e-01 -5.03281051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96592 meters 0.02942593039007964 Centerline is valid? [True, True] Translation: X:51.14, Y:-5.94, Z:-5.03 [[ 8.91404237e-01 4.40523893e-01 1.06476223e-01 5.11354828e+01] [-4.37674184e-01 8.97738717e-01 -5.00650054e-02 -5.94430827e+00] [-1.17642659e-01 -1.97373592e-03 9.93054031e-01 -5.03494039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99592 meters 0.02897286626468984 Centerline is valid? [True, True] Translation: X:51.17, Y:-5.96, Z:-5.04 [[ 8.92427657e-01 4.38344015e-01 1.06899024e-01 5.11662338e+01] [-4.35448481e-01 8.98805790e-01 -5.03266687e-02 -5.95592123e+00] [-1.18141855e-01 -1.63610635e-03 9.92995380e-01 -5.03821560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02592 meters 0.02884133043252585 Centerline is valid? [True, True] Translation: X:51.20, Y:-5.97, Z:-5.04 [[ 8.93912065e-01 4.35097263e-01 1.07757096e-01 5.11960529e+01] [-4.32124182e-01 9.00382708e-01 -5.07904487e-02 -5.96798570e+00] [-1.19121412e-01 -1.16225237e-03 9.92879015e-01 -5.04363520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05592 meters 0.028672903550367237 Centerline is valid? [True, True] Translation: X:51.22, Y:-5.98, Z:-5.05 [[ 8.94500503e-01 4.34096213e-01 1.06908036e-01 5.12248913e+01] [-4.31158623e-01 9.00865973e-01 -5.04256009e-02 -5.98084222e+00] [-1.18199375e-01 -9.88596406e-04 9.92989391e-01 -5.04733532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085919999999994 meters 0.028789924814414173 Centerline is valid? [True, True] Translation: X:51.25, Y:-5.99, Z:-5.05 [[ 8.94480300e-01 4.33868411e-01 1.07996270e-01 5.12543732e+01] [-4.30861465e-01 9.00975787e-01 -5.10002849e-02 -5.99401189e+00] [-1.19429437e-01 -9.12681133e-04 9.92842272e-01 -5.05165712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.115919999999996 meters 0.028872124093035693 Centerline is valid? [True, True] Translation: X:51.28, Y:-6.01, Z:-5.05 [[ 8.94929803e-01 4.32638658e-01 1.09199080e-01 5.12839034e+01] [-4.29546547e-01 9.01567141e-01 -5.16377196e-02 -6.00879499e+00] [-1.20790776e-01 -6.93953690e-04 9.92677746e-01 -5.05361093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14592 meters 0.028786066301579916 Centerline is valid? [True, True] Translation: X:51.31, Y:-6.02, Z:-5.06 [[ 8.94908961e-01 4.32523476e-01 1.09824377e-01 5.13128785e+01] [-4.29386366e-01 9.01622459e-01 -5.20027851e-02 -6.02303670e+00] [-1.21512550e-01 -6.19331672e-04 9.92589702e-01 -5.05682868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17592 meters 0.028803448798350728 Centerline is valid? [True, True] Translation: X:51.34, Y:-6.04, Z:-5.06 [[ 8.95403721e-01 4.31422105e-01 1.10123312e-01 5.13430013e+01] [-4.28250995e-01 9.02150099e-01 -5.22138313e-02 -6.03671272e+00] [-1.21873958e-01 -4.07959232e-04 9.92545501e-01 -5.06058211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20592 meters 0.02866766040145046 Centerline is valid? [True, True] Translation: X:51.37, Y:-6.05, Z:-5.06 [[ 8.96396358e-01 4.29688014e-01 1.08819941e-01 5.13721315e+01] [-4.26570843e-01 9.02977408e-01 -5.16634983e-02 -6.05058228e+00] [-1.20461134e-01 -1.08442293e-04 9.92718038e-01 -5.06476154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23592 meters 0.028705712319593252 Centerline is valid? [True, True] Translation: X:51.40, Y:-6.07, Z:-5.07 [[ 8.96730520e-01 4.28809876e-01 1.09528378e-01 5.14007054e+01] [-4.25636934e-01 9.03394756e-01 -5.20683662e-02 -6.06550518e+00] [-1.21274792e-01 7.19699872e-05 9.92618970e-01 -5.06858626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265919999999994 meters 0.028611145104436797 Centerline is valid? [True, True] Translation: X:51.43, Y:-6.08, Z:-5.07 [[ 8.96709798e-01 4.28823435e-01 1.09644883e-01 5.14290208e+01] [-4.25635199e-01 9.03388313e-01 -5.21941932e-02 -6.08189696e+00] [-1.21433999e-01 1.34322809e-04 9.92599499e-01 -5.07254652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.295919999999995 meters 0.0287267792717333 Centerline is valid? [True, True] Translation: X:51.46, Y:-6.10, Z:-5.08 [[ 8.95509453e-01 4.31552539e-01 1.08743855e-01 5.14587263e+01] [-4.28428303e-01 9.02087788e-01 -5.18344710e-02 -6.09595087e+00] [-1.20465801e-01 -1.70686444e-04 9.92717463e-01 -5.07587304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325919999999996 meters 0.028921152586795427 Centerline is valid? [True, True] Translation: X:51.49, Y:-6.11, Z:-5.08 [[ 8.94520406e-01 4.33412364e-01 1.09485006e-01 5.14876754e+01] [-4.30250579e-01 9.01195646e-01 -5.22574982e-02 -6.11066317e+00] [-1.21316456e-01 -3.60588720e-04 9.92613816e-01 -5.07898892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35592 meters 0.029076513217660138 Centerline is valid? [True, True] Translation: X:51.52, Y:-6.13, Z:-5.08 [[ 8.93515568e-01 4.35199624e-01 1.10594834e-01 5.15168954e+01] [-4.31978070e-01 9.00333821e-01 -5.28578978e-02 -6.12594871e+00] [-1.22576007e-01 -5.45188293e-04 9.92458979e-01 -5.08197864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38592 meters 0.029507059254021147 Centerline is valid? [True, True] Translation: X:51.55, Y:-6.14, Z:-5.09 [[ 8.92011134e-01 4.38121855e-01 1.11199715e-01 5.15452847e+01] [-4.34878677e-01 8.98915153e-01 -5.32173320e-02 -6.14286745e+00] [-1.23274785e-01 -8.87932085e-04 9.92372178e-01 -5.08535424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41592 meters 0.029452374101419706 Centerline is valid? [True, True] Translation: X:51.57, Y:-6.16, Z:-5.09 [[ 8.91459752e-01 4.39648536e-01 1.09584106e-01 5.15740540e+01] [-4.36502570e-01 8.98169316e-01 -5.25108229e-02 -6.15880223e+00] [-1.21511387e-01 -1.02245865e-03 9.92589511e-01 -5.09081001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.445919999999994 meters 0.029428789001664894 Centerline is valid? [True, True] Translation: X:51.60, Y:-6.17, Z:-5.10 [[ 8.91645241e-01 4.39057931e-01 1.10439566e-01 5.16033261e+01] [-4.35850008e-01 8.98458313e-01 -5.29851988e-02 -6.17320433e+00] [-1.22488918e-01 -8.91085412e-04 9.92469481e-01 -5.09513215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.475919999999995 meters 0.029303521001420852 Centerline is valid? [True, True] Translation: X:51.63, Y:-6.19, Z:-5.10 [[ 8.91895493e-01 4.38798830e-01 1.09444122e-01 5.16329947e+01] [-4.35638402e-01 8.98584981e-01 -5.25757971e-02 -6.18801817e+00] [-1.21415042e-01 -7.85945717e-04 9.92601516e-01 -5.09552408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505919999999996 meters 0.029530394226455155 Centerline is valid? [True, True] Translation: X:51.66, Y:-6.20, Z:-5.10 [[ 8.91661503e-01 4.38925549e-01 1.10833781e-01 5.16621416e+01] [-4.35676595e-01 8.98523120e-01 -5.33114230e-02 -6.20170166e+00] [-1.22986460e-01 -7.51940636e-04 9.92408064e-01 -5.09834530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53592 meters 0.029600568427027532 Centerline is valid? [True, True] Translation: X:51.69, Y:-6.22, Z:-5.10 [[ 8.90706022e-01 4.40928278e-01 1.10566885e-01 5.16905653e+01] [-4.37702309e-01 8.97541820e-01 -5.32481911e-02 -6.21741196e+00] [-1.22717036e-01 -9.66896366e-04 9.92441230e-01 -5.10163106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56592 meters 0.02969872499280141 Centerline is valid? [True, True] Translation: X:51.72, Y:-6.23, Z:-5.11 [[ 8.89954206e-01 4.42528060e-01 1.10228975e-01 5.17194156e+01] [-4.39325530e-01 8.96753957e-01 -5.31546783e-02 -6.23183854e+00] [-1.22370706e-01 -1.12117326e-03 9.92483830e-01 -5.10563209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59592 meters 0.02969754319975844 Centerline is valid? [True, True] Translation: X:51.75, Y:-6.25, Z:-5.11 [[ 8.89141444e-01 4.44435666e-01 1.09107429e-01 5.17481285e+01] [-4.41304221e-01 8.95809817e-01 -5.26816510e-02 -6.24667306e+00] [-1.21153111e-01 -1.30812972e-03 9.92632970e-01 -5.10935155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62592 meters 0.02989332345763768 Centerline is valid? [True, True] Translation: X:51.78, Y:-6.26, Z:-5.11 [[ 8.87477491e-01 4.47813000e-01 1.08844935e-01 5.17756662e+01] [-4.44713624e-01 8.94125616e-01 -5.26229677e-02 -6.26444659e+00] [-1.20886294e-01 -1.70312613e-03 9.92664900e-01 -5.11218455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.655919999999995 meters 0.030069631003302167 Centerline is valid? [True, True] Translation: X:51.80, Y:-6.28, Z:-5.11 [[ 8.85969781e-01 4.51056092e-01 1.07730912e-01 5.18038243e+01] [-4.48036016e-01 8.92493216e-01 -5.21496666e-02 -6.28193397e+00] [-1.19671533e-01 -2.06429968e-03 9.92811393e-01 -5.11362157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685919999999996 meters 0.030308639483972506 Centerline is valid? [True, True] Translation: X:51.83, Y:-6.30, Z:-5.12 [[ 8.85004329e-01 4.52951842e-01 1.07712420e-01 5.18334418e+01] [-4.49938769e-01 8.91532119e-01 -5.22071391e-02 -6.29632423e+00] [-1.19676402e-01 -2.26044971e-03 9.92810379e-01 -5.11771769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71592 meters 0.030308289820981986 Centerline is valid? [True, True] Translation: X:51.86, Y:-6.31, Z:-5.12 [[ 8.84610725e-01 4.53548366e-01 1.08433141e-01 5.18626598e+01] [-4.50491076e-01 8.91228704e-01 -5.26230695e-02 -6.31029273e+00] [-1.20505835e-01 -2.29723070e-03 9.92709961e-01 -5.12137121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74592 meters 0.03088740376130117 Centerline is valid? [True, True] Translation: X:51.89, Y:-6.33, Z:-5.12 [[ 8.82633110e-01 4.57328669e-01 1.08670516e-01 5.18904079e+01] [-4.54278300e-01 8.89293469e-01 -5.28048483e-02 -6.32841291e+00] [-1.20789151e-01 -2.75934981e-03 9.92674351e-01 -5.12486508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77592 meters 0.03127692903656281 Centerline is valid? [True, True] Translation: X:51.92, Y:-6.35, Z:-5.13 [[ 8.81411147e-01 4.59799029e-01 1.08163040e-01 5.19189553e+01] [-4.56787873e-01 8.88017849e-01 -5.26226169e-02 -6.34503542e+00] [-1.20246538e-01 -3.02540381e-03 9.92739451e-01 -5.12748377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80592 meters 0.03182409753527461 Centerline is valid? [True, True] Translation: X:51.95, Y:-6.36, Z:-5.13 [[ 8.79395718e-01 4.64057382e-01 1.06366900e-01 5.19479206e+01] [-4.61169067e-01 8.85798267e-01 -5.18123796e-02 -6.35916220e+00] [-1.18263533e-01 -3.48953919e-03 9.92976112e-01 -5.13157150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.835919999999994 meters 0.03248324700401369 Centerline is valid? [True, True] Translation: X:51.98, Y:-6.37, Z:-5.13 [[ 8.77658873e-01 4.67272323e-01 1.06637135e-01 5.19780644e+01] [-4.64385539e-01 8.84104936e-01 -5.20051238e-02 -6.37278087e+00] [-1.18578972e-01 -3.87798502e-03 9.92937052e-01 -5.13494067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865919999999996 meters 0.03364506882559629 Centerline is valid? [True, True] Translation: X:52.01, Y:-6.39, Z:-5.14 [[ 8.74306274e-01 4.73500707e-01 1.06703414e-01 5.20080973e+01] [-4.70648589e-01 8.80781074e-01 -5.21018661e-02 -6.38648178e+00] [-1.18652618e-01 -4.66682287e-03 9.92924860e-01 -5.13631882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89592 meters 0.034282145137782126 Centerline is valid? [True, True] Translation: X:52.04, Y:-6.40, Z:-5.14 [[ 8.72923816e-01 4.75844373e-01 1.07592492e-01 5.20376851e+01] [-4.72954314e-01 8.79515451e-01 -5.26002677e-02 -6.40091264e+00] [-1.19658800e-01 -4.97030671e-03 9.92802633e-01 -5.13928453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92592 meters 0.03462830456724236 Centerline is valid? [True, True] Translation: X:52.07, Y:-6.41, Z:-5.14 [[ 8.71833153e-01 4.78226703e-01 1.05859212e-01 5.20675232e+01] [-4.75439436e-01 8.78221289e-01 -5.18141928e-02 -6.41372702e+00] [-1.17746744e-01 -5.15631299e-03 9.93030270e-01 -5.14044601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95592 meters 0.03478484915140329 Centerline is valid? [True, True] Translation: X:52.10, Y:-6.43, Z:-5.14 [[ 8.71390977e-01 4.79507279e-01 1.03684786e-01 5.20972004e+01] [-4.76836083e-01 8.77522682e-01 -5.08064236e-02 -6.42732815e+00] [-1.15347802e-01 -5.16838821e-03 9.93311720e-01 -5.14423633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98592 meters 0.035091179973565485 Centerline is valid? [True, True] Translation: X:52.13, Y:-6.44, Z:-5.15 [[ 8.70742045e-01 4.80677192e-01 1.03719469e-01 5.21267716e+01] [-4.78005415e-01 8.76881774e-01 -5.08839605e-02 -6.44167354e+00] [-1.15408471e-01 -5.27166378e-03 9.93304130e-01 -5.14766461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.015919999999994 meters 0.0349673671661798 Centerline is valid? [True, True] Translation: X:52.16, Y:-6.45, Z:-5.15 [[ 8.70463302e-01 4.81326735e-01 1.03044715e-01 5.21572674e+01] [-4.78687450e-01 8.76525410e-01 -5.06115755e-02 -6.45370374e+00] [-1.14682015e-01 -5.27069269e-03 9.93388270e-01 -5.14987627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045919999999995 meters 0.034863246271226694 Centerline is valid? [True, True] Translation: X:52.19, Y:-6.46, Z:-5.15 [[ 8.70173941e-01 4.81662911e-01 1.03914157e-01 5.21885053e+01] [-4.78974055e-01 8.76340505e-01 -5.10996476e-02 -6.46355253e+00] [-1.15676990e-01 -5.30660348e-03 9.93272709e-01 -5.15299107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075919999999996 meters 0.035464292788847294 Centerline is valid? [True, True] Translation: X:52.22, Y:-6.47, Z:-5.15 [[ 8.68783354e-01 4.84324366e-01 1.03176513e-01 5.22202098e+01] [-4.81685355e-01 8.74870798e-01 -5.07967022e-02 -6.47239753e+00] [-1.14868199e-01 -5.56728615e-03 9.93365140e-01 -5.15493565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10592 meters 0.03591755841947514 Centerline is valid? [True, True] Translation: X:52.25, Y:-6.49, Z:-5.16 [[ 8.67685877e-01 4.86004891e-01 1.04501027e-01 5.22494500e+01] [-4.83302639e-01 8.73936759e-01 -5.15082547e-02 -6.48669462e+00] [-1.16360553e-01 -5.81263693e-03 9.93190030e-01 -5.15833201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13592 meters 0.036269095676666974 Centerline is valid? [True, True] Translation: X:52.28, Y:-6.50, Z:-5.16 [[ 8.66854260e-01 4.87443162e-01 1.04703654e-01 5.22787472e+01] [-4.84733912e-01 8.73134338e-01 -5.16668286e-02 -6.50106839e+00] [-1.16604998e-01 -5.96580164e-03 9.93160452e-01 -5.16192464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16592 meters 0.035907321063175124 Centerline is valid? [True, True] Translation: X:52.31, Y:-6.51, Z:-5.16 [[ 8.67444832e-01 4.86825167e-01 1.02668012e-01 5.23098392e+01] [-4.84209752e-01 8.73480719e-01 -5.07183294e-02 -6.50938236e+00] [-1.14369488e-01 -5.71750002e-03 9.93421829e-01 -5.16482192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.195919999999994 meters 0.03525191401208023 Centerline is valid? [True, True] Translation: X:52.34, Y:-6.52, Z:-5.17 [[ 8.68506442e-01 4.85016076e-01 1.02254423e-01 5.23400823e+01] [-4.82403352e-01 8.74488493e-01 -5.05656216e-02 -6.52030734e+00] [-1.13945456e-01 -5.41130837e-03 9.93472270e-01 -5.16806846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225919999999995 meters 0.03525191401208023 Centerline is valid? [True, True] Translation: X:52.37, Y:-6.53, Z:-5.17 [[ 8.68278962e-01 4.85427618e-01 1.02233416e-01 5.23691623e+01] [-4.82812746e-01 8.74260074e-01 -5.06080612e-02 -6.53431088e+00] [-1.13945144e-01 -5.41768134e-03 9.93472271e-01 -5.17138141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255919999999996 meters 0.03489610073556977 Centerline is valid? [True, True] Translation: X:52.40, Y:-6.55, Z:-5.18 [[ 8.69090778e-01 4.83883529e-01 1.02654520e-01 5.23987471e+01] [-4.81229428e-01 8.75117051e-01 -5.08761747e-02 -6.54700617e+00] [-1.14452864e-01 -5.18436171e-03 9.93415152e-01 -5.17532337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28592 meters 0.034239318861936686 Centerline is valid? [True, True] Translation: X:52.43, Y:-6.56, Z:-5.18 [[ 8.70326990e-01 4.81518607e-01 1.03299378e-01 5.24278608e+01] [-4.78808185e-01 8.76422410e-01 -5.12492050e-02 -6.56055557e+00] [-1.15211336e-01 -4.85702139e-03 9.93329128e-01 -5.17759661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31592 meters 0.03357090772262239 Centerline is valid? [True, True] Translation: X:52.46, Y:-6.57, Z:-5.18 [[ 8.70818097e-01 4.80408082e-01 1.04326017e-01 5.24576369e+01] [-4.77629032e-01 8.77032439e-01 -5.18132217e-02 -6.57381230e+00] [-1.16388791e-01 -4.70924332e-03 9.93192566e-01 -5.18052371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34592 meters 0.033362040715055025 Centerline is valid? [True, True] Translation: X:52.49, Y:-6.59, Z:-5.18 [[ 8.71228543e-01 4.80326778e-01 1.01227523e-01 5.24873155e+01] [-4.77703956e-01 8.77078025e-01 -5.03295970e-02 -6.58698718e+00] [-1.12959089e-01 -4.50820675e-03 9.93589412e-01 -5.18186867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37592 meters 0.032874945898016254 Centerline is valid? [True, True] Translation: X:52.52, Y:-6.60, Z:-5.19 [[ 8.70761136e-01 4.81082676e-01 1.01658757e-01 5.25174761e+01] [-4.78435921e-01 8.76663292e-01 -5.06018004e-02 -6.59890387e+00] [-1.13464151e-01 -4.57512007e-03 9.93531557e-01 -5.18696385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405919999999995 meters 0.033221111871452554 Centerline is valid? [True, True] Translation: X:52.55, Y:-6.61, Z:-5.19 [[ 8.70345510e-01 4.81446204e-01 1.03480652e-01 5.25474088e+01] [-4.78698773e-01 8.76463300e-01 -5.15710031e-02 -6.61296324e+00] [-1.15525657e-01 -4.65146999e-03 9.93293605e-01 -5.19037084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435919999999996 meters 0.03320838613577115 Centerline is valid? [True, True] Translation: X:52.58, Y:-6.63, Z:-5.19 [[ 8.69850143e-01 4.82031551e-01 1.04910977e-01 5.25766036e+01] [-4.79204195e-01 8.76141038e-01 -5.23471085e-02 -6.62734883e+00] [-1.17149770e-01 -4.73964041e-03 9.93102949e-01 -5.19337680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46592 meters 0.032824754618950354 Centerline is valid? [True, True] Translation: X:52.61, Y:-6.64, Z:-5.19 [[ 8.69876068e-01 4.82039827e-01 1.04657683e-01 5.26068418e+01] [-4.79218993e-01 8.76136832e-01 -5.22820030e-02 -6.64042652e+00] [-1.16896459e-01 -4.67508637e-03 9.93133104e-01 -5.19489138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49592 meters 0.032511074517964055 Centerline is valid? [True, True] Translation: X:52.64, Y:-6.65, Z:-5.20 [[ 8.70412538e-01 4.81119920e-01 1.04430059e-01 5.26366098e+01] [-4.78297645e-01 8.76643304e-01 -5.22291098e-02 -6.65337614e+00] [-1.16676377e-01 -4.48777932e-03 9.93159848e-01 -5.19805211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52592 meters 0.03170056251328895 Centerline is valid? [True, True] Translation: X:52.67, Y:-6.67, Z:-5.20 [[ 8.71923095e-01 4.78095943e-01 1.05708965e-01 5.26658577e+01] [-4.75174623e-01 8.78298138e-01 -5.29287942e-02 -6.66619061e+00] [-1.18149029e-01 -4.08037962e-03 9.92987491e-01 -5.20211077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55592 meters 0.030672843150105614 Centerline is valid? [True, True] Translation: X:52.70, Y:-6.68, Z:-5.21 [[ 8.73792010e-01 4.74457639e-01 1.06665234e-01 5.26956308e+01] [-4.71449628e-01 8.80271083e-01 -5.34609193e-02 -6.67897750e+00] [-1.19259262e-01 -3.57356050e-03 9.92856716e-01 -5.20545437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585919999999994 meters 0.03047750219004968 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.69, Z:-5.21 [[ 8.74010835e-01 4.73673700e-01 1.08343370e-01 5.27254208e+01] [-4.70559113e-01 8.80693517e-01 -5.43419859e-02 -6.69207259e+00] [-1.21157673e-01 -3.48647548e-03 9.92627152e-01 -5.20871249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.615919999999996 meters 0.03027868307737032 Centerline is valid? [True, True] Translation: X:52.75, Y:-6.71, Z:-5.21 [[ 8.74879908e-01 4.72629827e-01 1.05859309e-01 5.27543463e+01] [-4.69642049e-01 8.81255207e-01 -5.31564277e-02 -6.70635787e+00] [-1.18412381e-01 -3.21049239e-03 9.92959315e-01 -5.21287670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64592 meters 0.030108933445046875 Centerline is valid? [True, True] Translation: X:52.78, Y:-6.72, Z:-5.22 [[ 8.74761613e-01 4.73054905e-01 1.04934158e-01 5.27843561e+01] [-4.70117007e-01 8.81027141e-01 -5.27368670e-02 -6.72033268e+00] [-1.17397275e-01 -3.19914552e-03 9.93079879e-01 -5.21585188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67592 meters 0.02985048390832154 Centerline is valid? [True, True] Translation: X:52.81, Y:-6.73, Z:-5.22 [[ 8.74237617e-01 4.74150204e-01 1.04355987e-01 5.28148541e+01] [-4.71244989e-01 8.80437893e-01 -5.25097823e-02 -6.73371150e+00] [-1.16776490e-01 -3.27120915e-03 9.93152833e-01 -5.21867415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70592 meters 0.02987263921435432 Centerline is valid? [True, True] Translation: X:52.85, Y:-6.75, Z:-5.22 [[ 8.74024620e-01 4.74476437e-01 1.04656939e-01 5.28452506e+01] [-4.71549071e-01 8.80262141e-01 -5.27260452e-02 -6.74547092e+00] [-1.17142807e-01 -3.26702086e-03 9.93109707e-01 -5.22160359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73592 meters 0.029658161004168668 Centerline is valid? [True, True] Translation: X:52.87, Y:-6.76, Z:-5.23 [[ 8.74133083e-01 4.74301310e-01 1.04544827e-01 5.28746498e+01] [-4.71371336e-01 8.80356825e-01 -5.27344640e-02 -6.75925235e+00] [-1.17048777e-01 -3.18249514e-03 9.93121068e-01 -5.22567222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765919999999994 meters 0.029526021697799925 Centerline is valid? [True, True] Translation: X:52.90, Y:-6.77, Z:-5.23 [[ 8.74113877e-01 4.74128483e-01 1.05485121e-01 5.29037356e+01] [-4.71136396e-01 8.80450102e-01 -5.32739504e-02 -6.77360898e+00] [-1.18133083e-01 -3.13038037e-03 9.92992838e-01 -5.22947231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.795919999999995 meters 0.029010147820458087 Centerline is valid? [True, True] Translation: X:52.93, Y:-6.79, Z:-5.23 [[ 8.75172577e-01 4.71926997e-01 1.06573311e-01 5.29337505e+01] [-4.68848429e-01 8.81633171e-01 -5.38897315e-02 -6.78648015e+00] [-1.19390586e-01 -2.80391441e-03 9.92843405e-01 -5.23295879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825919999999996 meters 0.0284368753733215 Centerline is valid? [True, True] Translation: X:52.96, Y:-6.80, Z:-5.24 [[ 8.76225386e-01 4.70217761e-01 1.05471940e-01 5.29638938e+01] [-4.67182997e-01 8.82546918e-01 -5.33946156e-02 -6.79944750e+00] [-1.18191032e-01 -2.48897949e-03 9.92987757e-01 -5.23596504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85592 meters 0.027547703331572443 Centerline is valid? [True, True] Translation: X:52.99, Y:-6.81, Z:-5.24 [[ 8.77951104e-01 4.67396068e-01 1.03647354e-01 5.29929685e+01] [-4.64439245e-01 8.84045721e-01 -5.25295169e-02 -6.81202766e+00] [-1.16181089e-01 -2.01955145e-03 9.93225994e-01 -5.23870189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88592 meters 0.0278116227774323 Centerline is valid? [True, True] Translation: X:53.02, Y:-6.83, Z:-5.24 [[ 8.77689237e-01 4.67697715e-01 1.04500957e-01 5.30214563e+01] [-4.64688215e-01 8.83886142e-01 -5.30108502e-02 -6.82762217e+00] [-1.17160001e-01 -2.03331026e-03 9.93110971e-01 -5.24241737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91592 meters 0.0278959754345579 Centerline is valid? [True, True] Translation: X:53.05, Y:-6.84, Z:-5.24 [[ 8.77044772e-01 4.68413065e-01 1.06684901e-01 5.30496326e+01] [-4.65272811e-01 8.83507070e-01 -5.41891861e-02 -6.84346873e+00] [-1.19639787e-01 -2.11124146e-03 9.92815121e-01 -5.24484223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.945919999999994 meters 0.028098196022366222 Centerline is valid? [True, True] Translation: X:53.08, Y:-6.86, Z:-5.25 [[ 8.75972997e-01 4.70370580e-01 1.06877622e-01 5.30785761e+01] [-4.67225408e-01 8.82465930e-01 -5.43534773e-02 -6.85942333e+00] [-1.19882137e-01 -2.32376218e-03 9.92785412e-01 -5.24825369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.975919999999995 meters 0.028357447081448987 Centerline is valid? [True, True] Translation: X:53.11, Y:-6.88, Z:-5.25 [[ 8.74338680e-01 4.73713870e-01 1.05484797e-01 5.31072588e+01] [-4.70666827e-01 8.80674712e-01 -5.37102407e-02 -6.87564142e+00] [-1.18341079e-01 -2.68725358e-03 9.92969369e-01 -5.25244466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005919999999996 meters 0.028603855726484623 Centerline is valid? [True, True] Translation: X:53.14, Y:-6.89, Z:-5.26 [[ 8.73567256e-01 4.75239533e-01 1.05012551e-01 5.31359119e+01] [-4.72223156e-01 8.79851926e-01 -5.35339068e-02 -6.89152493e+00] [-1.17836924e-01 -2.82389008e-03 9.93028945e-01 -5.25571719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03592 meters 0.028761535660037002 Centerline is valid? [True, True] Translation: X:53.16, Y:-6.91, Z:-5.26 [[ 8.73139709e-01 4.76008479e-01 1.05085568e-01 5.31649235e+01] [-4.72985561e-01 8.79436004e-01 -5.36374331e-02 -6.90757270e+00] [-1.17947905e-01 -2.87098368e-03 9.93015634e-01 -5.25959807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06592 meters 0.02855890739879164 Centerline is valid? [True, True] Translation: X:53.19, Y:-6.92, Z:-5.26 [[ 8.72926690e-01 4.76376258e-01 1.05188662e-01 5.31932227e+01] [-4.73342160e-01 8.79236858e-01 -5.37563645e-02 -6.92343332e+00] [-1.18094005e-01 -2.86486315e-03 9.92998287e-01 -5.26200280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09592 meters 0.028530190447199556 Centerline is valid? [True, True] Translation: X:53.22, Y:-6.94, Z:-5.27 [[ 8.73199394e-01 4.75788998e-01 1.05582422e-01 5.32226492e+01] [-4.72719900e-01 8.79555192e-01 -5.40237099e-02 -6.93776217e+00] [-1.18569455e-01 -2.73744138e-03 9.92941988e-01 -5.26579614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12592 meters 0.028172233621145067 Centerline is valid? [True, True] Translation: X:53.25, Y:-6.95, Z:-5.27 [[ 8.74195382e-01 4.73723830e-01 1.06621604e-01 5.32513248e+01] [-4.70570418e-01 8.80670123e-01 -5.46224896e-02 -6.95205287e+00] [-1.19774436e-01 -2.42224449e-03 9.92798175e-01 -5.26896692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.155919999999995 meters 0.028071650434625905 Centerline is valid? [True, True] Translation: X:53.28, Y:-6.97, Z:-5.27 [[ 8.74501569e-01 4.73326795e-01 1.05871387e-01 5.32798758e+01] [-4.70207207e-01 8.80883920e-01 -5.43019471e-02 -6.96782730e+00] [-1.18962969e-01 -2.29435139e-03 9.92896041e-01 -5.27288167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185919999999996 meters 0.027727979432107655 Centerline is valid? [True, True] Translation: X:53.31, Y:-6.98, Z:-5.28 [[ 8.75575490e-01 4.71503641e-01 1.05127912e-01 5.33086924e+01] [-4.68407202e-01 8.81861902e-01 -5.39840621e-02 -6.98276057e+00] [-1.18161982e-01 -1.97554968e-03 9.92992368e-01 -5.27738875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21592 meters 0.02762177529773073 Centerline is valid? [True, True] Translation: X:53.34, Y:-7.00, Z:-5.28 [[ 8.75733873e-01 4.71612777e-01 1.03303298e-01 5.33379464e+01] [-4.68616837e-01 8.81803705e-01 -5.31082450e-02 -6.99771050e+00] [-1.16139758e-01 -1.90097567e-03 9.93231062e-01 -5.27999734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24592 meters 0.027541287122620522 Centerline is valid? [True, True] Translation: X:53.37, Y:-7.01, Z:-5.28 [[ 8.75190415e-01 4.72511342e-01 1.03801585e-01 5.33659633e+01] [-4.69485052e-01 8.81322381e-01 -5.34288890e-02 -7.01436287e+00] [-1.16728416e-01 -1.97284092e-03 9.93161913e-01 -5.28296271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27592 meters 0.028022880752003505 Centerline is valid? [True, True] Translation: X:53.39, Y:-7.03, Z:-5.28 [[ 8.74538209e-01 4.73289847e-01 1.05733825e-01 5.33942649e+01] [-4.70146922e-01 8.80904363e-01 -5.44919700e-02 -7.03064609e+00] [-1.18931884e-01 -2.05512268e-03 9.92900289e-01 -5.28477358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30592 meters 0.028025702896978973 Centerline is valid? [True, True] Translation: X:53.42, Y:-7.04, Z:-5.29 [[ 8.74319466e-01 4.73424471e-01 1.06933350e-01 5.34239532e+01] [-4.70202375e-01 8.80832061e-01 -5.51779493e-02 -7.04466520e+00] [-1.20312914e-01 -2.03715995e-03 9.92733928e-01 -5.28894954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.335919999999994 meters 0.028014806624737203 Centerline is valid? [True, True] Translation: X:53.45, Y:-7.06, Z:-5.29 [[ 8.73971044e-01 4.73996180e-01 1.07248478e-01 5.34535060e+01] [-4.70750984e-01 8.80524486e-01 -5.54088462e-02 -7.05915533e+00] [-1.20698493e-01 -2.06159946e-03 9.92687072e-01 -5.29264071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365919999999996 meters 0.02784787106285489 Centerline is valid? [True, True] Translation: X:53.48, Y:-7.07, Z:-5.30 [[ 8.74454833e-01 4.73454764e-01 1.05685057e-01 5.34815641e+01] [-4.70291977e-01 8.80816088e-01 -5.46669572e-02 -7.07424896e+00] [-1.18971429e-01 -1.89904922e-03 9.92895862e-01 -5.29721482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39592 meters 0.02798347234729671 Centerline is valid? [True, True] Translation: X:53.51, Y:-7.09, Z:-5.30 [[ 8.74334618e-01 4.73832903e-01 1.04982648e-01 5.35102107e+01] [-4.70707282e-01 8.80612765e-01 -5.43673779e-02 -7.08944986e+00] [-1.18210112e-01 -1.88081631e-03 9.92986824e-01 -5.30028973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42592 meters 0.027902561244523755 Centerline is valid? [True, True] Translation: X:53.54, Y:-7.10, Z:-5.30 [[ 8.74740076e-01 4.73146565e-01 1.04700181e-01 5.35398677e+01] [-4.70025075e-01 8.80982039e-01 -5.42869781e-02 -7.10369438e+00] [-1.17924676e-01 -1.72471499e-03 9.93021045e-01 -5.30321397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45592 meters 0.028101168435858078 Centerline is valid? [True, True] Translation: X:53.57, Y:-7.12, Z:-5.31 [[ 8.74711683e-01 4.73012279e-01 1.05540780e-01 5.35687346e+01] [-4.69831348e-01 8.81054268e-01 -5.47894198e-02 -7.11819750e+00] [-1.18903223e-01 -1.66142117e-03 9.92904458e-01 -5.30708473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48592 meters 0.027765747950444286 Centerline is valid? [True, True] Translation: X:53.60, Y:-7.13, Z:-5.31 [[ 8.74877425e-01 4.72453688e-01 1.06663040e-01 5.35974229e+01] [-4.69192165e-01 8.81354148e-01 -5.54398591e-02 -7.13489425e+00] [-1.20200679e-01 -1.54238173e-03 9.92748416e-01 -5.31050466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.515919999999994 meters 0.027760751418618612 Centerline is valid? [True, True] Translation: X:53.63, Y:-7.15, Z:-5.31 [[ 8.75397491e-01 4.71607613e-01 1.06139023e-01 5.36260291e+01] [-4.68364452e-01 8.81807462e-01 -5.52298825e-02 -7.15010310e+00] [-1.19641015e-01 -1.36364469e-03 9.92816281e-01 -5.31338966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545919999999995 meters 0.027560331898433214 Centerline is valid? [True, True] Translation: X:53.66, Y:-7.16, Z:-5.32 [[ 8.75417593e-01 4.71657397e-01 1.05751305e-01 5.36550778e+01] [-4.68430259e-01 8.81780923e-01 -5.50953461e-02 -7.16428171e+00] [-1.19235611e-01 -1.30567589e-03 9.92865129e-01 -5.31687166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575919999999996 meters 0.027803089810995614 Centerline is valid? [True, True] Translation: X:53.68, Y:-7.18, Z:-5.32 [[ 8.74775463e-01 4.72585973e-01 1.06912989e-01 5.36849622e+01] [-4.69285697e-01 8.81283483e-01 -5.57705775e-02 -7.17779737e+00] [-1.20577044e-01 -1.38600389e-03 9.92703005e-01 -5.32143832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60592 meters 0.027891498376353883 Centerline is valid? [True, True] Translation: X:53.71, Y:-7.20, Z:-5.32 [[ 8.73156830e-01 4.75680016e-01 1.06422146e-01 5.37131886e+01] [-4.72424678e-01 8.79616667e-01 -5.55827582e-02 -7.19504265e+00] [-1.20050301e-01 -1.74398321e-03 9.92766279e-01 -5.32430117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63592 meters 0.027983618070381477 Centerline is valid? [True, True] Translation: X:53.74, Y:-7.21, Z:-5.33 [[ 8.72293045e-01 4.77291471e-01 1.06290615e-01 5.37419764e+01] [-4.74047918e-01 8.78742982e-01 -5.55818520e-02 -7.21075235e+00] [-1.19930876e-01 -1.90318162e-03 9.92780420e-01 -5.32738970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66592 meters 0.028517254808454826 Centerline is valid? [True, True] Translation: X:53.77, Y:-7.22, Z:-5.33 [[ 8.70809453e-01 4.79756500e-01 1.07352679e-01 5.37711564e+01] [-4.76457731e-01 8.77398909e-01 -5.62066317e-02 -7.22402240e+00] [-1.21156620e-01 -2.20374758e-03 9.92630957e-01 -5.33195563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.695919999999994 meters 0.02886880609754838 Centerline is valid? [True, True] Translation: X:53.80, Y:-7.24, Z:-5.34 [[ 8.69494315e-01 4.82006876e-01 1.07930574e-01 5.37995566e+01] [-4.78681445e-01 8.76163946e-01 -5.65757319e-02 -7.23896385e+00] [-1.21834769e-01 -2.47208601e-03 9.92547318e-01 -5.33525732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725919999999995 meters 0.02926408776093465 Centerline is valid? [True, True] Translation: X:53.83, Y:-7.25, Z:-5.34 [[ 8.68384645e-01 4.83852738e-01 1.08603116e-01 5.38281827e+01] [-4.80492058e-01 8.75145292e-01 -5.69921138e-02 -7.25469277e+00] [-1.22619296e-01 -2.69185839e-03 9.92450131e-01 -5.33829944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755919999999996 meters 0.028951151852710178 Centerline is valid? [True, True] Translation: X:53.86, Y:-7.27, Z:-5.34 [[ 8.68192774e-01 4.84696102e-01 1.06353165e-01 5.38578817e+01] [-4.81472244e-01 8.74678468e-01 -5.58753562e-02 -7.26895265e+00] [-1.20107391e-01 -2.69551641e-03 9.92757246e-01 -5.34037667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78592 meters 0.02895311997109077 Centerline is valid? [True, True] Translation: X:53.89, Y:-7.28, Z:-5.34 [[ 8.67971056e-01 4.85237343e-01 1.05692797e-01 5.38887360e+01] [-4.82049822e-01 8.74378322e-01 -5.55924455e-02 -7.28118209e+00] [-1.19391021e-01 -2.69656021e-03 9.92843650e-01 -5.34324281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81592 meters 0.028816147465053964 Centerline is valid? [True, True] Translation: X:53.92, Y:-7.29, Z:-5.34 [[ 8.67861124e-01 4.85785634e-01 1.04064348e-01 5.39187492e+01] [-4.82692078e-01 8.74073900e-01 -5.48012272e-02 -7.29496746e+00] [-1.17581579e-01 -2.67118168e-03 9.93059634e-01 -5.34486859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84592 meters 0.029032769509172184 Centerline is valid? [True, True] Translation: X:53.95, Y:-7.31, Z:-5.35 [[ 8.67269997e-01 4.86501025e-01 1.05638555e-01 5.39479066e+01] [-4.83310260e-01 8.73675669e-01 -5.56957673e-02 -7.30897765e+00] [-1.19389883e-01 -2.75292932e-03 9.92843632e-01 -5.34884116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87592 meters 0.0291943413063814 Centerline is valid? [True, True] Translation: X:53.98, Y:-7.32, Z:-5.35 [[ 8.67028829e-01 4.86826240e-01 1.06118905e-01 5.39777763e+01] [-4.83600671e-01 8.73494498e-01 -5.60156481e-02 -7.32158932e+00] [-1.19964167e-01 -2.75199178e-03 9.92774408e-01 -5.35280218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905919999999995 meters 0.02902942684084983 Centerline is valid? [True, True] Translation: X:54.01, Y:-7.33, Z:-5.36 [[ 8.66474921e-01 4.87733540e-01 1.06476315e-01 5.40093500e+01] [-4.84485146e-01 8.72987961e-01 -5.62686603e-02 -7.33156233e+00] [-1.20396654e-01 -2.83081020e-03 9.92721830e-01 -5.35713058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935919999999996 meters 0.029201992631952268 Centerline is valid? [True, True] Translation: X:54.04, Y:-7.35, Z:-5.36 [[ 8.65932094e-01 4.88742499e-01 1.06265600e-01 5.40386920e+01] [-4.85508640e-01 8.72423195e-01 -5.62061354e-02 -7.34635375e+00] [-1.20178902e-01 -2.92217051e-03 9.92747950e-01 -5.35975401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96592 meters 0.029233285751250126 Centerline is valid? [True, True] Translation: X:54.07, Y:-7.36, Z:-5.36 [[ 8.66200748e-01 4.88487804e-01 1.05242239e-01 5.40687744e+01] [-4.85306261e-01 8.72566230e-01 -5.57315683e-02 -7.36004799e+00] [-1.19055015e-01 -2.79999149e-03 9.92883711e-01 -5.36232543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99592 meters 0.029040382382920872 Centerline is valid? [True, True] Translation: X:54.10, Y:-7.37, Z:-5.37 [[ 8.66517302e-01 4.88154107e-01 1.04179328e-01 5.40984719e+01] [-4.85026827e-01 8.72753365e-01 -5.52317033e-02 -7.37334940e+00] [-1.17884442e-01 -2.67054236e-03 9.93023729e-01 -5.36635204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02592 meters 0.029110012290138598 Centerline is valid? [True, True] Translation: X:54.13, Y:-7.39, Z:-5.37 [[ 8.66251748e-01 4.88592697e-01 1.04331611e-01 5.41280025e+01] [-4.85451787e-01 8.72507883e-01 -5.53765019e-02 -7.38797320e+00] [-1.18086708e-01 -2.67797552e-03 9.92999677e-01 -5.36978860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05592 meters 0.028766330863548142 Centerline is valid? [True, True] Translation: X:54.16, Y:-7.40, Z:-5.37 [[ 8.66931830e-01 4.87216085e-01 1.05117503e-01 5.41573291e+01] [-4.84009352e-01 8.73278010e-01 -5.58611057e-02 -7.40264733e+00] [-1.19013233e-01 -2.45008388e-03 9.92889645e-01 -5.37178949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085919999999994 meters 0.028798565648628625 Centerline is valid? [True, True] Translation: X:54.19, Y:-7.42, Z:-5.38 [[ 8.66636338e-01 4.87733921e-01 1.05152648e-01 5.41867319e+01] [-4.84520962e-01 8.72988860e-01 -5.59454025e-02 -7.41708747e+00] [-1.19083561e-01 -2.46434336e-03 9.92881177e-01 -5.37616772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.115919999999996 meters 0.028456957382601705 Centerline is valid? [True, True] Translation: X:54.22, Y:-7.43, Z:-5.38 [[ 8.66737395e-01 4.87515073e-01 1.05334426e-01 5.42162117e+01] [-4.84281158e-01 8.73111330e-01 -5.61102871e-02 -7.43142459e+00] [-1.19323292e-01 -2.37859388e-03 9.92852605e-01 -5.38015139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14592 meters 0.028456957382601705 Centerline is valid? [True, True] Translation: X:54.24, Y:-7.45, Z:-5.38 [[ 8.66495597e-01 4.87950750e-01 1.05306435e-01 5.42448443e+01] [-4.84713663e-01 8.72867921e-01 -5.61627762e-02 -7.44627447e+00] [-1.19323278e-01 -2.37866954e-03 9.92852606e-01 -5.38346310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17592 meters 0.028513327159860706 Centerline is valid? [True, True] Translation: X:54.27, Y:-7.46, Z:-5.39 [[ 8.66154567e-01 4.88443626e-01 1.05825757e-01 5.42736133e+01] [-4.85169855e-01 8.72592155e-01 -5.65078952e-02 -7.46128053e+00] [-1.19943646e-01 -2.39889549e-03 9.92777803e-01 -5.38685399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20592 meters 0.028669791165233455 Centerline is valid? [True, True] Translation: X:54.30, Y:-7.48, Z:-5.39 [[ 8.65790310e-01 4.88814832e-01 1.07085013e-01 5.43029015e+01] [-4.85456769e-01 8.72384209e-01 -5.72496016e-02 -7.47655141e+00] [-1.21403729e-01 -2.41899428e-03 9.92600263e-01 -5.38964621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23592 meters 0.02866453507576789 Centerline is valid? [True, True] Translation: X:54.33, Y:-7.49, Z:-5.39 [[ 8.65658889e-01 4.89185713e-01 1.06451991e-01 5.43325387e+01] [-4.85861940e-01 8.72176355e-01 -5.69787779e-02 -7.49173832e+00] [-1.20718114e-01 -2.39678551e-03 9.92683934e-01 -5.39177984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265919999999994 meters 0.028672931004953973 Centerline is valid? [True, True] Translation: X:54.36, Y:-7.51, Z:-5.40 [[ 8.65659514e-01 4.89135544e-01 1.06677206e-01 5.43616705e+01] [-4.85788888e-01 8.72204661e-01 -5.71680576e-02 -7.50748006e+00] [-1.21007286e-01 -2.33452852e-03 9.92648874e-01 -5.39536282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.295919999999995 meters 0.02860779690830601 Centerline is valid? [True, True] Translation: X:54.39, Y:-7.52, Z:-5.40 [[ 8.65521073e-01 4.89694580e-01 1.05225903e-01 5.43911220e+01] [-4.86434706e-01 8.71890953e-01 -5.64574434e-02 -7.52208649e+00] [-1.19392417e-01 -2.32042403e-03 9.92844432e-01 -5.39858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325919999999996 meters 0.028646776393922286 Centerline is valid? [True, True] Translation: X:54.42, Y:-7.54, Z:-5.40 [[ 8.64924075e-01 4.90296271e-01 1.07312210e-01 5.44202536e+01] [-4.86901638e-01 8.71552549e-01 -5.76450319e-02 -7.53577428e+00] [-1.21791375e-01 -2.39191507e-03 9.92552840e-01 -5.40285310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35592 meters 0.0285076494553827 Centerline is valid? [True, True] Translation: X:54.45, Y:-7.55, Z:-5.41 [[ 8.64503464e-01 4.91120299e-01 1.06932748e-01 5.44503368e+01] [-4.87748211e-01 8.71088332e-01 -5.75047832e-02 -7.54894236e+00] [-1.21389636e-01 -2.44317251e-03 9.92601928e-01 -5.40533870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38592 meters 0.028831746378944024 Centerline is valid? [True, True] Translation: X:54.48, Y:-7.56, Z:-5.41 [[ 8.63193355e-01 4.93482088e-01 1.06642682e-01 5.44808898e+01] [-4.90140095e-01 8.69751696e-01 -5.73992512e-02 -7.56101144e+00] [-1.21078156e-01 -2.72320201e-03 9.92639242e-01 -5.40947445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41592 meters 0.029160978397072313 Centerline is valid? [True, True] Translation: X:54.51, Y:-7.57, Z:-5.41 [[ 8.62386796e-01 4.94986610e-01 1.06194491e-01 5.45116998e+01] [-4.91675926e-01 8.68895885e-01 -5.72252090e-02 -7.57228584e+00] [-1.20597669e-01 -2.86301032e-03 9.92697338e-01 -5.41280925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.445919999999994 meters 0.02899885496190346 Centerline is valid? [True, True] Translation: X:54.54, Y:-7.58, Z:-5.42 [[ 8.62277531e-01 4.95090448e-01 1.06596940e-01 5.45423887e+01] [-4.91746896e-01 8.68836838e-01 -5.75112165e-02 -7.58405090e+00] [-1.21088602e-01 -2.82808438e-03 9.92637674e-01 -5.41582132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.475919999999995 meters 0.028598815224010015 Centerline is valid? [True, True] Translation: X:54.57, Y:-7.59, Z:-5.42 [[ 8.63793994e-01 4.92461449e-01 1.06497215e-01 5.45745114e+01] [-4.89095965e-01 8.70330957e-01 -5.75253264e-02 -7.59297525e+00] [-1.21016828e-01 -2.39732655e-03 9.92647561e-01 -5.41972077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505919999999996 meters 0.028361419541371138 Centerline is valid? [True, True] Translation: X:54.60, Y:-7.61, Z:-5.42 [[ 8.65207055e-01 4.90096819e-01 1.05933280e-01 5.46039846e+01] [-4.86741431e-01 8.71665714e-01 -5.72858056e-02 -7.60577542e+00] [-1.20413999e-01 -1.99803302e-03 9.92721752e-01 -5.42302764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53592 meters 0.02768531402274604 Centerline is valid? [True, True] Translation: X:54.63, Y:-7.62, Z:-5.43 [[ 8.68768764e-01 4.83936817e-01 1.05099917e-01 5.46342075e+01] [-4.80581361e-01 8.75102279e-01 -5.68995304e-02 -7.61728974e+00] [-1.19508955e-01 -1.07652675e-03 9.92832539e-01 -5.42541444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56592 meters 0.02753554046945142 Centerline is valid? [True, True] Translation: X:54.66, Y:-7.63, Z:-5.43 [[ 8.69707740e-01 4.81582918e-01 1.08103375e-01 5.46630229e+01] [-4.78006146e-01 8.76400238e-01 -5.85896451e-02 -7.63090864e+00] [-1.22957596e-01 -7.18209680e-04 9.92411666e-01 -5.42962608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59592 meters 0.0276097974717315 Centerline is valid? [True, True] Translation: X:54.69, Y:-7.65, Z:-5.43 [[ 8.71619903e-01 4.78185637e-01 1.07783307e-01 5.46928127e+01] [-4.74596185e-01 8.78258768e-01 -5.84807383e-02 -7.64552803e+00] [-1.22626283e-01 -1.80570746e-04 9.92452902e-01 -5.43241693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62592 meters 0.02755761234485209 Centerline is valid? [True, True] Translation: X:54.72, Y:-7.66, Z:-5.44 [[ 8.72164685e-01 4.77396189e-01 1.06872078e-01 5.47205961e+01] [-4.73852975e-01 8.78688158e-01 -5.80558357e-02 -7.66053699e+00] [-1.21622864e-01 -7.40252400e-06 9.92576384e-01 -5.43512341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.655919999999995 meters 0.02765482703256416 Centerline is valid? [True, True] Translation: X:54.75, Y:-7.68, Z:-5.44 [[ 8.72209490e-01 4.77101077e-01 1.07820068e-01 5.47499439e+01] [-4.73483998e-01 8.78848424e-01 -5.86374454e-02 -7.67527897e+00] [-1.22733485e-01 9.30595561e-05 9.92439662e-01 -5.43865767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685919999999996 meters 0.02762710080899037 Centerline is valid? [True, True] Translation: X:54.78, Y:-7.69, Z:-5.44 [[ 8.71375513e-01 4.78562966e-01 1.08084243e-01 5.47778172e+01] [-4.74930072e-01 8.78053236e-01 -5.88552545e-02 -7.69167870e+00] [-1.23069665e-01 -4.74298217e-05 9.92398033e-01 -5.44305133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71592 meters 0.027753429169605107 Centerline is valid? [True, True] Translation: X:54.81, Y:-7.71, Z:-5.45 [[ 8.70703629e-01 4.79555438e-01 1.09095239e-01 5.48053304e+01] [-4.75852300e-01 8.77511576e-01 -5.94812741e-02 -7.70900481e+00] [-1.24256904e-01 -1.22659441e-04 9.92250073e-01 -5.44523199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74592 meters 0.028147063362118814 Centerline is valid? [True, True] Translation: X:54.83, Y:-7.73, Z:-5.45 [[ 8.71412309e-01 4.77644620e-01 1.11786424e-01 5.48326092e+01] [-4.73730198e-01 8.78553110e-01 -6.10256665e-02 -7.72750323e+00] [-1.27358892e-01 2.21912178e-04 9.91856675e-01 -5.44807480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77592 meters 0.028164675517228847 Centerline is valid? [True, True] Translation: X:54.86, Y:-7.74, Z:-5.45 [[ 8.71805372e-01 4.77036105e-01 1.11319128e-01 5.48606921e+01] [-4.73140129e-01 8.78883618e-01 -6.08440986e-02 -7.74393337e+00] [-1.26861390e-01 3.74665454e-04 9.91920384e-01 -5.45103742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80592 meters 0.027973793675418003 Centerline is valid? [True, True] Translation: X:54.89, Y:-7.76, Z:-5.46 [[ 8.73776701e-01 4.73743431e-01 1.09915596e-01 5.48893264e+01] [-4.69910221e-01 8.80662443e-01 -6.01501958e-02 -7.75902814e+00] [-1.25294297e-01 9.07377749e-04 9.92119204e-01 -5.45521183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.835919999999994 meters 0.027928567320796124 Centerline is valid? [True, True] Translation: X:54.92, Y:-7.77, Z:-5.46 [[ 8.74033188e-01 4.73706122e-01 1.08020816e-01 5.49182094e+01] [-4.69995641e-01 8.80682459e-01 -5.91819619e-02 -7.77417690e+00] [-1.23166895e-01 9.57686415e-04 9.92385509e-01 -5.45818210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865919999999996 meters 0.027985641102085342 Centerline is valid? [True, True] Translation: X:54.95, Y:-7.79, Z:-5.46 [[ 8.74287708e-01 4.73647223e-01 1.06204107e-01 5.49462836e+01] [-4.70051998e-01 8.80714077e-01 -5.82566244e-02 -7.78988253e+00] [-1.21128541e-01 1.01159772e-03 9.92636315e-01 -5.46030973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89592 meters 0.027976676946048218 Centerline is valid? [True, True] Translation: X:54.97, Y:-7.81, Z:-5.46 [[ 8.73908721e-01 4.74395570e-01 1.05982971e-01 5.49747112e+01] [-4.70812248e-01 8.80311254e-01 -5.82058659e-02 -7.80659488e+00] [-1.20910607e-01 9.68533031e-04 9.92662927e-01 -5.46369977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92592 meters 0.02828938875925402 Centerline is valid? [True, True] Translation: X:55.00, Y:-7.82, Z:-5.47 [[ 8.73802077e-01 4.73992633e-01 1.08632010e-01 5.50025628e+01] [-4.70215061e-01 8.80528104e-01 -5.97332004e-02 -7.82384709e+00] [-1.23966635e-01 1.11458722e-03 9.92285761e-01 -5.46658070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95592 meters 0.02867281719522905 Centerline is valid? [True, True] Translation: X:55.03, Y:-7.84, Z:-5.47 [[ 8.74368083e-01 4.72566823e-01 1.10277169e-01 5.50293774e+01] [-4.68654766e-01 8.81293747e-01 -6.06963065e-02 -7.84153676e+00] [-1.25869640e-01 1.38899249e-03 9.92045818e-01 -5.47039583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98592 meters 0.028487665838792448 Centerline is valid? [True, True] Translation: X:55.06, Y:-7.86, Z:-5.47 [[ 8.74464746e-01 4.72723924e-01 1.08827842e-01 5.50575281e+01] [-4.68906971e-01 8.81209456e-01 -5.99678852e-02 -7.85835926e+00] [-1.24248378e-01 1.40966760e-03 9.92250147e-01 -5.47340487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.015919999999994 meters 0.02853554614027642 Centerline is valid? [True, True] Translation: X:55.09, Y:-7.87, Z:-5.48 [[ 8.75358819e-01 4.71249903e-01 1.08029939e-01 5.50855269e+01] [-4.67468801e-01 8.81998150e-01 -5.96001952e-02 -7.87456705e+00] [-1.23368792e-01 1.67093051e-03 9.92359486e-01 -5.47790289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045919999999995 meters 0.028648329246409834 Centerline is valid? [True, True] Translation: X:55.11, Y:-7.89, Z:-5.48 [[ 8.75355773e-01 4.71174588e-01 1.08382560e-01 5.51139635e+01] [-4.67358746e-01 8.82038226e-01 -5.98696114e-02 -7.89066890e+00] [-1.23806600e-01 1.75367283e-03 9.92304817e-01 -5.48162245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075919999999996 meters 0.029091467794221084 Centerline is valid? [True, True] Translation: X:55.14, Y:-7.91, Z:-5.48 [[ 8.75470726e-01 4.70394253e-01 1.10816311e-01 5.51410856e+01] [-4.66388394e-01 8.82454162e-01 -6.12904444e-02 -7.90845166e+00] [-1.26620987e-01 1.97454870e-03 9.91949206e-01 -5.48254626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10592 meters 0.02910878008507459 Centerline is valid? [True, True] Translation: X:55.17, Y:-7.93, Z:-5.49 [[ 8.74829262e-01 4.71319553e-01 1.11944816e-01 5.51677274e+01] [-4.67229660e-01 8.81960419e-01 -6.19860025e-02 -7.92692439e+00] [-1.27946112e-01 1.92323040e-03 9.91779256e-01 -5.48675108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13592 meters 0.02921180566841887 Centerline is valid? [True, True] Translation: X:55.20, Y:-7.94, Z:-5.49 [[ 8.74794718e-01 4.71687323e-01 1.10658348e-01 5.51955943e+01] [-4.67684761e-01 8.81763805e-01 -6.13478306e-02 -7.94428927e+00] [-1.26511520e-01 1.91353523e-03 9.91963293e-01 -5.48990928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16592 meters 0.028902090460660862 Centerline is valid? [True, True] Translation: X:55.22, Y:-7.96, Z:-5.49 [[ 8.74763499e-01 4.71914265e-01 1.09935193e-01 5.52231530e+01] [-4.67956637e-01 8.81642326e-01 -6.10196350e-02 -7.96138465e+00] [-1.25719556e-01 1.93284615e-03 9.92063938e-01 -5.49433145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.195919999999994 meters 0.029272163740707575 Centerline is valid? [True, True] Translation: X:55.25, Y:-7.98, Z:-5.50 [[ 8.74334888e-01 4.72595538e-01 1.10417216e-01 5.52500079e+01] [-4.68598653e-01 8.81277371e-01 -6.13636425e-02 -7.98045953e+00] [-1.26308378e-01 1.91101476e-03 9.91989184e-01 -5.49953413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225919999999995 meters 0.029295740054630492 Centerline is valid? [True, True] Translation: X:55.28, Y:-8.00, Z:-5.50 [[ 8.73483412e-01 4.73819462e-01 1.11901052e-01 5.52772754e+01] [-4.69713953e-01 8.80620111e-01 -6.22657331e-02 -7.99791914e+00] [-1.28045033e-01 1.82659951e-03 9.91766673e-01 -5.50186211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255919999999996 meters 0.029697574160349995 Centerline is valid? [True, True] Translation: X:55.30, Y:-8.02, Z:-5.50 [[ 8.72491393e-01 4.74778282e-01 1.15517754e-01 5.53041142e+01] [-4.70399596e-01 8.80103573e-01 -6.43577554e-02 -8.01733323e+00] [-1.32223252e-01 1.81208289e-03 9.91218305e-01 -5.50440287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28592 meters 0.029577729462017754 Centerline is valid? [True, True] Translation: X:55.33, Y:-8.04, Z:-5.51 [[ 8.71717630e-01 4.76746193e-01 1.13231804e-01 5.53311328e+01] [-4.72546827e-01 8.79039630e-01 -6.31571408e-02 -8.03582710e+00] [-1.29645169e-01 1.54786361e-03 9.91559244e-01 -5.50820846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31592 meters 0.029606045334597958 Centerline is valid? [True, True] Translation: X:55.36, Y:-8.05, Z:-5.51 [[ 8.71568920e-01 4.77256907e-01 1.12220593e-01 5.53586599e+01] [-4.73127261e-01 8.78762496e-01 -6.26663494e-02 -8.05343458e+00] [-1.28523196e-01 1.52342086e-03 9.91705333e-01 -5.51196896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34592 meters 0.02945265460799477 Centerline is valid? [True, True] Translation: X:55.38, Y:-8.07, Z:-5.52 [[ 8.70644915e-01 4.79089090e-01 1.11584390e-01 5.53848899e+01] [-4.75011501e-01 8.77765298e-01 -6.23871352e-02 -8.07407260e+00] [-1.27833902e-01 1.31317318e-03 9.91794721e-01 -5.51714914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37592 meters 0.02949513866604951 Centerline is valid? [True, True] Translation: X:55.41, Y:-8.09, Z:-5.52 [[ 8.70173481e-01 4.79629923e-01 1.12930293e-01 5.54128163e+01] [-4.75447203e-01 8.77469885e-01 -6.32183419e-02 -8.09165551e+00] [-1.29414340e-01 1.31853251e-03 9.91589729e-01 -5.52163300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405919999999995 meters 0.02994109655056076 Centerline is valid? [True, True] Translation: X:55.44, Y:-8.11, Z:-5.53 [[ 8.68403029e-01 4.81996690e-01 1.16427527e-01 5.54400084e+01] [-4.77559867e-01 8.76172385e-01 -6.52573750e-02 -8.11038788e+00] [-1.33464423e-01 1.06858780e-03 9.91053029e-01 -5.52700902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435919999999996 meters 0.02996630354341037 Centerline is valid? [True, True] Translation: X:55.47, Y:-8.13, Z:-5.53 [[ 8.67605880e-01 4.83194845e-01 1.17400083e-01 5.54678454e+01] [-4.78683221e-01 8.75512316e-01 -6.58829181e-02 -8.12780577e+00] [-1.34619505e-01 9.62957258e-04 9.90896898e-01 -5.53035313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46592 meters 0.029906147474436075 Centerline is valid? [True, True] Translation: X:55.49, Y:-8.15, Z:-5.53 [[ 8.66317712e-01 4.85744005e-01 1.16388930e-01 5.54936971e+01] [-4.81322448e-01 8.74100888e-01 -6.53937190e-02 -8.14772919e+00] [-1.33500274e-01 6.31132578e-04 9.91048575e-01 -5.53361963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49592 meters 0.030009282453550556 Centerline is valid? [True, True] Translation: X:55.52, Y:-8.17, Z:-5.54 [[ 8.65420754e-01 4.87458878e-01 1.15891161e-01 5.55217139e+01] [-4.83079966e-01 8.73145837e-01 -6.51927387e-02 -8.16536386e+00] [-1.32968664e-01 4.34451059e-04 9.91120147e-01 -5.53726936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52592 meters 0.030088324003181496 Centerline is valid? [True, True] Translation: X:55.55, Y:-8.18, Z:-5.54 [[ 8.63529741e-01 4.91058487e-01 1.14795244e-01 5.55487106e+01] [-4.86783556e-01 8.71126604e-01 -6.46545409e-02 -8.18360077e+00] [-1.31750352e-01 -4.93182030e-05 9.91282927e-01 -5.53895509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55592 meters 0.029939973630448882 Centerline is valid? [True, True] Translation: X:55.58, Y:-8.20, Z:-5.54 [[ 8.62564787e-01 4.93061589e-01 1.13455972e-01 5.55767888e+01] [-4.88893422e-01 8.69994361e-01 -6.39768158e-02 -8.19997866e+00] [-1.30250567e-01 -2.83730089e-04 9.91481069e-01 -5.54205300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585919999999994 meters 0.030174934655791408 Centerline is valid? [True, True] Translation: X:55.60, Y:-8.22, Z:-5.55 [[ 8.59766338e-01 4.98184293e-01 1.12313198e-01 5.56041260e+01] [-4.94133551e-01 8.67070612e-01 -6.34081041e-02 -8.21779184e+00] [-1.28972395e-01 -9.81565963e-04 9.91647698e-01 -5.54681718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.615919999999996 meters 0.03043777931006228 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.23, Z:-5.55 [[ 8.58254916e-01 5.00535910e-01 1.13412090e-01 5.56326845e+01] [-4.96415322e-01 8.65714829e-01 -6.41066507e-02 -8.23406062e+00] [-1.30270209e-01 -1.27965112e-03 9.91477703e-01 -5.55168673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64592 meters 0.030973099293022378 Centerline is valid? [True, True] Translation: X:55.66, Y:-8.25, Z:-5.55 [[ 8.54524485e-01 5.07073757e-01 1.12534926e-01 5.56615204e+01] [-5.03062627e-01 8.61899892e-01 -6.36912002e-02 -8.25146702e+00] [-1.29289977e-01 -2.18642559e-03 9.91604418e-01 -5.55494485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67592 meters 0.03136202989659687 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.27, Z:-5.56 [[ 8.52849496e-01 5.09929716e-01 1.12336199e-01 5.56911506e+01] [-5.05946556e-01 8.60212313e-01 -6.36620715e-02 -8.26771472e+00] [-1.29096164e-01 -2.54194733e-03 9.91628821e-01 -5.55793712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70592 meters 0.031841520943090826 Centerline is valid? [True, True] Translation: X:55.72, Y:-8.28, Z:-5.56 [[ 8.50100572e-01 5.14698016e-01 1.11422486e-01 5.57222237e+01] [-5.10809748e-01 8.57365686e-01 -6.32256462e-02 -8.28224591e+00] [-1.28071931e-01 -3.16753415e-03 9.91759823e-01 -5.55868373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73592 meters 0.03234764858905676 Centerline is valid? [True, True] Translation: X:55.75, Y:-8.30, Z:-5.56 [[ 8.48527574e-01 5.17593943e-01 1.09988479e-01 5.57514534e+01] [-5.13819726e-01 8.55619267e-01 -6.24896792e-02 -8.29655807e+00] [-1.26452541e-01 -3.49003412e-03 9.91966519e-01 -5.56157523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765919999999994 meters 0.032562683611538426 Centerline is valid? [True, True] Translation: X:55.78, Y:-8.31, Z:-5.57 [[ 8.47741097e-01 5.18785013e-01 1.10440677e-01 5.57819809e+01] [-5.14980515e-01 8.54897066e-01 -6.28177945e-02 -8.30832406e+00] [-1.27004341e-01 -3.62157074e-03 9.91895550e-01 -5.56511654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.795919999999995 meters 0.0323753384733721 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.32, Z:-5.57 [[ 8.48157083e-01 5.18017966e-01 1.10846512e-01 5.58115718e+01] [-5.14169733e-01 8.55362744e-01 -6.31194184e-02 -8.32190715e+00] [-1.27510969e-01 -3.45873952e-03 9.91831130e-01 -5.57006200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825919999999996 meters 0.03214540616912266 Centerline is valid? [True, True] Translation: X:55.84, Y:-8.34, Z:-5.57 [[ 8.48852433e-01 5.16769793e-01 1.11348676e-01 5.58418593e+01] [-5.12866372e-01 8.56118328e-01 -6.34782887e-02 -8.33587517e+00] [-1.28131304e-01 -3.22329155e-03 9.91751975e-01 -5.57363180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85592 meters 0.030874989992065397 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.35, Z:-5.58 [[ 8.52930229e-01 5.10357296e-01 1.09751790e-01 5.58737203e+01] [-5.06503428e-01 8.59959737e-01 -6.26380713e-02 -8.34603550e+00] [-1.26349917e-01 -2.16375326e-03 9.91983375e-01 -5.57711940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88592 meters 0.030365975767270688 Centerline is valid? [True, True] Translation: X:55.90, Y:-8.36, Z:-5.58 [[ 8.54686021e-01 5.07667047e-01 1.08563229e-01 5.59040850e+01] [-5.03867907e-01 8.61551673e-01 -6.20148923e-02 -8.35868475e+00] [-1.25015749e-01 -1.69826567e-03 9.92153304e-01 -5.57910444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91592 meters 0.02957867826411713 Centerline is valid? [True, True] Translation: X:55.94, Y:-8.37, Z:-5.58 [[ 8.58231514e-01 5.01887548e-01 1.07459566e-01 5.59350992e+01] [-4.98111910e-01 8.64932523e-01 -6.14512491e-02 -8.36939373e+00] [-1.23786890e-01 -7.87491202e-04 9.92308513e-01 -5.58237946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.945919999999994 meters 0.029505745194129452 Centerline is valid? [True, True] Translation: X:55.96, Y:-8.38, Z:-5.58 [[ 8.58971669e-01 5.00585648e-01 1.07618219e-01 5.59648244e+01] [-4.96779974e-01 8.65686847e-01 -6.16111957e-02 -8.38432113e+00] [-1.24005357e-01 -5.40304425e-04 9.92281401e-01 -5.58460686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.975919999999995 meters 0.029427299688721785 Centerline is valid? [True, True] Translation: X:55.99, Y:-8.40, Z:-5.59 [[ 8.60040762e-01 4.98409586e-01 1.09168550e-01 5.59945105e+01] [-4.94465922e-01 8.66941669e-01 -6.25747072e-02 -8.39900559e+00] [-1.25830599e-01 -1.63329117e-04 9.92051729e-01 -5.58865876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005919999999996 meters 0.029447092267691606 Centerline is valid? [True, True] Translation: X:56.02, Y:-8.41, Z:-5.59 [[ 8.60868271e-01 4.97264140e-01 1.07861926e-01 5.60236008e+01] [-4.93396312e-01 8.67599199e-01 -6.19007948e-02 -8.41496435e+00] [-1.24361967e-01 6.97533742e-05 9.92236915e-01 -5.59181089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03592 meters 0.029447092267691606 Centerline is valid? [True, True] Translation: X:56.05, Y:-8.43, Z:-5.60 [[ 8.60603571e-01 4.97729576e-01 1.07827464e-01 5.60517416e+01] [-4.93857873e-01 8.67332268e-01 -6.19607761e-02 -8.43069698e+00] [-1.24361950e-01 7.22233374e-05 9.92236917e-01 -5.59512297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06592 meters 0.02923893900755652 Centerline is valid? [True, True] Translation: X:56.08, Y:-8.45, Z:-5.60 [[ 8.61441959e-01 4.96135947e-01 1.08475220e-01 5.60797672e+01] [-4.92195003e-01 8.68244772e-01 -6.24106955e-02 -8.44690489e+00] [-1.25147232e-01 3.72230750e-04 9.92138111e-01 -5.59909927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09592 meters 0.02920292901568232 Centerline is valid? [True, True] Translation: X:56.11, Y:-8.46, Z:-5.60 [[ 8.61450049e-01 4.96201345e-01 1.08111233e-01 5.61088779e+01] [-4.92278712e-01 8.68207376e-01 -6.22705553e-02 -8.46321725e+00] [-1.24761703e-01 4.22114527e-04 9.92186645e-01 -5.60155970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12592 meters 0.029236280679974972 Centerline is valid? [True, True] Translation: X:56.14, Y:-8.48, Z:-5.61 [[ 8.62960158e-01 4.93558129e-01 1.08167179e-01 5.61393580e+01] [-4.89605038e-01 8.69712401e-01 -6.23477869e-02 -8.47609242e+00] [-1.24846594e-01 8.44460152e-04 9.92175698e-01 -5.60512905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.155919999999995 meters 0.029015651720676296 Centerline is valid? [True, True] Translation: X:56.17, Y:-8.49, Z:-5.61 [[ 8.63332331e-01 4.93079235e-01 1.07378557e-01 5.61684407e+01] [-4.89170677e-01 8.69983862e-01 -6.19687704e-02 -8.49135537e+00] [-1.23973125e-01 9.73201819e-04 9.92285099e-01 -5.60910435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185919999999996 meters 0.02948333284085257 Centerline is valid? [True, True] Translation: X:56.20, Y:-8.51, Z:-5.61 [[ 8.64496110e-01 4.90787195e-01 1.08509933e-01 5.61964809e+01] [-4.86767733e-01 8.71278379e-01 -6.26989608e-02 -8.50812452e+00] [-1.25314206e-01 1.38387368e-03 9.92116140e-01 -5.61392238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21592 meters 0.02946121892823475 Centerline is valid? [True, True] Translation: X:56.22, Y:-8.52, Z:-5.62 [[ 8.64678446e-01 4.90567654e-01 1.08048885e-01 5.62243366e+01] [-4.86571220e-01 8.71401859e-01 -6.25079905e-02 -8.52444421e+00] [-1.24818398e-01 1.47583414e-03 9.92178507e-01 -5.61698473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24592 meters 0.02977111929015314 Centerline is valid? [True, True] Translation: X:56.25, Y:-8.54, Z:-5.62 [[ 8.65903345e-01 4.88079709e-01 1.09497009e-01 5.62518612e+01] [-4.83945308e-01 8.72796931e-01 -6.34228420e-02 -8.54129332e+00] [-1.26524056e-01 1.92748718e-03 9.91961667e-01 -5.62063064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27592 meters 0.02991149788224197 Centerline is valid? [True, True] Translation: X:56.28, Y:-8.56, Z:-5.63 [[ 8.67080037e-01 4.86044107e-01 1.09239804e-01 5.62783560e+01] [-4.81903806e-01 8.73931296e-01 -6.33467550e-02 -8.55960980e+00] [-1.26257401e-01 2.28362941e-03 9.91994886e-01 -5.62528307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30592 meters 0.029851179396834446 Centerline is valid? [True, True] Translation: X:56.31, Y:-8.58, Z:-5.63 [[ 8.67525249e-01 4.85717228e-01 1.07138772e-01 5.63054416e+01] [-4.81724062e-01 8.74112844e-01 -6.21985911e-02 -8.57758056e+00] [-1.23862304e-01 2.34752413e-03 9.92296639e-01 -5.62771848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.335919999999994 meters 0.029967043486194347 Centerline is valid? [True, True] Translation: X:56.33, Y:-8.59, Z:-5.63 [[ 8.67647846e-01 4.85187157e-01 1.08538649e-01 5.63336473e+01] [-4.81074649e-01 8.74406688e-01 -6.30882403e-02 -8.59462848e+00] [-1.25516525e-01 2.52318320e-03 9.92088320e-01 -5.63146901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365919999999996 meters 0.030073368022854933 Centerline is valid? [True, True] Translation: X:56.36, Y:-8.61, Z:-5.63 [[ 8.66968275e-01 4.86208770e-01 1.09393978e-01 5.63602101e+01] [-4.82029091e-01 8.73839211e-01 -6.36630835e-02 -8.61462742e+00] [-1.26546297e-01 2.46279371e-03 9.91957645e-01 -5.63412767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39592 meters 0.030099549593801657 Centerline is valid? [True, True] Translation: X:56.38, Y:-8.64, Z:-5.64 [[ 8.66121523e-01 4.87883177e-01 1.08643974e-01 5.63848733e+01] [-4.83764229e-01 8.72905980e-01 -6.33033994e-02 -8.63665427e+00] [-1.25720638e-01 2.27036839e-03 9.92063086e-01 -5.63793672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42592 meters 0.03004525170387294 Centerline is valid? [True, True] Translation: X:56.41, Y:-8.66, Z:-5.64 [[ 8.65757230e-01 4.88654113e-01 1.08081345e-01 5.64116861e+01] [-4.84574235e-01 8.72474787e-01 -6.30520144e-02 -8.65635609e+00] [-1.25108875e-01 2.21430215e-03 9.92140548e-01 -5.64163602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45592 meters 0.030105062037239765 Centerline is valid? [True, True] Translation: X:56.44, Y:-8.67, Z:-5.65 [[ 8.65374025e-01 4.89617163e-01 1.06784036e-01 5.64383345e+01] [-4.85633005e-01 8.71934950e-01 -6.23700784e-02 -8.67446923e+00] [-1.23646194e-01 2.11559366e-03 9.92324112e-01 -5.64617374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48592 meters 0.030402413572675747 Centerline is valid? [True, True] Translation: X:56.46, Y:-8.70, Z:-5.65 [[ 8.65096688e-01 4.90058040e-01 1.07008593e-01 5.64642743e+01] [-4.86050837e-01 8.71687218e-01 -6.25777793e-02 -8.69521956e+00] [-1.23944767e-01 2.12421324e-03 9.92286845e-01 -5.65073661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.515919999999994 meters 0.030366918669063128 Centerline is valid? [True, True] Translation: X:56.49, Y:-8.71, Z:-5.65 [[ 8.64601430e-01 4.90858114e-01 1.07343746e-01 5.64910921e+01] [-4.86822313e-01 8.71237037e-01 -6.28495001e-02 -8.71427293e+00] [-1.24372035e-01 2.08243679e-03 9.92233471e-01 -5.65445260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545919999999995 meters 0.030067330003454157 Centerline is valid? [True, True] Translation: X:56.52, Y:-8.74, Z:-5.66 [[ 8.62774212e-01 4.93895837e-01 1.08109023e-01 5.65163369e+01] [-4.89816079e-01 8.69519367e-01 -6.33741212e-02 -8.73558936e+00] [-1.25303104e-01 1.72401969e-03 9.92117009e-01 -5.65556904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575919999999996 meters 0.029998479466915796 Centerline is valid? [True, True] Translation: X:56.54, Y:-8.75, Z:-5.66 [[ 8.61487938e-01 4.96061079e-01 1.08452474e-01 5.65433928e+01] [-4.91962540e-01 8.68286365e-01 -6.36525579e-02 -8.75380546e+00] [-1.25743361e-01 1.48135633e-03 9.92061698e-01 -5.65975875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60592 meters 0.030049525545099817 Centerline is valid? [True, True] Translation: X:56.57, Y:-8.77, Z:-5.66 [[ 8.59176796e-01 5.00304255e-01 1.07288797e-01 5.65701582e+01] [-4.96316811e-01 8.65849184e-01 -6.30461266e-02 -8.77460005e+00] [-1.24438163e-01 9.18535496e-04 9.92226940e-01 -5.66371956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63592 meters 0.029931202607272302 Centerline is valid? [True, True] Translation: X:56.60, Y:-8.79, Z:-5.67 [[ 8.58352795e-01 5.01855476e-01 1.06637518e-01 5.65980200e+01] [-4.97917948e-01 8.64951154e-01 -6.27472564e-02 -8.79362675e+00] [-1.23726298e-01 7.62548978e-04 9.92316090e-01 -5.66663447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66592 meters 0.029973827883603928 Centerline is valid? [True, True] Translation: X:56.62, Y:-8.81, Z:-5.67 [[ 8.57184701e-01 5.04045892e-01 1.05698285e-01 5.66243747e+01] [-5.00184064e-01 8.63676719e-01 -6.22770229e-02 -8.81487340e+00] [-1.22679625e-01 5.14313508e-04 9.92446192e-01 -5.67047024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.695919999999994 meters 0.02989068153203122 Centerline is valid? [True, True] Translation: X:56.65, Y:-8.83, Z:-5.67 [[ 8.56578999e-01 5.05166438e-01 1.05258197e-01 5.66525230e+01] [-5.01335059e-01 8.63021836e-01 -6.21004730e-02 -8.83217725e+00] [-1.22211197e-01 4.24336789e-04 9.92504027e-01 -5.67411504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725919999999995 meters 0.029773606685389208 Centerline is valid? [True, True] Translation: X:56.68, Y:-8.85, Z:-5.68 [[ 8.55789157e-01 5.06289271e-01 1.06283075e-01 5.66809770e+01] [-5.02380730e-01 8.62363646e-01 -6.27896771e-02 -8.85077192e+00] [-1.23444400e-01 3.40155766e-04 9.92351432e-01 -5.67757403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755919999999996 meters 0.030004118109923317 Centerline is valid? [True, True] Translation: X:56.71, Y:-8.87, Z:-5.68 [[ 8.54705618e-01 5.07825226e-01 1.07665441e-01 5.67091545e+01] [-5.03815226e-01 8.61460099e-01 -6.36923511e-02 -8.86913030e+00] [-1.25094064e-01 1.94721550e-04 9.92144867e-01 -5.68211751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78592 meters 0.02998164070642616 Centerline is valid? [True, True] Translation: X:56.74, Y:-8.89, Z:-5.68 [[ 8.53946365e-01 5.09364601e-01 1.06411034e-01 5.67361983e+01] [-5.05449424e-01 8.60550813e-01 -6.30331501e-02 -8.88961213e+00] [-1.23678957e-01 4.15334807e-05 9.92322283e-01 -5.68498439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81592 meters 0.02974504788704337 Centerline is valid? [True, True] Translation: X:56.76, Y:-8.91, Z:-5.69 [[ 8.53374325e-01 5.10889151e-01 1.03655856e-01 5.67645740e+01] [-5.07176385e-01 8.59646593e-01 -6.14804920e-02 -8.90783698e+00] [-1.20517120e-01 -1.05929130e-04 9.92711243e-01 -5.68733935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84592 meters 0.029875630553576754 Centerline is valid? [True, True] Translation: X:56.79, Y:-8.93, Z:-5.69 [[ 8.52295355e-01 5.12604387e-01 1.04064265e-01 5.67915386e+01] [-5.08864973e-01 8.58624868e-01 -6.18043282e-02 -8.92757492e+00] [-1.21033336e-01 -2.79117718e-04 9.92648404e-01 -5.69159751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87592 meters 0.02995069516846555 Centerline is valid? [True, True] Translation: X:56.82, Y:-8.95, Z:-5.69 [[ 8.51638800e-01 5.13610116e-01 1.04479678e-01 5.68195346e+01] [-5.09838153e-01 8.58023615e-01 -6.21331843e-02 -8.94654685e+00] [-1.21558263e-01 -3.52695623e-04 9.92584235e-01 -5.69424531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905919999999995 meters 0.030044610992500283 Centerline is valid? [True, True] Translation: X:56.85, Y:-8.97, Z:-5.70 [[ 8.50432079e-01 5.15549352e-01 1.04757548e-01 5.68476230e+01] [-5.11761722e-01 8.56859703e-01 -6.23809918e-02 -8.96554127e+00] [-1.21923002e-01 -5.60106850e-04 9.92539404e-01 -5.69721512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935919999999996 meters 0.029961093411610493 Centerline is valid? [True, True] Translation: X:56.88, Y:-8.98, Z:-5.70 [[ 8.49951017e-01 5.16466670e-01 1.04141482e-01 5.68762201e+01] [-5.12720459e-01 8.56307070e-01 -6.20961588e-02 -8.98228882e+00] [-1.21247683e-01 -6.16774942e-04 9.92622093e-01 -5.70147587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96592 meters 0.03008961650051639 Centerline is valid? [True, True] Translation: X:56.91, Y:-9.00, Z:-5.71 [[ 8.49260973e-01 5.17681216e-01 1.03739858e-01 5.69052195e+01] [-5.13963135e-01 8.55573284e-01 -6.19374794e-02 -8.99948453e+00] [-1.20820921e-01 -7.17378621e-04 9.92674061e-01 -5.70701449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99592 meters 0.030073942068827398 Centerline is valid? [True, True] Translation: X:56.93, Y:-9.02, Z:-5.71 [[ 8.48965823e-01 5.17933401e-01 1.04890532e-01 5.69346886e+01] [-5.14123872e-01 8.55420665e-01 -6.27066975e-02 -9.01643542e+00] [-1.22203422e-01 -6.90883264e-04 9.92504834e-01 -5.70961362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02592 meters 0.02987238091475509 Centerline is valid? [True, True] Translation: X:56.96, Y:-9.03, Z:-5.71 [[ 8.48708386e-01 5.18592143e-01 1.03712409e-01 5.69636933e+01] [-5.14863197e-01 8.55021454e-01 -6.20822070e-02 -9.03281615e+00] [-1.20871680e-01 -7.08012728e-04 9.92667888e-01 -5.71166926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05592 meters 0.029873621699571536 Centerline is valid? [True, True] Translation: X:56.99, Y:-9.05, Z:-5.72 [[ 8.48959401e-01 5.18038133e-01 1.04424268e-01 5.69933053e+01] [-5.14243387e-01 8.55357338e-01 -6.25904396e-02 -9.04865220e+00] [-1.21744298e-01 -5.62746827e-04 9.92561338e-01 -5.71507533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085919999999994 meters 0.029944733988277166 Centerline is valid? [True, True] Translation: X:57.02, Y:-9.07, Z:-5.72 [[ 8.48972263e-01 5.18129241e-01 1.03866197e-01 5.70219166e+01] [-5.14365915e-01 8.55302190e-01 -6.23367385e-02 -9.06528942e+00] [-1.21135473e-01 -5.03069601e-04 9.92635857e-01 -5.71811022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.115919999999996 meters 0.03011593016211499 Centerline is valid? [True, True] Translation: X:57.05, Y:-9.08, Z:-5.72 [[ 8.49461472e-01 5.17408159e-01 1.03460154e-01 5.70507785e+01] [-5.13659158e-01 8.55738680e-01 -6.21737932e-02 -9.08151125e+00] [-1.20704084e-01 -3.29013952e-04 9.92688479e-01 -5.72288946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14592 meters 0.029895930705574923 Centerline is valid? [True, True] Translation: X:57.08, Y:-9.10, Z:-5.73 [[ 8.49468869e-01 5.17450919e-01 1.03185205e-01 5.70801879e+01] [-5.13712348e-01 8.55712847e-01 -6.20898304e-02 -9.09783030e+00] [-1.20425346e-01 -2.64136015e-04 9.92722351e-01 -5.72640392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.17592 meters 0.029922458268563917 Centerline is valid? [True, True] Translation: X:57.11, Y:-9.11, Z:-5.73 [[ 8.49629366e-01 5.17082504e-01 1.03709327e-01 5.71096646e+01] [-5.13292861e-01 8.55935549e-01 -6.24881992e-02 -9.11374540e+00] [-1.21080054e-01 -1.41447937e-04 9.92642736e-01 -5.72891291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20592 meters 0.030213722839682277 Centerline is valid? [True, True] Translation: X:57.14, Y:-9.13, Z:-5.73 [[ 8.49469664e-01 5.17343820e-01 1.03714334e-01 5.71380901e+01] [-5.13545237e-01 8.55777636e-01 -6.25773728e-02 -9.13097513e+00] [-1.21130425e-01 -1.04422573e-04 9.92636595e-01 -5.73277631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23592 meters 0.030257545436276224 Centerline is valid? [True, True] Translation: X:57.17, Y:-9.15, Z:-5.74 [[ 8.49728204e-01 5.16701597e-01 1.04792356e-01 5.71666103e+01] [-5.12808011e-01 8.56165554e-01 -6.33126213e-02 -9.14766846e+00] [-1.22433338e-01 6.01602755e-05 9.92476737e-01 -5.73674234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265919999999994 meters 0.029989754602733915 Centerline is valid? [True, True] Translation: X:57.20, Y:-9.16, Z:-5.74 [[ 8.49570656e-01 5.17420811e-01 1.02495881e-01 5.71962757e+01] [-5.13692140e-01 8.55731093e-01 -6.20054955e-02 -9.16335986e+00] [-1.19791846e-01 2.67211198e-05 9.92799029e-01 -5.73762809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.295919999999995 meters 0.030041039160623194 Centerline is valid? [True, True] Translation: X:57.23, Y:-9.18, Z:-5.74 [[ 8.48802454e-01 5.18414397e-01 1.03831149e-01 5.72255889e+01] [-5.14584333e-01 8.55129529e-01 -6.29003343e-02 -9.17897890e+00] [-1.21397521e-01 -3.99246707e-05 9.92603970e-01 -5.74232838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325919999999996 meters 0.030115509243490234 Centerline is valid? [True, True] Translation: X:57.25, Y:-9.20, Z:-5.75 [[ 8.48903705e-01 5.17939027e-01 1.05364435e-01 5.72548783e+01] [-5.13980295e-01 8.55417532e-01 -6.39148088e-02 -9.19540508e+00] [-1.23234559e-01 1.02274767e-04 9.92377566e-01 -5.74616890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35592 meters 0.03004941356052135 Centerline is valid? [True, True] Translation: X:57.28, Y:-9.21, Z:-5.75 [[ 8.49101588e-01 5.18015495e-01 1.03375235e-01 5.72830880e+01] [-5.14196064e-01 8.55371218e-01 -6.27892225e-02 -9.21282899e+00] [-1.20949991e-01 1.59289660e-04 9.92658589e-01 -5.74946875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38592 meters 0.02999985637276003 Centerline is valid? [True, True] Translation: X:57.31, Y:-9.23, Z:-5.75 [[ 8.48918262e-01 5.18755896e-01 1.01143979e-01 5.73117710e+01] [-5.15095905e-01 8.54922398e-01 -6.15134350e-02 -9.22936924e+00] [-1.18380710e-01 1.21029165e-04 9.92968274e-01 -5.75310312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41592 meters 0.02983500188589061 Centerline is valid? [True, True] Translation: X:57.34, Y:-9.25, Z:-5.76 [[ 8.48421975e-01 5.19844564e-01 9.97084814e-02 5.73416592e+01] [-5.16286277e-01 8.54260866e-01 -6.07194520e-02 -9.24521099e+00] [-1.16741731e-01 3.75966943e-05 9.93162306e-01 -5.75581646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.445919999999994 meters 0.02987123043295955 Centerline is valid? [True, True] Translation: X:57.37, Y:-9.26, Z:-5.76 [[ 8.47296733e-01 5.21255549e-01 1.01886695e-01 5.73722431e+01] [-5.17539663e-01 8.53400635e-01 -6.21293230e-02 -9.25861514e+00] [-1.19335424e-01 -8.84332129e-05 9.92853992e-01 -5.75988859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.475919999999995 meters 0.030013895182112237 Centerline is valid? [True, True] Translation: X:57.40, Y:-9.27, Z:-5.76 [[ 8.46995608e-01 5.21642002e-01 1.02411239e-01 5.74017312e+01] [-5.17880450e-01 8.53164472e-01 -6.25317777e-02 -9.27487469e+00] [-1.19992833e-01 -7.26376301e-05 9.92774755e-01 -5.76232311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505919999999996 meters 0.03008974199546154 Centerline is valid? [True, True] Translation: X:57.43, Y:-9.29, Z:-5.77 [[ 8.46417501e-01 5.22002756e-01 1.05311619e-01 5.74307120e+01] [-5.18016351e-01 8.52943796e-01 -6.43889762e-02 -9.29108765e+00] [-1.23436115e-01 -5.31843793e-05 9.92352519e-01 -5.76793422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53592 meters 0.02997729523358257 Centerline is valid? [True, True] Translation: X:57.46, Y:-9.31, Z:-5.77 [[ 8.45692596e-01 5.23430913e-01 1.04038992e-01 5.74603615e+01] [-5.19541268e-01 8.52068098e-01 -6.36932274e-02 -9.30691143e+00] [-1.21987310e-01 -1.87658642e-04 9.92531642e-01 -5.77035742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56592 meters 0.02981020705517404 Centerline is valid? [True, True] Translation: X:57.49, Y:-9.32, Z:-5.77 [[ 8.45583410e-01 5.23514343e-01 1.04505641e-01 5.74901111e+01] [-5.19579830e-01 8.52016852e-01 -6.40631254e-02 -9.32233529e+00] [-1.22578532e-01 -1.28307257e-04 9.92458809e-01 -5.77426794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59592 meters 0.02980185369906465 Centerline is valid? [True, True] Translation: X:57.52, Y:-9.34, Z:-5.78 [[ 8.45328299e-01 5.23962782e-01 1.04321951e-01 5.75197568e+01] [-5.20035248e-01 8.51741151e-01 -6.40339911e-02 -9.33771345e+00] [-1.22406727e-01 -1.21346810e-04 9.92480014e-01 -5.77635463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.625919999999994 meters 0.0296422194266081 Centerline is valid? [True, True] Translation: X:57.55, Y:-9.35, Z:-5.78 [[ 8.45146068e-01 5.23931975e-01 1.05940592e-01 5.75509075e+01] [-5.19870240e-01 8.51760109e-01 -6.51125933e-02 -9.35047891e+00] [-1.24350540e-01 -4.57089784e-05 9.92238349e-01 -5.78095719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.655919999999995 meters 0.029523097719299982 Centerline is valid? [True, True] Translation: X:57.58, Y:-9.37, Z:-5.78 [[ 8.45001818e-01 5.24091973e-01 1.06299258e-01 5.75807471e+01] [-5.19993132e-01 8.51661672e-01 -6.54181883e-02 -9.36562387e+00] [-1.24816151e-01 3.60420469e-06 9.92179887e-01 -5.78463398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685919999999996 meters 0.02942516912800931 Centerline is valid? [True, True] Translation: X:57.61, Y:-9.38, Z:-5.79 [[ 8.45332330e-01 5.23913278e-01 1.04537686e-01 5.76110765e+01] [-5.19938033e-01 8.51771605e-01 -6.44171954e-02 -9.38143608e+00] [-1.22791256e-01 1.00819249e-04 9.92432515e-01 -5.78739074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71592 meters 0.0294716874248966 Centerline is valid? [True, True] Translation: X:57.64, Y:-9.40, Z:-5.79 [[ 8.45112046e-01 5.23959342e-01 1.06076561e-01 5.76395972e+01] [-5.19854754e-01 8.51743258e-01 -6.54557636e-02 -9.39808625e+00] [-1.24646155e-01 1.73049631e-04 9.92201243e-01 -5.79171227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74592 meters 0.029406148292670978 Centerline is valid? [True, True] Translation: X:57.67, Y:-9.41, Z:-5.80 [[ 8.46083366e-01 5.22236694e-01 1.06825899e-01 5.76694479e+01] [-5.18049115e-01 8.52800435e-01 -6.60040349e-02 -9.41270649e+00] [-1.25570902e-01 5.03853587e-04 9.92084520e-01 -5.79523597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77592 meters 0.029544386597908194 Centerline is valid? [True, True] Translation: X:57.70, Y:-9.43, Z:-5.80 [[ 8.46753094e-01 5.21187821e-01 1.06641706e-01 5.76991429e+01] [-5.16995639e-01 8.53441691e-01 -6.59756757e-02 -9.42893487e+00] [-1.25398197e-01 7.31810497e-04 9.92106222e-01 -5.80011398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80592 meters 0.029492552113390618 Centerline is valid? [True, True] Translation: X:57.73, Y:-9.45, Z:-5.80 [[ 8.48377760e-01 5.18687493e-01 1.05917235e-01 5.77279669e+01] [-5.14522230e-01 8.54963112e-01 -6.56121374e-02 -9.44575341e+00] [-1.24587524e-01 1.16710617e-03 9.92207935e-01 -5.80419499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.835919999999994 meters 0.029322873044472442 Centerline is valid? [True, True] Translation: X:57.76, Y:-9.46, Z:-5.81 [[ 8.48579434e-01 5.18484604e-01 1.05293202e-01 5.77571036e+01] [-5.14356390e-01 8.55086032e-01 -6.53098975e-02 -9.46348764e+00] [-1.23896923e-01 1.26240457e-03 9.92294290e-01 -5.80584414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865919999999996 meters 0.029278260847940833 Centerline is valid? [True, True] Translation: X:57.79, Y:-9.48, Z:-5.81 [[ 8.48940605e-01 5.18198122e-01 1.03781291e-01 5.77860177e+01] [-5.14175716e-01 8.55259531e-01 -6.44551619e-02 -9.48072674e+00] [-1.22160483e-01 1.35678429e-03 9.92509434e-01 -5.80828753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89592 meters 0.02928331596240681 Centerline is valid? [True, True] Translation: X:57.81, Y:-9.50, Z:-5.81 [[ 8.48964289e-01 5.18097569e-01 1.04089121e-01 5.78137444e+01] [-5.14039898e-01 8.55320296e-01 -6.47315519e-02 -9.49994153e+00] [-1.22566797e-01 1.44881494e-03 9.92459209e-01 -5.81122513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92592 meters 0.029364345052145427 Centerline is valid? [True, True] Translation: X:57.84, Y:-9.52, Z:-5.82 [[ 8.48658461e-01 5.18384758e-01 1.05147792e-01 5.78394997e+01] [-5.14235221e-01 8.55146189e-01 -6.54762056e-02 -9.52156148e+00] [-1.23858601e-01 1.49623772e-03 9.92298750e-01 -5.81552901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95592 meters 0.029364345052145427 Centerline is valid? [True, True] Translation: X:57.87, Y:-9.54, Z:-5.82 [[ 8.48358067e-01 5.18883998e-01 1.05109406e-01 5.78677425e+01] [-5.14730651e-01 8.54843352e-01 -6.55377777e-02 -9.53870482e+00] [-1.23858581e-01 1.49646961e-03 9.92298752e-01 -5.81892594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98592 meters 0.029227031520561712 Centerline is valid? [True, True] Translation: X:57.90, Y:-9.56, Z:-5.82 [[ 8.48189557e-01 5.19463468e-01 1.03596241e-01 5.78950180e+01] [-5.15423396e-01 8.54491408e-01 -6.46773245e-02 -9.55760246e+00] [-1.22119605e-01 1.46270510e-03 9.92514314e-01 -5.82243429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.015919999999994 meters 0.029433710775085463 Centerline is valid? [True, True] Translation: X:57.92, Y:-9.58, Z:-5.83 [[ 8.46792231e-01 5.21760938e-01 1.03481599e-01 5.79217932e+01] [-5.17736572e-01 8.53090896e-01 -6.46897551e-02 -9.57740976e+00] [-1.22031797e-01 1.20257391e-03 9.92525463e-01 -5.82794391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045919999999995 meters 0.029361121292855084 Centerline is valid? [True, True] Translation: X:57.95, Y:-9.60, Z:-5.83 [[ 8.46014481e-01 5.23210177e-01 1.02521257e-01 5.79490659e+01] [-5.19260893e-01 8.52203025e-01 -6.41726452e-02 -9.59667711e+00] [-1.20944706e-01 1.05570772e-03 9.92658684e-01 -5.83089370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075919999999996 meters 0.029272924347054797 Centerline is valid? [True, True] Translation: X:57.98, Y:-9.62, Z:-5.83 [[ 8.44937202e-01 5.24980277e-01 1.02356405e-01 5.79768746e+01] [-5.21046573e-01 8.51113946e-01 -6.41523241e-02 -9.61576111e+00] [-1.20795669e-01 8.72231114e-04 9.92677010e-01 -5.83320769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10592 meters 0.029342474398260782 Centerline is valid? [True, True] Translation: X:58.00, Y:-9.63, Z:-5.84 [[ 8.43728514e-01 5.26971593e-01 1.02093750e-01 5.80049813e+01] [-5.23062571e-01 8.49882644e-01 -6.40705742e-02 -9.63397155e+00] [-1.20531079e-01 6.56750838e-04 9.92709337e-01 -5.83656442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13592 meters 0.02930712449362032 Centerline is valid? [True, True] Translation: X:58.03, Y:-9.65, Z:-5.84 [[ 8.43147480e-01 5.28073645e-01 1.01195616e-01 5.80317021e+01] [-5.24231376e-01 8.49198391e-01 -6.35889717e-02 -9.65455714e+00] [-1.19514814e-01 5.64964142e-04 9.92832257e-01 -5.84124407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16592 meters 0.029281959088944487 Centerline is valid? [True, True] Translation: X:58.06, Y:-9.67, Z:-5.84 [[ 8.42814643e-01 5.28527199e-01 1.01599592e-01 5.80585503e+01] [-5.24647301e-01 8.48916174e-01 -6.39260445e-02 -9.67429404e+00] [-1.20036190e-01 5.73854803e-04 9.92769351e-01 -5.84441819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.195919999999994 meters 0.02948797335919773 Centerline is valid? [True, True] Translation: X:58.09, Y:-9.69, Z:-5.85 [[ 8.42811973e-01 5.28476384e-01 1.01885669e-01 5.80866590e+01] [-5.24564106e-01 8.48947751e-01 -6.41888926e-02 -9.69283613e+00] [-1.20417924e-01 6.53602118e-04 9.92723071e-01 -5.84901965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225919999999995 meters 0.029284921013006626 Centerline is valid? [True, True] Translation: X:58.12, Y:-9.71, Z:-5.85 [[ 8.42268423e-01 5.29491845e-01 1.01105337e-01 5.81151034e+01] [-5.25636959e-01 8.48314833e-01 -6.37787721e-02 -9.71054940e+00] [-1.19539497e-01 5.74144019e-04 9.92829280e-01 -5.85228121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255919999999996 meters 0.02903656597744015 Centerline is valid? [True, True] Translation: X:58.14, Y:-9.73, Z:-5.86 [[ 8.41855180e-01 5.30305947e-01 1.00276913e-01 5.81425362e+01] [-5.26510259e-01 8.47806185e-01 -6.33373470e-02 -9.72974146e+00] [-1.18603558e-01 5.24050500e-04 9.92941550e-01 -5.85635244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28592 meters 0.029075722837571063 Centerline is valid? [True, True] Translation: X:58.17, Y:-9.75, Z:-5.86 [[ 8.40955068e-01 5.31637317e-01 1.00778647e-01 5.81707929e+01] [-5.27802327e-01 8.46972014e-01 -6.37425417e-02 -9.74871416e+00] [-1.19244607e-01 4.13409318e-04 9.92864821e-01 -5.86015762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31592 meters 0.02900173709268833 Centerline is valid? [True, True] Translation: X:58.20, Y:-9.77, Z:-5.86 [[ 8.39775956e-01 5.33433000e-01 1.01121599e-01 5.81993757e+01] [-5.29573378e-01 8.45842289e-01 -6.40535675e-02 -9.76706512e+00] [-1.19701212e-01 2.39338783e-04 9.92809933e-01 -5.86286810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34592 meters 0.02909572670193294 Centerline is valid? [True, True] Translation: X:58.23, Y:-9.79, Z:-5.87 [[ 8.38580343e-01 5.35417251e-01 1.00555339e-01 5.82280539e+01] [-5.31603980e-01 8.44587690e-01 -6.37874771e-02 -9.78579319e+00] [-1.19080717e-01 3.53060247e-05 9.92884576e-01 -5.86685078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.375919999999994 meters 0.028952819743251482 Centerline is valid? [True, True] Translation: X:58.26, Y:-9.81, Z:-5.87 [[ 8.37377819e-01 5.37288619e-01 1.00594873e-01 5.82560131e+01] [-5.33474727e-01 8.43398433e-01 -6.39046068e-02 -9.80641035e+00] [-1.19176777e-01 -1.52522458e-04 9.92873040e-01 -5.87002934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405919999999995 meters 0.02893126468514148 Centerline is valid? [True, True] Translation: X:58.28, Y:-9.82, Z:-5.88 [[ 8.36566563e-01 5.38675286e-01 9.99265838e-02 5.82847189e+01] [-5.34911133e-01 8.42513420e-01 -6.35705642e-02 -9.82452821e+00] [-1.18433380e-01 -2.70833707e-04 9.92961964e-01 -5.87564271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435919999999996 meters 0.02901420488909669 Centerline is valid? [True, True] Translation: X:58.31, Y:-9.84, Z:-5.88 [[ 8.36092225e-01 5.39669414e-01 9.85226590e-02 5.83139120e+01] [-5.36007117e-01 8.41876959e-01 -6.27658912e-02 -9.84196358e+00] [-1.16816788e-01 -3.30772791e-04 9.93153427e-01 -5.87911416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46592 meters 0.02888057571922153 Centerline is valid? [True, True] Translation: X:58.34, Y:-9.86, Z:-5.88 [[ 8.35477576e-01 5.40439534e-01 9.95104502e-02 5.83426409e+01] [-5.36697780e-01 8.41382776e-01 -6.34863563e-02 -9.86118557e+00] [-1.18036916e-01 -3.65610586e-04 9.93009140e-01 -5.88330269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49592 meters 0.02911438223231827 Centerline is valid? [True, True] Translation: X:58.37, Y:-9.88, Z:-5.89 [[ 8.35456253e-01 5.40267592e-01 1.00616994e-01 5.83715305e+01] [-5.36429516e-01 8.41493231e-01 -6.42846493e-02 -9.87986127e+00] [-1.19399432e-01 -2.66913054e-04 9.92846264e-01 -5.88622510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52592 meters 0.028950403583702326 Centerline is valid? [True, True] Translation: X:58.40, Y:-9.90, Z:-5.89 [[ 8.35708885e-01 5.39977209e-01 1.00076340e-01 5.84016189e+01] [-5.36167517e-01 8.41679626e-01 -6.40296926e-02 -9.89702100e+00] [-1.18806791e-01 -1.47499540e-04 9.92917381e-01 -5.88988799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55592 meters 0.028931983295442047 Centerline is valid? [True, True] Translation: X:58.43, Y:-9.91, Z:-5.89 [[ 8.35455734e-01 5.40319389e-01 1.00342784e-01 5.84308129e+01] [-5.36480727e-01 8.41460007e-01 -6.42921914e-02 -9.91472216e+00] [-1.19172757e-01 -1.18689657e-04 9.92873527e-01 -5.89389776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585919999999994 meters 0.02897927458498002 Centerline is valid? [True, True] Translation: X:58.46, Y:-9.93, Z:-5.90 [[ 8.34663098e-01 5.41381544e-01 1.01210360e-01 5.84593350e+01] [-5.37472467e-01 8.40777013e-01 -6.49412168e-02 -9.93454201e+00] [-1.20253321e-01 -1.93744779e-04 9.92743220e-01 -5.89836243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.615919999999996 meters 0.02895374129312322 Centerline is valid? [True, True] Translation: X:58.49, Y:-9.95, Z:-5.90 [[ 8.34536008e-01 5.41597775e-01 1.01101445e-01 5.84885235e+01] [-5.37687493e-01 8.40637751e-01 -6.49640689e-02 -9.95245278e+00] [-1.20174087e-01 -1.46128048e-04 9.92752823e-01 -5.90152550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64592 meters 0.028936085865961685 Centerline is valid? [True, True] Translation: X:58.52, Y:-9.97, Z:-5.91 [[ 8.33878820e-01 5.42508493e-01 1.01639802e-01 5.85177223e+01] [-5.38551593e-01 8.40050293e-01 -6.54040191e-02 -9.97008251e+00] [-1.20864781e-01 -1.99251118e-04 9.92668960e-01 -5.90556297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67592 meters 0.028682036762063677 Centerline is valid? [True, True] Translation: X:58.55, Y:-9.99, Z:-5.91 [[ 8.34234336e-01 5.42069302e-01 1.01064061e-01 5.85465391e+01] [-5.38142923e-01 8.40333784e-01 -6.51254689e-02 -9.98805618e+00] [-1.20230062e-01 -5.70067397e-05 9.92746055e-01 -5.90818136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70592 meters 0.028616350801349402 Centerline is valid? [True, True] Translation: X:58.57, Y:-10.01, Z:-5.91 [[ 8.34542337e-01 5.41880717e-01 9.95207331e-02 5.85744268e+01] [-5.38061708e-01 8.40455404e-01 -6.42208078e-02 -1.00076046e+01] [-1.18442755e-01 4.66873793e-05 9.92960881e-01 -5.91098329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73592 meters 0.02871442022689485 Centerline is valid? [True, True] Translation: X:58.60, Y:-10.03, Z:-5.92 [[ 8.34374942e-01 5.42055336e-01 9.99723391e-02 5.86032012e+01] [-5.38192007e-01 8.40342789e-01 -6.46015499e-02 -1.00255330e+01] [-1.19028649e-01 9.76006232e-05 9.92890815e-01 -5.91586655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765919999999994 meters 0.028683586870593334 Centerline is valid? [True, True] Translation: X:58.63, Y:-10.04, Z:-5.92 [[ 8.33117215e-01 5.43896290e-01 1.00461595e-01 5.86328037e+01] [-5.39998961e-01 8.39152439e-01 -6.49946637e-02 -1.00434448e+01] [-1.19652949e-01 -1.00983628e-04 9.92815774e-01 -5.91969593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.795919999999995 meters 0.028936067124238966 Centerline is valid? [True, True] Translation: X:58.66, Y:-10.06, Z:-5.92 [[ 8.31774162e-01 5.45931430e-01 1.00551569e-01 5.86613859e+01] [-5.42030610e-01 8.37829801e-01 -6.51463168e-02 -1.00619981e+01] [-1.19810522e-01 -3.15005021e-04 9.92796726e-01 -5.92435207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825919999999996 meters 0.028782931955912663 Centerline is valid? [True, True] Translation: X:58.69, Y:-10.08, Z:-5.93 [[ 8.30674626e-01 5.47666374e-01 1.00205830e-01 5.86897236e+01] [-5.43793942e-01 8.36696663e-01 -6.50141725e-02 -1.00806448e+01] [-1.19447959e-01 -4.85699579e-04 9.92840344e-01 -5.92769489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85592 meters 0.028979001098244014 Centerline is valid? [True, True] Translation: X:58.72, Y:-10.10, Z:-5.93 [[ 8.29010156e-01 5.50034470e-01 1.01016057e-01 5.87195575e+01] [-5.46105143e-01 8.35141612e-01 -6.56327725e-02 -1.00978990e+01] [-1.20463000e-01 -7.55153196e-04 9.92717531e-01 -5.93012199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88592 meters 0.029007690010567678 Centerline is valid? [True, True] Translation: X:58.75, Y:-10.11, Z:-5.93 [[ 8.28326688e-01 5.51410176e-01 9.91045684e-02 5.87491285e+01] [-5.47627880e-01 8.34233825e-01 -6.44796894e-02 -1.01147936e+01] [-1.18231140e-01 -8.62177167e-04 9.92985727e-01 -5.93258843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91592 meters 0.028869539009802173 Centerline is valid? [True, True] Translation: X:58.78, Y:-10.13, Z:-5.94 [[ 8.28027733e-01 5.51751144e-01 9.97033047e-02 5.87791987e+01] [-5.47914304e-01 8.34008376e-01 -6.49611033e-02 -1.01316491e+01] [-1.18995754e-01 -8.39271702e-04 9.92894408e-01 -5.93774561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.945919999999994 meters 0.028944821878824894 Centerline is valid? [True, True] Translation: X:58.81, Y:-10.15, Z:-5.94 [[ 8.28059203e-01 5.51557449e-01 1.00510379e-01 5.88085909e+01] [-5.47644868e-01 8.34136582e-01 -6.55840022e-02 -1.01497145e+01] [-1.20012729e-01 -7.36556790e-04 9.92772080e-01 -5.94162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.975919999999995 meters 0.028908689756223908 Centerline is valid? [True, True] Translation: X:58.84, Y:-10.17, Z:-5.95 [[ 8.27901912e-01 5.51764438e-01 1.00669907e-01 5.88381194e+01] [-5.47829528e-01 8.33999719e-01 -6.57820447e-02 -1.01673241e+01] [-1.20254867e-01 -6.88867091e-04 9.92742813e-01 -5.94551982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005919999999996 meters 0.028973106852350775 Centerline is valid? [True, True] Translation: X:58.87, Y:-10.18, Z:-5.95 [[ 8.28463239e-01 5.50926191e-01 1.00642902e-01 5.88683633e+01] [-5.46976032e-01 8.34553829e-01 -6.58568695e-02 -1.01832111e+01] [-1.20274193e-01 -4.89259825e-04 9.92740590e-01 -5.94770286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03592 meters 0.029057328180177443 Centerline is valid? [True, True] Translation: X:58.90, Y:-10.20, Z:-5.95 [[ 8.28403344e-01 5.50963223e-01 1.00932786e-01 5.88983766e+01] [-5.46979153e-01 8.34529420e-01 -6.61396510e-02 -1.02007003e+01] [-1.20671895e-01 -4.17821828e-04 9.92692359e-01 -5.95132415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06592 meters 0.029096471621819105 Centerline is valid? [True, True] Translation: X:58.93, Y:-10.22, Z:-5.96 [[ 8.28716195e-01 5.50230427e-01 1.02352068e-01 5.89294434e+01] [-5.46115683e-01 8.35012828e-01 -6.71657550e-02 -1.02166003e+01] [-1.22421932e-01 -2.34720416e-04 9.92478118e-01 -5.95552646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09592 meters 0.029315857245592106 Centerline is valid? [True, True] Translation: X:58.96, Y:-10.23, Z:-5.96 [[ 8.28869692e-01 5.49847312e-01 1.03164759e-01 5.89578603e+01] [-5.45651906e-01 8.35265182e-01 -6.77943475e-02 -1.02349465e+01] [-1.23446471e-01 -9.93672360e-05 9.92351228e-01 -5.95916771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.125919999999994 meters 0.02905065826830942 Centerline is valid? [True, True] Translation: X:58.99, Y:-10.25, Z:-5.96 [[ 8.29182498e-01 5.49553655e-01 1.02211379e-01 5.89866967e+01] [-5.45422358e-01 8.35458425e-01 -6.72582456e-02 -1.02536390e+01] [-1.22355372e-01 2.09887004e-05 9.92486354e-01 -5.96134727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.155919999999995 meters 0.029034835924373725 Centerline is valid? [True, True] Translation: X:59.02, Y:-10.27, Z:-5.96 [[ 8.28682977e-01 5.50491944e-01 1.01208417e-01 5.90165841e+01] [-5.46437232e-01 8.34840475e-01 -6.66913254e-02 -1.02713627e+01] [-1.21205920e-01 -3.80810510e-05 9.92627384e-01 -5.96440724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185919999999996 meters 0.029099528540879455 Centerline is valid? [True, True] Translation: X:59.05, Y:-10.29, Z:-5.97 [[ 8.29018996e-01 5.49977070e-01 1.01255753e-01 5.90468820e+01] [-5.45903173e-01 8.35179746e-01 -6.68170422e-02 -1.02880902e+01] [-1.21314595e-01 1.16760434e-04 9.92614102e-01 -5.96948925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21592 meters 0.029039411747515845 Centerline is valid? [True, True] Translation: X:59.08, Y:-10.31, Z:-5.97 [[ 8.30008014e-01 5.48292155e-01 1.02285921e-01 5.90762774e+01] [-5.44110165e-01 8.36286741e-01 -6.75915288e-02 -1.03050257e+01] [-1.22600265e-01 4.46701087e-04 9.92456032e-01 -5.97272411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24592 meters 0.02891925450631901 Centerline is valid? [True, True] Translation: X:59.11, Y:-10.32, Z:-5.97 [[ 8.30861378e-01 5.47226328e-01 1.01057983e-01 5.91050209e+01] [-5.43125777e-01 8.36984405e-01 -6.68692438e-02 -1.03238292e+01] [-1.21176567e-01 6.71876384e-04 9.92630741e-01 -5.97341794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27592 meters 0.029062899420092228 Centerline is valid? [True, True] Translation: X:59.13, Y:-10.34, Z:-5.98 [[ 8.30671960e-01 5.47144015e-01 1.03041361e-01 5.91338818e+01] [-5.42867491e-01 8.37038123e-01 -6.82793422e-02 -1.03417442e+01] [-1.23608181e-01 7.79929858e-04 9.92330796e-01 -5.97691320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30592 meters 0.029069283217816416 Centerline is valid? [True, True] Translation: X:59.16, Y:-10.36, Z:-5.98 [[ 8.31135037e-01 5.46746392e-01 1.01404803e-01 5.91627950e+01] [-5.42590561e-01 8.37297774e-01 -6.72898248e-02 -1.03612502e+01] [-1.21696484e-01 9.05642296e-04 9.92566948e-01 -5.97993812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.335919999999994 meters 0.029141484534642565 Centerline is valid? [True, True] Translation: X:59.19, Y:-10.38, Z:-5.99 [[ 8.31024509e-01 5.46997256e-01 1.00956757e-01 5.91912541e+01] [-5.42868127e-01 8.37133863e-01 -6.70901811e-02 -1.03803626e+01] [-1.21212465e-01 9.47379116e-04 9.92626133e-01 -5.98504791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365919999999996 meters 0.02900318157949568 Centerline is valid? [True, True] Translation: X:59.22, Y:-10.40, Z:-5.99 [[ 8.30118643e-01 5.48389044e-01 1.00858787e-01 5.92197891e+01] [-5.44266674e-01 8.36222924e-01 -6.71193613e-02 -1.03995450e+01] [-1.21147952e-01 8.22956756e-04 9.92634120e-01 -5.98889548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39592 meters 0.028946298238566526 Centerline is valid? [True, True] Translation: X:59.25, Y:-10.42, Z:-5.99 [[ 8.28465931e-01 5.51004883e-01 1.00188918e-01 5.92474449e+01] [-5.46944988e-01 8.34501859e-01 -6.67669635e-02 -1.04195530e+01] [-1.20396761e-01 5.16328196e-04 9.92725719e-01 -5.99158877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42592 meters 0.029142649812961455 Centerline is valid? [True, True] Translation: X:59.28, Y:-10.44, Z:-5.99 [[ 8.25419552e-01 5.55178554e-01 1.02270898e-01 5.92752029e+01] [-5.50967178e-01 8.31731190e-01 -6.82524456e-02 -1.04406702e+01] [-1.22954190e-01 -1.10051137e-05 9.92412347e-01 -5.99326906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45592 meters 0.029331387128302886 Centerline is valid? [True, True] Translation: X:59.31, Y:-10.46, Z:-6.00 [[ 8.22903753e-01 5.58887563e-01 1.02343073e-01 5.93051453e+01] [-5.54686703e-01 8.29243304e-01 -6.83973977e-02 -1.04573107e+01] [-1.23093763e-01 -4.83866399e-04 9.92394927e-01 -5.99828985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48592 meters 0.02954221736443557 Centerline is valid? [True, True] Translation: X:59.33, Y:-10.48, Z:-6.00 [[ 8.21630890e-01 5.60754780e-01 1.02356033e-01 5.93345051e+01] [-5.56555394e-01 8.27981648e-01 -6.85017118e-02 -1.04750272e+01] [-1.23161580e-01 -6.83680015e-04 9.92386395e-01 -6.00193392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.515919999999994 meters 0.029669225865711107 Centerline is valid? [True, True] Translation: X:59.36, Y:-10.49, Z:-6.01 [[ 8.19967838e-01 5.63084684e-01 1.02899869e-01 5.93628194e+01] [-5.58846472e-01 8.26398646e-01 -6.89630245e-02 -1.04937462e+01] [-1.23868335e-01 -9.57766709e-04 9.92298200e-01 -6.00628625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545919999999995 meters 0.029751683107713502 Centerline is valid? [True, True] Translation: X:59.39, Y:-10.51, Z:-6.01 [[ 8.19317281e-01 5.64080151e-01 1.02629316e-01 5.93921424e+01] [-5.59859984e-01 8.25719404e-01 -6.88786205e-02 -1.05113149e+01] [-1.23596080e-01 -1.02460315e-03 9.92332081e-01 -6.00890243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575919999999996 meters 0.029901580798665187 Centerline is valid? [True, True] Translation: X:59.42, Y:-10.53, Z:-6.01 [[ 8.18780657e-01 5.64803965e-01 1.02930645e-01 5.94222940e+01] [-5.60552516e-01 8.25224433e-01 -6.91773971e-02 -1.05284825e+01] [-1.24012551e-01 -1.05691729e-03 9.92280087e-01 -6.01270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60592 meters 0.029579718098261158 Centerline is valid? [True, True] Translation: X:59.45, Y:-10.54, Z:-6.02 [[ 8.18846067e-01 5.64821369e-01 1.02312952e-01 5.94538821e+01] [-5.60609201e-01 8.25212623e-01 -6.88581873e-02 -1.05431064e+01] [-1.23322515e-01 -9.73326359e-04 9.92366167e-01 -6.01639519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63592 meters 0.029766021758688588 Centerline is valid? [True, True] Translation: X:59.48, Y:-10.56, Z:-6.02 [[ 8.18166636e-01 5.65719918e-01 1.02782925e-01 5.94830830e+01] [-5.61463854e-01 8.24596814e-01 -6.92707427e-02 -1.05606001e+01] [-1.23942311e-01 -1.03388650e-03 9.92288887e-01 -6.02101662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66592 meters 0.02947125195788299 Centerline is valid? [True, True] Translation: X:59.52, Y:-10.58, Z:-6.03 [[ 8.18562016e-01 5.65599439e-01 1.00267149e-01 5.95150443e+01] [-5.61537646e-01 8.24679599e-01 -6.76685319e-02 -1.05754512e+01] [-1.20961556e-01 -9.12889104e-04 9.92656773e-01 -6.02528336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.695919999999994 meters 0.029478750333045225 Centerline is valid? [True, True] Translation: X:59.54, Y:-10.59, Z:-6.03 [[ 8.18284334e-01 5.66058109e-01 9.99448140e-02 5.95447932e+01] [-5.62014009e-01 8.24364855e-01 -6.75487948e-02 -1.05919531e+01] [-1.20627535e-01 -8.96265066e-04 9.92697434e-01 -6.02988891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725919999999995 meters 0.029377164721293116 Centerline is valid? [True, True] Translation: X:59.57, Y:-10.61, Z:-6.03 [[ 8.18026727e-01 5.66415224e-01 1.00030333e-01 5.95744469e+01] [-5.62355245e-01 8.24119552e-01 -6.77018649e-02 -1.06087187e+01] [-1.20784320e-01 -8.70647695e-04 9.92678392e-01 -6.03353337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755919999999996 meters 0.029342652228460574 Centerline is valid? [True, True] Translation: X:59.60, Y:-10.63, Z:-6.04 [[ 8.18438965e-01 5.66164216e-01 9.80598829e-02 5.96034417e+01] [-5.62250693e-01 8.24292138e-01 -6.64577249e-02 -1.06272600e+01] [-1.18455976e-01 -7.42645569e-04 9.92959027e-01 -6.03529646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78592 meters 0.029447653448086447 Centerline is valid? [True, True] Translation: X:59.63, Y:-10.64, Z:-6.04 [[ 8.18003529e-01 5.66708035e-01 9.85506489e-02 5.96333712e+01] [-5.62749465e-01 8.23918337e-01 -6.68701216e-02 -1.06448125e+01] [-1.19093522e-01 -7.59329542e-04 9.92882751e-01 -6.04050484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81592 meters 0.029646996023702684 Centerline is valid? [True, True] Translation: X:59.66, Y:-10.66, Z:-6.04 [[ 8.18072833e-01 5.66463814e-01 9.93759900e-02 5.96622646e+01] [-5.62424999e-01 8.24086357e-01 -6.75262632e-02 -1.06621131e+01] [-1.20145582e-01 -6.50139631e-04 9.92756071e-01 -6.04390645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84592 meters 0.029646996023702684 Centerline is valid? [True, True] Translation: X:59.69, Y:-10.68, Z:-6.05 [[ 8.17746089e-01 5.66942265e-01 9.93368097e-02 5.96898095e+01] [-5.62899970e-01 8.23757273e-01 -6.75838575e-02 -1.06803602e+01] [-1.20145565e-01 -6.50252003e-04 9.92756073e-01 -6.04730266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.875919999999994 meters 0.02948592741602507 Centerline is valid? [True, True] Translation: X:59.72, Y:-10.70, Z:-6.05 [[ 8.17817673e-01 5.66886283e-01 9.90666242e-02 5.97184196e+01] [-5.62855472e-01 8.23795859e-01 -6.74840740e-02 -1.06984794e+01] [-1.19866471e-01 -5.70523109e-04 9.92789859e-01 -6.04979105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905919999999995 meters 0.02969359101828802 Centerline is valid? [True, True] Translation: X:59.75, Y:-10.72, Z:-6.05 [[ 8.19273840e-01 5.64629556e-01 9.99191695e-02 5.97463639e+01] [-5.60501532e-01 8.25344435e-01 -6.81512795e-02 -1.07169407e+01] [-1.20947957e-01 -1.70287102e-04 9.92658835e-01 -6.05454618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935919999999996 meters 0.029732459636808966 Centerline is valid? [True, True] Translation: X:59.77, Y:-10.74, Z:-6.06 [[ 8.19415734e-01 5.64472183e-01 9.96444155e-02 5.97749651e+01] [-5.60354766e-01 8.25452088e-01 -6.80542926e-02 -1.07364299e+01] [-1.20666446e-01 -7.14649862e-05 9.92693107e-01 -6.05843954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96592 meters 0.02981110695896501 Centerline is valid? [True, True] Translation: X:59.80, Y:-10.76, Z:-6.06 [[ 8.19404636e-01 5.64541454e-01 9.93427845e-02 5.98030079e+01] [-5.60437930e-01 8.25404717e-01 -6.79439445e-02 -1.07560698e+01] [-1.20355176e-01 -1.88142006e-06 9.92730896e-01 -6.06217863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99592 meters 0.02983706381963102 Centerline is valid? [True, True] Translation: X:59.83, Y:-10.78, Z:-6.06 [[ 8.18894523e-01 5.65225009e-01 9.96616786e-02 5.98305006e+01] [-5.61088399e-01 8.24936779e-01 -6.82577386e-02 -1.07762742e+01] [-1.20795565e-01 -2.31234277e-05 9.92677405e-01 -6.06462709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02592 meters 0.030059345741083127 Centerline is valid? [True, True] Translation: X:59.86, Y:-10.80, Z:-6.07 [[ 8.18425720e-01 5.65657740e-01 1.01047825e-01 5.98582331e+01] [-5.61396126e-01 8.24640116e-01 -6.93041700e-02 -1.07958537e+01] [-1.22530530e-01 -7.54238067e-06 9.92464744e-01 -6.06751661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05592 meters 0.030447100083767643 Centerline is valid? [True, True] Translation: X:59.89, Y:-10.82, Z:-6.07 [[ 8.17252013e-01 5.66736658e-01 1.04444762e-01 5.98857831e+01] [-5.62178800e-01 8.23898994e-01 -7.17317565e-02 -1.08154008e+01] [-1.26704950e-01 -9.37087603e-05 9.91940445e-01 -6.07101011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085919999999994 meters 0.030629859756341138 Centerline is valid? [True, True] Translation: X:59.91, Y:-10.83, Z:-6.08 [[ 8.15679684e-01 5.68695394e-01 1.06076393e-01 5.99138278e+01] [-5.63997033e-01 8.22548141e-01 -7.29513619e-02 -1.08349477e+01] [-1.28740044e-01 -3.21827193e-04 9.91678324e-01 -6.07697838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.115919999999996 meters 0.030826792528537796 Centerline is valid? [True, True] Translation: X:59.94, Y:-10.85, Z:-6.08 [[ 8.14651560e-01 5.70048133e-01 1.06714390e-01 5.99421094e+01] [-5.65291134e-01 8.21611173e-01 -7.34915977e-02 -1.08546787e+01] [-1.29571483e-01 -4.54653864e-04 9.91569979e-01 -6.08198801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14592 meters 0.030838953810620406 Centerline is valid? [True, True] Translation: X:59.97, Y:-10.87, Z:-6.09 [[ 8.13519441e-01 5.71817746e-01 1.05880046e-01 5.99711221e+01] [-5.67137127e-01 8.20380427e-01 -7.30166671e-02 -1.08721094e+01] [-1.28614143e-01 -6.48026826e-04 9.91694500e-01 -6.08676862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17592 meters 0.030683658496102984 Centerline is valid? [True, True] Translation: X:60.00, Y:-10.89, Z:-6.09 [[ 8.13065925e-01 5.72643101e-01 1.04898426e-01 6.00012601e+01] [-5.68043327e-01 8.19804491e-01 -7.24387692e-02 -1.08900841e+01] [-1.27477762e-01 -6.89356132e-04 9.91841189e-01 -6.08883689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20592 meters 0.030726679033761462 Centerline is valid? [True, True] Translation: X:60.03, Y:-10.91, Z:-6.09 [[ 8.11873258e-01 5.74118158e-01 1.06066744e-01 6.00309157e+01] [-5.69413886e-01 8.18772024e-01 -7.33498437e-02 -1.09069502e+01] [-1.28955960e-01 -8.45100263e-04 9.91649962e-01 -6.09276921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23592 meters 0.030632815594718452 Centerline is valid? [True, True] Translation: X:60.06, Y:-10.92, Z:-6.10 [[ 8.11152925e-01 5.75411432e-01 1.04559155e-01 6.00627120e+01] [-5.70838499e-01 8.17863542e-01 -7.24060350e-02 -1.09224064e+01] [-1.27178381e-01 -9.54024251e-04 9.91879403e-01 -6.09536615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265919999999994 meters 0.030627481496416153 Centerline is valid? [True, True] Translation: X:60.09, Y:-10.94, Z:-6.10 [[ 8.11790310e-01 5.74611085e-01 1.04012470e-01 6.00937084e+01] [-5.70066512e-01 8.18426266e-01 -7.21291813e-02 -1.09384087e+01] [-1.26572764e-01 -7.40255256e-04 9.91957049e-01 -6.10120285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.295919999999995 meters 0.030609829709824087 Centerline is valid? [True, True] Translation: X:60.12, Y:-10.96, Z:-6.10 [[ 8.12702998e-01 5.73526153e-01 1.02866853e-01 6.01232744e+01] [-5.69060654e-01 8.19187107e-01 -7.14314729e-02 -1.09561933e+01] [-1.25235017e-01 -4.84906304e-04 9.92126985e-01 -6.10489169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325919999999996 meters 0.030480152097982525 Centerline is valid? [True, True] Translation: X:60.15, Y:-10.97, Z:-6.11 [[ 8.13812942e-01 5.72143033e-01 1.01788238e-01 6.01538582e+01] [-5.67748234e-01 8.20153836e-01 -7.07787300e-02 -1.09730978e+01] [-1.23977571e-01 -1.89445747e-04 9.92285002e-01 -6.10762125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35592 meters 0.030332663710040016 Centerline is valid? [True, True] Translation: X:60.18, Y:-10.99, Z:-6.11 [[ 8.13861195e-01 5.72146079e-01 1.01384514e-01 6.01834147e+01] [-5.67774332e-01 8.20151725e-01 -7.05935987e-02 -1.09902371e+01] [-1.23540535e-01 -1.10134303e-04 9.92339521e-01 -6.11004206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38592 meters 0.030369067027500106 Centerline is valid? [True, True] Translation: X:60.21, Y:-11.01, Z:-6.11 [[ 8.13997952e-01 5.71989206e-01 1.01171548e-01 6.02126071e+01] [-5.67623778e-01 8.20261146e-01 -7.05329609e-02 -1.10072426e+01] [-1.23331182e-01 -1.36902989e-05 9.92365567e-01 -6.11354708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41592 meters 0.03040919431953093 Centerline is valid? [True, True] Translation: X:60.24, Y:-11.02, Z:-6.12 [[ 8.12647931e-01 5.74082945e-01 1.00160435e-01 6.02411907e+01] [-5.69809797e-01 8.18797110e-01 -6.99148652e-02 -1.10246275e+01] [-1.22148006e-01 -2.56226316e-04 9.92511863e-01 -6.11674789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.445919999999994 meters 0.03032527320351669 Centerline is valid? [True, True] Translation: X:60.27, Y:-11.04, Z:-6.12 [[ 8.12151483e-01 5.74743689e-01 1.00397509e-01 6.02695610e+01] [-5.70444787e-01 8.18333434e-01 -7.01650549e-02 -1.10432247e+01] [-1.22485561e-01 -2.86582141e-04 9.92470254e-01 -6.11869103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.475919999999995 meters 0.030644280412486333 Centerline is valid? [True, True] Translation: X:60.30, Y:-11.06, Z:-6.12 [[ 8.08853228e-01 5.79428211e-01 1.00096974e-01 6.02977289e+01] [-5.75181951e-01 8.15022747e-01 -7.00260359e-02 -1.10619347e+01] [-1.22156372e-01 -9.33187837e-04 9.92510428e-01 -6.12091467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505919999999996 meters 0.03099434276975413 Centerline is valid? [True, True] Translation: X:60.33, Y:-11.08, Z:-6.13 [[ 8.06515704e-01 5.82319259e-01 1.02160162e-01 6.03267209e+01] [-5.77907069e-01 8.12959117e-01 -7.15604209e-02 -1.10792927e+01] [-1.24723046e-01 -1.32447651e-03 9.92190711e-01 -6.12562063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53592 meters 0.031199772598843663 Centerline is valid? [True, True] Translation: X:60.36, Y:-11.10, Z:-6.13 [[ 8.05358999e-01 5.83404931e-01 1.05050317e-01 6.03554486e+01] [-5.78735779e-01 8.12180125e-01 -7.36772871e-02 -1.10974631e+01] [-1.28303472e-01 -1.45971101e-03 9.91733880e-01 -6.12908418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56592 meters 0.03109281314720803 Centerline is valid? [True, True] Translation: X:60.38, Y:-11.11, Z:-6.13 [[ 8.05163179e-01 5.83563663e-01 1.05667911e-01 6.03843538e+01] [-5.78828787e-01 8.12066153e-01 -7.42010690e-02 -1.11145733e+01] [-1.29110381e-01 -1.41966009e-03 9.91629212e-01 -6.13136704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59592 meters 0.03126122658155359 Centerline is valid? [True, True] Translation: X:60.42, Y:-11.13, Z:-6.13 [[ 8.04642869e-01 5.84314847e-01 1.05479914e-01 6.04151228e+01] [-5.79591573e-01 8.11525734e-01 -7.41592296e-02 -1.11297497e+01] [-1.28932003e-01 -1.46357385e-03 9.91652357e-01 -6.13411651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.625919999999994 meters 0.031246022175041622 Centerline is valid? [True, True] Translation: X:60.45, Y:-11.14, Z:-6.14 [[ 8.05333073e-01 5.83377485e-01 1.05400911e-01 6.04451230e+01] [-5.78641603e-01 8.12200207e-01 -7.41937974e-02 -1.11449502e+01] [-1.28889632e-01 -1.23863311e-03 9.91658171e-01 -6.13943112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.655919999999995 meters 0.03115026365988205 Centerline is valid? [True, True] Translation: X:60.47, Y:-11.16, Z:-6.14 [[ 8.05763329e-01 5.82972550e-01 1.04347807e-01 6.04741410e+01] [-5.78316432e-01 8.12491120e-01 -7.35410395e-02 -1.11622606e+01] [-1.27654074e-01 -1.08937877e-03 9.91818154e-01 -6.14216645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685919999999996 meters 0.031032776931235295 Centerline is valid? [True, True] Translation: X:60.51, Y:-11.18, Z:-6.15 [[ 8.07751834e-01 5.79772740e-01 1.06773333e-01 6.05055322e+01] [-5.74856635e-01 8.14778067e-01 -7.53428878e-02 -1.11750916e+01] [-1.30678322e-01 -5.21002945e-04 9.91424684e-01 -6.14540005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71592 meters 0.031091292600151504 Centerline is valid? [True, True] Translation: X:60.53, Y:-11.19, Z:-6.15 [[ 8.08635992e-01 5.78645775e-01 1.06192750e-01 6.05349105e+01] [-5.73761950e-01 8.15578934e-01 -7.50215121e-02 -1.11913913e+01] [-1.30019451e-01 -2.64264689e-04 9.91511408e-01 -6.14873981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74592 meters 0.031002183017745356 Centerline is valid? [True, True] Translation: X:60.56, Y:-11.21, Z:-6.15 [[ 8.11847417e-01 5.74513313e-01 1.04106795e-01 6.05646275e+01] [-5.69774833e-01 8.18495105e-01 -7.36369641e-02 -1.12084245e+01] [-1.27516318e-01 4.64547478e-04 9.91836364e-01 -6.15120046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77592 meters 0.030872968731137016 Centerline is valid? [True, True] Translation: X:60.59, Y:-11.23, Z:-6.15 [[ 8.13545314e-01 5.72174181e-01 1.03733929e-01 6.05927813e+01] [-5.67439678e-01 8.20131634e-01 -7.34596157e-02 -1.12259921e+01] [-1.27107172e-01 8.99978850e-04 9.91888581e-01 -6.15452120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80592 meters 0.031202171385775693 Centerline is valid? [True, True] Translation: X:60.62, Y:-11.24, Z:-6.16 [[ 8.17142621e-01 5.67125574e-01 1.03181975e-01 6.06222204e+01] [-5.62389800e-01 8.23629475e-01 -7.31587334e-02 -1.12404490e+01] [-1.26473905e-01 1.75262867e-03 9.91968386e-01 -6.15806851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.835919999999994 meters 0.03120231134171764 Centerline is valid? [True, True] Translation: X:60.65, Y:-11.26, Z:-6.16 [[ 8.18498394e-01 5.65207907e-01 1.02958243e-01 6.06495405e+01] [-5.60467182e-01 8.24945791e-01 -7.30820105e-02 -1.12577874e+01] [-1.26241499e-01 2.11279186e-03 9.91997288e-01 -6.16067868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865919999999996 meters 0.031405372468717684 Centerline is valid? [True, True] Translation: X:60.68, Y:-11.28, Z:-6.16 [[ 8.20642970e-01 5.62285889e-01 1.01880789e-01 6.06754902e+01] [-5.57611695e-01 8.26938816e-01 -7.23974587e-02 -1.12777500e+01] [-1.24957249e-01 2.60254594e-03 9.92158713e-01 -6.16201024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89592 meters 0.03167639761168408 Centerline is valid? [True, True] Translation: X:60.70, Y:-11.30, Z:-6.17 [[ 8.21993130e-01 5.60732264e-01 9.95320165e-02 6.07031804e+01] [-5.56250964e-01 8.27992316e-01 -7.08067098e-02 -1.12958398e+01] [-1.22115352e-01 2.83784894e-03 9.92511858e-01 -6.16523395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92592 meters 0.031523214698332754 Centerline is valid? [True, True] Translation: X:60.73, Y:-11.31, Z:-6.17 [[ 8.22381989e-01 5.60210736e-01 9.92562094e-02 6.07303897e+01] [-5.55740830e-01 8.28344790e-01 -7.06897349e-02 -1.13139314e+01] [-1.21819512e-01 2.97323660e-03 9.92547816e-01 -6.16846769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95592 meters 0.031751894637462114 Centerline is valid? [True, True] Translation: X:60.76, Y:-11.33, Z:-6.17 [[ 8.22355898e-01 5.60229991e-01 9.93636433e-02 6.07571274e+01] [-5.55740869e-01 8.28331528e-01 -7.08446635e-02 -1.13319080e+01] [-1.21995344e-01 3.03908943e-03 9.92526020e-01 -6.17234814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98592 meters 0.03171677302227474 Centerline is valid? [True, True] Translation: X:60.78, Y:-11.35, Z:-6.18 [[ 8.22312210e-01 5.60058985e-01 1.00680498e-01 6.07832069e+01] [-5.55438826e-01 8.28446673e-01 -7.18597327e-02 -1.13507134e+01] [-1.23654113e-01 3.16927792e-03 9.92320319e-01 -6.17633673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.015919999999994 meters 0.031970468170265706 Centerline is valid? [True, True] Translation: X:60.81, Y:-11.37, Z:-6.18 [[ 8.22207977e-01 5.60201586e-01 1.00738401e-01 6.08093900e+01] [-5.55567726e-01 8.28350084e-01 -7.19766610e-02 -1.13700852e+01] [-1.23768102e-01 3.21278055e-03 9.92305968e-01 -6.17953643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045919999999995 meters 0.031748444362976455 Centerline is valid? [True, True] Translation: X:60.84, Y:-11.39, Z:-6.18 [[ 8.21539754e-01 5.61480319e-01 9.90569685e-02 6.08359998e+01] [-5.57000148e-01 8.27484529e-01 -7.08533001e-02 -1.13897428e+01] [-1.21750842e-01 3.03405665e-03 9.92556057e-01 -6.18216092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075919999999996 meters 0.031666816920941226 Centerline is valid? [True, True] Translation: X:60.86, Y:-11.41, Z:-6.19 [[ 8.20862443e-01 5.62551104e-01 9.85956672e-02 6.08625323e+01] [-5.58110825e-01 8.26757333e-01 -7.06018412e-02 -1.14082086e+01] [-1.21231835e-01 2.92709064e-03 9.92619904e-01 -6.18608078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10592 meters 0.031243214358208492 Centerline is valid? [True, True] Translation: X:60.89, Y:-11.43, Z:-6.19 [[ 8.18723959e-01 5.65448005e-01 9.97979563e-02 6.08894901e+01] [-5.60909683e-01 8.24779855e-01 -7.15438194e-02 -1.14261678e+01] [-1.22765654e-01 2.59699905e-03 9.92432290e-01 -6.19079031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13592 meters 0.031066210634338915 Centerline is valid? [True, True] Translation: X:60.92, Y:-11.44, Z:-6.19 [[ 8.17581045e-01 5.67010666e-01 1.00300251e-01 6.09160525e+01] [-5.62427931e-01 8.23706829e-01 -7.19852864e-02 -1.14445272e+01] [-1.23434427e-01 2.44214315e-03 9.92349726e-01 -6.19492751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16592 meters 0.030468101553119516 Centerline is valid? [True, True] Translation: X:60.94, Y:-11.47, Z:-6.20 [[ 8.15733184e-01 5.69651789e-01 1.00380336e-01 6.09415158e+01] [-5.65071475e-01 8.21883435e-01 -7.21238350e-02 -1.14659696e+01] [-1.23586407e-01 2.11174123e-03 9.92331568e-01 -6.19541177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.195919999999994 meters 0.030088556486637573 Centerline is valid? [True, True] Translation: X:60.97, Y:-11.49, Z:-6.20 [[ 8.15105540e-01 5.70971466e-01 9.79517468e-02 6.09675629e+01] [-5.66611077e-01 8.20967641e-01 -7.04558077e-02 -1.14860748e+01] [-1.20643470e-01 1.92837447e-03 9.92694029e-01 -6.19713581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225919999999995 meters 0.029840533419532387 Centerline is valid? [True, True] Translation: X:60.99, Y:-11.50, Z:-6.20 [[ 8.13722841e-01 5.73186018e-01 9.65035037e-02 6.09947786e+01] [-5.68960346e-01 8.19423638e-01 -6.94911905e-02 -1.15047880e+01] [-1.18908631e-01 1.63990212e-03 9.92903846e-01 -6.20120028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255919999999996 meters 0.029626156408727046 Centerline is valid? [True, True] Translation: X:61.02, Y:-11.52, Z:-6.21 [[ 8.11885347e-01 5.75440740e-01 9.85400332e-02 6.10214333e+01] [-5.71040629e-01 8.17842270e-01 -7.10395794e-02 -1.15233395e+01] [-1.21469273e-01 1.40563101e-03 9.92594197e-01 -6.20505899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28592 meters 0.029481167487251672 Centerline is valid? [True, True] Translation: X:61.05, Y:-11.54, Z:-6.21 [[ 8.10794332e-01 5.76565411e-01 1.00920154e-01 6.10478362e+01] [-5.71947505e-01 8.17049901e-01 -7.28389343e-02 -1.15427623e+01] [-1.24453212e-01 1.33636497e-03 9.92224578e-01 -6.20912163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31592 meters 0.02930056974949126 Centerline is valid? [True, True] Translation: X:61.08, Y:-11.56, Z:-6.21 [[ 8.10000188e-01 5.77766168e-01 1.00428831e-01 6.10755557e+01] [-5.73192237e-01 8.16201434e-01 -7.25663667e-02 -1.15623630e+01] [-1.23896548e-01 1.21374412e-03 9.92294398e-01 -6.21155159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34592 meters 0.02938027381941852 Centerline is valid? [True, True] Translation: X:61.10, Y:-11.58, Z:-6.22 [[ 8.09214397e-01 5.78810605e-01 1.00748915e-01 6.11037075e+01] [-5.74204105e-01 8.15461221e-01 -7.28878766e-02 -1.15794319e+01] [-1.24345109e-01 1.13147850e-03 9.92238385e-01 -6.21698779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.375919999999994 meters 0.029386152836757932 Centerline is valid? [True, True] Translation: X:61.13, Y:-11.60, Z:-6.22 [[ 8.09111720e-01 5.78800180e-01 1.01629601e-01 6.11314229e+01] [-5.74101644e-01 8.15468504e-01 -7.36099332e-02 -1.15987798e+01] [-1.25481181e-01 1.21293883e-03 9.92095259e-01 -6.22095799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405919999999995 meters 0.029161696870170183 Centerline is valid? [True, True] Translation: X:61.16, Y:-11.62, Z:-6.23 [[ 8.09674777e-01 5.77780658e-01 1.02938170e-01 6.11590661e+01] [-5.72939526e-01 8.16190762e-01 -7.46521188e-02 -1.16175174e+01] [-1.27149734e-01 1.46659099e-03 9.91882450e-01 -6.22520384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435919999999996 meters 0.02903474204221054 Centerline is valid? [True, True] Translation: X:61.19, Y:-11.64, Z:-6.23 [[ 8.09968384e-01 5.77511946e-01 1.02133093e-01 6.11871331e+01] [-5.72732714e-01 8.16380720e-01 -7.41603560e-02 -1.16363941e+01] [-1.26207979e-01 1.57258012e-03 9.92002557e-01 -6.22793134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46592 meters 0.029064987501256453 Centerline is valid? [True, True] Translation: X:61.22, Y:-11.65, Z:-6.23 [[ 8.09222937e-01 5.78522003e-01 1.02325611e-01 6.12151378e+01] [-5.73721069e-01 8.15665411e-01 -7.43913444e-02 -1.16536145e+01] [-1.26500491e-01 1.49282341e-03 9.91965421e-01 -6.23188007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49592 meters 0.028927154625573364 Centerline is valid? [True, True] Translation: X:61.24, Y:-11.67, Z:-6.23 [[ 8.08910140e-01 5.78970064e-01 1.02264608e-01 6.12429574e+01] [-5.74167572e-01 8.15347434e-01 -7.44322553e-02 -1.16731757e+01] [-1.26475234e-01 1.49198423e-03 9.91968643e-01 -6.23499086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52592 meters 0.029130544575484696 Centerline is valid? [True, True] Translation: X:61.27, Y:-11.69, Z:-6.24 [[ 8.08589521e-01 5.79401323e-01 1.02357676e-01 6.12697986e+01] [-5.74581739e-01 8.15041013e-01 -7.45920449e-02 -1.16916137e+01] [-1.26644433e-01 1.50149453e-03 9.91947041e-01 -6.23834148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55592 meters 0.029148883740105467 Centerline is valid? [True, True] Translation: X:61.30, Y:-11.71, Z:-6.24 [[ 8.08771688e-01 5.79234362e-01 1.01862218e-01 6.12965212e+01] [-5.74449690e-01 8.15159513e-01 -7.43136697e-02 -1.17095694e+01] [-1.26078987e-01 1.58807273e-03 9.92018935e-01 -6.24261760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585919999999994 meters 0.029277746666429603 Centerline is valid? [True, True] Translation: X:61.32, Y:-11.73, Z:-6.25 [[ 8.10177760e-01 5.77406737e-01 1.01061652e-01 6.13230815e+01] [-5.72672883e-01 8.16454381e-01 -7.38106541e-02 -1.17282029e+01] [-1.25130998e-01 1.92448272e-03 9.92138362e-01 -6.24608725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.615919999999996 meters 0.02912644226787104 Centerline is valid? [True, True] Translation: X:61.35, Y:-11.75, Z:-6.25 [[ 8.11036210e-01 5.76459701e-01 9.95714801e-02 6.13487149e+01] [-5.71847908e-01 8.17122867e-01 -7.28024116e-02 -1.17484880e+01] [-1.23329790e-01 2.10564931e-03 9.92363507e-01 -6.24742980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64592 meters 0.02949892600416289 Centerline is valid? [True, True] Translation: X:61.37, Y:-11.77, Z:-6.25 [[ 8.11999317e-01 5.74880126e-01 1.00846176e-01 6.13739068e+01] [-5.70125994e-01 8.18233983e-01 -7.38207214e-02 -1.17688102e+01] [-1.24953834e-01 2.44734891e-03 9.92159539e-01 -6.25067095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67592 meters 0.029695091376856594 Centerline is valid? [True, True] Translation: X:61.40, Y:-11.79, Z:-6.25 [[ 8.11838033e-01 5.74745354e-01 1.02892106e-01 6.13993036e+01] [-5.69783968e-01 8.18328228e-01 -7.53998713e-02 -1.17897398e+01] [-1.27535241e-01 2.58621072e-03 9.91830668e-01 -6.25474890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70592 meters 0.029843868582005426 Centerline is valid? [True, True] Translation: X:61.43, Y:-11.81, Z:-6.26 [[ 8.11025205e-01 5.75894233e-01 1.02878324e-01 6.14253871e+01] [-5.70932348e-01 8.17520460e-01 -7.54755098e-02 -1.18110417e+01] [-1.27571046e-01 2.47597778e-03 9.91826345e-01 -6.25872047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73592 meters 0.029719921931126162 Centerline is valid? [True, True] Translation: X:61.45, Y:-11.83, Z:-6.26 [[ 8.10417390e-01 5.76835452e-01 1.02393928e-01 6.14514932e+01] [-5.71915926e-01 8.16856862e-01 -7.52132959e-02 -1.18327480e+01] [-1.27026879e-01 2.39344455e-03 9.91896388e-01 -6.26231984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765919999999994 meters 0.029719921931126162 Centerline is valid? [True, True] Translation: X:61.48, Y:-11.85, Z:-6.27 [[ 8.10074355e-01 5.77325037e-01 1.02349110e-01 6.14783649e+01] [-5.72401706e-01 8.16510916e-01 -7.52742421e-02 -1.18520375e+01] [-1.27026871e-01 2.39292767e-03 9.91896390e-01 -6.26571707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.795919999999995 meters 0.02980010022898207 Centerline is valid? [True, True] Translation: X:61.51, Y:-11.87, Z:-6.27 [[ 8.09865333e-01 5.77605387e-01 1.02421477e-01 6.15051416e+01] [-5.72665150e-01 8.16312513e-01 -7.54221950e-02 -1.18714812e+01] [-1.27172199e-01 2.42861056e-03 9.91877681e-01 -6.26899436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825919999999996 meters 0.02999985053185643 Centerline is valid? [True, True] Translation: X:61.53, Y:-11.89, Z:-6.27 [[ 8.09202388e-01 5.78155872e-01 1.04533641e-01 6.15312177e+01] [-5.73000726e-01 8.15922595e-01 -7.70745526e-02 -1.18915794e+01] [-1.29852464e-01 2.47106011e-03 9.91530247e-01 -6.27340020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85592 meters 0.03011171484781205 Centerline is valid? [True, True] Translation: X:61.56, Y:-11.91, Z:-6.28 [[ 8.09269303e-01 5.78225813e-01 1.03624829e-01 6.15559159e+01] [-5.73149120e-01 8.15872904e-01 -7.64950320e-02 -1.19148441e+01] [-1.28776092e-01 2.51260140e-03 9.91670512e-01 -6.27711325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88592 meters 0.030075698157891 Centerline is valid? [True, True] Translation: X:61.58, Y:-11.93, Z:-6.28 [[ 8.09543295e-01 5.77782084e-01 1.03959211e-01 6.15822843e+01] [-5.72656372e-01 8.16186703e-01 -7.68371343e-02 -1.19345940e+01] [-1.29245245e-01 2.67008242e-03 9.91609065e-01 -6.28369114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91592 meters 0.030012042516926837 Centerline is valid? [True, True] Translation: X:61.61, Y:-11.95, Z:-6.29 [[ 8.09532935e-01 5.78223835e-01 1.01556014e-01 6.16087008e+01] [-5.73325207e-01 8.15873989e-01 -7.51521171e-02 -1.19547949e+01] [-1.26311656e-01 2.61349118e-03 9.91987165e-01 -6.28722610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.945919999999994 meters 0.030117759029174806 Centerline is valid? [True, True] Translation: X:61.63, Y:-11.98, Z:-6.29 [[ 8.08667550e-01 5.79360920e-01 1.01969202e-01 6.16349005e+01] [-5.74419155e-01 8.15067211e-01 -7.55518182e-02 -1.19758777e+01] [-1.26883524e-01 2.52324075e-03 9.91914414e-01 -6.29132200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.975919999999995 meters 0.029996506569626713 Centerline is valid? [True, True] Translation: X:61.66, Y:-12.00, Z:-6.29 [[ 8.08101230e-01 5.80374131e-01 1.00688979e-01 6.16602742e+01] [-5.75552413e-01 8.14346402e-01 -7.46950941e-02 -1.19979193e+01] [-1.25346808e-01 2.40941274e-03 9.92110061e-01 -6.29320499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005919999999996 meters 0.02997608783306014 Centerline is valid? [True, True] Translation: X:61.69, Y:-12.02, Z:-6.30 [[ 8.06428229e-01 5.82729362e-01 1.00498763e-01 6.16880068e+01] [-5.77932331e-01 8.12663530e-01 -7.46472222e-02 -1.20177354e+01] [-1.25170808e-01 2.11614273e-03 9.92132950e-01 -6.29670340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03592 meters 0.029784919936273396 Centerline is valid? [True, True] Translation: X:61.71, Y:-12.04, Z:-6.30 [[ 8.05545232e-01 5.84164113e-01 9.92429789e-02 6.17144102e+01] [-5.79485679e-01 8.11633229e-01 -7.38095501e-02 -1.20378007e+01] [-1.23665790e-01 1.94704619e-03 9.92322015e-01 -6.30133997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06592 meters 0.02987546819762388 Centerline is valid? [True, True] Translation: X:61.74, Y:-12.06, Z:-6.31 [[ 8.04645330e-01 5.85274944e-01 9.99956635e-02 6.17402774e+01] [-5.80521821e-01 8.10832756e-01 -7.44624600e-02 -1.20585052e+01] [-1.24660771e-01 1.86620604e-03 9.92197666e-01 -6.30513117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09592 meters 0.029771904490184214 Centerline is valid? [True, True] Translation: X:61.77, Y:-12.08, Z:-6.31 [[ 8.03790559e-01 5.86725726e-01 9.83547649e-02 6.17656536e+01] [-5.82127534e-01 8.09783967e-01 -7.33311675e-02 -1.20804066e+01] [-1.22671394e-01 1.68788337e-03 9.92445908e-01 -6.30746992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.125919999999994 meters 0.029824373659090103 Centerline is valid? [True, True] Translation: X:61.79, Y:-12.10, Z:-6.31 [[ 8.03544072e-01 5.86957906e-01 9.89815188e-02 6.17925978e+01] [-5.82290951e-01 8.09615584e-01 -7.38908285e-02 -1.21010894e+01] [-1.23507786e-01 1.73849452e-03 9.92342080e-01 -6.31062513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.155919999999995 meters 0.030020682350585658 Centerline is valid? [True, True] Translation: X:61.82, Y:-12.12, Z:-6.31 [[ 8.03545940e-01 5.86786948e-01 9.99749945e-02 6.18190849e+01] [-5.82012445e-01 8.09739231e-01 -7.47254355e-02 -1.21216558e+01] [-1.24801585e-01 1.85862930e-03 9.92179979e-01 -6.31445549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185919999999996 meters 0.030276388776741495 Centerline is valid? [True, True] Translation: X:61.84, Y:-12.14, Z:-6.32 [[ 8.03595143e-01 5.86741388e-01 9.98468366e-02 6.18449316e+01] [-5.81967242e-01 8.09772058e-01 -7.47217693e-02 -1.21427683e+01] [-1.24695533e-01 1.93846276e-03 9.92193160e-01 -6.31756301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21592 meters 0.03043032149679627 Centerline is valid? [True, True] Translation: X:61.87, Y:-12.17, Z:-6.32 [[ 8.03786196e-01 5.86071440e-01 1.02215546e-01 6.18691058e+01] [-5.81049541e-01 8.10256480e-01 -7.65889577e-02 -1.21653669e+01] [-1.27707409e-01 2.16885082e-03 9.91809515e-01 -6.32265803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24592 meters 0.03042058031717122 Centerline is valid? [True, True] Translation: X:61.90, Y:-12.19, Z:-6.33 [[ 8.03291224e-01 5.86771094e-01 1.02092568e-01 6.18961052e+01] [-5.81755083e-01 8.09750051e-01 -7.65890281e-02 -1.21869463e+01] [-1.27609690e-01 2.13042401e-03 9.91822176e-01 -6.32525742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27592 meters 0.03056895170974601 Centerline is valid? [True, True] Translation: X:61.92, Y:-12.21, Z:-6.33 [[ 8.02482878e-01 5.87846849e-01 1.02261007e-01 6.19234270e+01] [-5.82809603e-01 8.08969649e-01 -7.68184448e-02 -1.22070582e+01] [-1.27883532e-01 2.04678977e-03 9.91787080e-01 -6.32886981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30592 meters 0.03037782166893747 Centerline is valid? [True, True] Translation: X:61.95, Y:-12.23, Z:-6.33 [[ 8.02449831e-01 5.88077446e-01 1.01188862e-01 6.19506797e+01] [-5.83135663e-01 8.08801988e-01 -7.61061300e-02 -1.22271838e+01] [-1.26598052e-01 2.06451683e-03 9.91951950e-01 -6.33089776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.335919999999994 meters 0.030377822565590865 Centerline is valid? [True, True] Translation: X:61.98, Y:-12.25, Z:-6.34 [[ 8.00705849e-01 5.90534721e-01 1.00692042e-01 6.19774084e+01] [-5.85648200e-01 8.07010337e-01 -7.58320651e-02 -1.22490425e+01] [-1.26040986e-01 1.74906493e-03 9.92023493e-01 -6.33648274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365919999999996 meters 0.030286582425479096 Centerline is valid? [True, True] Translation: X:62.00, Y:-12.27, Z:-6.34 [[ 8.00186114e-01 5.91331336e-01 1.00147062e-01 6.20044079e+01] [-5.86490743e-01 8.06426910e-01 -7.55264660e-02 -1.22708420e+01] [-1.25422452e-01 1.69990465e-03 9.92101970e-01 -6.34018996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39592 meters 0.03043350799408697 Centerline is valid? [True, True] Translation: X:62.03, Y:-12.29, Z:-6.34 [[ 8.00298822e-01 5.91293975e-01 9.94647235e-02 6.20329656e+01] [-5.86506256e-01 8.06454138e-01 -7.51141384e-02 -1.22904151e+01] [-1.24628275e-01 1.77707378e-03 9.92201912e-01 -6.34411949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42592 meters 0.03029900083563047 Centerline is valid? [True, True] Translation: X:62.06, Y:-12.31, Z:-6.35 [[ 8.01036705e-01 5.90636991e-01 9.74070960e-02 6.20616697e+01] [-5.86029301e-01 8.06935105e-01 -7.36572853e-02 -1.23088509e+01] [-1.22105923e-01 1.91877674e-03 9.92515220e-01 -6.34646517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45592 meters 0.030328580041732518 Centerline is valid? [True, True] Translation: X:62.09, Y:-12.33, Z:-6.35 [[ 8.01652064e-01 5.90022929e-01 9.60568128e-02 6.20883642e+01] [-5.85527543e-01 8.07383873e-01 -7.27239907e-02 -1.23291255e+01] [-1.20463544e-01 2.05542772e-03 9.92715624e-01 -6.34936346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48592 meters 0.030514032440296494 Centerline is valid? [True, True] Translation: X:62.12, Y:-12.35, Z:-6.35 [[ 8.02132317e-01 5.89408768e-01 9.58177962e-02 6.21151848e+01] [-5.84920630e-01 8.07831912e-01 -7.26323505e-02 -1.23501663e+01] [-1.20214818e-01 2.21494998e-03 9.92745431e-01 -6.35194777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.515919999999994 meters 0.030382201373672976 Centerline is valid? [True, True] Translation: X:62.14, Y:-12.37, Z:-6.35 [[ 8.01884771e-01 5.89731263e-01 9.59054285e-02 6.21423506e+01] [-5.85226239e-01 8.07596441e-01 -7.27890002e-02 -1.23693878e+01] [-1.20378832e-01 2.24201753e-03 9.92725496e-01 -6.35461534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545919999999995 meters 0.030656052769000734 Centerline is valid? [True, True] Translation: X:62.17, Y:-12.39, Z:-6.36 [[ 8.01336236e-01 5.90167083e-01 9.77908553e-02 6.21695116e+01] [-5.85474181e-01 8.07277860e-01 -7.43131166e-02 -1.23883609e+01] [-1.22801548e-01 2.29577212e-03 9.92428592e-01 -6.35875023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575919999999996 meters 0.03067126883546868 Centerline is valid? [True, True] Translation: X:62.20, Y:-12.41, Z:-6.36 [[ 8.00118584e-01 5.91858386e-01 9.75392411e-02 6.21970125e+01] [-5.87190976e-01 8.06039218e-01 -7.42127815e-02 -1.24072110e+01] [-1.22543911e-01 2.10486349e-03 9.92460860e-01 -6.36250134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60592 meters 0.03037693390153374 Centerline is valid? [True, True] Translation: X:62.22, Y:-12.43, Z:-6.37 [[ 7.98528021e-01 5.93902056e-01 9.81496228e-02 6.22241167e+01] [-5.89179693e-01 8.04535159e-01 -7.47694230e-02 -1.24268484e+01] [-1.23370536e-01 1.87771465e-03 9.92358899e-01 -6.36579060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63592 meters 0.03037392684725179 Centerline is valid? [True, True] Translation: X:62.25, Y:-12.45, Z:-6.37 [[ 7.97647233e-01 5.95044191e-01 9.83936123e-02 6.22509480e+01] [-5.90295287e-01 8.03691010e-01 -7.50482125e-02 -1.24467909e+01] [-1.23735065e-01 1.78071343e-03 9.92313692e-01 -6.36954953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66592 meters 0.030260469398526585 Centerline is valid? [True, True] Translation: X:62.28, Y:-12.47, Z:-6.37 [[ 7.97362278e-01 5.95502230e-01 9.79310560e-02 6.22790857e+01] [-5.90789228e-01 8.03351679e-01 -7.47941670e-02 -1.24662139e+01] [-1.23213172e-01 1.78143436e-03 9.92378628e-01 -6.37247424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.695919999999994 meters 0.030681855579194336 Centerline is valid? [True, True] Translation: X:62.31, Y:-12.48, Z:-6.38 [[ 7.97716393e-01 5.94801340e-01 9.92971354e-02 6.23076262e+01] [-5.89936715e-01 8.03870237e-01 -7.59428369e-02 -1.24840162e+01] [-1.24992913e-01 2.00182010e-03 9.92155615e-01 -6.37615179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725919999999995 meters 0.0305399276588533 Centerline is valid? [True, True] Translation: X:62.34, Y:-12.50, Z:-6.38 [[ 7.97726496e-01 5.94730414e-01 9.96402138e-02 6.23354461e+01] [-5.89819498e-01 8.03922471e-01 -7.62995374e-02 -1.25027214e+01] [-1.25480662e-01 2.09642170e-03 9.92093851e-01 -6.38060364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755919999999996 meters 0.030769104682917076 Centerline is valid? [True, True] Translation: X:62.36, Y:-12.52, Z:-6.38 [[ 7.99348132e-01 5.92573107e-01 9.94971217e-02 6.23647598e+01] [-5.87647420e-01 8.05512762e-01 -7.62869607e-02 -1.25194836e+01] [-1.25351803e-01 2.51061263e-03 9.92109179e-01 -6.38397633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78592 meters 0.030920972905933323 Centerline is valid? [True, True] Translation: X:62.39, Y:-12.54, Z:-6.39 [[ 8.00044131e-01 5.91489986e-01 1.00344334e-01 6.23922767e+01] [-5.86459025e-01 8.06307548e-01 -7.70321414e-02 -1.25388587e+01] [-1.26472134e-01 2.78127251e-03 9.91966261e-01 -6.38733085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81592 meters 0.030876602018395722 Centerline is valid? [True, True] Translation: X:62.42, Y:-12.56, Z:-6.39 [[ 8.00648444e-01 5.90578169e-01 1.00893486e-01 6.24189896e+01] [-5.85472194e-01 8.06974786e-01 -7.75500084e-02 -1.25589800e+01] [-1.27217842e-01 3.01996268e-03 9.91870204e-01 -6.39074864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84592 meters 0.03111616154862077 Centerline is valid? [True, True] Translation: X:62.45, Y:-12.58, Z:-6.39 [[ 8.01315063e-01 5.89699563e-01 1.00740235e-01 6.24458799e+01] [-5.84590818e-01 8.07616252e-01 -7.75213804e-02 -1.25783206e+01] [-1.27073775e-01 3.22723349e-03 9.91888018e-01 -6.39426709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.875919999999994 meters 0.031078780114099026 Centerline is valid? [True, True] Translation: X:62.47, Y:-12.60, Z:-6.40 [[ 8.02649557e-01 5.87997552e-01 1.00062819e-01 6.24736075e+01] [-5.82935117e-01 8.08854993e-01 -7.70730110e-02 -1.25978677e+01] [-1.26255052e-01 3.53248725e-03 9.91991524e-01 -6.39772745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905919999999995 meters 0.03132348560212408 Centerline is valid? [True, True] Translation: X:62.50, Y:-12.62, Z:-6.40 [[ 8.03334218e-01 5.86995553e-01 1.00450756e-01 6.25003193e+01] [-5.81873648e-01 8.09581321e-01 -7.74670446e-02 -1.26183043e+01] [-1.26795866e-01 3.78227997e-03 9.91921621e-01 -6.40060790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935919999999996 meters 0.031463362276884906 Centerline is valid? [True, True] Translation: X:62.53, Y:-12.64, Z:-6.40 [[ 8.04563686e-01 5.85473110e-01 9.94912737e-02 6.25263851e+01] [-5.80425600e-01 8.10681662e-01 -7.68203431e-02 -1.26391776e+01] [-1.25631996e-01 4.05957617e-03 9.92068607e-01 -6.40359610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96592 meters 0.031639772602370234 Centerline is valid? [True, True] Translation: X:62.55, Y:-12.66, Z:-6.41 [[ 8.04605807e-01 5.85226569e-01 1.00595019e-01 6.25515551e+01] [-5.80051826e-01 8.10858826e-01 -7.77678772e-02 -1.26607511e+01] [-1.27080187e-01 4.22216094e-03 9.91883461e-01 -6.40735395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99592 meters 0.03227727538407122 Centerline is valid? [True, True] Translation: X:62.58, Y:-12.68, Z:-6.41 [[ 8.06549502e-01 5.82356980e-01 1.01677177e-01 6.25763411e+01] [-5.77034638e-01 8.12918978e-01 -7.87004591e-02 -1.26836790e+01] [-1.28487069e-01 4.80456301e-03 9.91699546e-01 -6.41081942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02592 meters 0.03244221127397464 Centerline is valid? [True, True] Translation: X:62.60, Y:-12.71, Z:-6.41 [[ 8.07095653e-01 5.81684542e-01 1.01191403e-01 6.26021774e+01] [-5.76395771e-01 8.13399313e-01 -7.84185788e-02 -1.27051679e+01] [-1.27923893e-01 4.96499724e-03 9.91771560e-01 -6.41406773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05592 meters 0.032455753354994836 Centerline is valid? [True, True] Translation: X:62.63, Y:-12.73, Z:-6.42 [[ 8.07009822e-01 5.82034759e-01 9.98533253e-02 6.26274439e+01] [-5.76876477e-01 8.13149028e-01 -7.74737899e-02 -1.27278268e+01] [-1.26288073e-01 4.91907485e-03 9.91981414e-01 -6.41780183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085919999999994 meters 0.03253331182940098 Centerline is valid? [True, True] Translation: X:62.65, Y:-12.75, Z:-6.42 [[ 8.06724478e-01 5.82469478e-01 9.96239097e-02 6.26538286e+01] [-5.77326510e-01 8.12837711e-01 -7.73883530e-02 -1.27490118e+01] [-1.26054424e-01 4.91555462e-03 9.92011149e-01 -6.42219265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.115919999999996 meters 0.03210251092957678 Centerline is valid? [True, True] Translation: X:62.68, Y:-12.77, Z:-6.43 [[ 8.05307172e-01 5.84465631e-01 9.93996224e-02 6.26786290e+01] [-5.79349284e-01 8.11405036e-01 -7.73063667e-02 -1.27711459e+01] [-1.25836269e-01 4.66827148e-03 9.92040040e-01 -6.42651698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14592 meters 0.03202259959633804 Centerline is valid? [True, True] Translation: X:62.70, Y:-12.79, Z:-6.43 [[ 8.04088483e-01 5.86090233e-01 9.96993001e-02 6.27035978e+01] [-5.80943351e-01 8.10233270e-01 -7.76329287e-02 -1.27928101e+01] [-1.26279591e-01 4.50409843e-03 9.91984465e-01 -6.43087680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17592 meters 0.03185591069883139 Centerline is valid? [True, True] Translation: X:62.73, Y:-12.82, Z:-6.43 [[ 8.02347587e-01 5.88402438e-01 1.00104552e-01 6.27275617e+01] [-5.83219224e-01 8.08557134e-01 -7.80429254e-02 -1.28165375e+01] [-1.26860897e-01 4.23465356e-03 9.91911478e-01 -6.43289066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20592 meters 0.03190791858294104 Centerline is valid? [True, True] Translation: X:62.75, Y:-12.84, Z:-6.44 [[ 8.00951225e-01 5.90235900e-01 1.00492378e-01 6.27540355e+01] [-5.85014123e-01 8.07220706e-01 -7.84423829e-02 -1.28383387e+01] [-1.27419039e-01 4.03906230e-03 9.91840751e-01 -6.43572319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23592 meters 0.03178781433246521 Centerline is valid? [True, True] Translation: X:62.78, Y:-12.86, Z:-6.44 [[ 7.99996671e-01 5.91549037e-01 1.00374616e-01 6.27812258e+01] [-5.86336317e-01 8.06259537e-01 -7.84556055e-02 -1.28593468e+01] [-1.27338329e-01 3.91094065e-03 9.91851629e-01 -6.44159144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265919999999994 meters 0.03170204969430844 Centerline is valid? [True, True] Translation: X:62.81, Y:-12.88, Z:-6.44 [[ 7.99624608e-01 5.92197330e-01 9.95128519e-02 6.28074615e+01] [-5.87065861e-01 8.05783736e-01 -7.78861074e-02 -1.28809458e+01] [-1.26309782e-01 3.85905002e-03 9.91983340e-01 -6.44493239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.295919999999995 meters 0.03142420098788311 Centerline is valid? [True, True] Translation: X:62.83, Y:-12.90, Z:-6.45 [[ 7.99073965e-01 5.92770384e-01 1.00519005e-01 6.28334544e+01] [-5.87524902e-01 8.05362097e-01 -7.87805922e-02 -1.29029564e+01] [-1.27652999e-01 3.89410155e-03 9.91811246e-01 -6.44897812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325919999999996 meters 0.03167784846561449 Centerline is valid? [True, True] Translation: X:62.86, Y:-12.92, Z:-6.45 [[ 7.99002574e-01 5.93151271e-01 9.88253812e-02 6.28593358e+01] [-5.88071556e-01 8.05081817e-01 -7.75571554e-02 -1.29247556e+01] [-1.25565643e-01 3.85197106e-03 9.92077836e-01 -6.45370286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35592 meters 0.031834375643112735 Centerline is valid? [True, True] Translation: X:62.89, Y:-12.95, Z:-6.46 [[ 7.98421922e-01 5.93946659e-01 9.87410747e-02 6.28866333e+01] [-5.88868349e-01 8.04495404e-01 -7.75964703e-02 -1.29461620e+01] [-1.25524905e-01 3.80922934e-03 9.92083156e-01 -6.45742381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38592 meters 0.031702592879073184 Centerline is valid? [True, True] Translation: X:62.91, Y:-12.97, Z:-6.46 [[ 7.98445083e-01 5.93894501e-01 9.88674420e-02 6.29131054e+01] [-5.88789475e-01 8.04533440e-01 -7.78003717e-02 -1.29683668e+01] [-1.25747376e-01 3.90721491e-03 9.92054601e-01 -6.45992895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41592 meters 0.03176912649664735 Centerline is valid? [True, True] Translation: X:62.94, Y:-12.99, Z:-6.46 [[ 7.96775739e-01 5.96031303e-01 9.94741532e-02 6.29378313e+01] [-5.90866180e-01 8.02952773e-01 -7.83836818e-02 -1.29925138e+01] [-1.26592175e-01 3.67830311e-03 9.91948029e-01 -6.46302017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.445919999999994 meters 0.03174168146574185 Centerline is valid? [True, True] Translation: X:62.96, Y:-13.01, Z:-6.47 [[ 7.95532562e-01 5.97833321e-01 9.86066107e-02 6.29644482e+01] [-5.92758770e-01 8.01613026e-01 -7.78048732e-02 -1.30145413e+01] [-1.25558689e-01 3.44637682e-03 9.92080207e-01 -6.46659583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.475919999999995 meters 0.031566439240653124 Centerline is valid? [True, True] Translation: X:62.99, Y:-13.04, Z:-6.47 [[ 7.94707186e-01 5.98877930e-01 9.89227713e-02 6.29911060e+01] [-5.93765210e-01 8.00833201e-01 -7.81604719e-02 -1.30359672e+01] [-1.26029221e-01 3.37778856e-03 9.92020779e-01 -6.47160215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505919999999996 meters 0.031428128363922454 Centerline is valid? [True, True] Translation: X:63.02, Y:-13.06, Z:-6.48 [[ 7.93172516e-01 6.01085649e-01 9.78437688e-02 6.30172830e+01] [-5.96088114e-01 7.99178690e-01 -7.74104729e-02 -1.30575683e+01] [-1.24724979e-01 3.07635189e-03 9.92186583e-01 -6.47560886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53592 meters 0.03154807520296173 Centerline is valid? [True, True] Translation: X:63.04, Y:-13.08, Z:-6.48 [[ 7.91181713e-01 6.03672261e-01 9.80372317e-02 6.30441867e+01] [-5.98661898e-01 7.97227828e-01 -7.76641630e-02 -1.30782768e+01] [-1.25041710e-01 2.75531032e-03 9.92147660e-01 -6.47890231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56592 meters 0.03148821976125883 Centerline is valid? [True, True] Translation: X:63.07, Y:-13.10, Z:-6.48 [[ 7.90003198e-01 6.05186331e-01 9.82061737e-02 6.30713232e+01] [-6.00156962e-01 7.96079594e-01 -7.79031447e-02 -1.30999256e+01] [-1.25325849e-01 2.60461451e-03 9.92112215e-01 -6.48234067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59592 meters 0.031368079925837386 Centerline is valid? [True, True] Translation: X:63.10, Y:-13.12, Z:-6.49 [[ 7.88497789e-01 6.07077438e-01 9.86317468e-02 6.30976310e+01] [-6.02005426e-01 7.94639055e-01 -7.83469230e-02 -1.31228023e+01] [-1.25939287e-01 2.39952887e-03 9.92035049e-01 -6.48567811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.625919999999994 meters 0.03142551691196205 Centerline is valid? [True, True] Translation: X:63.12, Y:-13.14, Z:-6.49 [[ 7.88061782e-01 6.07561198e-01 9.91363589e-02 6.31249458e+01] [-6.02427039e-01 7.94269181e-01 -7.88551183e-02 -1.31440613e+01] [-1.26650265e-01 2.42028185e-03 9.91944481e-01 -6.49018589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.655919999999995 meters 0.03142551691196205 Centerline is valid? [True, True] Translation: X:63.15, Y:-13.16, Z:-6.49 [[ 7.87667303e-01 6.08080950e-01 9.90847070e-02 6.31516942e+01] [-6.02942730e-01 7.93871338e-01 -7.89199767e-02 -1.31648375e+01] [-1.26650243e-01 2.42028144e-03 9.91944483e-01 -6.49366856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685919999999996 meters 0.03141023961225453 Centerline is valid? [True, True] Translation: X:63.18, Y:-13.19, Z:-6.50 [[ 7.87839145e-01 6.08147733e-01 9.72924312e-02 6.31791232e+01] [-6.03182111e-01 7.93820096e-01 -7.75950715e-02 -1.31852712e+01] [-1.24421954e-01 2.44738075e-03 9.92226379e-01 -6.49761413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71592 meters 0.031234033424052142 Centerline is valid? [True, True] Translation: X:63.21, Y:-13.21, Z:-6.50 [[ 7.87626506e-01 6.08575842e-01 9.63323992e-02 6.32067541e+01] [-6.03698611e-01 7.93491967e-01 -7.69316907e-02 -1.32057580e+01] [-1.23257753e-01 2.43770311e-03 9.92371696e-01 -6.50090757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74592 meters 0.031203377876756325 Centerline is valid? [True, True] Translation: X:63.23, Y:-13.23, Z:-6.50 [[ 7.86018858e-01 6.10769884e-01 9.55745952e-02 6.32342474e+01] [-6.05972999e-01 7.91805210e-01 -7.64279640e-02 -1.32271536e+01] [-1.22356361e-01 2.15819695e-03 9.92483886e-01 -6.50305988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77592 meters 0.031272278516537695 Centerline is valid? [True, True] Translation: X:63.26, Y:-13.25, Z:-6.51 [[ 7.84868577e-01 6.12215938e-01 9.57755764e-02 6.32613751e+01] [-6.07396627e-01 7.90688032e-01 -7.66927167e-02 -1.32489466e+01] [-1.22681106e-01 2.01994138e-03 9.92444087e-01 -6.50692782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80592 meters 0.031050946531471557 Centerline is valid? [True, True] Translation: X:63.29, Y:-13.27, Z:-6.51 [[ 7.83031322e-01 6.14838608e-01 9.39969951e-02 6.32882493e+01] [-6.10203510e-01 7.88651207e-01 -7.53720799e-02 -1.32697845e+01] [-1.20472508e-01 1.66140302e-03 9.92715274e-01 -6.51002858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.835919999999994 meters 0.03103410252232695 Centerline is valid? [True, True] Translation: X:63.32, Y:-13.29, Z:-6.51 [[ 7.82576482e-01 6.15542509e-01 9.31744050e-02 6.33164470e+01] [-6.10981842e-01 7.88102029e-01 -7.48089609e-02 -1.32898178e+01] [-1.19479033e-01 1.61586385e-03 9.92835409e-01 -6.51374594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865919999999996 meters 0.030996549154120024 Centerline is valid? [True, True] Translation: X:63.34, Y:-13.31, Z:-6.52 [[ 7.80805385e-01 6.17754707e-01 9.33920409e-02 6.33442007e+01] [-6.13176089e-01 7.86369677e-01 -7.50853813e-02 -1.33108424e+01] [-1.19825017e-01 1.36130366e-03 9.92794094e-01 -6.51723911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89592 meters 0.03113708307409742 Centerline is valid? [True, True] Translation: X:63.37, Y:-13.33, Z:-6.52 [[ 7.78976399e-01 6.19890083e-01 9.45095490e-02 6.33713970e+01] [-6.15203708e-01 7.84687844e-01 -7.60880066e-02 -1.33311954e+01] [-1.21326695e-01 1.12813641e-03 9.92611989e-01 -6.52072890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92592 meters 0.031174473978780145 Centerline is valid? [True, True] Translation: X:63.40, Y:-13.35, Z:-6.52 [[ 7.78390880e-01 6.20440403e-01 9.57149150e-02 6.33998211e+01] [-6.15624292e-01 7.84252770e-01 -7.71642595e-02 -1.33513382e+01] [-1.22940511e-01 1.13952905e-03 9.92413388e-01 -6.52410270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95592 meters 0.03107074199974654 Centerline is valid? [True, True] Translation: X:63.43, Y:-13.37, Z:-6.53 [[ 7.77624405e-01 6.21482453e-01 9.51832200e-02 6.34276225e+01] [-6.16715131e-01 7.83427379e-01 -7.68374154e-02 -1.33719900e+01] [-1.22322246e-01 1.04971743e-03 9.92489882e-01 -6.52766115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98592 meters 0.031022883639966456 Centerline is valid? [True, True] Translation: X:63.46, Y:-13.39, Z:-6.53 [[ 7.77052819e-01 6.22516246e-01 9.30722314e-02 6.34550108e+01] [-6.17954326e-01 7.82606307e-01 -7.52317773e-02 -1.33923360e+01] [-1.19671919e-01 9.44676648e-04 9.92813044e-01 -6.53086318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01592 meters 0.03121467832001579 Centerline is valid? [True, True] Translation: X:63.48, Y:-13.41, Z:-6.54 [[ 7.76275429e-01 6.23272369e-01 9.44881591e-02 6.34811920e+01] [-6.18562934e-01 7.82004286e-01 -7.64800275e-02 -1.34136116e+01] [-1.21558033e-01 9.22693340e-04 9.92583897e-01 -6.53659659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04592 meters 0.031155052615056366 Centerline is valid? [True, True] Translation: X:63.51, Y:-13.43, Z:-6.54 [[ 7.75414890e-01 6.24355172e-01 9.44053410e-02 6.35085016e+01] [-6.19649434e-01 7.81140145e-01 -7.65157073e-02 -1.34345600e+01] [-1.21516779e-01 8.33202637e-04 9.92589028e-01 -6.53946145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07592 meters 0.03139374650802901 Centerline is valid? [True, True] Translation: X:63.54, Y:-13.45, Z:-6.54 [[ 7.73988213e-01 6.25920608e-01 9.57373422e-02 6.35370188e+01] [-6.21079328e-01 7.79886486e-01 -7.77015928e-02 -1.34546269e+01] [-1.23299288e-01 6.79632849e-04 9.92369298e-01 -6.54369932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10592 meters 0.031654844129109926 Centerline is valid? [True, True] Translation: X:63.57, Y:-13.48, Z:-6.55 [[ 7.71288998e-01 6.29045293e-01 9.70324730e-02 6.35656708e+01] [-6.24081308e-01 7.77368602e-01 -7.88706408e-02 -1.34755705e+01] [-1.25043203e-01 2.75904869e-04 9.92151259e-01 -6.54894874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13592 meters 0.03140095680454738 Centerline is valid? [True, True] Translation: X:63.59, Y:-13.50, Z:-6.55 [[ 7.70510797e-01 6.30120465e-01 9.62357120e-02 6.35929373e+01] [-6.25231964e-01 7.76497369e-01 -7.83379038e-02 -1.34986221e+01] [-1.24089094e-01 1.90557423e-04 9.92271062e-01 -6.55175045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16592 meters 0.03130955792479727 Centerline is valid? [True, True] Translation: X:63.62, Y:-13.52, Z:-6.55 [[ 7.69129436e-01 6.32006019e-01 9.49120835e-02 6.36201607e+01] [-6.27251948e-01 7.74963478e-01 -7.73731313e-02 -1.35211204e+01] [-1.22453683e-01 -2.38365007e-05 9.92474229e-01 -6.55489847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19592 meters 0.03125073862091256 Centerline is valid? [True, True] Translation: X:63.65, Y:-13.54, Z:-6.56 [[ 7.68477611e-01 6.33121185e-01 9.27347086e-02 6.36488976e+01] [-6.28578344e-01 7.74052681e-01 -7.57080772e-02 -1.35419663e+01] [-1.19713937e-01 -1.11067201e-04 9.92808421e-01 -6.55853592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22592 meters 0.031164939114506473 Centerline is valid? [True, True] Translation: X:63.68, Y:-13.56, Z:-6.56 [[ 7.67739192e-01 6.33987673e-01 9.29309677e-02 6.36774113e+01] [-6.29418106e-01 7.73343136e-01 -7.59818505e-02 -1.35622838e+01] [-1.20039083e-01 -1.58189219e-04 9.92769154e-01 -6.56185968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25592 meters 0.031087184040728136 Centerline is valid? [True, True] Translation: X:63.71, Y:-13.58, Z:-6.57 [[ 7.67737420e-01 6.34055610e-01 9.24810130e-02 6.37059064e+01] [-6.29517425e-01 7.73287448e-01 -7.57253894e-02 -1.35825221e+01] [-1.19528514e-01 -8.11940456e-05 9.92830765e-01 -6.56511655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28591999999999 meters 0.030998455062927633 Centerline is valid? [True, True] Translation: X:63.73, Y:-13.60, Z:-6.57 [[ 7.67729421e-01 6.33906071e-01 9.35661785e-02 6.37331575e+01] [-6.29245552e-01 7.73410041e-01 -7.67264174e-02 -1.36043040e+01] [-1.21002364e-01 2.90263123e-05 9.92652219e-01 -6.56696202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31591999999999 meters 0.031181043529936368 Centerline is valid? [True, True] Translation: X:63.76, Y:-13.63, Z:-6.57 [[ 7.67919629e-01 6.33535937e-01 9.45074635e-02 6.37612286e+01] [-6.28764954e-01 7.73713247e-01 -7.76044122e-02 -1.36258851e+01] [-1.22286860e-01 1.70970460e-04 9.92494783e-01 -6.57111026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34591999999999 meters 0.0310354792766275 Centerline is valid? [True, True] Translation: X:63.79, Y:-13.65, Z:-6.57 [[ 7.68186590e-01 6.33348489e-01 9.35898209e-02 6.37887577e+01] [-6.28654715e-01 7.73866661e-01 -7.69651897e-02 -1.36472811e+01] [-1.21171829e-01 2.87944526e-04 9.92631505e-01 -6.57350116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37592 meters 0.030964928135248655 Centerline is valid? [True, True] Translation: X:63.82, Y:-13.67, Z:-6.58 [[ 7.67880745e-01 6.33519924e-01 9.49298058e-02 6.38167508e+01] [-6.28676268e-01 7.73726293e-01 -7.81906293e-02 -1.36683643e+01] [-1.22985008e-01 3.60962605e-04 9.92408463e-01 -6.57780004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40592 meters 0.030980409537314398 Centerline is valid? [True, True] Translation: X:63.85, Y:-13.69, Z:-6.58 [[ 7.68427587e-01 6.33154948e-01 9.29185379e-02 6.38455353e+01] [-6.28498596e-01 7.74024910e-01 -7.66482429e-02 -1.36892939e+01] [-1.20451477e-01 4.99453803e-04 9.92719090e-01 -6.58140074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43592 meters 0.030846220652325323 Centerline is valid? [True, True] Translation: X:63.87, Y:-13.71, Z:-6.59 [[ 7.68436197e-01 6.33292690e-01 9.19031009e-02 6.38734624e+01] [-6.28725686e-01 7.73912176e-01 -7.59207130e-02 -1.37094605e+01] [-1.19204961e-01 5.58383750e-04 9.92869511e-01 -6.58526090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46592 meters 0.03089909766409164 Centerline is valid? [True, True] Translation: X:63.90, Y:-13.73, Z:-6.59 [[ 7.69049808e-01 6.32520547e-01 9.20877281e-02 6.39008235e+01] [-6.27917377e-01 7.74543208e-01 -7.61747108e-02 -1.37307329e+01] [-1.19507994e-01 7.58662088e-04 9.92832949e-01 -6.58866125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49592 meters 0.03130683163037002 Centerline is valid? [True, True] Translation: X:63.93, Y:-13.75, Z:-6.59 [[ 7.69067035e-01 6.31947845e-01 9.58009191e-02 6.39261615e+01] [-6.26946256e-01 7.75010312e-01 -7.93562151e-02 -1.37535603e+01] [-1.24395689e-01 9.68221604e-04 9.92232218e-01 -6.59289970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52592 meters 0.031243533596625846 Centerline is valid? [True, True] Translation: X:63.95, Y:-13.78, Z:-6.59 [[ 7.69079426e-01 6.31853145e-01 9.63246585e-02 6.39523044e+01] [-6.26782175e-01 7.75087383e-01 -7.98977633e-02 -1.37754561e+01] [-1.25143681e-01 1.07314698e-03 9.92138049e-01 -6.59493339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55592 meters 0.03105515006662256 Centerline is valid? [True, True] Translation: X:63.98, Y:-13.80, Z:-6.60 [[ 7.69983880e-01 6.31000263e-01 9.46757195e-02 6.39788738e+01] [-6.26082786e-01 7.75781573e-01 -7.86339352e-02 -1.37974120e+01] [-1.23065712e-01 1.27202439e-03 9.92397709e-01 -6.59716678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58592 meters 0.031181638390582102 Centerline is valid? [True, True] Translation: X:64.01, Y:-13.82, Z:-6.60 [[ 7.70846177e-01 6.30077118e-01 9.38029642e-02 6.40050829e+01] [-6.25230053e-01 7.76531133e-01 -7.80178195e-02 -1.38185725e+01] [-1.21998165e-01 1.49130569e-03 9.92529205e-01 -6.60342629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61592 meters 0.03099190692365876 Centerline is valid? [True, True] Translation: X:64.03, Y:-13.84, Z:-6.61 [[ 7.71340346e-01 6.29420518e-01 9.41481931e-02 6.40326619e+01] [-6.24519468e-01 7.77063043e-01 -7.84121321e-02 -1.38396325e+01] [-1.22513286e-01 1.68506164e-03 9.92465443e-01 -6.60650269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64592 meters 0.0311501085120831 Centerline is valid? [True, True] Translation: X:64.06, Y:-13.86, Z:-6.61 [[ 7.70603785e-01 6.30221077e-01 9.48219429e-02 6.40594071e+01] [-6.25242071e-01 7.76413976e-01 -7.90802812e-02 -1.38607026e+01] [-1.23459142e-01 1.65289604e-03 9.92348280e-01 -6.60947319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67591999999999 meters 0.03117159663451187 Centerline is valid? [True, True] Translation: X:64.09, Y:-13.88, Z:-6.61 [[ 7.69994737e-01 6.30792563e-01 9.59627395e-02 6.40857300e+01] [-6.25683235e-01 7.75949720e-01 -8.01406370e-02 -1.38822521e+01] [-1.25014379e-01 1.66559146e-03 9.92153532e-01 -6.61214653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70591999999999 meters 0.031168549332658068 Centerline is valid? [True, True] Translation: X:64.11, Y:-13.90, Z:-6.62 [[ 7.69661739e-01 6.31130971e-01 9.64080126e-02 6.41119877e+01] [-6.25962868e-01 7.75674415e-01 -8.06206546e-02 -1.39040099e+01] [-1.25663421e-01 1.70279717e-03 9.92071472e-01 -6.61647208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73592 meters 0.03110068832484868 Centerline is valid? [True, True] Translation: X:64.14, Y:-13.93, Z:-6.62 [[ 7.69426500e-01 6.31464927e-01 9.60984179e-02 6.41384402e+01] [-6.26319271e-01 7.75402519e-01 -8.04680297e-02 -1.39253424e+01] [-1.25327694e-01 1.72594344e-03 9.92113900e-01 -6.61962856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76592 meters 0.03104604087722096 Centerline is valid? [True, True] Translation: X:64.16, Y:-13.95, Z:-6.62 [[ 7.70192237e-01 6.30724068e-01 9.48212414e-02 6.41649252e+01] [-6.25696236e-01 7.76004850e-01 -7.95027818e-02 -1.39464060e+01] [-1.23726061e-01 1.90313146e-03 9.92314587e-01 -6.62386870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79592 meters 0.031273681925769604 Centerline is valid? [True, True] Translation: X:64.19, Y:-13.97, Z:-6.63 [[ 7.71185762e-01 6.29167482e-01 9.70608064e-02 6.41907605e+01] [-6.23871889e-01 7.77266383e-01 -8.14913296e-02 -1.39693070e+01] [-1.26713796e-01 2.29144454e-03 9.91936673e-01 -6.62600370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82592 meters 0.031570779558248475 Centerline is valid? [True, True] Translation: X:64.22, Y:-13.99, Z:-6.63 [[ 7.71625363e-01 6.28475491e-01 9.80451777e-02 6.42173820e+01] [-6.23051660e-01 7.77825317e-01 -8.24281770e-02 -1.39906615e+01] [-1.28066111e-01 2.51646120e-03 9.91762441e-01 -6.62873206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85592 meters 0.03153865573658564 Centerline is valid? [True, True] Translation: X:64.24, Y:-14.01, Z:-6.63 [[ 7.71857408e-01 6.28067338e-01 9.88309747e-02 6.42439573e+01] [-6.22538016e-01 7.78154335e-01 -8.32000534e-02 -1.40119004e+01] [-1.29160987e-01 2.69253866e-03 9.91619982e-01 -6.63212738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88592 meters 0.031526966701593 Centerline is valid? [True, True] Translation: X:64.27, Y:-14.03, Z:-6.64 [[ 7.72545350e-01 6.27244616e-01 9.86806630e-02 6.42700277e+01] [-6.21711205e-01 7.78816867e-01 -8.31833297e-02 -1.40333530e+01] [-1.29030460e-01 2.91202072e-03 9.91636355e-01 -6.63668606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91592 meters 0.03146112392720494 Centerline is valid? [True, True] Translation: X:64.30, Y:-14.06, Z:-6.64 [[ 7.72141961e-01 6.27753616e-01 9.86011636e-02 6.42959074e+01] [-6.22218753e-01 7.78406652e-01 -8.32280449e-02 -1.40552531e+01] [-1.28998508e-01 2.91237277e-03 9.91640511e-01 -6.64016807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94592 meters 0.03179325761194219 Centerline is valid? [True, True] Translation: X:64.32, Y:-14.08, Z:-6.64 [[ 7.71848835e-01 6.28062991e-01 9.89255094e-02 6.43219315e+01] [-6.22479204e-01 7.78156875e-01 -8.36152993e-02 -1.40782285e+01] [-1.29495240e-01 2.95929898e-03 9.91575628e-01 -6.64326535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97592 meters 0.031566499642549 Centerline is valid? [True, True] Translation: X:64.35, Y:-14.10, Z:-6.65 [[ 7.71133852e-01 6.28964616e-01 9.87729480e-02 6.43479305e+01] [-6.23390975e-01 7.77428554e-01 -8.35974669e-02 -1.41015423e+01] [-1.29368759e-01 2.89067229e-03 9.91592340e-01 -6.64515121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00592 meters 0.03176123772532559 Centerline is valid? [True, True] Translation: X:64.37, Y:-14.13, Z:-6.65 [[ 7.71322659e-01 6.28328227e-01 1.01316307e-01 6.43738608e+01] [-6.22441202e-01 7.77941899e-01 -8.58682202e-02 -1.41256320e+01] [-1.32771627e-01 3.16865967e-03 9.91141592e-01 -6.64990786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03591999999999 meters 0.031865592967955915 Centerline is valid? [True, True] Translation: X:64.40, Y:-14.15, Z:-6.65 [[ 7.71619936e-01 6.28017108e-01 1.00981122e-01 6.44004798e+01] [-6.22149766e-01 7.78192494e-01 -8.57094516e-02 -1.41491376e+01] [-1.32409753e-01 3.30973987e-03 9.91189539e-01 -6.65457701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06591999999999 meters 0.03188577966656664 Centerline is valid? [True, True] Translation: X:64.43, Y:-14.18, Z:-6.66 [[ 7.73001036e-01 6.26472649e-01 1.00007090e-01 6.44252285e+01] [-6.20689249e-01 7.79434920e-01 -8.50062406e-02 -1.41750556e+01] [-1.31203103e-01 3.63658673e-03 9.91348839e-01 -6.65808550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09591999999999 meters 0.031804514691112735 Centerline is valid? [True, True] Translation: X:64.45, Y:-14.20, Z:-6.66 [[ 7.72866066e-01 6.26724675e-01 9.94697244e-02 6.44508142e+01] [-6.20989771e-01 7.79232136e-01 -8.46698407e-02 -1.42001328e+01] [-1.30574684e-01 3.66876529e-03 9.91431688e-01 -6.66101537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12592 meters 0.03218823952497397 Centerline is valid? [True, True] Translation: X:64.48, Y:-14.22, Z:-6.67 [[ 7.73040226e-01 6.26369579e-01 1.00349185e-01 6.44760967e+01] [-6.20513944e-01 7.79516710e-01 -8.55344597e-02 -1.42241252e+01] [-1.31800050e-01 3.85350971e-03 9.91268832e-01 -6.66561061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15592 meters 0.032025978710161176 Centerline is valid? [True, True] Translation: X:64.50, Y:-14.25, Z:-6.67 [[ 7.72089058e-01 6.27433845e-01 1.01021075e-01 6.45020633e+01] [-6.21491044e-01 7.78660612e-01 -8.62353429e-02 -1.42470793e+01] [-1.32768105e-01 3.79767141e-03 9.91139853e-01 -6.67079546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18592 meters 0.031829847949561445 Centerline is valid? [True, True] Translation: X:64.52, Y:-14.27, Z:-6.67 [[ 7.69941736e-01 6.30186528e-01 1.00272941e-01 6.45248886e+01] [-6.24338742e-01 7.76436359e-01 -8.57188229e-02 -1.42727040e+01] [-1.31874405e-01 3.39421735e-03 9.91260622e-01 -6.67466679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21592 meters 0.03175741233283945 Centerline is valid? [True, True] Translation: X:64.55, Y:-14.30, Z:-6.68 [[ 7.68341246e-01 6.32246182e-01 9.95815966e-02 6.45494589e+01] [-6.26481019e-01 7.74761313e-01 -8.52434172e-02 -1.42979240e+01] [-1.31046794e-01 3.11005330e-03 9.91371306e-01 -6.67826995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24592 meters 0.031725340842844806 Centerline is valid? [True, True] Translation: X:64.57, Y:-14.32, Z:-6.68 [[ 7.66430367e-01 6.34531843e-01 9.97688947e-02 6.45744325e+01] [-6.28747617e-01 7.72891569e-01 -8.55281100e-02 -1.43226703e+01] [-1.31380847e-01 2.82188599e-03 9.91327953e-01 -6.68196672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27592 meters 0.032118289716505266 Centerline is valid? [True, True] Translation: X:64.60, Y:-14.35, Z:-6.69 [[ 7.64032001e-01 6.37186313e-01 1.01235884e-01 6.45998856e+01] [-6.31235343e-01 7.70705737e-01 -8.69172514e-02 -1.43482995e+01] [-1.33405559e-01 2.50389382e-03 9.91058367e-01 -6.68537365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30592 meters 0.032149638720853205 Centerline is valid? [True, True] Translation: X:64.62, Y:-14.37, Z:-6.69 [[ 7.62165102e-01 6.39348345e-01 1.01676206e-01 6.46248606e+01] [-6.33345319e-01 7.68913945e-01 -8.74359866e-02 -1.43745752e+01] [-1.34082306e-01 2.24450871e-03 9.90967657e-01 -6.69105633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33592 meters 0.03199495589577994 Centerline is valid? [True, True] Translation: X:64.65, Y:-14.40, Z:-6.70 [[ 7.60731376e-01 6.41229229e-01 1.00562666e-01 6.46511651e+01] [-6.35355659e-01 7.67346784e-01 -8.66146643e-02 -1.43986313e+01] [-1.32706293e-01 1.99743351e-03 9.91153394e-01 -6.69516809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36592 meters 0.03186254482495689 Centerline is valid? [True, True] Translation: X:64.68, Y:-14.42, Z:-6.70 [[ 7.59005457e-01 6.43503901e-01 9.90628386e-02 6.46770820e+01] [-6.37806813e-01 7.65440994e-01 -8.54549870e-02 -1.44227698e+01] [-1.30817375e-01 1.67784819e-03 9.91405063e-01 -6.69891322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39592 meters 0.031870022546049516 Centerline is valid? [True, True] Translation: X:64.70, Y:-14.45, Z:-6.70 [[ 7.57970386e-01 6.44682555e-01 9.93242019e-02 6.47036272e+01] [-6.38947924e-01 7.64448761e-01 -8.58116676e-02 -1.44473417e+01] [-1.31249548e-01 1.57971016e-03 9.91348103e-01 -6.70198128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42591999999999 meters 0.03184422317037572 Centerline is valid? [True, True] Translation: X:64.73, Y:-14.47, Z:-6.70 [[ 7.56571815e-01 6.46157230e-01 1.00398823e-01 6.47296191e+01] [-6.40291778e-01 7.63202953e-01 -8.68774477e-02 -1.44718635e+01] [-1.32761169e-01 1.44448752e-03 9.91147005e-01 -6.70493729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45591999999999 meters 0.03207998343233958 Centerline is valid? [True, True] Translation: X:64.76, Y:-14.50, Z:-6.71 [[ 7.54465410e-01 6.48512369e-01 1.01062615e-01 6.47559964e+01] [-6.42570958e-01 7.61203256e-01 -8.75909043e-02 -1.44970641e+01] [-1.33732977e-01 1.14440607e-03 9.91016741e-01 -6.70830033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48592 meters 0.03222623959577967 Centerline is valid? [True, True] Translation: X:64.78, Y:-14.52, Z:-6.71 [[ 7.53641126e-01 6.49429874e-01 1.01320733e-01 6.47838307e+01] [-6.43447264e-01 7.60420704e-01 -8.79543748e-02 -1.45196157e+01] [-1.34166581e-01 1.09148588e-03 9.90958191e-01 -6.71315128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51592 meters 0.03200319987953211 Centerline is valid? [True, True] Translation: X:64.81, Y:-14.54, Z:-6.72 [[ 7.51127763e-01 6.52566724e-01 9.98186059e-02 6.48122092e+01] [-6.46770080e-01 7.57731004e-01 -8.67881841e-02 -1.45423210e+01] [-1.32270733e-01 6.29326830e-04 9.91213427e-01 -6.71903343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54592 meters 0.03213071081166859 Centerline is valid? [True, True] Translation: X:64.84, Y:-14.57, Z:-6.72 [[ 7.48467898e-01 6.55647028e-01 9.96131536e-02 6.48398835e+01] [-6.49881701e-01 7.55067504e-01 -8.67573551e-02 -1.45673029e+01] [-1.32096857e-01 1.98329445e-04 9.91236794e-01 -6.72248928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57592 meters 0.03213071081166859 Centerline is valid? [True, True] Translation: X:64.87, Y:-14.59, Z:-6.73 [[ 7.47914248e-01 6.56289665e-01 9.95397015e-02 6.48675869e+01] [-6.50518798e-01 7.54509003e-01 -8.68415648e-02 -1.45907579e+01] [-1.32096822e-01 1.97596712e-04 9.91236798e-01 -6.72622749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60592 meters 0.03223228289636556 Centerline is valid? [True, True] Translation: X:64.90, Y:-14.62, Z:-6.73 [[ 7.46533385e-01 6.57922804e-01 9.91236071e-02 6.48953767e+01] [-6.52194895e-01 7.53085376e-01 -8.66269930e-02 -1.46150624e+01] [-1.31642413e-01 2.20318099e-05 9.91297269e-01 -6.72817109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63592 meters 0.032468430358223846 Centerline is valid? [True, True] Translation: X:64.92, Y:-14.64, Z:-6.73 [[ 7.45129189e-01 6.59511369e-01 9.91324628e-02 6.49244211e+01] [-6.53776600e-01 7.51694574e-01 -8.67837803e-02 -1.46384167e+01] [-1.31752224e-01 -1.45356645e-04 9.91282669e-01 -6.73117900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66592 meters 0.032460242385685706 Centerline is valid? [True, True] Translation: X:64.95, Y:-14.66, Z:-6.73 [[ 7.44228333e-01 6.60483217e-01 9.94289146e-02 6.49530352e+01] [-6.54702729e-01 7.50840781e-01 -8.71920766e-02 -1.46616638e+01] [-1.32244187e-01 -2.05568049e-04 9.91217147e-01 -6.73432439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69592 meters 0.032574936389634684 Centerline is valid? [True, True] Translation: X:64.98, Y:-14.68, Z:-6.74 [[ 7.43448754e-01 6.61343331e-01 9.95437041e-02 6.49830344e+01] [-6.55537102e-01 7.50083287e-01 -8.74423814e-02 -1.46826463e+01] [-1.32495505e-01 -2.45661848e-04 9.91183576e-01 -6.74046046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72592 meters 0.032767265460167984 Centerline is valid? [True, True] Translation: X:65.01, Y:-14.70, Z:-6.74 [[ 7.42460857e-01 6.62354245e-01 1.00193458e-01 6.50123644e+01] [-6.56460317e-01 7.49190734e-01 -8.81651685e-02 -1.47043868e+01] [-1.33460584e-01 -3.13842767e-04 9.91054072e-01 -6.74495611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75592 meters 0.03254929637822169 Centerline is valid? [True, True] Translation: X:65.04, Y:-14.73, Z:-6.75 [[ 7.41807755e-01 6.63261152e-01 9.90247402e-02 6.50418304e+01] [-6.57492995e-01 7.48387944e-01 -8.72837131e-02 -1.47260605e+01] [-1.32000818e-01 -3.60337777e-04 9.91249542e-01 -6.74834873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78591999999999 meters 0.032789941645086675 Centerline is valid? [True, True] Translation: X:65.07, Y:-14.75, Z:-6.75 [[ 7.40309258e-01 6.64840478e-01 9.96460837e-02 6.50701639e+01] [-6.58994107e-01 7.46985175e-01 -8.79767929e-02 -1.47475587e+01] [-1.32924680e-01 -5.36147651e-04 9.91125997e-01 -6.75202204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81591999999999 meters 0.03313148824835507 Centerline is valid? [True, True] Translation: X:65.10, Y:-14.77, Z:-6.75 [[ 7.39472976e-01 6.65721581e-01 9.99724658e-02 6.50977636e+01] [-6.59826657e-01 7.46199987e-01 -8.83988770e-02 -1.47716201e+01] [-1.33448493e-01 -5.95917241e-04 9.91055571e-01 -6.75413291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84591999999999 meters 0.03334924422056852 Centerline is valid? [True, True] Translation: X:65.13, Y:-14.79, Z:-6.76 [[ 7.39285581e-01 6.65890949e-01 1.00230104e-01 6.51258829e+01] [-6.59948330e-01 7.46048905e-01 -8.87650402e-02 -1.47946782e+01] [-1.33884396e-01 -5.23975465e-04 9.90996818e-01 -6.75613289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87592 meters 0.03326453405736143 Centerline is valid? [True, True] Translation: X:65.15, Y:-14.82, Z:-6.76 [[ 7.38816085e-01 6.66327738e-01 1.00787592e-01 6.51543644e+01] [-6.60303660e-01 7.45658832e-01 -8.93978844e-02 -1.48165908e+01] [-1.34721448e-01 -5.01820930e-04 9.90883383e-01 -6.75923933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90592 meters 0.03317027625584541 Centerline is valid? [True, True] Translation: X:65.18, Y:-14.84, Z:-6.76 [[ 7.37920350e-01 6.67172575e-01 1.01756141e-01 6.51834232e+01] [-6.61019448e-01 7.44902980e-01 -9.04037537e-02 -1.48382142e+01] [-1.36113358e-01 -5.52018748e-04 9.90693115e-01 -6.76469895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93592 meters 0.03350125166948738 Centerline is valid? [True, True] Translation: X:65.21, Y:-14.86, Z:-6.77 [[ 7.36879995e-01 6.68317805e-01 1.01780080e-01 6.52105494e+01] [-6.62150852e-01 7.43875592e-01 -9.05834043e-02 -1.48617024e+01] [-1.36250219e-01 -6.44668011e-04 9.90674246e-01 -6.76958813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96592 meters 0.033603975828642794 Centerline is valid? [True, True] Translation: X:65.24, Y:-14.88, Z:-6.77 [[ 7.36213698e-01 6.68866675e-01 1.02989132e-01 6.52383202e+01] [-6.62537027e-01 7.43382103e-01 -9.18027065e-02 -1.48845640e+01] [-1.37964049e-01 -6.47703248e-04 9.90437026e-01 -6.77223639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99592 meters 0.03371678449762198 Centerline is valid? [True, True] Translation: X:65.27, Y:-14.91, Z:-6.77 [[ 7.35418829e-01 6.69676912e-01 1.03402030e-01 6.52665584e+01] [-6.63283831e-01 7.42652242e-01 -9.23158053e-02 -1.49077548e+01] [-1.38613513e-01 -6.94113214e-04 9.90346309e-01 -6.77475900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02592 meters 0.033941454582265315 Centerline is valid? [True, True] Translation: X:65.30, Y:-14.93, Z:-6.78 [[ 7.33719281e-01 6.71602314e-01 1.02987124e-01 6.52952315e+01] [-6.65258700e-01 7.40911226e-01 -9.20946075e-02 -1.49301382e+01] [-1.38155268e-01 -9.41490856e-04 9.90410135e-01 -6.77928738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05592 meters 0.03388618025332282 Centerline is valid? [True, True] Translation: X:65.32, Y:-14.95, Z:-6.78 [[ 7.33115187e-01 6.72303627e-01 1.02712977e-01 6.53231613e+01] [-6.65979629e-01 7.40274893e-01 -9.20011818e-02 -1.49528053e+01] [-1.37888566e-01 -9.57286726e-04 9.90447286e-01 -6.78322762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08592 meters 0.03401217486864439 Centerline is valid? [True, True] Translation: X:65.35, Y:-14.98, Z:-6.79 [[ 7.31503327e-01 6.74124576e-01 1.02268947e-01 6.53507923e+01] [-6.67853592e-01 7.38616707e-01 -9.17438808e-02 -1.49757724e+01] [-1.37384358e-01 -1.18972956e-03 9.90517099e-01 -6.78831879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11592 meters 0.03423229325010994 Centerline is valid? [True, True] Translation: X:65.38, Y:-15.00, Z:-6.79 [[ 7.31119084e-01 6.74359965e-01 1.03457835e-01 6.53791962e+01] [-6.67923754e-01 7.38401880e-01 -9.29544103e-02 -1.49985579e+01] [-1.39078192e-01 -1.14120208e-03 9.90280745e-01 -6.79258066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14592 meters 0.03410519592095765 Centerline is valid? [True, True] Translation: X:65.41, Y:-15.02, Z:-6.80 [[ 7.31005276e-01 6.74547274e-01 1.03040096e-01 6.54072766e+01] [-6.68145253e-01 7.38230883e-01 -9.27204594e-02 -1.50206835e+01] [-1.38611714e-01 -1.06660623e-03 9.90346230e-01 -6.79618439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17591999999999 meters 0.034327610788427304 Centerline is valid? [True, True] Translation: X:65.44, Y:-15.04, Z:-6.80 [[ 7.30632204e-01 6.74753433e-01 1.04328263e-01 6.54365557e+01] [-6.68171155e-01 7.38042532e-01 -9.40240790e-02 -1.50415859e+01] [-1.40441766e-01 -1.01211589e-03 9.90088423e-01 -6.79906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20591999999999 meters 0.03430722599236487 Centerline is valid? [True, True] Translation: X:65.46, Y:-15.06, Z:-6.80 [[ 7.31491479e-01 6.74078776e-01 1.02654859e-01 6.54649830e+01] [-6.67681104e-01 7.38659067e-01 -9.26537962e-02 -1.50633399e+01] [-1.38282900e-01 -7.65246926e-04 9.90392475e-01 -6.80194893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23592 meters 0.03429013388473309 Centerline is valid? [True, True] Translation: X:65.49, Y:-15.09, Z:-6.81 [[ 7.31636786e-01 6.73848082e-01 1.03132805e-01 6.54941011e+01] [-6.67368720e-01 7.38869661e-01 -9.32234743e-02 -1.50854335e+01] [-1.39020160e-01 -6.21885019e-04 9.90289356e-01 -6.80614726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26592 meters 0.03404858057595969 Centerline is valid? [True, True] Translation: X:65.52, Y:-15.11, Z:-6.81 [[ 7.31597618e-01 6.73960341e-01 1.02676116e-01 6.55235622e+01] [-6.67519652e-01 7.38767334e-01 -9.29534281e-02 -1.51070955e+01] [-1.38500684e-01 -5.33818451e-04 9.90362194e-01 -6.81055125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29592 meters 0.033875162847930594 Centerline is valid? [True, True] Translation: X:65.55, Y:-15.13, Z:-6.82 [[ 7.31338838e-01 6.74042277e-01 1.03973614e-01 6.55532488e+01] [-6.67416923e-01 7.38692635e-01 -9.42753505e-02 -1.51274215e+01] [-1.40350115e-01 -4.46524438e-04 9.90101836e-01 -6.81547651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32592 meters 0.03415706149902519 Centerline is valid? [True, True] Translation: X:65.58, Y:-15.15, Z:-6.82 [[ 7.30951917e-01 6.74375352e-01 1.04533149e-01 6.55804174e+01] [-6.67660367e-01 7.38388598e-01 -9.49310897e-02 -1.51514542e+01] [-1.41205273e-01 -4.02578768e-04 9.89980257e-01 -6.81909611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35592 meters 0.034345328162149406 Centerline is valid? [True, True] Translation: X:65.61, Y:-15.17, Z:-6.82 [[ 7.31118665e-01 6.73963353e-01 1.06013657e-01 6.56084694e+01] [-6.67029503e-01 7.38764748e-01 -9.64276421e-02 -1.51747271e+01] [-1.43307850e-01 -2.14188225e-04 9.89678137e-01 -6.82201285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38592 meters 0.034015030688450916 Centerline is valid? [True, True] Translation: X:65.64, Y:-15.20, Z:-6.83 [[ 7.31356053e-01 6.73897424e-01 1.04788291e-01 6.56365475e+01] [-6.67101962e-01 7.38824914e-01 -9.54605590e-02 -1.51971486e+01] [-1.41750825e-01 -8.88169206e-05 9.89902367e-01 -6.82565710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41592 meters 0.033700584217005655 Centerline is valid? [True, True] Translation: X:65.67, Y:-15.22, Z:-6.83 [[ 7.32047911e-01 6.73385514e-01 1.03236649e-01 6.56664015e+01] [-6.66765252e-01 7.39291509e-01 -9.41921613e-02 -1.52177686e+01] [-1.39749615e-01 1.18564604e-04 9.90186867e-01 -6.82998319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44592 meters 0.03358050938575851 Centerline is valid? [True, True] Translation: X:65.69, Y:-15.24, Z:-6.83 [[ 7.33026963e-01 6.72356023e-01 1.02999274e-01 6.56948319e+01] [-6.65735800e-01 7.40227803e-01 -9.41203688e-02 -1.52402935e+01] [-1.39525323e-01 4.22463893e-04 9.90218413e-01 -6.83349637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47592 meters 0.03352229624426385 Centerline is valid? [True, True] Translation: X:65.72, Y:-15.26, Z:-6.84 [[ 7.33180508e-01 6.72262187e-01 1.02517773e-01 6.57225683e+01] [-6.65682516e-01 7.40312941e-01 -9.38271656e-02 -1.52625606e+01] [-1.38971690e-01 5.47959984e-04 9.90296203e-01 -6.83753757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50592 meters 0.03391055192494959 Centerline is valid? [True, True] Translation: X:65.75, Y:-15.28, Z:-6.84 [[ 7.34017165e-01 6.71180264e-01 1.03613970e-01 6.57514768e+01] [-6.64426292e-01 7.41293660e-01 -9.49811157e-02 -1.52842856e+01] [-1.40557829e-01 8.73923362e-04 9.90072085e-01 -6.83826480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53591999999999 meters 0.03387626492768241 Centerline is valid? [True, True] Translation: X:65.78, Y:-15.31, Z:-6.84 [[ 7.35817940e-01 6.69394006e-01 1.02389575e-01 6.57780777e+01] [-6.62762641e-01 7.42906428e-01 -9.39985166e-02 -1.53075900e+01] [-1.38987917e-01 1.30580968e-03 9.90293216e-01 -6.84033268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56591999999999 meters 0.03393722977288599 Centerline is valid? [True, True] Translation: X:65.80, Y:-15.33, Z:-6.85 [[ 7.35723204e-01 6.69446509e-01 1.02726526e-01 6.58049536e+01] [-6.62753482e-01 7.42858950e-01 -9.44372957e-02 -1.53298889e+01] [-1.39532037e-01 1.39734717e-03 9.90216571e-01 -6.84518054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59591999999999 meters 0.03401549176038692 Centerline is valid? [True, True] Translation: X:65.83, Y:-15.35, Z:-6.85 [[ 7.35916172e-01 6.69171494e-01 1.03135349e-01 6.58323960e+01] [-6.62402502e-01 7.43106372e-01 -9.49518058e-02 -1.53513657e+01] [-1.40179577e-01 1.55945632e-03 9.90124868e-01 -6.85040629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62592 meters 0.03417675482101197 Centerline is valid? [True, True] Translation: X:65.86, Y:-15.37, Z:-6.85 [[ 7.36357980e-01 6.68684014e-01 1.03143662e-01 6.58614725e+01] [-6.61889775e-01 7.43544625e-01 -9.50963574e-02 -1.53717844e+01] [-1.40281329e-01 1.75522645e-03 9.90110129e-01 -6.85412280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65592 meters 0.03439988659327921 Centerline is valid? [True, True] Translation: X:65.89, Y:-15.39, Z:-6.86 [[ 7.36237010e-01 6.68856901e-01 1.02885916e-01 6.58894178e+01] [-6.62079170e-01 7.43388951e-01 -9.49949465e-02 -1.53941444e+01] [-1.40022278e-01 1.82017364e-03 9.90146680e-01 -6.85647798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68592 meters 0.03448675227606256 Centerline is valid? [True, True] Translation: X:65.92, Y:-15.42, Z:-6.86 [[ 7.35789626e-01 6.69383087e-01 1.02664061e-01 6.59166542e+01] [-6.62620634e-01 7.42915189e-01 -9.49258520e-02 -1.54170208e+01] [-1.39812450e-01 1.81813213e-03 9.90176334e-01 -6.85950209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71592 meters 0.03449078393754144 Centerline is valid? [True, True] Translation: X:65.94, Y:-15.44, Z:-6.86 [[ 7.35110601e-01 6.70082254e-01 1.02966880e-01 6.59433359e+01] [-6.63266926e-01 7.42284687e-01 -9.53437419e-02 -1.54395551e+01] [-1.40318887e-01 1.79366970e-03 9.90104738e-01 -6.86347322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74592 meters 0.03415301846242833 Centerline is valid? [True, True] Translation: X:65.97, Y:-15.46, Z:-6.87 [[ 7.34918937e-01 6.70407879e-01 1.02212682e-01 6.59696089e+01] [-6.63676260e-01 7.41990537e-01 -9.47832520e-02 -1.54633501e+01] [-1.39384282e-01 1.82187599e-03 9.90236690e-01 -6.86750195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77592 meters 0.03396732148382567 Centerline is valid? [True, True] Translation: X:66.00, Y:-15.49, Z:-6.87 [[ 7.35320616e-01 6.70226927e-01 1.00496063e-01 6.59956123e+01] [-6.63699840e-01 7.42153724e-01 -9.33293801e-02 -1.54871675e+01] [-1.37135391e-01 1.92779634e-03 9.90550437e-01 -6.87220922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80592 meters 0.03394561396665522 Centerline is valid? [True, True] Translation: X:66.02, Y:-15.51, Z:-6.88 [[ 7.35420699e-01 6.70153010e-01 1.00256361e-01 6.60226450e+01] [-6.63637707e-01 7.42220174e-01 -9.32427336e-02 -1.55093146e+01] [-1.36899192e-01 2.03873495e-03 9.90582886e-01 -6.87598297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83592 meters 0.03405907775601343 Centerline is valid? [True, True] Translation: X:66.05, Y:-15.53, Z:-6.88 [[ 7.34625842e-01 6.70946751e-01 1.00773658e-01 6.60494285e+01] [-6.64352115e-01 7.41502828e-01 -9.38606562e-02 -1.55324972e+01] [-1.37699455e-01 2.00327038e-03 9.90472032e-01 -6.87935491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86592 meters 0.03427101861890571 Centerline is valid? [True, True] Translation: X:66.07, Y:-15.56, Z:-6.88 [[ 7.32511761e-01 6.72961479e-01 1.02710116e-01 6.60748037e+01] [-6.66109294e-01 7.39675430e-01 -9.58053544e-02 -1.55564392e+01] [-1.40445462e-01 1.76238623e-03 9.90086848e-01 -6.88367841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89592 meters 0.034475709968493334 Centerline is valid? [True, True] Translation: X:66.10, Y:-15.58, Z:-6.89 [[ 7.31190347e-01 6.74509957e-01 1.01965655e-01 6.61000304e+01] [-6.67752783e-01 7.38264108e-01 -9.52487680e-02 -1.55811915e+01] [-1.39523826e-01 1.55713000e-03 9.90217490e-01 -6.88777595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92591999999999 meters 0.03411125114917439 Centerline is valid? [True, True] Translation: X:66.12, Y:-15.61, Z:-6.89 [[ 7.29600729e-01 6.76035567e-01 1.03240921e-01 6.61243587e+01] [-6.69102312e-01 7.36867686e-01 -9.65821424e-02 -1.56066353e+01] [-1.41367862e-01 1.38766252e-03 9.89956162e-01 -6.89214751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95591999999999 meters 0.034385286820245255 Centerline is valid? [True, True] Translation: X:66.15, Y:-15.63, Z:-6.90 [[ 7.28257999e-01 6.77066470e-01 1.05930551e-01 6.61497402e+01] [-6.69754667e-01 7.35920669e-01 -9.92444183e-02 -1.56309695e+01] [-1.45151550e-01 1.32806025e-03 9.89408542e-01 -6.89648997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98592 meters 0.0344419718632107 Centerline is valid? [True, True] Translation: X:66.18, Y:-15.66, Z:-6.90 [[ 7.27726724e-01 6.77494758e-01 1.06839449e-01 6.61755065e+01] [-6.70038648e-01 7.35526335e-01 -1.00245799e-01 -1.56553836e+01] [-1.46499231e-01 1.36498724e-03 9.89209842e-01 -6.90204734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01592 meters 0.03460459418916508 Centerline is valid? [True, True] Translation: X:66.20, Y:-15.68, Z:-6.91 [[ 7.26150436e-01 6.79137167e-01 1.07136608e-01 6.62019352e+01] [-6.71633422e-01 7.34010473e-01 -1.00683522e-01 -1.56791191e+01] [-1.47017314e-01 1.15485630e-03 9.89133245e-01 -6.90611859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04592 meters 0.03413404416100618 Centerline is valid? [True, True] Translation: X:66.23, Y:-15.70, Z:-6.91 [[ 7.25007229e-01 6.80722706e-01 1.04790821e-01 6.62283203e+01] [-6.73540415e-01 7.32540607e-01 -9.86284372e-02 -1.57025048e+01] [-1.43902148e-01 9.25476890e-04 9.89591489e-01 -6.90944743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07592 meters 0.03364168521317286 Centerline is valid? [True, True] Translation: X:66.25, Y:-15.73, Z:-6.91 [[ 7.23814480e-01 6.82488541e-01 1.01498716e-01 6.62544380e+01] [-6.75750529e-01 7.30895997e-01 -9.56674651e-02 -1.57270067e+01] [-1.39476954e-01 6.57685326e-04 9.90225099e-01 -6.91221766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10592 meters 0.033441955343704345 Centerline is valid? [True, True] Translation: X:66.28, Y:-15.75, Z:-6.92 [[ 7.23380833e-01 6.82966367e-01 1.01376090e-01 6.62811710e+01] [-6.76228737e-01 7.30449511e-01 -9.56985205e-02 -1.57518831e+01] [-1.39408986e-01 6.73050094e-04 9.90234660e-01 -6.91548055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13592 meters 0.03332844247942539 Centerline is valid? [True, True] Translation: X:66.31, Y:-15.78, Z:-6.92 [[ 7.23049268e-01 6.83020983e-01 1.03354209e-01 6.63087356e+01] [-6.75994445e-01 7.30398322e-01 -9.77230801e-02 -1.57751039e+01] [-1.42236655e-01 7.91730520e-04 9.89832363e-01 -6.92084504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16592 meters 0.03320290114642985 Centerline is valid? [True, True] Translation: X:66.34, Y:-15.80, Z:-6.92 [[ 7.22509437e-01 6.83775294e-01 1.02134527e-01 6.63353275e+01] [-6.76900262e-01 7.29692256e-01 -9.67225308e-02 -1.57992659e+01] [-1.40663251e-01 7.48052905e-04 9.90057216e-01 -6.92357268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19592 meters 0.03272670419545678 Centerline is valid? [True, True] Translation: X:66.36, Y:-15.82, Z:-6.93 [[ 7.23229288e-01 6.83576773e-01 9.82964488e-02 6.63614184e+01] [-6.77189713e-01 7.29878107e-01 -9.32311141e-02 -1.58232385e+01] [-1.35475050e-01 8.62128364e-04 9.90780383e-01 -6.92802045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22592 meters 0.03269366012948207 Centerline is valid? [True, True] Translation: X:66.39, Y:-15.85, Z:-6.93 [[ 7.23084251e-01 6.84026587e-01 9.62122313e-02 6.63868976e+01] [-6.77895091e-01 7.29456573e-01 -9.13857417e-02 -1.58471745e+01] [-1.32692922e-01 8.57791334e-04 9.91156826e-01 -6.93051772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25592 meters 0.032407716198406974 Centerline is valid? [True, True] Translation: X:66.41, Y:-15.87, Z:-6.93 [[ 7.23402140e-01 6.83797031e-01 9.54513691e-02 6.64133887e+01] [-6.77743274e-01 7.29671599e-01 -9.07932405e-02 -1.58695795e+01] [-1.31732301e-01 9.88501080e-04 9.91284835e-01 -6.93494424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28591999999999 meters 0.032289060436205635 Centerline is valid? [True, True] Translation: X:66.44, Y:-15.89, Z:-6.94 [[ 7.23281936e-01 6.83970951e-01 9.51156079e-02 6.64397257e+01] [-6.77943895e-01 7.29508488e-01 -9.06059654e-02 -1.58936570e+01] [-1.31359492e-01 1.05061238e-03 9.91334242e-01 -6.93792261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31591999999999 meters 0.03201046770430314 Centerline is valid? [True, True] Translation: X:66.46, Y:-15.92, Z:-6.94 [[ 7.22493599e-01 6.84893957e-01 9.44630441e-02 6.64639748e+01] [-6.78940329e-01 7.28642108e-01 -9.01149678e-02 -1.59186136e+01] [-1.30548948e-01 9.72717175e-04 9.91441388e-01 -6.94188831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34591999999999 meters 0.03203907257999143 Centerline is valid? [True, True] Translation: X:66.49, Y:-15.94, Z:-6.95 [[ 7.22037836e-01 6.85243450e-01 9.54084800e-02 6.64900459e+01] [-6.79154503e-01 7.28313378e-01 -9.11525361e-02 -1.59426901e+01] [-1.31948951e-01 1.01848110e-03 9.91255990e-01 -6.94528702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37592 meters 0.0321604519884494 Centerline is valid? [True, True] Translation: X:66.52, Y:-15.97, Z:-6.95 [[ 7.20852242e-01 6.86520242e-01 9.51945464e-02 6.65165761e+01] [-6.80451500e-01 7.27110154e-01 -9.10855693e-02 -1.59653021e+01] [-1.31749008e-01 8.83964995e-04 9.91282713e-01 -6.94956306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40592 meters 0.0320239742887661 Centerline is valid? [True, True] Translation: X:66.54, Y:-15.99, Z:-6.95 [[ 7.20272539e-01 6.87346961e-01 9.36035493e-02 6.65428904e+01] [-6.81470152e-01 7.26328775e-01 -8.96935983e-02 -1.59893242e+01] [-1.29637574e-01 8.15810804e-04 9.91561110e-01 -6.95312749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43592 meters 0.03174579678501349 Centerline is valid? [True, True] Translation: X:66.57, Y:-16.01, Z:-6.96 [[ 7.19531768e-01 6.88285297e-01 9.23979658e-02 6.65684345e+01] [-6.82550712e-01 7.25439738e-01 -8.86662921e-02 -1.60130094e+01] [-1.28056861e-01 7.31916532e-04 9.91766557e-01 -6.95614084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46592 meters 0.03174579678501349 Centerline is valid? [True, True] Translation: X:66.59, Y:-16.04, Z:-6.96 [[ 7.19034062e-01 6.88813933e-01 9.23330033e-02 6.65937802e+01] [-6.83075008e-01 7.24937810e-01 -8.87339002e-02 -1.60367277e+01] [-1.28056832e-01 7.32329774e-04 9.91766561e-01 -6.95970830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49592 meters 0.03130494788211393 Centerline is valid? [True, True] Translation: X:66.62, Y:-16.06, Z:-6.96 [[ 7.17749976e-01 6.90438461e-01 9.01648722e-02 6.66198829e+01] [-6.84964088e-01 7.23390945e-01 -8.67740665e-02 -1.60601218e+01] [-1.25136605e-01 5.22384587e-04 9.92139384e-01 -6.96285846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52592 meters 0.0314019993828004 Centerline is valid? [True, True] Translation: X:66.65, Y:-16.08, Z:-6.97 [[ 7.16358011e-01 6.92040652e-01 8.89434363e-02 6.66460225e+01] [-6.86711255e-01 7.21858454e-01 -8.57206212e-02 -1.60839126e+01] [-1.23526726e-01 3.28194960e-04 9.92341191e-01 -6.96685074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55592 meters 0.03143795113924919 Centerline is valid? [True, True] Translation: X:66.67, Y:-16.11, Z:-6.97 [[ 7.15501649e-01 6.92762935e-01 9.02048014e-02 6.66729155e+01] [-6.87270186e-01 7.21165325e-01 -8.70647205e-02 -1.61072288e+01] [-1.25367786e-01 2.99880446e-04 9.92110290e-01 -6.97143481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58592 meters 0.03146522971250909 Centerline is valid? [True, True] Translation: X:66.70, Y:-16.13, Z:-6.97 [[ 7.15586002e-01 6.92763487e-01 8.95288988e-02 6.66996647e+01] [-6.87337239e-01 7.21164752e-01 -8.65385548e-02 -1.61310599e+01] [-1.24515837e-01 3.89232446e-04 9.92217544e-01 -6.97414846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61592 meters 0.0315151870400634 Centerline is valid? [True, True] Translation: X:66.73, Y:-16.15, Z:-6.98 [[ 7.15634761e-01 6.92656891e-01 8.99628861e-02 6.67269711e+01] [-6.87160161e-01 7.21267063e-01 -8.70903976e-02 -1.61534063e+01] [-1.25211031e-01 5.06004529e-04 9.92130002e-01 -6.97741898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64592 meters 0.03138910071794179 Centerline is valid? [True, True] Translation: X:66.75, Y:-16.18, Z:-6.98 [[ 7.16092034e-01 6.92430927e-01 8.80432345e-02 6.67539629e+01] [-6.87150364e-01 7.21483904e-01 -8.53542802e-02 -1.61760608e+01] [-1.22623720e-01 6.22579438e-04 9.92453040e-01 -6.98057595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67591999999999 meters 0.03107836363598729 Centerline is valid? [True, True] Translation: X:66.78, Y:-16.20, Z:-6.98 [[ 7.17644920e-01 6.91147147e-01 8.54481737e-02 6.67822982e+01] [-6.86151332e-01 7.22713503e-01 -8.29550567e-02 -1.61981841e+01] [-1.19088700e-01 9.01896771e-04 9.92883210e-01 -6.98355766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70591999999999 meters 0.03119351733747461 Centerline is valid? [True, True] Translation: X:66.81, Y:-16.22, Z:-6.99 [[ 7.17927917e-01 6.90838061e-01 8.55703167e-02 6.68083982e+01] [-6.85812266e-01 7.23008783e-01 -8.31855472e-02 -1.62218041e+01] [-1.19335833e-01 1.03605381e-03 9.92853406e-01 -6.98862274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73592 meters 0.031345738239886574 Centerline is valid? [True, True] Translation: X:66.83, Y:-16.24, Z:-6.99 [[ 7.19905581e-01 6.88462066e-01 8.80678109e-02 6.68346632e+01] [-6.83103970e-01 7.25270662e-01 -8.57405010e-02 -1.62445255e+01] [-1.22902082e-01 1.56559389e-03 9.92417567e-01 -6.99151842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76592 meters 0.03136666044014137 Centerline is valid? [True, True] Translation: X:66.86, Y:-16.27, Z:-6.99 [[ 7.19594703e-01 6.88733585e-01 8.84845285e-02 6.68600289e+01] [-6.83312255e-01 7.25012728e-01 -8.62606833e-02 -1.62674310e+01] [-1.23563039e-01 1.61016802e-03 9.92335418e-01 -6.99431630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79592 meters 0.03116314434193202 Centerline is valid? [True, True] Translation: X:66.89, Y:-16.29, Z:-7.00 [[ 7.19620164e-01 6.88759094e-01 8.80779737e-02 6.68862816e+01] [-6.83373768e-01 7.24988334e-01 -8.59779592e-02 -1.62905598e+01] [-1.23073605e-01 1.68129637e-03 9.92396121e-01 -6.99685393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82592 meters 0.031180311043781814 Centerline is valid? [True, True] Translation: X:66.91, Y:-16.31, Z:-7.00 [[ 7.20461448e-01 6.87915352e-01 8.77939113e-02 6.69112247e+01] [-6.82544511e-01 7.25788432e-01 -8.58145814e-02 -1.63137601e+01] [-1.22752973e-01 1.90284533e-03 9.92435432e-01 -7.00044611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85592 meters 0.031178672538136224 Centerline is valid? [True, True] Translation: X:66.94, Y:-16.34, Z:-7.00 [[ 7.20664040e-01 6.87793068e-01 8.70863772e-02 6.69352586e+01] [-6.82494115e-01 7.25904082e-01 -8.52352478e-02 -1.63385297e+01] [-1.21840569e-01 1.99003811e-03 9.92547689e-01 -7.00451619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88592 meters 0.03096971926652639 Centerline is valid? [True, True] Translation: X:66.96, Y:-16.36, Z:-7.01 [[ 7.21325605e-01 6.87059568e-01 8.73986349e-02 6.69593249e+01] [-6.81703017e-01 7.26597749e-01 -8.56545865e-02 -1.63622046e+01] [-1.22353454e-01 2.20493338e-03 9.92484141e-01 -7.00931904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91592 meters 0.03105098979112915 Centerline is valid? [True, True] Translation: X:66.98, Y:-16.39, Z:-7.01 [[ 7.20549911e-01 6.87737560e-01 8.84583159e-02 6.69840457e+01] [-6.82241365e-01 7.25956080e-01 -8.68014370e-02 -1.63854826e+01] [-1.23913461e-01 2.19484555e-03 9.92290601e-01 -7.01267234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94592 meters 0.030524433351021486 Centerline is valid? [True, True] Translation: X:67.01, Y:-16.41, Z:-7.02 [[ 7.19328585e-01 6.89030122e-01 8.83395649e-02 6.70084494e+01] [-6.83545888e-01 7.24729824e-01 -8.67853742e-02 -1.64098583e+01] [-1.23820054e-01 2.04305403e-03 9.92302585e-01 -7.01554267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97592 meters 0.030478710113988266 Centerline is valid? [True, True] Translation: X:67.03, Y:-16.43, Z:-7.02 [[ 7.18833296e-01 6.89468491e-01 8.89488230e-02 6.70328855e+01] [-6.83896599e-01 7.24312727e-01 -8.75015177e-02 -1.64339076e+01] [-1.24756304e-01 2.06720680e-03 9.92185261e-01 -7.01974723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00592 meters 0.030277700041346653 Centerline is valid? [True, True] Translation: X:67.06, Y:-16.46, Z:-7.02 [[ 7.17419110e-01 6.90935512e-01 8.89828065e-02 6.70575866e+01] [-6.85355443e-01 7.22913900e-01 -8.76550640e-02 -1.64584067e+01] [-1.24890904e-01 1.90056720e-03 9.92168660e-01 -7.02346692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03591999999999 meters 0.03029458124349208 Centerline is valid? [True, True] Translation: X:67.08, Y:-16.48, Z:-7.03 [[ 7.16470755e-01 6.91933007e-01 8.88727831e-02 6.70836398e+01] [-6.86358174e-01 7.21959422e-01 -8.76758275e-02 -1.64822676e+01] [-1.24828342e-01 1.81860512e-03 9.92176687e-01 -7.02727152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06591999999999 meters 0.030026889448519348 Centerline is valid? [True, True] Translation: X:67.11, Y:-16.51, Z:-7.03 [[ 7.15237134e-01 6.93218481e-01 8.87917820e-02 6.71095870e+01] [-6.87647497e-01 7.20725533e-01 -8.77247193e-02 -1.65069283e+01] [-1.24806901e-01 1.68653015e-03 9.92179617e-01 -7.02981255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09591999999999 meters 0.029824525986676405 Centerline is valid? [True, True] Translation: X:67.14, Y:-16.53, Z:-7.03 [[ 7.15284770e-01 6.93246379e-01 8.81881828e-02 6.71352503e+01] [-6.87735484e-01 7.20698516e-01 -8.72556731e-02 -1.65307201e+01] [-1.24046772e-01 1.76251142e-03 9.92274807e-01 -7.03331704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12592 meters 0.02989731521869429 Centerline is valid? [True, True] Translation: X:67.16, Y:-16.55, Z:-7.04 [[ 7.15768912e-01 6.92595439e-01 8.93667837e-02 6.71615643e+01] [-6.86913997e-01 7.21323487e-01 -8.85527378e-02 -1.65540514e+01] [-1.25793582e-01 1.99600223e-03 9.92054429e-01 -7.03910861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15592 meters 0.029858380295480786 Centerline is valid? [True, True] Translation: X:67.19, Y:-16.58, Z:-7.04 [[ 7.15524117e-01 6.92909492e-01 8.88913626e-02 6.71869676e+01] [-6.87274793e-01 7.21021734e-01 -8.82100830e-02 -1.65784255e+01] [-1.25214208e-01 2.02364888e-03 9.92127667e-01 -7.04123771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18592 meters 0.02984100664778343 Centerline is valid? [True, True] Translation: X:67.21, Y:-16.60, Z:-7.05 [[ 7.15667610e-01 6.92574290e-01 9.03367369e-02 6.72125237e+01] [-6.86734292e-01 7.21343159e-01 -8.97778321e-02 -1.66026818e+01] [-1.27341605e-01 2.21375138e-03 9.91856449e-01 -7.04550801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21592 meters 0.030019464809004928 Centerline is valid? [True, True] Translation: X:67.24, Y:-16.63, Z:-7.05 [[ 7.16289890e-01 6.92108013e-01 8.89679291e-02 6.72381638e+01] [-6.86424540e-01 7.21790103e-01 -8.85460186e-02 -1.66271430e+01] [-1.25499580e-01 2.35484805e-03 9.92090878e-01 -7.04748528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24592 meters 0.029732376972952623 Centerline is valid? [True, True] Translation: X:67.26, Y:-16.65, Z:-7.05 [[ 7.16169656e-01 6.92464357e-01 8.71443520e-02 6.72636420e+01] [-6.86999641e-01 7.21448309e-01 -8.68552352e-02 -1.66509277e+01] [-1.23014300e-01 2.33494537e-03 9.92402151e-01 -7.05149858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27592 meters 0.029623609171683593 Centerline is valid? [True, True] Translation: X:67.29, Y:-16.67, Z:-7.06 [[ 7.15225450e-01 6.93422416e-01 8.72806266e-02 6.72877624e+01] [-6.87932607e-01 7.20527750e-01 -8.71119359e-02 -1.66749244e+01] [-1.23293483e-01 2.26148459e-03 9.92367675e-01 -7.05590053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30592 meters 0.029717365240233967 Centerline is valid? [True, True] Translation: X:67.31, Y:-16.70, Z:-7.06 [[ 7.14451001e-01 6.94272907e-01 8.68613698e-02 6.73122211e+01] [-6.88827807e-01 7.19708511e-01 -8.68096294e-02 -1.66987246e+01] [-1.22784441e-01 2.18869970e-03 9.92430950e-01 -7.05903937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33592 meters 0.029719437721302675 Centerline is valid? [True, True] Translation: X:67.76, Y:-16.62, Z:-5.07 [[ 7.46402583e-01 -6.63251248e-01 -5.45982294e-02 6.77573932e+01] [-6.60815246e-01 -7.48367741e-01 5.71745950e-02 -1.66153454e+01] [-7.87806751e-02 -6.59592296e-03 -9.96870152e-01 -5.07059814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36592 meters 0.0296107769296231 Centerline is valid? [True, True] Translation: X:67.39, Y:-16.79, Z:-7.07 [[ 7.65397563e-01 6.36621421e-01 9.42323573e-02 6.73868965e+01] [-6.31520328e-01 7.71173700e-01 -8.04561962e-02 -1.67880849e+01] [-1.23889654e-01 2.07132732e-03 9.92293839e-01 -7.06903285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39592 meters 0.029700713318274743 Centerline is valid? [True, True] Translation: X:67.41, Y:-16.81, Z:-7.07 [[ 7.64603760e-01 6.37701499e-01 9.33696323e-02 6.74130236e+01] [-6.32689921e-01 7.70281107e-01 -7.98152867e-02 -1.68092697e+01] [-1.22819192e-01 1.95304306e-03 9.92427142e-01 -7.07177126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42591999999999 meters 0.029638668762126147 Centerline is valid? [True, True] Translation: X:67.44, Y:-16.83, Z:-7.07 [[ 7.64531344e-01 6.37953633e-01 9.22333222e-02 6.74384649e+01] [-6.33054437e-01 7.70072283e-01 -7.89351533e-02 -1.68308702e+01] [-1.21383293e-01 1.95968494e-03 9.92603776e-01 -7.07405115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45591999999999 meters 0.029648300362877956 Centerline is valid? [True, True] Translation: X:67.47, Y:-16.85, Z:-7.08 [[ 7.63097682e-01 6.39531499e-01 9.31739740e-02 6.74654539e+01] [-6.34533330e-01 7.68762813e-01 -7.98197329e-02 -1.68509624e+01] [-1.22675920e-01 1.78826112e-03 9.92445173e-01 -7.07861571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48592 meters 0.029668770403610194 Centerline is valid? [True, True] Translation: X:67.49, Y:-16.87, Z:-7.08 [[ 7.63062515e-01 6.39677045e-01 9.24601359e-02 6.74927400e+01] [-6.34744722e-01 7.68641623e-01 -7.93044293e-02 -1.68712041e+01] [-1.21797932e-01 1.82565392e-03 9.92553238e-01 -7.08158336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51592 meters 0.02968494840876274 Centerline is valid? [True, True] Translation: X:67.52, Y:-16.89, Z:-7.09 [[ 7.62197663e-01 6.40527706e-01 9.36962100e-02 6.75189605e+01] [-6.35456287e-01 7.67932978e-01 -8.04627235e-02 -1.68920787e+01] [-1.23491013e-01 1.78865416e-03 9.92344079e-01 -7.08566351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54592 meters 0.0298940036164204 Centerline is valid? [True, True] Translation: X:67.54, Y:-16.91, Z:-7.09 [[ 7.62080750e-01 6.40617140e-01 9.40351528e-02 6.75444055e+01] [-6.35497264e-01 7.67858212e-01 -8.08516806e-02 -1.69139225e+01] [-1.24000637e-01 1.85642706e-03 9.92280402e-01 -7.08776920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57592 meters 0.030077753219516546 Centerline is valid? [True, True] Translation: X:67.57, Y:-16.94, Z:-7.09 [[ 7.61156226e-01 6.41289267e-01 9.68982688e-02 6.75694341e+01] [-6.35843645e-01 7.67296903e-01 -8.34165500e-02 -1.69355282e+01] [-1.27843880e-01 1.88087796e-03 9.91792521e-01 -7.09265400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60592 meters 0.03027420550220887 Centerline is valid? [True, True] Translation: X:67.60, Y:-16.96, Z:-7.10 [[ 7.60980864e-01 6.41479638e-01 9.70154610e-02 6.75952654e+01] [-6.36009265e-01 7.67137636e-01 -8.36185534e-02 -1.69568008e+01] [-1.28063811e-01 1.92938696e-03 9.91764054e-01 -7.09753712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63592 meters 0.03045188313040202 Centerline is valid? [True, True] Translation: X:67.62, Y:-16.98, Z:-7.10 [[ 7.61137960e-01 6.41380689e-01 9.64355625e-02 6.76209525e+01] [-6.35962213e-01 7.67220155e-01 -8.32183732e-02 -1.69782565e+01] [-1.27361965e-01 2.01128901e-03 9.91854266e-01 -7.10221665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66592 meters 0.030559500737015684 Centerline is valid? [True, True] Translation: X:67.65, Y:-17.00, Z:-7.11 [[ 7.60933135e-01 6.41487272e-01 9.73388106e-02 6.76466082e+01] [-6.35954071e-01 7.67130828e-01 -8.40994175e-02 -1.69993364e+01] [-1.28620308e-01 2.09102059e-03 9.91691708e-01 -7.10559018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69592 meters 0.031063864650321172 Centerline is valid? [True, True] Translation: X:67.67, Y:-17.02, Z:-7.11 [[ 7.60314416e-01 6.41802176e-01 1.00059763e-01 6.76714175e+01] [-6.35942623e-01 7.66867152e-01 -8.65549004e-02 -1.70212647e+01] [-1.32283669e-01 2.17667044e-03 9.91209510e-01 -7.10902947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72592 meters 0.03118425776289774 Centerline is valid? [True, True] Translation: X:67.70, Y:-17.04, Z:-7.11 [[ 7.59883875e-01 6.42180598e-01 1.00898843e-01 6.76974652e+01] [-6.36211257e-01 7.66550194e-01 -8.73844203e-02 -1.70441848e+01] [-1.33460607e-01 2.20903195e-03 9.91051657e-01 -7.11318829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75592 meters 0.031200870964236137 Centerline is valid? [True, True] Translation: X:67.72, Y:-17.07, Z:-7.12 [[ 7.59882857e-01 6.42257326e-01 1.00416990e-01 6.77236267e+01] [-6.36330215e-01 7.66485716e-01 -8.70833187e-02 -1.70671531e+01] [-1.32898088e-01 2.27475622e-03 9.91127098e-01 -7.11726348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78591999999999 meters 0.031342172857864246 Centerline is valid? [True, True] Translation: X:67.75, Y:-17.09, Z:-7.12 [[ 7.61003142e-01 6.41154803e-01 9.89683587e-02 6.77501605e+01] [-6.35373939e-01 7.67407436e-01 -8.59405940e-02 -1.70891322e+01] [-1.31050279e-01 2.51914620e-03 9.91372522e-01 -7.12164729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81591999999999 meters 0.03173685731857707 Centerline is valid? [True, True] Translation: X:67.78, Y:-17.11, Z:-7.13 [[ 7.60558467e-01 6.41349687e-01 1.01100931e-01 6.77751685e+01] [-6.35301400e-01 7.67244191e-01 -8.79117824e-02 -1.71128763e+01] [-1.33951296e-01 2.63248748e-03 9.90984420e-01 -7.12633874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84591999999999 meters 0.03168574836713494 Centerline is valid? [True, True] Translation: X:67.80, Y:-17.14, Z:-7.13 [[ 7.60670607e-01 6.41211077e-01 1.01136451e-01 6.78010162e+01] [-6.35141345e-01 7.67359626e-01 -8.80606354e-02 -1.71363094e+01] [-1.34073484e-01 2.74919542e-03 9.90967579e-01 -7.12938119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87592 meters 0.031821205339536925 Centerline is valid? [True, True] Translation: X:67.83, Y:-17.16, Z:-7.13 [[ 7.60305436e-01 6.41686189e-01 1.00868621e-01 6.78257425e+01] [-6.35636967e-01 7.66962369e-01 -8.79452723e-02 -1.71597446e+01] [-1.33795703e-01 2.74944454e-03 9.91005121e-01 -7.13325726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90592 meters 0.03215007175562804 Centerline is valid? [True, True] Translation: X:67.85, Y:-17.18, Z:-7.14 [[ 7.60010181e-01 6.41966038e-01 1.01312047e-01 6.78496932e+01] [-6.35849611e-01 7.66727945e-01 -8.84507236e-02 -1.71840850e+01] [-1.34461138e-01 2.80422489e-03 9.90914900e-01 -7.13949757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93592 meters 0.032093230278147276 Centerline is valid? [True, True] Translation: X:67.87, Y:-17.21, Z:-7.14 [[ 7.58437827e-01 6.43871153e-01 1.01004958e-01 6.78732987e+01] [-6.37792675e-01 7.65129684e-01 -8.83010270e-02 -1.72095042e+01] [-1.34136376e-01 2.55061645e-03 9.90959599e-01 -7.14306246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96592 meters 0.03186795115747213 Centerline is valid? [True, True] Translation: X:67.90, Y:-17.23, Z:-7.15 [[ 7.57478146e-01 6.45114423e-01 1.00270832e-01 6.78981510e+01] [-6.39119593e-01 7.64082199e-01 -8.77755038e-02 -1.72334460e+01] [-1.33240402e-01 2.40297225e-03 9.91080835e-01 -7.14500377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99592 meters 0.031536989711652016 Centerline is valid? [True, True] Translation: X:67.92, Y:-17.26, Z:-7.15 [[ 7.55607571e-01 6.47345989e-01 1.00001848e-01 6.79228052e+01] [-6.41387243e-01 7.62193405e-01 -8.76562532e-02 -1.72570281e+01] [-1.32964673e-01 2.09381910e-03 9.91118566e-01 -7.14817864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02592 meters 0.03141609044865605 Centerline is valid? [True, True] Translation: X:67.95, Y:-17.28, Z:-7.15 [[ 7.52398778e-01 6.51452434e-01 9.74977193e-02 6.79468360e+01] [-6.45809546e-01 7.58688154e-01 -8.55705246e-02 -1.72802124e+01] [-1.29715491e-01 1.41820023e-03 9.91550241e-01 -7.15253203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05592 meters 0.03148328264463545 Centerline is valid? [True, True] Translation: X:67.97, Y:-17.30, Z:-7.16 [[ 7.50314743e-01 6.53948242e-01 9.68477293e-02 6.79721798e+01] [-6.48387737e-01 7.56538547e-01 -8.51044684e-02 -1.73029227e+01] [-1.28922958e-01 1.06025738e-03 9.91654046e-01 -7.15644256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08592 meters 0.03158260389326917 Centerline is valid? [True, True] Translation: X:68.00, Y:-17.33, Z:-7.16 [[ 7.45584379e-01 6.59203692e-01 9.77467483e-02 6.79969981e+01] [-6.53568619e-01 7.51964383e-01 -8.60094549e-02 -1.73265073e+01] [-1.30199823e-01 2.43098673e-04 9.91487744e-01 -7.16118157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11592 meters 0.031420165840338576 Centerline is valid? [True, True] Translation: X:68.02, Y:-17.35, Z:-7.16 [[ 7.44418418e-01 6.60651123e-01 9.68571743e-02 6.80237506e+01] [-6.55116162e-01 7.50693071e-01 -8.53388926e-02 -1.73495318e+01] [-1.29089245e-01 7.51431714e-05 9.91632977e-01 -7.16362518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14592 meters 0.031516920046279866 Centerline is valid? [True, True] Translation: X:68.05, Y:-17.37, Z:-7.17 [[ 7.43044734e-01 6.62243138e-01 9.65326313e-02 6.80518733e+01] [-6.56743882e-01 7.49289005e-01 -8.51672513e-02 -1.73708288e+01] [-1.28732267e-01 -1.14137412e-04 9.91679379e-01 -7.16866802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17591999999999 meters 0.031527707942363196 Centerline is valid? [True, True] Translation: X:68.08, Y:-17.39, Z:-7.17 [[ 7.42660464e-01 6.62608817e-01 9.69793322e-02 6.80793315e+01] [-6.57044888e-01 7.48965653e-01 -8.56881901e-02 -1.73934441e+01] [-1.29411939e-01 -8.25434159e-05 9.91590915e-01 -7.17236763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20591999999999 meters 0.03162574257938658 Centerline is valid? [True, True] Translation: X:68.11, Y:-17.41, Z:-7.18 [[ 7.43323666e-01 6.61671047e-01 9.82921846e-02 6.81068709e+01] [-6.55929955e-01 7.49794234e-01 -8.69741358e-02 -1.74143529e+01] [-1.31247181e-01 1.77145192e-04 9.91349659e-01 -7.17524866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23592 meters 0.03168811610332716 Centerline is valid? [True, True] Translation: X:68.13, Y:-17.44, Z:-7.18 [[ 7.43515006e-01 6.61551250e-01 9.76492675e-02 6.81346256e+01] [-6.55868928e-01 7.49899902e-01 -8.65221767e-02 -1.74360065e+01] [-1.30466030e-01 2.85416395e-04 9.91452739e-01 -7.17757295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26592 meters 0.031744645503174185 Centerline is valid? [True, True] Translation: X:68.16, Y:-17.46, Z:-7.18 [[ 7.43634881e-01 6.61552301e-01 9.67249527e-02 6.81623477e+01] [-6.55961556e-01 7.49898935e-01 -8.58255463e-02 -1.74565994e+01] [-1.29312027e-01 3.75019412e-04 9.91603882e-01 -7.18080929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29592 meters 0.031523238976558385 Centerline is valid? [True, True] Translation: X:68.19, Y:-17.48, Z:-7.19 [[ 7.43953798e-01 6.61382008e-01 9.54284377e-02 6.81912013e+01] [-6.55924957e-01 7.50049069e-01 -8.47870559e-02 -1.74757815e+01] [-1.27652644e-01 4.83758328e-04 9.91818818e-01 -7.18576136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32592 meters 0.031661481260273856 Centerline is valid? [True, True] Translation: X:68.22, Y:-17.50, Z:-7.19 [[ 7.43862183e-01 6.61551500e-01 9.49666518e-02 6.82180220e+01] [-6.56134386e-01 7.49899543e-01 -8.44887161e-02 -1.74972487e+01] [-1.27109086e-01 5.37075044e-04 9.91888599e-01 -7.19082556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35592 meters 0.03168409061976139 Centerline is valid? [True, True] Translation: X:68.25, Y:-17.52, Z:-7.19 [[ 7.45248465e-01 6.59890406e-01 9.56523789e-02 6.82465930e+01] [-6.54366107e-01 7.51361310e-01 -8.52125561e-02 -1.75166967e+01] [-1.28100445e-01 9.12851809e-04 9.91760779e-01 -7.19361779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38592 meters 0.03168409061976139 Centerline is valid? [True, True] Translation: X:68.27, Y:-17.54, Z:-7.20 [[ 7.44817868e-01 6.60384495e-01 9.55963554e-02 6.82721832e+01] [-6.54856187e-01 7.50927084e-01 -8.52753693e-02 -1.75389469e+01] [-1.28100424e-01 9.12753894e-04 9.91760782e-01 -7.19708911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41592 meters 0.031737992274137275 Centerline is valid? [True, True] Translation: X:68.30, Y:-17.56, Z:-7.20 [[ 7.45330157e-01 6.59882799e-01 9.50665483e-02 6.82991262e+01] [-6.54397413e-01 7.51367773e-01 -8.49146430e-02 -1.75600984e+01] [-1.27463653e-01 1.07814100e-03 9.91842656e-01 -7.19972766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44592 meters 0.031966833863169654 Centerline is valid? [True, True] Translation: X:68.33, Y:-17.58, Z:-7.20 [[ 7.45672165e-01 6.59611318e-01 9.42652246e-02 6.83264268e+01] [-6.54202101e-01 7.51605929e-01 -8.43097763e-02 -1.75807639e+01] [-1.26461984e-01 1.19894536e-03 9.91970730e-01 -7.20227767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47592 meters 0.03215077523956585 Centerline is valid? [True, True] Translation: X:68.35, Y:-17.60, Z:-7.21 [[ 7.47056587e-01 6.58041042e-01 9.42785362e-02 6.83537853e+01] [-6.52603458e-01 7.52980466e-01 -8.44342627e-02 -1.76012152e+01] [-1.26551106e-01 1.55067344e-03 9.91958877e-01 -7.20564672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50592 meters 0.032114907227907524 Centerline is valid? [True, True] Translation: X:68.38, Y:-17.62, Z:-7.21 [[ 7.47353615e-01 6.57899729e-01 9.29005954e-02 6.83798194e+01] [-6.52605690e-01 7.53103761e-01 -8.33098894e-02 -1.76232653e+01] [-1.24773342e-01 1.63448984e-03 9.92183925e-01 -7.20913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53591999999999 meters 0.032419924682522076 Centerline is valid? [True, True] Translation: X:68.40, Y:-17.65, Z:-7.21 [[ 7.47999637e-01 6.56855644e-01 9.50642149e-02 6.84049424e+01] [-6.51287776e-01 7.54013860e-01 -8.53658718e-02 -1.76459546e+01] [-1.27752790e-01 1.93948004e-03 9.91804145e-01 -7.21353910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56591999999999 meters 0.03249050577061575 Centerline is valid? [True, True] Translation: X:68.43, Y:-17.67, Z:-7.22 [[ 7.48489202e-01 6.56312071e-01 9.49651531e-02 6.84291860e+01] [-6.50737400e-01 7.54486579e-01 -8.53864042e-02 -1.76700832e+01] [-1.27690061e-01 2.11342475e-03 9.91811868e-01 -7.21600328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59591999999999 meters 0.03238732147498038 Centerline is valid? [True, True] Translation: X:68.46, Y:-17.69, Z:-7.22 [[ 7.48572548e-01 6.56388198e-01 9.37745901e-02 6.84551876e+01] [-6.50939477e-01 7.54420225e-01 -8.44270191e-02 -1.76932746e+01] [-1.26162346e-01 2.15816620e-03 9.92007260e-01 -7.21883947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62592 meters 0.03210783463010302 Centerline is valid? [True, True] Translation: X:68.48, Y:-17.72, Z:-7.22 [[ 7.47153185e-01 6.58213461e-01 9.22884569e-02 6.84812039e+01] [-6.52936884e-01 7.52828943e-01 -8.31986131e-02 -1.77159226e+01] [-1.24239868e-01 1.90357126e-03 9.92250388e-01 -7.22225759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65592 meters 0.03239889016486522 Centerline is valid? [True, True] Translation: X:68.51, Y:-17.74, Z:-7.23 [[ 7.45816241e-01 6.59631711e-01 9.29738647e-02 6.85061114e+01] [-6.54272721e-01 7.51586911e-01 -8.39304559e-02 -1.77397483e+01] [-1.25241130e-01 1.76643370e-03 9.92124760e-01 -7.22620687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68592 meters 0.03225531468570355 Centerline is valid? [True, True] Translation: X:68.53, Y:-17.76, Z:-7.23 [[ 7.42486655e-01 6.63256012e-01 9.38351229e-02 6.85296600e+01] [-6.57810825e-01 7.48391534e-01 -8.48235248e-02 -1.77649832e+01] [-1.26485124e-01 1.25457568e-03 9.91967711e-01 -7.22813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71592 meters 0.03199069861536449 Centerline is valid? [True, True] Translation: X:68.56, Y:-17.79, Z:-7.23 [[ 7.41079213e-01 6.64924527e-01 9.31502767e-02 6.85557613e+01] [-6.59557618e-01 7.46909817e-01 -8.43176929e-02 -1.77877475e+01] [-1.25639758e-01 1.04811488e-03 9.92075376e-01 -7.23098117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74592 meters 0.0320106642812722 Centerline is valid? [True, True] Translation: X:68.58, Y:-17.81, Z:-7.24 [[ 7.39671348e-01 6.66480739e-01 9.32186697e-02 6.85823921e+01] [-6.61103786e-01 7.45521741e-01 -8.44932947e-02 -1.78094333e+01] [-1.25809698e-01 8.70053763e-04 9.92054012e-01 -7.23596609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77592 meters 0.031854517779503246 Centerline is valid? [True, True] Translation: X:68.61, Y:-17.83, Z:-7.24 [[ 7.37682689e-01 6.68744649e-01 9.27623025e-02 6.86076817e+01] [-6.63424008e-01 7.43491946e-01 -8.41921086e-02 -1.78319783e+01] [-1.25271047e-01 5.66322563e-04 9.92122394e-01 -7.24172895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80592 meters 0.0316021712892219 Centerline is valid? [True, True] Translation: X:68.63, Y:-17.85, Z:-7.24 [[ 7.35850141e-01 6.70738989e-01 9.29181354e-02 6.86335810e+01] [-6.65401872e-01 7.41693408e-01 -8.44466514e-02 -1.78545094e+01] [-1.25558430e-01 3.12179078e-04 9.92086177e-01 -7.24472045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83592 meters 0.0314250806182668 Centerline is valid? [True, True] Translation: X:68.66, Y:-17.88, Z:-7.25 [[ 7.35247748e-01 6.71541733e-01 9.18828039e-02 6.86605546e+01] [-6.66315652e-01 7.40966690e-01 -8.36170850e-02 -1.78755321e+01] [-1.24234459e-01 2.56323178e-04 9.92252858e-01 -7.24767689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86592 meters 0.03106920561032637 Centerline is valid? [True, True] Translation: X:68.69, Y:-17.90, Z:-7.25 [[ 7.34625691e-01 6.72320641e-01 9.11594754e-02 6.86878922e+01] [-6.67169132e-01 7.40260031e-01 -8.30688689e-02 -1.78970441e+01] [-1.23330631e-01 2.05737101e-04 9.92365615e-01 -7.25140407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89591999999999 meters 0.03068783087653931 Centerline is valid? [True, True] Translation: X:68.71, Y:-17.92, Z:-7.25 [[ 7.33916581e-01 6.73200624e-01 9.03735120e-02 6.87137921e+01] [-6.68131151e-01 7.39459871e-01 -8.24612874e-02 -1.79203838e+01] [-1.22340576e-01 1.38347490e-04 9.92488168e-01 -7.25429315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92591999999999 meters 0.030780107600360682 Centerline is valid? [True, True] Translation: X:68.74, Y:-17.94, Z:-7.26 [[ 7.31600046e-01 6.75496407e-01 9.20107424e-02 6.87407793e+01] [-6.70244584e-01 7.37363260e-01 -8.40691450e-02 -1.79415237e+01] [-1.24633746e-01 -1.64711391e-04 9.92202803e-01 -7.25919856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95591999999999 meters 0.030545581954301633 Centerline is valid? [True, True] Translation: X:68.77, Y:-17.96, Z:-7.26 [[ 7.29832370e-01 6.77391417e-01 9.21172103e-02 6.87673208e+01] [-6.72128226e-01 7.35622664e-01 -8.42789671e-02 -1.79633928e+01] [-1.24853357e-01 -4.05058845e-04 9.92175123e-01 -7.26355388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98592 meters 0.03022627194398282 Centerline is valid? [True, True] Translation: X:68.79, Y:-17.99, Z:-7.27 [[ 7.27725431e-01 6.79670976e-01 9.19948989e-02 6.87936880e+01] [-6.74425942e-01 7.33516773e-01 -8.42780670e-02 -1.79862067e+01] [-1.24761157e-01 -7.12453689e-04 9.92186548e-01 -7.26649128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01592 meters 0.03019587493812265 Centerline is valid? [True, True] Translation: X:68.82, Y:-18.01, Z:-7.27 [[ 7.26595790e-01 6.80709014e-01 9.32405275e-02 6.88187287e+01] [-6.75314428e-01 7.32553457e-01 -8.55327810e-02 -1.80097274e+01] [-1.26526606e-01 -8.18914896e-04 9.91962876e-01 -7.26952798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04592 meters 0.03017296108573092 Centerline is valid? [True, True] Translation: X:68.84, Y:-18.03, Z:-7.27 [[ 7.25603338e-01 6.81854251e-01 9.25990059e-02 6.88441706e+01] [-6.76529113e-01 7.31487469e-01 -8.50555302e-02 -1.80330549e+01] [-1.25730487e-01 -9.29346670e-04 9.92064000e-01 -7.27163408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07592 meters 0.029997826088285825 Centerline is valid? [True, True] Translation: X:68.87, Y:-18.06, Z:-7.27 [[ 7.24754623e-01 6.82830269e-01 9.20519466e-02 6.88701998e+01] [-6.77562074e-01 7.30576349e-01 -8.46630590e-02 -1.80560446e+01] [-1.25061474e-01 -1.01096455e-03 9.92148480e-01 -7.27454573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10592 meters 0.029922903174747238 Centerline is valid? [True, True] Translation: X:68.90, Y:-18.08, Z:-7.28 [[ 7.24628250e-01 6.82950089e-01 9.21578823e-02 6.88957899e+01] [-6.77656649e-01 7.30464422e-01 -8.48716358e-02 -1.80789781e+01] [-1.25281145e-01 -9.51016713e-04 9.92120824e-01 -7.28114144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13592 meters 0.029824381013976425 Centerline is valid? [True, True] Translation: X:68.92, Y:-18.10, Z:-7.28 [[ 7.24860013e-01 6.82790108e-01 9.15184666e-02 6.89205945e+01] [-6.77555134e-01 7.30614104e-01 -8.43923650e-02 -1.81023524e+01] [-1.24486955e-01 -8.36156150e-04 9.92220892e-01 -7.28419942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16592 meters 0.02983195622136437 Centerline is valid? [True, True] Translation: X:68.94, Y:-18.13, Z:-7.29 [[ 7.26100011e-01 6.81421698e-01 9.18871272e-02 6.89446678e+01] [-6.76119339e-01 7.31890837e-01 -8.48436282e-02 -1.81267943e+01] [-1.25065636e-01 -5.21704308e-04 9.92148333e-01 -7.28847918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19592 meters 0.030141333818736876 Centerline is valid? [True, True] Translation: X:68.97, Y:-18.15, Z:-7.29 [[ 7.26883823e-01 6.80370254e-01 9.34677804e-02 6.89701791e+01] [-6.74859667e-01 7.32868507e-01 -8.64186350e-02 -1.81501894e+01] [-1.27296261e-01 -2.61327465e-04 9.91864705e-01 -7.29232596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22592 meters 0.03000942924729911 Centerline is valid? [True, True] Translation: X:69.00, Y:-18.17, Z:-7.29 [[ 7.26727466e-01 6.80710372e-01 9.21985856e-02 6.89951187e+01] [-6.75337592e-01 7.32552615e-01 -8.53569151e-02 -1.81735534e+01] [-1.25643652e-01 -2.33956220e-04 9.92075409e-01 -7.29470200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25592 meters 0.029937109582974 Centerline is valid? [True, True] Translation: X:69.02, Y:-18.20, Z:-7.30 [[ 7.28078826e-01 6.79337452e-01 9.16616025e-02 6.90191424e+01] [-6.74002346e-01 7.33826014e-01 -8.49718713e-02 -1.81979085e+01] [-1.24988243e-01 8.60851077e-05 9.92158219e-01 -7.29737555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28591999999999 meters 0.029697437026438723 Centerline is valid? [True, True] Translation: X:69.04, Y:-18.22, Z:-7.30 [[ 7.28638802e-01 6.78882200e-01 9.05784460e-02 6.90433644e+01] [-6.73655788e-01 7.34247165e-01 -8.40772260e-02 -1.82229788e+01] [-1.23585499e-01 2.43234759e-04 9.92333898e-01 -7.30073797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31591999999999 meters 0.029680177743902535 Centerline is valid? [True, True] Translation: X:69.07, Y:-18.25, Z:-7.31 [[ 7.29702715e-01 6.77891572e-01 8.94257519e-02 6.90656691e+01] [-6.72776986e-01 7.35161737e-01 -8.31164636e-02 -1.82493202e+01] [-1.22086341e-01 4.86721263e-04 9.92519364e-01 -7.30520378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34591999999999 meters 0.029760855708241916 Centerline is valid? [True, True] Translation: X:69.09, Y:-18.27, Z:-7.31 [[ 7.29718201e-01 6.77930183e-01 8.90056978e-02 6.90898314e+01] [-6.72850533e-01 7.35126081e-01 -8.28360189e-02 -1.82733711e+01] [-1.21587447e-01 5.59419497e-04 9.92580566e-01 -7.30811979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37592 meters 0.029887057775959732 Centerline is valid? [True, True] Translation: X:69.11, Y:-18.30, Z:-7.31 [[ 7.29064659e-01 6.78446655e-01 9.04149243e-02 6.91123536e+01] [-6.73193992e-01 7.34649451e-01 -8.42616917e-02 -1.82997148e+01] [-1.23590337e-01 5.65437680e-04 9.92333164e-01 -7.31073739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40592 meters 0.029905424577475057 Centerline is valid? [True, True] Translation: X:69.14, Y:-18.33, Z:-7.31 [[ 7.28289992e-01 6.79249396e-01 9.06308181e-02 6.91362343e+01] [-6.73963256e-01 7.33907345e-01 -8.45785922e-02 -1.83257778e+01] [-1.23964581e-01 5.15901008e-04 9.92286509e-01 -7.31257279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43592 meters 0.02978984785330755 Centerline is valid? [True, True] Translation: X:69.16, Y:-18.35, Z:-7.32 [[ 7.27676707e-01 6.80078620e-01 8.93290644e-02 6.91595235e+01] [-6.74935078e-01 7.33139046e-01 -8.34852090e-02 -1.83520148e+01] [-1.22267131e-01 4.58922947e-04 9.92497122e-01 -7.31639403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46592 meters 0.0297046133680741 Centerline is valid? [True, True] Translation: X:69.18, Y:-18.38, Z:-7.32 [[ 7.26133900e-01 6.81661353e-01 8.98184792e-02 6.91848804e+01] [-6.76457723e-01 7.31667765e-01 -8.40668255e-02 -1.83765244e+01] [-1.23022392e-01 2.85367916e-04 9.92403854e-01 -7.32204505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49592 meters 0.029536167770618297 Centerline is valid? [True, True] Translation: X:69.21, Y:-18.40, Z:-7.33 [[ 7.23596605e-01 6.84536972e-01 8.84142924e-02 6.92074281e+01] [-6.79501936e-01 7.28978135e-01 -8.28733870e-02 -1.84036038e+01] [-1.21181983e-01 -1.10781331e-04 9.92630301e-01 -7.32530451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52592 meters 0.02996122244891388 Centerline is valid? [True, True] Translation: X:69.23, Y:-18.43, Z:-7.33 [[ 7.21552662e-01 6.86616866e-01 8.89889632e-02 6.92308094e+01] [-6.81516505e-01 7.27019354e-01 -8.35350927e-02 -1.84302115e+01] [-1.22053302e-01 -3.72478747e-04 9.92523477e-01 -7.32863205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55592 meters 0.02987943200130221 Centerline is valid? [True, True] Translation: X:69.25, Y:-18.46, Z:-7.33 [[ 7.19924727e-01 6.88216750e-01 8.98114315e-02 6.92547976e+01] [-6.83018191e-01 7.25504923e-01 -8.44319656e-02 -1.84557754e+01] [-1.23266129e-01 -5.58181763e-04 9.92373493e-01 -7.33029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58592 meters 0.03011200204720263 Centerline is valid? [True, True] Translation: X:69.28, Y:-18.48, Z:-7.33 [[ 7.16101013e-01 6.92264381e-01 8.92713058e-02 6.92781777e+01] [-6.87144676e-01 7.21643046e-01 -8.40446813e-02 -1.84819734e+01] [-1.22603156e-01 -1.15782113e-03 9.92455100e-01 -7.33295211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61592 meters 0.030067653299016155 Centerline is valid? [True, True] Translation: X:69.30, Y:-18.51, Z:-7.34 [[ 7.13940286e-01 6.94540821e-01 8.88949766e-02 6.93041676e+01] [-6.89466998e-01 7.19451829e-01 -8.38112363e-02 -1.85058537e+01] [-1.22165978e-01 -1.45393475e-03 9.92508620e-01 -7.33787132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64591999999999 meters 0.03031483682233111 Centerline is valid? [True, True] Translation: X:69.33, Y:-18.53, Z:-7.34 [[ 7.10088757e-01 6.98568955e-01 8.81780703e-02 6.93283247e+01] [-6.93593327e-01 7.15539826e-01 -8.32529581e-02 -1.85308846e+01] [-1.21252853e-01 -2.04273165e-03 9.92619551e-01 -7.34260481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67591999999999 meters 0.0307466741963088 Centerline is valid? [True, True] Translation: X:69.35, Y:-18.56, Z:-7.35 [[ 7.08430597e-01 7.00136809e-01 8.90760268e-02 6.93527219e+01] [-6.95056499e-01 7.14005177e-01 -8.42203669e-02 -1.85560673e+01] [-1.22566523e-01 -2.24858656e-03 9.92457753e-01 -7.34642130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70591999999999 meters 0.031455785774664645 Centerline is valid? [True, True] Translation: X:69.38, Y:-18.58, Z:-7.35 [[ 7.05007422e-01 7.03483984e-01 8.98600001e-02 6.93764284e+01] [-6.98325334e-01 7.10705724e-01 -8.50829116e-02 -1.85825377e+01] [-1.23718482e-01 -2.76743048e-03 9.92313498e-01 -7.35108841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73592 meters 0.03151302370926012 Centerline is valid? [True, True] Translation: X:69.40, Y:-18.61, Z:-7.35 [[ 7.03800113e-01 7.04645794e-01 9.02203165e-02 6.94025230e+01] [-6.99438963e-01 7.09553339e-01 -8.55522963e-02 -1.86077516e+01] [-1.24300193e-01 -2.89188886e-03 9.92240444e-01 -7.35487010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76592 meters 0.03212402895621359 Centerline is valid? [True, True] Translation: X:69.43, Y:-18.63, Z:-7.36 [[ 7.01389029e-01 7.07015698e-01 9.04556897e-02 6.94280514e+01] [-7.01784861e-01 7.07190486e-01 -8.59047412e-02 -1.86331294e+01] [-1.24705404e-01 -3.22779064e-03 9.92188563e-01 -7.35961248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79592 meters 0.03236260864685793 Centerline is valid? [True, True] Translation: X:69.45, Y:-18.66, Z:-7.36 [[ 7.00072371e-01 7.08323134e-01 9.04268338e-02 6.94545207e+01] [-7.03090183e-01 7.05880301e-01 -8.60069455e-02 -1.86570016e+01] [-1.24751230e-01 -3.36713282e-03 9.92182339e-01 -7.36318567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82592 meters 0.03250583231449584 Centerline is valid? [True, True] Translation: X:69.48, Y:-18.68, Z:-7.37 [[ 6.98281541e-01 7.10129730e-01 9.01035893e-02 6.94814115e+01] [-7.04933231e-01 7.04061722e-01 -8.58267503e-02 -1.86808857e+01] [-1.24386615e-01 -3.58577894e-03 9.92227349e-01 -7.36570194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85592 meters 0.03330236390914367 Centerline is valid? [True, True] Translation: X:69.51, Y:-18.70, Z:-7.37 [[ 6.96110695e-01 7.12198195e-01 9.05739013e-02 6.95076065e+01] [-7.06948271e-01 7.01967691e-01 -8.64031405e-02 -1.87049081e+01] [-1.25116113e-01 -3.88491271e-03 9.92134500e-01 -7.36943607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88592 meters 0.033408687592565885 Centerline is valid? [True, True] Translation: X:69.54, Y:-18.73, Z:-7.37 [[ 6.95449943e-01 7.12852439e-01 9.05029114e-02 6.95353774e+01] [-7.07600631e-01 7.01303144e-01 -8.64595136e-02 -1.87281517e+01] [-1.25102851e-01 -3.91165341e-03 9.92136067e-01 -7.37387865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91592 meters 0.033563091217396764 Centerline is valid? [True, True] Translation: X:69.56, Y:-18.75, Z:-7.38 [[ 6.94903059e-01 7.13255113e-01 9.15253094e-02 6.95626367e+01] [-7.07870332e-01 7.00893457e-01 -8.75668556e-02 -1.87514133e+01] [-1.26606998e-01 -3.93757535e-03 9.91945141e-01 -7.37901264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94592 meters 0.03329160886884052 Centerline is valid? [True, True] Translation: X:69.59, Y:-18.77, Z:-7.38 [[ 6.94756410e-01 7.13415565e-01 9.13879732e-02 6.95895944e+01] [-7.08031916e-01 7.00730517e-01 -8.75645357e-02 -1.87748768e+01] [-1.26508244e-01 -3.86957933e-03 9.91958008e-01 -7.38220326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97592 meters 0.03309648860922551 Centerline is valid? [True, True] Translation: X:69.62, Y:-18.80, Z:-7.39 [[ 6.96411672e-01 7.11987863e-01 8.99114295e-02 6.96169276e+01] [-7.06750036e-01 7.02183230e-01 -8.62733866e-02 -1.87973103e+01] [-1.24559902e-01 -3.46311265e-03 9.92206046e-01 -7.38699913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00592 meters 0.032319408896071204 Centerline is valid? [True, True] Translation: X:69.65, Y:-18.82, Z:-7.39 [[ 6.98421788e-01 7.10109433e-01 8.91717416e-02 6.96472184e+01] [-7.04927833e-01 7.04084856e-01 -8.56811867e-02 -1.88166754e+01] [-1.23627492e-01 -3.01803489e-03 9.92324108e-01 -7.39044204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03591999999999 meters 0.03227823704797507 Centerline is valid? [True, True] Translation: X:69.67, Y:-18.84, Z:-7.39 [[ 6.98525171e-01 7.09794881e-01 9.08504907e-02 6.96747096e+01] [-7.04397291e-01 7.04402323e-01 -8.74175222e-02 -1.88380865e+01] [-1.26043806e-01 -2.93149994e-03 9.92020345e-01 -7.39442566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06591999999999 meters 0.03236547242970938 Centerline is valid? [True, True] Translation: X:69.70, Y:-18.86, Z:-7.40 [[ 6.98406847e-01 7.09781808e-01 9.18567394e-02 6.97008629e+01] [-7.04248572e-01 7.04415708e-01 -8.85011872e-02 -1.88611470e+01] [-1.27521863e-01 -2.88014240e-03 9.91831578e-01 -7.39815140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09591999999999 meters 0.03199513099429484 Centerline is valid? [True, True] Translation: X:69.73, Y:-18.89, Z:-7.40 [[ 6.99474206e-01 7.08737118e-01 9.18015953e-02 6.97259327e+01] [-7.03185565e-01 7.05467888e-01 -8.85726841e-02 -1.88877268e+01] [-1.27537826e-01 -2.59924881e-03 9.91830301e-01 -7.40101262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12592 meters 0.03184797860917849 Centerline is valid? [True, True] Translation: X:69.75, Y:-18.91, Z:-7.40 [[ 6.99894537e-01 7.08409566e-01 9.11236739e-02 6.97521958e+01] [-7.02920418e-01 7.05797420e-01 -8.80504862e-02 -1.89128882e+01] [-1.26690661e-01 -2.42663673e-03 9.91939307e-01 -7.40470890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15592 meters 0.03128004982679825 Centerline is valid? [True, True] Translation: X:69.78, Y:-18.93, Z:-7.41 [[ 7.01567627e-01 7.06858469e-01 9.02993338e-02 6.97794733e+01] [-7.01439508e-01 7.07352079e-01 -8.73822234e-02 -1.89337713e+01] [-1.25640286e-01 -2.03498112e-03 9.92073776e-01 -7.40862519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18592 meters 0.03137045086800114 Centerline is valid? [True, True] Translation: X:69.80, Y:-18.96, Z:-7.41 [[ 7.01331797e-01 7.07148859e-01 8.98565600e-02 6.98046899e+01] [-7.01770739e-01 7.07061891e-01 -8.70707255e-02 -1.89581571e+01] [-1.25106113e-01 -1.99323619e-03 9.92141365e-01 -7.41197491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21592 meters 0.03138775197262868 Centerline is valid? [True, True] Translation: X:69.83, Y:-18.99, Z:-7.42 [[ 7.01387256e-01 7.06905768e-01 9.13244360e-02 6.98282908e+01] [-7.01331147e-01 7.07305212e-01 -8.86225655e-02 -1.89856713e+01] [-1.27242052e-01 -1.88993339e-03 9.91869895e-01 -7.41581507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24592 meters 0.031206155684187945 Centerline is valid? [True, True] Translation: X:69.85, Y:-19.01, Z:-7.42 [[ 7.00778005e-01 7.07714353e-01 8.97250386e-02 6.98531628e+01] [-7.02324478e-01 7.06496107e-01 -8.71984989e-02 -1.90114638e+01] [-1.25102020e-01 -1.90930082e-03 9.92142046e-01 -7.41879905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27592 meters 0.031206155684187945 Centerline is valid? [True, True] Translation: X:69.88, Y:-19.04, Z:-7.42 [[ 7.00242031e-01 7.08252025e-01 8.96669784e-02 6.98789661e+01] [-7.02858900e-01 7.05957065e-01 -8.72581696e-02 -1.90358998e+01] [-1.25101812e-01 -1.92139586e-03 9.92142049e-01 -7.42243779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30592 meters 0.03120026648693445 Centerline is valid? [True, True] Translation: X:69.90, Y:-19.06, Z:-7.42 [[ 6.99017088e-01 7.09646581e-01 8.81863936e-02 6.99034739e+01] [-7.04425617e-01 7.04554867e-01 -8.59475999e-02 -1.90620592e+01] [-1.23124573e-01 -2.04191373e-03 9.92389122e-01 -7.42465762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33592 meters 0.0316073909547967 Centerline is valid? [True, True] Translation: X:69.93, Y:-19.09, Z:-7.43 [[ 6.97274063e-01 7.11336094e-01 8.83733164e-02 6.99280281e+01] [-7.06089397e-01 7.02848424e-01 -8.62661950e-02 -1.90879135e+01] [-1.23477304e-01 -2.24828145e-03 9.92344850e-01 -7.42873717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36592 meters 0.031888253163977275 Centerline is valid? [True, True] Translation: X:69.95, Y:-19.11, Z:-7.43 [[ 6.94529389e-01 7.13955989e-01 8.88581672e-02 6.99521979e+01] [-7.08655777e-01 7.00185626e-01 -8.68739229e-02 -1.91141620e+01] [-1.24241369e-01 -2.63336097e-03 9.92248531e-01 -7.43350749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39591999999999 meters 0.03222455333195192 Centerline is valid? [True, True] Translation: X:69.98, Y:-19.14, Z:-7.44 [[ 6.93148177e-01 7.15368838e-01 8.82781451e-02 6.99777382e+01] [-7.10132936e-01 6.98741529e-01 -8.64377757e-02 -1.91397636e+01] [-1.23518497e-01 -2.77503175e-03 9.92338390e-01 -7.43754673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42591999999999 meters 0.03215026405220938 Centerline is valid? [True, True] Translation: X:70.00, Y:-19.17, Z:-7.44 [[ 6.91301404e-01 7.17120340e-01 8.85482207e-02 7.00029701e+01] [-7.11850086e-01 6.96942888e-01 -8.68335579e-02 -1.91655689e+01] [-1.23983163e-01 -3.00489804e-03 9.92279772e-01 -7.44204877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45591999999999 meters 0.0323928851418195 Centerline is valid? [True, True] Translation: X:70.03, Y:-19.19, Z:-7.45 [[ 6.90419277e-01 7.17890575e-01 8.91871303e-02 7.00286091e+01] [-7.12533450e-01 6.96149177e-01 -8.75922739e-02 -1.91913433e+01] [-1.24969215e-01 -3.07341923e-03 9.92155859e-01 -7.44612209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48592 meters 0.03244763931003435 Centerline is valid? [True, True] Translation: X:70.05, Y:-19.22, Z:-7.45 [[ 6.89696203e-01 7.18714674e-01 8.81383291e-02 7.00542386e+01] [-7.13473753e-01 6.95298246e-01 -8.66922912e-02 -1.92167073e+01] [-1.23589447e-01 -3.09304045e-03 9.92328616e-01 -7.44896803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51592 meters 0.032512010103467305 Centerline is valid? [True, True] Translation: X:70.08, Y:-19.24, Z:-7.45 [[ 6.88755903e-01 7.19844809e-01 8.62482229e-02 7.00811156e+01] [-7.14820539e-01 6.94127953e-01 -8.49587112e-02 -1.92413309e+01] [-1.21024390e-01 -3.13618720e-03 9.92644580e-01 -7.45122143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54592 meters 0.033031295934447626 Centerline is valid? [True, True] Translation: X:70.11, Y:-19.27, Z:-7.45 [[ 6.86497663e-01 7.21743891e-01 8.83556152e-02 7.01082092e+01] [-7.16469164e-01 6.92151543e-01 -8.71675346e-02 -1.92652293e+01] [-1.24068111e-01 -3.46376500e-03 9.92267659e-01 -7.45488460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57592 meters 0.03320638554963487 Centerline is valid? [True, True] Translation: X:70.13, Y:-19.29, Z:-7.46 [[ 6.85970585e-01 7.22220417e-01 8.85552128e-02 7.01349275e+01] [-7.16909480e-01 6.91654280e-01 -8.74937369e-02 -1.92894948e+01] [-1.24439355e-01 -3.46794170e-03 9.92221155e-01 -7.45902269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60592 meters 0.03358740185483882 Centerline is valid? [True, True] Translation: X:70.16, Y:-19.32, Z:-7.46 [[ 6.83116537e-01 7.25008166e-01 8.78348250e-02 7.01607864e+01] [-7.19790508e-01 6.88729491e-01 -8.69097955e-02 -1.93150843e+01] [-1.23504746e-01 -3.85315486e-03 9.92336501e-01 -7.46222879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63592 meters 0.03377785127196374 Centerline is valid? [True, True] Translation: X:70.19, Y:-19.34, Z:-7.47 [[ 6.81561096e-01 7.26546709e-01 8.72029408e-02 7.01869285e+01] [-7.21400864e-01 6.87105358e-01 -8.64119155e-02 -1.93399151e+01] [-1.22699901e-01 -4.01327711e-03 9.92435705e-01 -7.46595456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66592 meters 0.034077340447035524 Centerline is valid? [True, True] Translation: X:70.21, Y:-19.36, Z:-7.47 [[ 6.80113790e-01 7.27919518e-01 8.70540473e-02 7.02129814e+01] [-7.22786793e-01 6.85649926e-01 -8.63911453e-02 -1.93649604e+01] [-1.22574402e-01 -4.16570643e-03 9.92450585e-01 -7.47017913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69592 meters 0.03398550552160945 Centerline is valid? [True, True] Translation: X:70.24, Y:-19.39, Z:-7.47 [[ 6.79622867e-01 7.28278361e-01 8.78828061e-02 7.02409999e+01] [-7.23033753e-01 6.85268668e-01 -8.73444014e-02 -1.93872896e+01] [-1.23834371e-01 -4.18098264e-03 9.92294093e-01 -7.47475510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72592 meters 0.033566927616449596 Centerline is valid? [True, True] Translation: X:70.27, Y:-19.41, Z:-7.48 [[ 6.80078692e-01 7.28042975e-01 8.62925199e-02 7.02706308e+01] [-7.22969486e-01 6.85519977e-01 -8.58922814e-02 -1.94084176e+01] [-1.21688518e-01 -3.97334833e-03 9.92560385e-01 -7.47761309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75592 meters 0.033831097153947526 Centerline is valid? [True, True] Translation: X:70.30, Y:-19.43, Z:-7.48 [[ 6.79779500e-01 7.28140813e-01 8.78110941e-02 7.02960567e+01] [-7.22871301e-01 6.85416055e-01 -8.75323572e-02 -1.94333179e+01] [-1.23923015e-01 -3.97341782e-03 9.92283880e-01 -7.48293215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78591999999999 meters 0.03355325363738928 Centerline is valid? [True, True] Translation: X:70.32, Y:-19.46, Z:-7.49 [[ 6.79568325e-01 7.28454737e-01 8.68365579e-02 7.03211174e+01] [-7.23288475e-01 6.85082856e-01 -8.66906117e-02 -1.94593510e+01] [-1.22640424e-01 -3.89568780e-03 9.92443525e-01 -7.48539167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81591999999999 meters 0.03356069360132664 Centerline is valid? [True, True] Translation: X:70.35, Y:-19.48, Z:-7.49 [[ 6.79735402e-01 7.28216423e-01 8.75249916e-02 7.03468352e+01] [-7.22949392e-01 6.85336742e-01 -8.75084370e-02 -1.94843276e+01] [-1.23709174e-01 -3.79355686e-03 9.92311266e-01 -7.48891399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84591999999999 meters 0.03321365659728039 Centerline is valid? [True, True] Translation: X:70.82, Y:-19.37, Z:-5.48 [[ 7.76554661e-01 -6.27707002e-01 -5.42842329e-02 7.08220053e+01] [-6.25206443e-01 -7.78382203e-01 5.69038564e-02 -1.93737731e+01] [-7.79728300e-02 -1.02501028e-02 -9.96902790e-01 -5.48014547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87592 meters 0.033300054743269795 Centerline is valid? [True, True] Translation: X:70.43, Y:-19.57, Z:-7.50 [[ 7.35778378e-01 6.70817309e-01 9.29210279e-02 7.04269306e+01] [-6.66116428e-01 7.41614337e-01 -7.93541406e-02 -1.95740454e+01] [-1.22143698e-01 -3.50916237e-03 9.92506223e-01 -7.50144139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90592 meters 0.03272482095475531 Centerline is valid? [True, True] Translation: X:70.45, Y:-19.60, Z:-7.50 [[ 7.36443218e-01 6.70109582e-01 9.27606330e-02 7.04530334e+01] [-6.65407634e-01 7.42254783e-01 -7.93127817e-02 -1.95960002e+01] [-1.22000279e-01 -3.31427317e-03 9.92524533e-01 -7.50407666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93592 meters 0.03236899355405143 Centerline is valid? [True, True] Translation: X:70.48, Y:-19.62, Z:-7.50 [[ 7.38406245e-01 6.68006410e-01 9.23236358e-02 7.04798894e+01] [-6.63322533e-01 7.44149901e-01 -7.90198855e-02 -1.96169199e+01] [-1.21488414e-01 -2.89157108e-03 9.92588638e-01 -7.50458016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96592 meters 0.032147246398252546 Centerline is valid? [True, True] Translation: X:70.51, Y:-19.64, Z:-7.51 [[ 7.38579030e-01 6.67893152e-01 9.17592116e-02 7.05074307e+01] [-6.63254620e-01 7.44251954e-01 -7.86278475e-02 -1.96371119e+01] [-1.20806973e-01 -2.78684166e-03 9.92672105e-01 -7.50740329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99592 meters 0.03170519557368299 Centerline is valid? [True, True] Translation: X:70.53, Y:-19.66, Z:-7.51 [[ 7.40319530e-01 6.65850421e-01 9.25754306e-02 7.05338548e+01] [-6.61100351e-01 7.46081403e-01 -7.94283632e-02 -1.96592421e+01] [-1.21956216e-01 -2.39928116e-03 9.92532581e-01 -7.51179923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02592 meters 0.031364990473913924 Centerline is valid? [True, True] Translation: X:70.56, Y:-19.68, Z:-7.52 [[ 7.41214931e-01 6.64861926e-01 9.25151078e-02 7.05597452e+01] [-6.60098369e-01 7.46963150e-01 -7.94744977e-02 -1.96815585e+01] [-1.21944944e-01 -2.16138743e-03 9.92534513e-01 -7.51550222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05592 meters 0.031069158606332165 Centerline is valid? [True, True] Translation: X:70.59, Y:-19.70, Z:-7.52 [[ 7.42765193e-01 6.62940317e-01 9.38616243e-02 7.05870698e+01] [-6.58010354e-01 7.48670068e-01 -8.07186664e-02 -1.97019849e+01] [-1.23783047e-01 -1.80690480e-03 9.92307660e-01 -7.51923433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08592 meters 0.030965756208020445 Centerline is valid? [True, True] Translation: X:70.61, Y:-19.72, Z:-7.52 [[ 7.42733386e-01 6.63098944e-01 9.29887462e-02 7.06140367e+01] [-6.58249105e-01 7.48529738e-01 -8.00708912e-02 -1.97238975e+01] [-1.22699765e-01 -1.73843477e-03 9.92442313e-01 -7.52262860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11592 meters 0.030877839413204614 Centerline is valid? [True, True] Translation: X:70.64, Y:-19.75, Z:-7.53 [[ 7.42360393e-01 6.63544480e-01 9.27888478e-02 7.06399148e+01] [-6.58706132e-01 7.48134835e-01 -8.00031246e-02 -1.97473765e+01] [-1.22504201e-01 -1.72943201e-03 9.92466488e-01 -7.52569023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14591999999999 meters 0.030425975132399922 Centerline is valid? [True, True] Translation: X:70.66, Y:-19.77, Z:-7.53 [[ 7.42841886e-01 6.63230609e-01 9.11651966e-02 7.06645920e+01] [-6.58545595e-01 7.48413455e-01 -7.87083201e-02 -1.97719917e+01] [-1.20431027e-01 -1.56860173e-03 9.92720458e-01 -7.52838435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17591999999999 meters 0.030138919074336513 Centerline is valid? [True, True] Translation: X:70.69, Y:-19.79, Z:-7.53 [[ 7.43247063e-01 6.62926388e-01 9.00689042e-02 7.06909402e+01] [-6.58339261e-01 7.48683229e-01 -7.78642399e-02 -1.97943193e+01] [-1.19051337e-01 -1.42352816e-03 9.92887080e-01 -7.53196604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20591999999999 meters 0.030051586157424193 Centerline is valid? [True, True] Translation: X:70.72, Y:-19.82, Z:-7.54 [[ 7.42638086e-01 6.63404406e-01 9.15601841e-02 7.07184786e+01] [-6.58654494e-01 7.48259648e-01 -7.92575356e-02 -1.98151322e+01] [-1.21090589e-01 -1.44686214e-03 9.92640406e-01 -7.53626909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23592 meters 0.03046266469970555 Centerline is valid? [True, True] Translation: X:70.75, Y:-19.84, Z:-7.54 [[ 7.41660727e-01 6.64293020e-01 9.30276804e-02 7.07451702e+01] [-6.59382812e-01 7.47470681e-01 -8.06342829e-02 -1.98360783e+01] [-1.23100255e-01 -1.53757269e-03 9.92393049e-01 -7.54114656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26592 meters 0.030611864752514806 Centerline is valid? [True, True] Translation: X:70.77, Y:-19.86, Z:-7.54 [[ 7.40022273e-01 6.66119237e-01 9.30171872e-02 7.07735956e+01] [-6.61211385e-01 7.45843186e-01 -8.07306935e-02 -1.98560406e+01] [-1.23152503e-01 -1.76151186e-03 9.92386194e-01 -7.54237379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29592 meters 0.03059827382007542 Centerline is valid? [True, True] Translation: X:70.80, Y:-19.88, Z:-7.55 [[ 7.39017353e-01 6.67324471e-01 9.23655912e-02 7.08004901e+01] [-6.62482060e-01 7.44764762e-01 -8.02681144e-02 -1.98779086e+01] [-1.22355514e-01 -1.87101770e-03 9.92484573e-01 -7.54565230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32592 meters 0.03108665804783164 Centerline is valid? [True, True] Translation: X:70.83, Y:-19.90, Z:-7.55 [[ 7.35629342e-01 6.71133787e-01 9.18090998e-02 7.08269353e+01] [-6.66366532e-01 7.41332333e-01 -7.98875323e-02 -1.99006171e+01] [-1.21676276e-01 -2.41089861e-03 9.92566910e-01 -7.54848808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35592 meters 0.03162915217409644 Centerline is valid? [True, True] Translation: X:70.85, Y:-19.92, Z:-7.55 [[ 7.33190407e-01 6.73867164e-01 9.12955287e-02 7.08537499e+01] [-6.69161866e-01 7.38847321e-01 -7.95426453e-02 -1.99224815e+01] [-1.21054634e-01 -2.77158191e-03 9.92641977e-01 -7.55194081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38592 meters 0.03187931767849503 Centerline is valid? [True, True] Translation: X:70.88, Y:-19.94, Z:-7.56 [[ 7.31665076e-01 6.75364518e-01 9.24607175e-02 7.08816126e+01] [-6.70536994e-01 7.37478054e-01 -8.06613904e-02 -1.99430168e+01] [-1.22663591e-01 -2.98120926e-03 9.92443830e-01 -7.55575258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41592 meters 0.03237327529213663 Centerline is valid? [True, True] Translation: X:70.91, Y:-19.96, Z:-7.56 [[ 7.28508135e-01 6.78642939e-01 9.33791179e-02 7.09102049e+01] [-6.73732579e-01 7.34460053e-01 -8.15649631e-02 -1.99622274e+01] [-1.23936718e-01 -3.49181471e-03 9.92283980e-01 -7.55796440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44592 meters 0.03294296320569658 Centerline is valid? [True, True] Translation: X:70.94, Y:-19.98, Z:-7.56 [[ 7.26303418e-01 6.80816830e-01 9.47195295e-02 7.09384399e+01] [-6.75769923e-01 7.32443615e-01 -8.28333449e-02 -1.99815821e+01] [-1.25771050e-01 -3.84646761e-03 9.92051837e-01 -7.55986091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47592 meters 0.03330222420823903 Centerline is valid? [True, True] Translation: X:70.97, Y:-20.00, Z:-7.56 [[ 7.24885999e-01 6.82481489e-01 9.35911605e-02 7.09658275e+01] [-6.77557457e-01 7.30891816e-01 -8.19331822e-02 -2.00026741e+01] [-1.24322893e-01 -4.02117205e-03 9.92233666e-01 -7.56328944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50592 meters 0.03368725258454295 Centerline is valid? [True, True] Translation: X:70.99, Y:-20.02, Z:-7.57 [[ 7.23559458e-01 6.83945869e-01 9.31652234e-02 7.09935240e+01] [-6.79065915e-01 7.29520801e-01 -8.16632287e-02 -2.00234583e+01] [-1.23819196e-01 -4.17712626e-03 9.92296003e-01 -7.56867327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53591999999999 meters 0.03360843090636961 Centerline is valid? [True, True] Translation: X:71.02, Y:-20.04, Z:-7.57 [[ 7.22994178e-01 6.84761013e-01 9.15520301e-02 7.10215661e+01] [-6.80043492e-01 7.28755778e-01 -8.03483996e-02 -2.00441198e+01] [-1.21738522e-01 -4.16793722e-03 9.92553455e-01 -7.57311228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56591999999999 meters 0.03310470877713132 Centerline is valid? [True, True] Translation: X:71.05, Y:-20.06, Z:-7.58 [[ 7.23823385e-01 6.83858326e-01 9.17469170e-02 7.10501319e+01] [-6.79101218e-01 7.29604121e-01 -8.06186266e-02 -2.00631823e+01] [-1.22070648e-01 -3.95179584e-03 9.92513547e-01 -7.57700223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59591999999999 meters 0.032957456228405846 Centerline is valid? [True, True] Translation: X:71.08, Y:-20.08, Z:-7.58 [[ 7.23895050e-01 6.83804349e-01 9.15836691e-02 7.10783085e+01] [-6.79052136e-01 7.29655170e-01 -8.05700309e-02 -2.00832258e+01] [-1.21918635e-01 -3.86583955e-03 9.92532570e-01 -7.57914707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62592 meters 0.03263464358944039 Centerline is valid? [True, True] Translation: X:71.11, Y:-20.10, Z:-7.58 [[ 7.24943897e-01 6.82366304e-01 9.39817703e-02 7.11072046e+01] [-6.77335902e-01 7.31001333e-01 -8.27836074e-02 -2.01017766e+01] [-1.25189544e-01 -3.64375628e-03 9.92126152e-01 -7.58186743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65592 meters 0.03272692290665582 Centerline is valid? [True, True] Translation: X:71.13, Y:-20.12, Z:-7.59 [[ 7.25829675e-01 6.81352725e-01 9.44973382e-02 7.11340119e+01] [-6.76245421e-01 7.31947273e-01 -8.33385860e-02 -2.01240343e+01] [-1.25950042e-01 -3.41377347e-03 9.92030712e-01 -7.58571303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68592 meters 0.032451266999455136 Centerline is valid? [True, True] Translation: X:71.16, Y:-20.14, Z:-7.59 [[ 7.26658969e-01 6.80618752e-01 9.34069446e-02 7.11610629e+01] [-6.75610098e-01 7.32630913e-01 -8.24799472e-02 -2.01445280e+01] [-1.24570214e-01 -3.17188158e-03 9.92205725e-01 -7.58891201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71592 meters 0.03207680993153862 Centerline is valid? [True, True] Translation: X:71.19, Y:-20.16, Z:-7.60 [[ 7.27929162e-01 6.79357072e-01 9.26989933e-02 7.11895653e+01] [-6.74402098e-01 7.33802276e-01 -8.19513906e-02 -2.01621663e+01] [-1.23696989e-01 -2.86158846e-03 9.92315910e-01 -7.59500790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74592 meters 0.03170953985164103 Centerline is valid? [True, True] Translation: X:71.22, Y:-20.18, Z:-7.60 [[ 7.28948311e-01 6.78428513e-01 9.14828560e-02 7.12176791e+01] [-6.73584594e-01 7.34661822e-01 -8.09679121e-02 -2.01816707e+01] [-1.22139902e-01 -2.60001958e-03 9.92509488e-01 -7.59776213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77592 meters 0.03184544242812395 Centerline is valid? [True, True] Translation: X:71.25, Y:-20.20, Z:-7.60 [[ 7.28902852e-01 6.78381019e-01 9.21945025e-02 7.12451421e+01] [-6.73449094e-01 7.34705879e-01 -8.16920433e-02 -2.02015762e+01] [-1.23154175e-01 -2.54274088e-03 9.92384292e-01 -7.60136957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80592 meters 0.031738359717016544 Centerline is valid? [True, True] Translation: X:71.27, Y:-20.22, Z:-7.60 [[ 7.29387008e-01 6.77690717e-01 9.34338518e-02 7.12732597e+01] [-6.72607043e-01 7.35343179e-01 -8.28865204e-02 -2.02207716e+01] [-1.24877371e-01 -2.38791564e-03 9.92169310e-01 -7.60357932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83592 meters 0.031619225712539716 Centerline is valid? [True, True] Translation: X:71.30, Y:-20.24, Z:-7.61 [[ 7.30007900e-01 6.77044523e-01 9.32693990e-02 7.12986106e+01] [-6.71961589e-01 7.35938763e-01 -8.28357401e-02 -2.02427712e+01] [-1.24724050e-01 -2.20270894e-03 9.92189024e-01 -7.60757422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86592 meters 0.03143633086393869 Centerline is valid? [True, True] Translation: X:71.32, Y:-20.26, Z:-7.61 [[ 7.31051962e-01 6.75738054e-01 9.45574526e-02 7.13247559e+01] [-6.70489817e-01 7.37139295e-01 -8.40777308e-02 -2.02632856e+01] [-1.26516536e-01 -1.93461907e-03 9.91962612e-01 -7.61212423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89591999999999 meters 0.03117194894969495 Centerline is valid? [True, True] Translation: X:71.35, Y:-20.28, Z:-7.61 [[ 7.31603329e-01 6.75192829e-01 9.41871201e-02 7.13517569e+01] [-6.69968908e-01 7.37639169e-01 -8.38457956e-02 -2.02833900e+01] [-1.26088189e-01 -1.76057888e-03 9.92017474e-01 -7.61479209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92591999999999 meters 0.03144978356548047 Centerline is valid? [True, True] Translation: X:71.38, Y:-20.30, Z:-7.62 [[ 7.30941205e-01 6.75990923e-01 9.36014263e-02 7.13780698e+01] [-6.70826298e-01 7.36907715e-01 -8.34212004e-02 -2.03040355e+01] [-1.25367587e-01 -1.81430558e-03 9.92108702e-01 -7.61868066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95591999999999 meters 0.031205552490400006 Centerline is valid? [True, True] Translation: X:71.40, Y:-20.33, Z:-7.62 [[ 7.30828951e-01 6.76150137e-01 9.33275745e-02 7.14044051e+01] [-6.71004792e-01 7.36761754e-01 -8.32747752e-02 -2.03256312e+01] [-1.25066438e-01 -1.76363304e-03 9.92146801e-01 -7.62090056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98592 meters 0.03126087547243986 Centerline is valid? [True, True] Translation: X:71.43, Y:-20.35, Z:-7.62 [[ 7.30742971e-01 6.76514509e-01 9.13390857e-02 7.14315626e+01] [-6.71578194e-01 7.36427301e-01 -8.15938711e-02 -2.03456655e+01] [-1.22464034e-01 -1.71719040e-03 9.92471466e-01 -7.62471147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01592 meters 0.031105454918663084 Centerline is valid? [True, True] Translation: X:71.46, Y:-20.37, Z:-7.63 [[ 7.30615695e-01 6.76857494e-01 8.98033372e-02 7.14576617e+01] [-6.72077673e-01 7.36112169e-01 -8.03148545e-02 -2.03673618e+01] [-1.20467041e-01 -1.67552462e-03 9.92715913e-01 -7.62764667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04592 meters 0.030693288497428948 Centerline is valid? [True, True] Translation: X:71.48, Y:-20.39, Z:-7.63 [[ 7.31205457e-01 6.76534930e-01 8.74017633e-02 7.14830813e+01] [-6.71995289e-01 7.36408992e-01 -7.82568105e-02 -2.03895706e+01] [-1.17306910e-01 -1.51176630e-03 9.93094559e-01 -7.62995294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07592 meters 0.03069630744247831 Centerline is valid? [True, True] Translation: X:71.51, Y:-20.41, Z:-7.63 [[ 7.32232847e-01 6.75305108e-01 8.83066783e-02 7.15077252e+01] [-6.70650566e-01 7.37537407e-01 -7.91605487e-02 -2.04120766e+01] [-1.18587001e-01 -1.25896992e-03 9.92942867e-01 -7.63191232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10592 meters 0.030667771400485818 Centerline is valid? [True, True] Translation: X:71.53, Y:-20.43, Z:-7.63 [[ 7.33883642e-01 6.73419272e-01 8.90015980e-02 7.15347656e+01] [-6.68665819e-01 7.39260231e-01 -7.98769883e-02 -2.04314381e+01] [-1.19586045e-01 -8.91911346e-04 9.92823440e-01 -7.63446206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13592 meters 0.03071045993457592 Centerline is valid? [True, True] Translation: X:71.56, Y:-20.45, Z:-7.64 [[ 7.33926885e-01 6.73484660e-01 8.81461234e-02 7.15599255e+01] [-6.68813066e-01 7.39200730e-01 -7.91919390e-02 -2.04526214e+01] [-1.18492235e-01 -8.32185897e-04 9.92954630e-01 -7.63790538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16592 meters 0.030772132884519642 Centerline is valid? [True, True] Translation: X:71.58, Y:-20.47, Z:-7.64 [[ 7.34658644e-01 6.72743203e-01 8.77112288e-02 7.15846123e+01] [-6.68102626e-01 7.39875776e-01 -7.88841937e-02 -2.04746553e+01] [-1.17964219e-01 -6.47147501e-04 9.93017635e-01 -7.64083770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19592 meters 0.030772132884519642 Centerline is valid? [True, True] Translation: X:71.61, Y:-20.50, Z:-7.64 [[ 7.34305097e-01 6.73134543e-01 8.76693343e-02 7.16088581e+01] [-6.68491190e-01 7.39519756e-01 -7.89307303e-02 -2.04959770e+01] [-1.17964206e-01 -6.46939998e-04 9.93017637e-01 -7.64412807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22592 meters 0.030763921832138913 Centerline is valid? [True, True] Translation: X:71.63, Y:-20.52, Z:-7.65 [[ 7.34313267e-01 6.73036318e-01 8.83523701e-02 7.16316038e+01] [-6.68309155e-01 7.39609212e-01 -7.96309353e-02 -2.05191831e+01] [-1.18940738e-01 -5.72645589e-04 9.92901190e-01 -7.64737060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25592 meters 0.030584148921648156 Centerline is valid? [True, True] Translation: X:71.66, Y:-20.54, Z:-7.65 [[ 7.34060194e-01 6.73346541e-01 8.80912423e-02 7.16562227e+01] [-6.68639349e-01 7.39326805e-01 -7.94814201e-02 -2.05418846e+01] [-1.18646756e-01 -5.57124236e-04 9.92936371e-01 -7.64984051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28591999999999 meters 0.03046237566351869 Centerline is valid? [True, True] Translation: X:71.68, Y:-20.56, Z:-7.65 [[ 7.34184345e-01 6.72906517e-01 9.03889815e-02 7.16802217e+01] [-6.67934016e-01 7.39727409e-01 -8.16548236e-02 -2.05647675e+01] [-1.21809270e-01 -4.24182272e-04 9.92553435e-01 -7.65480602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31591999999999 meters 0.030610255751546543 Centerline is valid? [True, True] Translation: X:71.71, Y:-20.59, Z:-7.66 [[ 7.34447706e-01 6.72633023e-01 9.02850178e-02 7.17053554e+01] [-6.67657838e-01 7.39976164e-01 -8.16595869e-02 -2.05868903e+01] [-1.21735696e-01 -3.04803520e-04 9.92562506e-01 -7.65816283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34591999999999 meters 0.03047896076215827 Centerline is valid? [True, True] Translation: X:71.73, Y:-20.61, Z:-7.66 [[ 7.34884563e-01 6.72104047e-01 9.06687900e-02 7.17297717e+01] [-6.67070092e-01 7.40456703e-01 -8.21058046e-02 -2.06092919e+01] [-1.22319957e-01 -1.44149811e-04 9.92490709e-01 -7.66195033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37592 meters 0.030525630847763954 Centerline is valid? [True, True] Translation: X:71.75, Y:-20.63, Z:-7.67 [[ 7.35052514e-01 6.71782676e-01 9.16833597e-02 7.17542135e+01] [-6.66619903e-01 7.40748295e-01 -8.31256233e-02 -2.06327416e+01] [-1.23756646e-01 -1.62540092e-05 9.92312598e-01 -7.66519385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40592 meters 0.030943716992713692 Centerline is valid? [True, True] Translation: X:71.78, Y:-20.66, Z:-7.67 [[ 7.35650442e-01 6.70781252e-01 9.41856678e-02 7.17770962e+01] [-6.65309997e-01 7.41655215e-01 -8.54994210e-02 -2.06571216e+01] [-1.27204700e-01 2.35020509e-04 9.91876459e-01 -7.66850439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43592 meters 0.030833933261228342 Centerline is valid? [True, True] Translation: X:71.80, Y:-20.68, Z:-7.67 [[ 7.35829051e-01 6.70620343e-01 9.39359519e-02 7.18021629e+01] [-6.65163762e-01 7.41800675e-01 -8.53752243e-02 -2.06797437e+01] [-1.26936115e-01 3.38779106e-04 9.91910837e-01 -7.67281454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46592 meters 0.030628677464220856 Centerline is valid? [True, True] Translation: X:71.83, Y:-20.70, Z:-7.68 [[ 7.36542028e-01 6.69862429e-01 9.37558944e-02 7.18265163e+01] [-6.64407600e-01 7.42485036e-01 -8.53141944e-02 -2.07030019e+01] [-1.26761122e-01 5.45360896e-04 9.91933123e-01 -7.67662957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49592 meters 0.030430720346024436 Centerline is valid? [True, True] Translation: X:71.85, Y:-20.73, Z:-7.68 [[ 7.36235213e-01 6.70431615e-01 9.20823547e-02 7.18504767e+01] [-6.65162570e-01 7.41971149e-01 -8.38902247e-02 -2.07262828e+01] [-1.24565109e-01 5.13201742e-04 9.92211303e-01 -7.67996585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52592 meters 0.030743112963065658 Centerline is valid? [True, True] Translation: X:71.87, Y:-20.75, Z:-7.68 [[ 7.35371250e-01 6.71258842e-01 9.29553249e-02 7.18742501e+01] [-6.65882563e-01 7.41222883e-01 -8.47882694e-02 -2.07496189e+01] [-1.25815489e-01 4.53525587e-04 9.92053555e-01 -7.68470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55592 meters 0.030761707437162337 Centerline is valid? [True, True] Translation: X:71.90, Y:-20.77, Z:-7.69 [[ 7.34344662e-01 6.72168536e-01 9.44848004e-02 7.18988643e+01] [-6.66607100e-01 7.40398078e-01 -8.62882381e-02 -2.07729616e+01] [-1.27956603e-01 3.81068181e-04 9.91779695e-01 -7.68807837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58592 meters 0.030644033132028778 Centerline is valid? [True, True] Translation: X:71.92, Y:-20.80, Z:-7.69 [[ 7.33598632e-01 6.72907042e-01 9.50218935e-02 7.19241629e+01] [-6.67274347e-01 7.39726978e-01 -8.68846572e-02 -2.07956312e+01] [-1.28755556e-01 3.32793684e-04 9.91676306e-01 -7.69077267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61592 meters 0.030462358051849343 Centerline is valid? [True, True] Translation: X:71.95, Y:-20.82, Z:-7.70 [[ 7.33219229e-01 6.73436374e-01 9.41966706e-02 7.19471074e+01] [-6.67892118e-01 7.39245122e-01 -8.62367004e-02 -2.08195266e+01] [-1.27709360e-01 3.17193154e-04 9.91811584e-01 -7.69553283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64591999999999 meters 0.03037214449203352 Centerline is valid? [True, True] Translation: X:71.97, Y:-20.84, Z:-7.70 [[ 7.32950409e-01 6.73978714e-01 9.23925945e-02 7.19710717e+01] [-6.68637104e-01 7.38750707e-01 -8.46865777e-02 -2.08438220e+01] [-1.25332045e-01 2.93944947e-04 9.92114808e-01 -7.69920028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67591999999999 meters 0.0303151149552587 Centerline is valid? [True, True] Translation: X:71.99, Y:-20.87, Z:-7.70 [[ 7.31944776e-01 6.75163835e-01 9.17095427e-02 7.19937851e+01] [-6.69897248e-01 7.37667789e-01 -8.41659678e-02 -2.08680686e+01] [-1.24476993e-01 1.68870174e-04 9.92222480e-01 -7.70297309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70591999999999 meters 0.03048294651819054 Centerline is valid? [True, True] Translation: X:72.02, Y:-20.89, Z:-7.71 [[ 7.31086814e-01 6.75954821e-01 9.27208246e-02 7.20179426e+01] [-6.70563604e-01 7.36943056e-01 -8.52020243e-02 -2.08910195e+01] [-1.25922687e-01 1.14866120e-04 9.92040051e-01 -7.70686986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73592 meters 0.030349295559428616 Centerline is valid? [True, True] Translation: X:72.04, Y:-20.91, Z:-7.71 [[ 7.30068641e-01 6.77032732e-01 9.28787346e-02 7.20425309e+01] [-6.71618209e-01 7.35952906e-01 -8.54535034e-02 -2.09148877e+01] [-1.26209194e-01 7.87367999e-06 9.92003649e-01 -7.70940573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76592 meters 0.03033530696615489 Centerline is valid? [True, True] Translation: X:72.07, Y:-20.94, Z:-7.71 [[ 7.27898952e-01 6.79687428e-01 9.04882078e-02 7.20669247e+01] [-6.74555992e-01 7.33501787e-01 -8.33627167e-02 -2.09396784e+01] [-1.23033853e-01 -3.59728607e-04 9.92402409e-01 -7.71140083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79592 meters 0.030071834591572172 Centerline is valid? [True, True] Translation: X:72.09, Y:-20.96, Z:-7.71 [[ 7.26113090e-01 6.81672789e-01 8.98998869e-02 7.20926220e+01] [-6.76609773e-01 7.31656911e-01 -8.29299675e-02 -2.09629729e+01] [-1.22306976e-01 -6.10607083e-04 9.92492131e-01 -7.71436858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82592 meters 0.03033260862351512 Centerline is valid? [True, True] Translation: X:72.12, Y:-20.99, Z:-7.72 [[ 7.23329112e-01 6.84713393e-01 8.92332086e-02 7.21175633e+01] [-6.79735222e-01 7.28811701e-01 -8.24228880e-02 -2.09868744e+01] [-1.21470262e-01 -1.03608046e-03 9.92594531e-01 -7.71787720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85592 meters 0.03036582702621733 Centerline is valid? [True, True] Translation: X:72.14, Y:-21.01, Z:-7.72 [[ 7.21861261e-01 6.86235762e-01 8.94248229e-02 7.21427171e+01] [-6.81234353e-01 7.27378171e-01 -8.27088419e-02 -2.10106329e+01] [-1.21803429e-01 -1.21495245e-03 9.92553499e-01 -7.72191739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88592 meters 0.03076012835088171 Centerline is valid? [True, True] Translation: X:72.17, Y:-21.03, Z:-7.73 [[ 7.19385845e-01 6.88551189e-01 9.15492501e-02 7.21684768e+01] [-6.83312639e-01 7.25186060e-01 -8.47880679e-02 -2.10339625e+01] [-1.24771165e-01 -1.56142371e-03 9.92184317e-01 -7.72562508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91592 meters 0.030799351790047978 Centerline is valid? [True, True] Translation: X:72.19, Y:-21.06, Z:-7.73 [[ 7.18276832e-01 6.89758468e-01 9.11682435e-02 7.21943846e+01] [-6.84559462e-01 7.24037584e-01 -8.45453694e-02 -2.10562599e+01] [-1.24325119e-01 -1.68310371e-03 9.92240108e-01 -7.72836049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94592 meters 0.030834677250600528 Centerline is valid? [True, True] Translation: X:72.22, Y:-21.08, Z:-7.73 [[ 7.17997207e-01 6.89980841e-01 9.16867000e-02 7.22211006e+01] [-6.84710154e-01 7.23825749e-01 -8.51368939e-02 -2.10777395e+01] [-1.25108020e-01 -1.65076247e-03 9.92141753e-01 -7.73197812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97592 meters 0.03058375059263413 Centerline is valid? [True, True] Translation: X:72.25, Y:-21.10, Z:-7.74 [[ 7.17601852e-01 6.90640721e-01 8.97940797e-02 7.22472232e+01] [-6.85578174e-01 7.23196148e-01 -8.34859220e-02 -2.11001760e+01] [-1.22597510e-01 -1.65120900e-03 9.92455099e-01 -7.73515660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00592 meters 0.030807003291577068 Centerline is valid? [True, True] Translation: X:72.27, Y:-21.12, Z:-7.74 [[ 7.16811310e-01 6.91588903e-01 8.88050371e-02 7.22744973e+01] [-6.86631962e-01 7.22289308e-01 -8.26722711e-02 -2.11206616e+01] [-1.21318154e-01 -1.71595784e-03 9.92612191e-01 -7.74073148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03591999999999 meters 0.030501436766830863 Centerline is valid? [True, True] Translation: X:72.30, Y:-21.14, Z:-7.74 [[ 7.16316558e-01 6.92122513e-01 8.86398125e-02 7.23007299e+01] [-6.87175306e-01 7.21777976e-01 -8.26235607e-02 -2.11421015e+01] [-1.21163891e-01 -1.72646564e-03 9.92631014e-01 -7.74311861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06591999999999 meters 0.030641156006232132 Centerline is valid? [True, True] Translation: X:72.33, Y:-21.16, Z:-7.75 [[ 7.15501927e-01 6.92814707e-01 8.98040907e-02 7.23267567e+01] [-6.87729439e-01 7.21113413e-01 -8.38073031e-02 -2.11635410e+01] [-1.22821866e-01 -1.79663013e-03 9.92427106e-01 -7.74837056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09591999999999 meters 0.030616519588772397 Centerline is valid? [True, True] Translation: X:72.35, Y:-21.18, Z:-7.75 [[ 7.16225298e-01 6.92116733e-01 8.94189622e-02 7.23542892e+01] [-6.87057732e-01 7.21783812e-01 -8.35452050e-02 -2.11842319e+01] [-1.22364194e-01 -1.59880006e-03 9.92483979e-01 -7.75005096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12592 meters 0.03078197730195083 Centerline is valid? [True, True] Translation: X:72.38, Y:-21.20, Z:-7.75 [[ 7.16359508e-01 6.91913624e-01 8.99143646e-02 7.23822620e+01] [-6.86783933e-01 7.21978733e-01 -8.41102719e-02 -2.12033785e+01] [-1.23113302e-01 -1.49854799e-03 9.92391490e-01 -7.75246887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15592 meters 0.030707843000238336 Centerline is valid? [True, True] Translation: X:72.41, Y:-21.22, Z:-7.76 [[ 7.16088334e-01 6.92144033e-01 9.03002538e-02 7.24091729e+01] [-6.86959562e-01 7.21757902e-01 -8.45700380e-02 -2.12236917e+01] [-1.23709569e-01 -1.47300523e-03 9.92317375e-01 -7.75629113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18592 meters 0.03085271195255477 Centerline is valid? [True, True] Translation: X:72.44, Y:-21.24, Z:-7.76 [[ 7.15296537e-01 6.92997509e-01 9.00295361e-02 7.24358364e+01] [-6.87838704e-01 7.20938325e-01 -8.44147479e-02 -2.12439418e+01] [-1.23404953e-01 -1.54422259e-03 9.92355195e-01 -7.76086890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21592 meters 0.030823382911293287 Centerline is valid? [True, True] Translation: X:72.46, Y:-21.26, Z:-7.76 [[ 7.14723820e-01 6.93594819e-01 8.99782644e-02 7.24639715e+01] [-6.88434412e-01 7.20363620e-01 -8.44648739e-02 -2.12631515e+01] [-1.23401467e-01 -1.57507626e-03 9.92355580e-01 -7.76436731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24592 meters 0.030814296947670256 Centerline is valid? [True, True] Translation: X:72.49, Y:-21.28, Z:-7.77 [[ 7.13679621e-01 6.94710836e-01 8.96563051e-02 7.24904421e+01] [-6.89584053e-01 7.19287145e-01 -8.42605345e-02 -2.12841137e+01] [-1.23025334e-01 -1.69053190e-03 9.92402091e-01 -7.76761607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27592 meters 0.03092058691017892 Centerline is valid? [True, True] Translation: X:72.52, Y:-21.30, Z:-7.77 [[ 7.13544642e-01 6.94745724e-01 9.04567470e-02 7.25216498e+01] [-6.89514465e-01 7.19253565e-01 -8.51123511e-02 -2.13000724e+01] [-1.24192780e-01 -1.63977337e-03 9.92256753e-01 -7.77095783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30592 meters 0.03091251339691487 Centerline is valid? [True, True] Translation: X:72.55, Y:-21.32, Z:-7.77 [[ 7.13318967e-01 6.95023175e-01 9.01045907e-02 7.25491415e+01] [-6.89822622e-01 7.18985531e-01 -8.48796513e-02 -2.13193273e+01] [-1.23777222e-01 -1.60991987e-03 9.92308726e-01 -7.77373779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33592 meters 0.03063471769977341 Centerline is valid? [True, True] Translation: X:72.58, Y:-21.34, Z:-7.78 [[ 7.14443550e-01 6.93889139e-01 8.99348484e-02 7.25758175e+01] [-6.88687225e-01 7.20080597e-01 -8.48165030e-02 -2.13385766e+01] [-1.23613590e-01 -1.34037772e-03 9.92329524e-01 -7.77641240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36592 meters 0.030607854454249336 Centerline is valid? [True, True] Translation: X:72.60, Y:-21.36, Z:-7.78 [[ 7.14756092e-01 6.93537044e-01 9.01670522e-02 7.26002263e+01] [-6.88294226e-01 7.20419936e-01 -8.51244647e-02 -2.13600615e+01] [-1.23995112e-01 -1.21823169e-03 9.92282081e-01 -7.78114565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39591999999999 meters 0.030745744931200605 Centerline is valid? [True, True] Translation: X:72.63, Y:-21.38, Z:-7.79 [[ 7.16551684e-01 6.91556377e-01 9.11233314e-02 7.26279465e+01] [-6.86173812e-01 7.22322025e-01 -8.61184692e-02 -2.13776118e+01] [-1.25376166e-01 -8.18109560e-04 9.92108939e-01 -7.78699038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42591999999999 meters 0.030636120305567793 Centerline is valid? [True, True] Translation: X:72.65, Y:-21.40, Z:-7.79 [[ 7.17086783e-01 6.90856997e-01 9.22125586e-02 7.26545657e+01] [-6.85326873e-01 7.22991151e-01 -8.72403142e-02 -2.13971106e+01] [-1.26939445e-01 -6.36868216e-04 9.91910264e-01 -7.79131837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45591999999999 meters 0.030822466979021433 Centerline is valid? [True, True] Translation: X:72.68, Y:-21.42, Z:-7.79 [[ 7.18002634e-01 6.89944707e-01 9.19158278e-02 7.26804152e+01] [-6.84431165e-01 7.23861959e-01 -8.70508189e-02 -2.14173001e+01] [-1.26594623e-01 -4.07339872e-04 9.91954452e-01 -7.79449482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48592 meters 0.03071768763407022 Centerline is valid? [True, True] Translation: X:72.71, Y:-21.44, Z:-7.80 [[ 7.19320508e-01 6.88567987e-01 9.19354874e-02 7.27057085e+01] [-6.83029021e-01 7.25171785e-01 -8.71621399e-02 -2.14386398e+01] [-1.26686081e-01 -9.70911260e-05 9.91942855e-01 -7.79630625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51592 meters 0.030792969824297224 Centerline is valid? [True, True] Translation: X:72.73, Y:-21.46, Z:-7.80 [[ 7.20420365e-01 6.87279798e-01 9.29568546e-02 7.27305220e+01] [-6.81593564e-01 7.26392758e-01 -8.82257041e-02 -2.14601816e+01] [-1.28158930e-01 2.00800126e-04 9.91753623e-01 -7.80022558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54592 meters 0.03081657412692561 Centerline is valid? [True, True] Translation: X:72.75, Y:-21.48, Z:-7.80 [[ 7.20571146e-01 6.87236362e-01 9.21054040e-02 7.27548209e+01] [-6.81641981e-01 7.26433828e-01 -8.75105862e-02 -2.14815350e+01] [-1.27048938e-01 2.74693386e-04 9.91896412e-01 -7.80497842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57592 meters 0.030777512260349426 Centerline is valid? [True, True] Translation: X:72.78, Y:-21.50, Z:-7.81 [[ 7.20626911e-01 6.87170158e-01 9.21630594e-02 7.27795788e+01] [-6.81556111e-01 7.26496419e-01 -8.76596848e-02 -2.15034721e+01] [-1.27193252e-01 3.55631572e-04 9.91877891e-01 -7.80769510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60592 meters 0.030937267561791073 Centerline is valid? [True, True] Translation: X:72.80, Y:-21.52, Z:-7.81 [[ 7.21091023e-01 6.86625881e-01 9.25885340e-02 7.28045572e+01] [-6.80942959e-01 7.27010747e-01 -8.81592917e-02 -2.15247297e+01] [-1.27845311e-01 5.23363513e-04 9.91793982e-01 -7.81141766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63592 meters 0.030782861045986272 Centerline is valid? [True, True] Translation: X:72.83, Y:-21.55, Z:-7.81 [[ 7.21779144e-01 6.86046899e-01 9.15124055e-02 7.28293383e+01] [-6.80479410e-01 7.27556995e-01 -8.72272398e-02 -2.15466629e+01] [-1.26422468e-01 6.86494765e-04 9.91976254e-01 -7.81355363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66592 meters 0.030918129873677536 Centerline is valid? [True, True] Translation: X:72.85, Y:-21.57, Z:-7.82 [[ 7.22446622e-01 6.85544656e-01 8.99966864e-02 7.28535867e+01] [-6.80145509e-01 7.28030109e-01 -8.58734380e-02 -2.15693427e+01] [-1.24390374e-01 8.28133074e-04 9.92233011e-01 -7.81580736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69592 meters 0.031043622831828828 Centerline is valid? [True, True] Translation: X:72.88, Y:-21.59, Z:-7.82 [[ 7.22915318e-01 6.84883378e-01 9.12589844e-02 7.28770864e+01] [-6.79313791e-01 7.28651981e-01 -8.71726129e-02 -2.15921968e+01] [-1.26199113e-01 1.02493055e-03 9.92004402e-01 -7.82026627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72592 meters 0.03127316342519711 Centerline is valid? [True, True] Translation: X:72.90, Y:-21.61, Z:-7.82 [[ 7.23816005e-01 6.83913579e-01 9.13926038e-02 7.29006538e+01] [-6.78307973e-01 7.29561935e-01 -8.73938018e-02 -2.16146356e+01] [-1.26446373e-01 1.26470062e-03 9.91972638e-01 -7.82292677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75592 meters 0.03113031761907009 Centerline is valid? [True, True] Translation: X:72.92, Y:-21.64, Z:-7.83 [[ 7.24700754e-01 6.83076307e-01 9.06398125e-02 7.29242526e+01] [-6.77544908e-01 7.30345540e-01 -8.67657148e-02 -2.16374193e+01] [-1.25465987e-01 1.46663554e-03 9.92096838e-01 -7.82740751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78591999999999 meters 0.031158229887979068 Centerline is valid? [True, True] Translation: X:72.95, Y:-21.66, Z:-7.83 [[ 7.26387965e-01 6.81379158e-01 8.99053235e-02 7.29482911e+01] [-6.75912969e-01 7.31928382e-01 -8.61539422e-02 -2.16604766e+01] [-1.24507759e-01 1.81301260e-03 9.92216978e-01 -7.83032095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81591999999999 meters 0.031353169027488234 Centerline is valid? [True, True] Translation: X:72.97, Y:-21.68, Z:-7.83 [[ 7.26211296e-01 6.81658211e-01 8.92145510e-02 7.29719349e+01] [-6.76266864e-01 7.31668489e-01 -8.55824226e-02 -2.16840597e+01] [-1.23613437e-01 1.81807744e-03 9.92328783e-01 -7.83248925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84591999999999 meters 0.03147062484272376 Centerline is valid? [True, True] Translation: X:72.99, Y:-21.71, Z:-7.84 [[ 7.25857616e-01 6.81930877e-01 9.00055635e-02 7.29948295e+01] [-6.76433655e-01 7.31414272e-01 -8.64330531e-02 -2.17068550e+01] [-1.24772721e-01 1.85529746e-03 9.92183615e-01 -7.83679972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87592 meters 0.03139083296516571 Centerline is valid? [True, True] Translation: X:73.02, Y:-21.73, Z:-7.84 [[ 7.25576126e-01 6.82241276e-01 8.99228929e-02 7.30181056e+01] [-6.76745121e-01 7.31124719e-01 -8.64447036e-02 -2.17295485e+01] [-1.24720995e-01 1.86733415e-03 9.92190096e-01 -7.83893850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90592 meters 0.031427943817580274 Centerline is valid? [True, True] Translation: X:73.04, Y:-21.75, Z:-7.84 [[ 7.24278414e-01 6.83790146e-01 8.86104670e-02 7.30409248e+01] [-6.78454384e-01 7.29676872e-01 -8.52719850e-02 -2.17529393e+01] [-1.22965151e-01 1.64249823e-03 9.92409630e-01 -7.84163371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93592 meters 0.03127901264381439 Centerline is valid? [True, True] Translation: X:73.06, Y:-21.78, Z:-7.85 [[ 7.22382214e-01 6.85825334e-01 8.83603304e-02 7.30633703e+01] [-6.80523759e-01 7.27764910e-01 -8.51213761e-02 -2.17771941e+01] [-1.22683944e-01 1.35886399e-03 9.92444862e-01 -7.84619031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96592 meters 0.031386945405893485 Centerline is valid? [True, True] Translation: X:73.09, Y:-21.80, Z:-7.85 [[ 7.21622065e-01 6.86710265e-01 8.76961063e-02 7.30867031e+01] [-6.81483902e-01 7.26930128e-01 -8.45711511e-02 -2.18007011e+01] [-1.21824819e-01 1.26492397e-03 9.92550811e-01 -7.84954301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99592 meters 0.031458617115228134 Centerline is valid? [True, True] Translation: X:73.11, Y:-21.82, Z:-7.85 [[ 7.20973163e-01 6.87152650e-01 8.95484976e-02 7.31105972e+01] [-6.81693936e-01 7.26511931e-01 -8.64510938e-02 -2.18233008e+01] [-1.24463150e-01 1.28425072e-03 9.92223400e-01 -7.85231067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02592 meters 0.03143144216310453 Centerline is valid? [True, True] Translation: X:73.13, Y:-21.85, Z:-7.86 [[ 7.19920620e-01 6.88161324e-01 9.02678946e-02 7.31337117e+01] [-6.82610283e-01 7.25556739e-01 -8.72388680e-02 -2.18460861e+01] [-1.25528894e-01 1.18726684e-03 9.92089254e-01 -7.85512453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05592 meters 0.031539331614867494 Centerline is valid? [True, True] Translation: X:73.16, Y:-21.87, Z:-7.86 [[ 7.19693456e-01 6.88424459e-01 9.00727162e-02 7.31568458e+01] [-6.82887832e-01 7.25307045e-01 -8.71429837e-02 -2.18692183e+01] [-1.25321737e-01 1.20667320e-03 9.92115420e-01 -7.85864629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08592 meters 0.031539331614867494 Centerline is valid? [True, True] Translation: X:73.18, Y:-21.89, Z:-7.86 [[ 7.19327912e-01 6.88812506e-01 9.00260327e-02 7.31803083e+01] [-6.83272874e-01 7.24938532e-01 -8.71911902e-02 -2.18914286e+01] [-1.25321722e-01 1.20671064e-03 9.92115422e-01 -7.86193716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11592 meters 0.03125951298924931 Centerline is valid? [True, True] Translation: X:73.20, Y:-21.92, Z:-7.87 [[ 7.18328935e-01 6.89890736e-01 8.97458299e-02 7.32026223e+01] [-6.84382335e-01 7.23912701e-01 -8.70127601e-02 -2.19153933e+01] [-1.24997443e-01 1.08332268e-03 9.92156472e-01 -7.86584996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14591999999999 meters 0.03126070006175653 Centerline is valid? [True, True] Translation: X:73.22, Y:-21.94, Z:-7.87 [[ 7.17631325e-01 6.90841432e-01 8.79965708e-02 7.32230440e+01] [-6.85542467e-01 7.23005659e-01 -8.54069192e-02 -2.19411706e+01] [-1.22624657e-01 9.65294383e-04 9.92452650e-01 -7.86892773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17591999999999 meters 0.03127017928220863 Centerline is valid? [True, True] Translation: X:73.25, Y:-21.96, Z:-7.87 [[ 7.17637270e-01 6.90931831e-01 8.72350423e-02 7.32462931e+01] [-6.85714108e-01 7.22919214e-01 -8.47583205e-02 -2.19643062e+01] [-1.21626110e-01 1.00743058e-03 9.92575475e-01 -7.87179487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20591999999999 meters 0.03131908257711806 Centerline is valid? [True, True] Translation: X:73.27, Y:-21.99, Z:-7.88 [[ 7.15521849e-01 6.92995585e-01 8.82360655e-02 7.32681324e+01] [-6.87661040e-01 7.20941456e-01 -8.58237156e-02 -2.19886235e+01] [-1.23088494e-01 7.32239112e-04 9.92395429e-01 -7.87553291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23592 meters 0.0313715662885213 Centerline is valid? [True, True] Translation: X:73.29, Y:-22.01, Z:-7.88 [[ 7.14712009e-01 6.93767312e-01 8.87336532e-02 7.32906280e+01] [-6.88366466e-01 7.20198908e-01 -8.64010482e-02 -2.20123159e+01] [-1.23848103e-01 6.70595454e-04 9.92300961e-01 -7.87836328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26592 meters 0.0313184225605018 Centerline is valid? [True, True] Translation: X:73.31, Y:-22.04, Z:-7.88 [[ 7.14146235e-01 6.94406606e-01 8.82871491e-02 7.33137030e+01] [-6.89053354e-01 7.19582570e-01 -8.60604493e-02 -2.20372697e+01] [-1.23290838e-01 6.25189647e-04 9.92370384e-01 -7.88115073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29592 meters 0.03136427057953594 Centerline is valid? [True, True] Translation: X:73.34, Y:-22.06, Z:-7.88 [[ 7.13943186e-01 6.94732319e-01 8.73620786e-02 7.33372934e+01] [-6.89480977e-01 7.19268100e-01 -8.52606799e-02 -2.20608957e+01] [-1.22070106e-01 6.36790148e-04 9.92521276e-01 -7.88465283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32592 meters 0.03132506410963701 Centerline is valid? [True, True] Translation: X:73.36, Y:-22.08, Z:-7.89 [[ 7.13273864e-01 6.95313710e-01 8.81999963e-02 7.33606240e+01] [-6.89952161e-01 7.18706103e-01 -8.61832564e-02 -2.20846673e+01] [-1.23314275e-01 6.18486289e-04 9.92367476e-01 -7.88849169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35592 meters 0.031457887672864955 Centerline is valid? [True, True] Translation: X:73.38, Y:-22.11, Z:-7.89 [[ 7.13063209e-01 6.95436737e-01 8.89303357e-02 7.33828228e+01] [-6.89973356e-01 7.18587005e-01 -8.70027768e-02 -2.21097067e+01] [-1.24409111e-01 6.78917088e-04 9.92230776e-01 -7.89140142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38592 meters 0.031382801102326344 Centerline is valid? [True, True] Translation: X:73.41, Y:-22.13, Z:-7.89 [[ 7.13523659e-01 6.95074794e-01 8.80625878e-02 7.34061958e+01] [-6.89702395e-01 7.18936976e-01 -8.62567699e-02 -2.21338012e+01] [-1.23266357e-01 8.09268342e-04 9.92373292e-01 -7.89443474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41592 meters 0.031203718300856973 Centerline is valid? [True, True] Translation: X:73.43, Y:-22.16, Z:-7.90 [[ 7.14939576e-01 6.93815002e-01 8.64993997e-02 7.34284075e+01] [-6.88610874e-01 7.20152466e-01 -8.48262326e-02 -2.21589184e+01] [-1.21146469e-01 1.08120353e-03 9.92634053e-01 -7.89724595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44592 meters 0.03117724343172407 Centerline is valid? [True, True] Translation: X:73.45, Y:-22.18, Z:-7.90 [[ 7.15349083e-01 6.93463185e-01 8.59331132e-02 7.34523204e+01] [-6.88312449e-01 7.20491051e-01 -8.43718987e-02 -2.21830153e+01] [-1.20422845e-01 1.20652876e-03 9.92721956e-01 -7.90070904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47592 meters 0.031124895048808412 Centerline is valid? [True, True] Translation: X:73.48, Y:-22.21, Z:-7.90 [[ 7.15432760e-01 6.93384508e-01 8.58713585e-02 7.34752875e+01] [-6.88228175e-01 7.20566619e-01 -8.44140241e-02 -2.22074493e+01] [-1.20407411e-01 1.29346994e-03 9.92723719e-01 -7.90440801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50592 meters 0.031333357159560433 Centerline is valid? [True, True] Translation: X:73.50, Y:-22.23, Z:-7.91 [[ 7.15345641e-01 6.93324514e-01 8.70731448e-02 7.34964827e+01] [-6.88008420e-01 7.20624143e-01 -8.57044816e-02 -2.22334122e+01] [-1.22168028e-01 1.40127055e-03 9.92508443e-01 -7.90708648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53591999999999 meters 0.03135341142837883 Centerline is valid? [True, True] Translation: X:73.52, Y:-22.26, Z:-7.91 [[ 7.14501950e-01 6.94010054e-01 8.85268796e-02 7.35193910e+01] [-6.88506041e-01 7.19963979e-01 -8.72427732e-02 -2.22585740e+01] [-1.24283526e-01 1.38384022e-03 9.92245781e-01 -7.90977119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56591999999999 meters 0.03124640912434705 Centerline is valid? [True, True] Translation: X:73.54, Y:-22.28, Z:-7.91 [[ 7.12684106e-01 6.95913536e-01 8.82366965e-02 7.35423837e+01] [-6.90447126e-01 7.18124700e-01 -8.70613613e-02 -2.22830461e+01] [-1.23952131e-01 1.12447491e-03 9.92287562e-01 -7.91296887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59591999999999 meters 0.031006870441513724 Centerline is valid? [True, True] Translation: X:73.57, Y:-22.31, Z:-7.92 [[ 7.11179787e-01 6.97663279e-01 8.65405108e-02 7.35665019e+01] [-6.92406280e-01 7.16425279e-01 -8.54889597e-02 -2.23067936e+01] [-1.21642318e-01 8.76826986e-04 9.92573613e-01 -7.91612549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62592 meters 0.03096044431127298 Centerline is valid? [True, True] Translation: X:73.59, Y:-22.33, Z:-7.92 [[ 7.09996295e-01 6.98957881e-01 8.58087488e-02 7.35903817e+01] [-6.93786834e-01 7.15162470e-01 -8.48673742e-02 -2.23306621e+01] [-1.20685917e-01 7.22541037e-04 9.92690479e-01 -7.91946668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65592 meters 0.0310547651037991 Centerline is valid? [True, True] Translation: X:73.61, Y:-22.36, Z:-7.92 [[ 7.07542893e-01 7.01479128e-01 8.54990450e-02 7.36119811e+01] [-6.96351417e-01 7.12689904e-01 -8.46628877e-02 -2.23569901e+01] [-1.20323555e-01 3.65243399e-04 9.92734662e-01 -7.92257359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68592 meters 0.031007015681764404 Centerline is valid? [True, True] Translation: X:73.64, Y:-22.38, Z:-7.92 [[ 7.05685816e-01 7.03143452e-01 8.71597056e-02 7.36357917e+01] [-6.97813310e-01 7.11048001e-01 -8.64136827e-02 -2.23811394e+01] [-1.22735950e-01 1.59707562e-04 9.92439349e-01 -7.92445046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71592 meters 0.030953569256515483 Centerline is valid? [True, True] Translation: X:73.66, Y:-22.40, Z:-7.93 [[ 7.04410199e-01 7.04268204e-01 8.83887320e-02 7.36600430e+01] [-6.98781489e-01 7.09934007e-01 -8.77390243e-02 -2.24042000e+01] [-1.24541972e-01 3.98538401e-05 9.92214340e-01 -7.92796783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74592 meters 0.03086096237190367 Centerline is valid? [True, True] Translation: X:73.68, Y:-22.43, Z:-7.93 [[ 7.03521425e-01 7.05258604e-01 8.75665763e-02 7.36845028e+01] [-6.99868340e-01 7.08950138e-01 -8.70287834e-02 -2.24285550e+01] [-1.23458135e-01 -5.84606688e-05 9.92349780e-01 -7.93257824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77592 meters 0.03075202912159273 Centerline is valid? [True, True] Translation: X:73.71, Y:-22.45, Z:-7.94 [[ 7.01290472e-01 7.07387538e-01 8.82867266e-02 7.37075169e+01] [-7.01909840e-01 7.06825826e-01 -8.78625585e-02 -2.24547220e+01] [-1.24556217e-01 -3.52147054e-04 9.92212490e-01 -7.93696003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80592 meters 0.030825104113881757 Centerline is valid? [True, True] Translation: X:73.73, Y:-22.48, Z:-7.94 [[ 6.99308853e-01 7.09376366e-01 8.80471450e-02 7.37321800e+01] [-7.03929547e-01 7.04829614e-01 -8.77405707e-02 -2.24788511e+01] [-1.24299323e-01 -6.21229048e-04 9.92244573e-01 -7.93989083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83592 meters 0.03097392248886095 Centerline is valid? [True, True] Translation: X:73.76, Y:-22.50, Z:-7.94 [[ 6.96480367e-01 7.12177628e-01 8.78528612e-02 7.37579118e+01] [-7.06762416e-01 7.01998544e-01 -8.76637474e-02 -2.25024536e+01] [-1.24104740e-01 -1.03502147e-03 9.92268584e-01 -7.94176611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86592 meters 0.0308078152240418 Centerline is valid? [True, True] Translation: X:73.78, Y:-22.53, Z:-7.94 [[ 6.94981837e-01 7.13739857e-01 8.70382813e-02 7.37821725e+01] [-7.08423098e-01 7.00409826e-01 -8.69643052e-02 -2.25275887e+01] [-1.23032358e-01 -1.22131626e-03 9.92401908e-01 -7.94447682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89591999999999 meters 0.030877013980354886 Centerline is valid? [True, True] Translation: X:74.18, Y:-22.50, Z:-5.96 [[ 7.65281902e-01 -6.41254385e-01 -5.60037803e-02 7.41773518e+01] [-6.38660610e-01 -7.67277407e-01 5.82924143e-02 -2.25022025e+01] [-8.03507017e-02 -8.84272124e-03 -9.96727431e-01 -5.95911983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92591999999999 meters 0.030781176348682753 Centerline is valid? [True, True] Translation: X:73.86, Y:-22.62, Z:-7.95 [[ 7.47249257e-01 6.58125668e-01 9.21365998e-02 7.38563394e+01] [-6.53411352e-01 7.52906730e-01 -7.86451547e-02 -2.26192597e+01] [-1.21128661e-01 -1.43556685e-03 9.92635777e-01 -7.95404017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95591999999999 meters 0.030849762229912273 Centerline is valid? [True, True] Translation: X:73.88, Y:-22.64, Z:-7.96 [[ 7.46824519e-01 6.58491268e-01 9.29644436e-02 7.38823072e+01] [-6.53682676e-01 7.52586996e-01 -7.94466718e-02 -2.26403119e+01] [-1.22278771e-01 -1.43652383e-03 9.92494755e-01 -7.95754894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98592 meters 0.030806951802029466 Centerline is valid? [True, True] Translation: X:73.91, Y:-22.66, Z:-7.96 [[ 7.47100175e-01 6.58016892e-01 9.41015386e-02 7.39085533e+01] [-6.53073770e-01 7.53002040e-01 -8.05144613e-02 -2.26620595e+01] [-1.23838526e-01 -1.30287841e-03 9.92301528e-01 -7.96061976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01592 meters 0.030617774784335767 Centerline is valid? [True, True] Translation: X:73.93, Y:-22.68, Z:-7.96 [[ 7.47260100e-01 6.57891454e-01 9.37079409e-02 7.39340606e+01] [-6.52976986e-01 7.53111801e-01 -8.02724802e-02 -2.26833462e+01] [-1.23383135e-01 -1.20470723e-03 9.92358378e-01 -7.96453979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04592 meters 0.030477191483455422 Centerline is valid? [True, True] Translation: X:73.96, Y:-22.70, Z:-7.97 [[ 7.46333083e-01 6.58916442e-01 9.38938310e-02 7.39615578e+01] [-6.53978319e-01 7.52215012e-01 -8.05290933e-02 -2.27031216e+01] [-1.23690293e-01 -1.30300331e-03 9.92320016e-01 -7.96966584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07592 meters 0.03062505955058588 Centerline is valid? [True, True] Translation: X:73.99, Y:-22.72, Z:-7.97 [[ 7.45443219e-01 6.59987551e-01 9.34389592e-02 7.39879169e+01] [-6.55093255e-01 7.51275236e-01 -8.02393127e-02 -2.27245110e+01] [-1.23155324e-01 -1.39738038e-03 9.92386424e-01 -7.97438534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10592 meters 0.03068128222402722 Centerline is valid? [True, True] Translation: X:74.01, Y:-22.75, Z:-7.98 [[ 7.45103016e-01 6.60234022e-01 9.44062119e-02 7.40137409e+01] [-6.55227041e-01 7.51058677e-01 -8.11688854e-02 -2.27459847e+01] [-1.24495064e-01 -1.37832152e-03 9.92219270e-01 -7.97771781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13592 meters 0.030715967381800695 Centerline is valid? [True, True] Translation: X:74.04, Y:-22.77, Z:-7.98 [[ 7.44904729e-01 6.60475252e-01 9.42835374e-02 7.40396113e+01] [-6.55471269e-01 7.50846611e-01 -8.11589886e-02 -2.27680672e+01] [-1.24395978e-01 -1.34443551e-03 9.92231744e-01 -7.98023926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16592 meters 0.03043198164540531 Centerline is valid? [True, True] Translation: X:74.07, Y:-22.79, Z:-7.98 [[ 7.45874397e-01 6.59540598e-01 9.31535504e-02 7.40665905e+01] [-6.54637357e-01 7.51668134e-01 -8.02804265e-02 -2.27889449e+01] [-1.22968756e-01 -1.10267939e-03 9.92409930e-01 -7.98244779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19592 meters 0.030258678561727998 Centerline is valid? [True, True] Translation: X:74.09, Y:-22.81, Z:-7.99 [[ 7.47047267e-01 6.58341492e-01 9.22326482e-02 7.40932185e+01] [-6.53514673e-01 7.52718937e-01 -7.95787332e-02 -2.28081973e+01] [-1.21815243e-01 -8.26313780e-04 9.92552449e-01 -7.98535746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22592 meters 0.030129569738051275 Centerline is valid? [True, True] Translation: X:74.12, Y:-22.83, Z:-7.99 [[ 7.47847111e-01 6.57378687e-01 9.26172791e-02 7.41186366e+01] [-6.52493516e-01 7.53560145e-01 -7.99957466e-02 -2.28289303e+01] [-1.22380189e-01 -6.07586095e-04 9.92483108e-01 -7.99019833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25592 meters 0.029906049964084264 Centerline is valid? [True, True] Translation: X:74.14, Y:-22.85, Z:-7.99 [[ 7.48980401e-01 6.56192481e-01 9.18683073e-02 7.41434968e+01] [-6.51367065e-01 7.54593472e-01 -7.94332402e-02 -2.28497089e+01] [-1.21446720e-01 -3.46049492e-04 9.92597892e-01 -7.99280269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28591999999999 meters 0.02979363142350986 Centerline is valid? [True, True] Translation: X:74.17, Y:-22.87, Z:-8.00 [[ 7.50009262e-01 6.55195561e-01 9.05808121e-02 7.41688010e+01] [-6.50487712e-01 7.55459305e-01 -7.84026463e-02 -2.28707592e+01] [-1.19799183e-01 -1.18994288e-04 9.92798137e-01 -7.99597927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31591999999999 meters 0.029746827142134603 Centerline is valid? [True, True] Translation: X:74.19, Y:-22.89, Z:-8.00 [[ 7.50415074e-01 6.54806668e-01 9.00302373e-02 7.41936767e+01] [-6.50143284e-01 7.55796419e-01 -7.80095074e-02 -2.28925517e+01] [-1.19125677e-01 6.95616040e-06 9.92879184e-01 -7.99876905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34591999999999 meters 0.02973436101141038 Centerline is valid? [True, True] Translation: X:74.22, Y:-22.92, Z:-8.00 [[ 7.52115269e-01 6.52898561e-01 8.97000044e-02 7.42169921e+01] [-6.48245873e-01 7.57445266e-01 -7.78071828e-02 -2.29155141e+01] [-1.18743041e-01 3.72312583e-04 9.92924948e-01 -8.00011719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37592 meters 0.029690147733342474 Centerline is valid? [True, True] Translation: X:74.24, Y:-22.94, Z:-8.00 [[ 7.52608985e-01 6.52382546e-01 8.93125357e-02 7.42414749e+01] [-6.47756538e-01 7.57889667e-01 -7.75546287e-02 -2.29377629e+01] [-1.18284334e-01 5.15531399e-04 9.92979632e-01 -8.00292016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40592 meters 0.029409203375333058 Centerline is valid? [True, True] Translation: X:74.27, Y:-22.96, Z:-8.00 [[ 7.53055627e-01 6.51974148e-01 8.85264527e-02 7.42659732e+01] [-6.47417264e-01 7.58240929e-01 -7.69518012e-02 -2.29597019e+01] [-1.17294965e-01 6.35433088e-04 9.93096917e-01 -8.00456222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43592 meters 0.029285723872760572 Centerline is valid? [True, True] Translation: X:74.29, Y:-22.98, Z:-8.01 [[ 7.51544682e-01 6.53811880e-01 8.78101192e-02 7.42907273e+01] [-6.49333607e-01 7.56657035e-01 -7.63937047e-02 -2.29804345e+01] [-1.16389256e-01 3.95221107e-04 9.93203597e-01 -8.00832430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46592 meters 0.029486560147991708 Centerline is valid? [True, True] Translation: X:74.31, Y:-23.00, Z:-8.01 [[ 7.47183028e-01 6.58723931e-01 8.83193343e-02 7.43149529e+01] [-6.54217293e-01 7.52384669e-01 -7.69223225e-02 -2.30018348e+01] [-1.17120688e-01 -3.04981967e-04 9.93117642e-01 -8.01346964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49592 meters 0.0297043712680734 Centerline is valid? [True, True] Translation: X:74.34, Y:-23.02, Z:-8.02 [[ 7.44691641e-01 6.61464770e-01 8.88747307e-02 7.43393393e+01] [-6.56910425e-01 7.49975934e-01 -7.74905929e-02 -2.30239662e+01] [-1.17911206e-01 -6.76140307e-04 9.93023912e-01 -8.01694186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52592 meters 0.029951159392537712 Centerline is valid? [True, True] Translation: X:74.36, Y:-23.05, Z:-8.02 [[ 7.41075764e-01 6.65565408e-01 8.84838952e-02 7.43641881e+01] [-6.61070443e-01 7.46338463e-01 -7.72319089e-02 -2.30457115e+01] [-1.17441821e-01 -1.25939195e-03 9.93078966e-01 -8.01901230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55592 meters 0.029961358562338926 Centerline is valid? [True, True] Translation: X:74.39, Y:-23.07, Z:-8.02 [[ 7.40004109e-01 6.66834594e-01 8.78950710e-02 7.43892325e+01] [-6.62398857e-01 7.45204463e-01 -7.67988455e-02 -2.30669737e+01] [-1.16711926e-01 -1.39013338e-03 9.93164837e-01 -8.02100607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58592 meters 0.02992506530366212 Centerline is valid? [True, True] Translation: X:74.41, Y:-23.09, Z:-8.02 [[ 7.39607490e-01 6.67320447e-01 8.75453114e-02 7.44146247e+01] [-6.62914048e-01 7.44769400e-01 -7.65735291e-02 -2.30883953e+01] [-1.16300151e-01 -1.40066114e-03 9.93213126e-01 -8.02430342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61592 meters 0.03000313477148255 Centerline is valid? [True, True] Translation: X:74.44, Y:-23.11, Z:-8.03 [[ 7.39993193e-01 6.66800158e-01 8.82475087e-02 7.44401776e+01] [-6.62309210e-01 7.45235493e-01 -7.72694670e-02 -2.31091284e+01] [-1.17288469e-01 -1.26825818e-03 9.93097078e-01 -8.02787093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64591999999999 meters 0.030032381095241197 Centerline is valid? [True, True] Translation: X:74.47, Y:-23.13, Z:-8.03 [[ 7.40826329e-01 6.65769757e-01 8.90335976e-02 7.44662445e+01] [-6.61180828e-01 7.46156501e-01 -7.80409465e-02 -2.31284045e+01] [-1.18390300e-01 -1.05251987e-03 9.92966580e-01 -8.03271759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67591999999999 meters 0.029777759039522532 Centerline is valid? [True, True] Translation: X:74.49, Y:-23.15, Z:-8.04 [[ 7.41796246e-01 6.64705325e-01 8.89109712e-02 7.44942819e+01] [-6.60111673e-01 7.47105187e-01 -7.80155117e-02 -2.31457769e+01] [-1.18283174e-01 -8.19556193e-04 9.92979566e-01 -8.03637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70591999999999 meters 0.029609551247312526 Centerline is valid? [True, True] Translation: X:74.52, Y:-23.17, Z:-8.04 [[ 7.41412229e-01 6.65136067e-01 8.88927347e-02 7.45200408e+01] [-6.60537571e-01 7.46721722e-01 -7.80819260e-02 -2.31666549e+01] [-1.18313241e-01 -8.26096296e-04 9.92975979e-01 -8.03862564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73592 meters 0.029646226072088732 Centerline is valid? [True, True] Translation: X:74.54, Y:-23.19, Z:-8.04 [[ 7.41296944e-01 6.65281131e-01 8.87685559e-02 7.45447241e+01] [-6.60686716e-01 7.46592525e-01 -7.80555257e-02 -2.31881631e+01] [-1.18202809e-01 -7.85882907e-04 9.92989163e-01 -8.04185555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76592 meters 0.02963880532122821 Centerline is valid? [True, True] Translation: X:74.57, Y:-23.21, Z:-8.04 [[ 7.41737569e-01 6.64841506e-01 8.83807129e-02 7.45690888e+01] [-6.60274375e-01 7.46984169e-01 -7.77971765e-02 -2.32107703e+01] [-1.17741785e-01 -6.50431428e-04 9.93044032e-01 -8.04389811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79592 meters 0.029395073736620425 Centerline is valid? [True, True] Translation: X:74.59, Y:-23.23, Z:-8.05 [[ 7.41831499e-01 6.64981832e-01 8.65169940e-02 7.45942260e+01] [-6.60597635e-01 7.46859294e-01 -7.62362089e-02 -2.32322694e+01] [-1.15311715e-01 -5.98500617e-04 9.93329175e-01 -8.04610387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82592 meters 0.029365560901627806 Centerline is valid? [True, True] Translation: X:74.62, Y:-23.25, Z:-8.05 [[ 7.41898681e-01 6.64834852e-01 8.70687517e-02 7.46198925e+01] [-6.60383708e-01 7.46990196e-01 -7.68049876e-02 -2.32520122e+01] [-1.16102136e-01 -5.17266094e-04 9.93237145e-01 -8.05068759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85592 meters 0.029415319914447756 Centerline is valid? [True, True] Translation: X:74.64, Y:-23.27, Z:-8.05 [[ 7.41665026e-01 6.65064613e-01 8.73043493e-02 7.46444427e+01] [-6.60581128e-01 7.46785657e-01 -7.70957597e-02 -2.32730507e+01] [-1.16471297e-01 -4.92376929e-04 9.93193936e-01 -8.05363603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88592 meters 0.029452652439925297 Centerline is valid? [True, True] Translation: X:74.67, Y:-23.30, Z:-8.06 [[ 7.41443188e-01 6.65130257e-01 8.86777277e-02 7.46687071e+01] [-6.60494285e-01 7.46727221e-01 -7.83948822e-02 -2.32954869e+01] [-1.18360881e-01 -4.45781018e-04 9.92970545e-01 -8.05622321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91592 meters 0.029540131259325232 Centerline is valid? [True, True] Translation: X:74.69, Y:-23.32, Z:-8.06 [[ 7.41205074e-01 6.65394363e-01 8.86869784e-02 7.46935803e+01] [-6.60749083e-01 7.46491904e-01 -7.84887691e-02 -2.33172174e+01] [-1.18430096e-01 -4.23565712e-04 9.92962302e-01 -8.05884843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94592 meters 0.029396097325798048 Centerline is valid? [True, True] Translation: X:74.72, Y:-23.34, Z:-8.06 [[ 7.40684062e-01 6.66026178e-01 8.82963800e-02 7.47187575e+01] [-6.61416446e-01 7.45928226e-01 -7.82263813e-02 -2.33379859e+01] [-1.17963580e-01 -4.59644032e-04 9.93017816e-01 -8.06182328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97592 meters 0.0293356265912642 Centerline is valid? [True, True] Translation: X:74.74, Y:-23.36, Z:-8.07 [[ 7.40415548e-01 6.66467575e-01 8.72111662e-02 7.47437533e+01] [-6.61964291e-01 7.45533875e-01 -7.73467430e-02 -2.33587298e+01] [-1.16567975e-01 -4.61946709e-04 9.93182609e-01 -8.06559043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00592 meters 0.029251096697006648 Centerline is valid? [True, True] Translation: X:74.77, Y:-23.38, Z:-8.07 [[ 7.40384063e-01 6.66636117e-01 8.61842553e-02 7.47685294e+01] [-6.62230316e-01 7.45383196e-01 -7.65173116e-02 -2.33802099e+01] [-1.15249499e-01 -4.21628573e-04 9.93336486e-01 -8.06849675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03591999999999 meters 0.029251096697006648 Centerline is valid? [True, True] Translation: X:74.79, Y:-23.40, Z:-8.07 [[ 7.40032589e-01 6.67031534e-01 8.61434860e-02 7.47929097e+01] [-6.62623063e-01 7.45029366e-01 -7.65631857e-02 -2.34013756e+01] [-1.15249486e-01 -4.21407956e-04 9.93336488e-01 -8.07177671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06591999999999 meters 0.029503401336217556 Centerline is valid? [True, True] Translation: X:74.82, Y:-23.42, Z:-8.07 [[ 7.39208110e-01 6.67839944e-01 8.69550417e-02 7.48178960e+01] [-6.63343547e-01 7.44304756e-01 -7.73677553e-02 -2.34227134e+01] [-1.16390328e-01 -4.90193610e-04 9.93203429e-01 -8.07461217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09591999999999 meters 0.02947212785609163 Centerline is valid? [True, True] Translation: X:74.84, Y:-23.44, Z:-8.08 [[ 7.39419956e-01 6.67548850e-01 8.73879884e-02 7.48435391e+01] [-6.62995587e-01 7.44565904e-01 -7.78361582e-02 -2.34437986e+01] [-1.17025554e-01 -3.84241921e-04 9.93128829e-01 -8.07712981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12592 meters 0.029603370629798356 Centerline is valid? [True, True] Translation: X:74.87, Y:-23.46, Z:-8.08 [[ 7.39959703e-01 6.66738957e-01 8.89876416e-02 7.48691187e+01] [-6.62000628e-01 7.45291302e-01 -7.93476162e-02 -2.34636887e+01] [-1.19225862e-01 -1.95836100e-04 9.92867139e-01 -8.08120135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15592 meters 0.029618021721884633 Centerline is valid? [True, True] Translation: X:74.89, Y:-23.48, Z:-8.08 [[ 7.40880492e-01 6.65779282e-01 8.85101334e-02 7.48943217e+01] [-6.61074996e-01 7.46148743e-01 -7.90057136e-02 -2.34842106e+01] [-1.18642092e-01 2.19559020e-05 9.92937084e-01 -8.08478170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18592 meters 0.02945288158857121 Centerline is valid? [True, True] Translation: X:74.92, Y:-23.50, Z:-8.09 [[ 7.41969396e-01 6.64747369e-01 8.71340939e-02 7.49193543e+01] [-6.60171904e-01 7.47068186e-01 -7.78600149e-02 -2.35048487e+01] [-1.16852349e-01 2.46267539e-04 9.93149268e-01 -8.08703698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21592 meters 0.029569299270801302 Centerline is valid? [True, True] Translation: X:74.94, Y:-23.53, Z:-8.09 [[ 7.42232502e-01 6.64461123e-01 8.70765688e-02 7.49446475e+01] [-6.59879893e-01 7.47322748e-01 -7.78924737e-02 -2.35261040e+01] [-1.16830821e-01 3.54248764e-04 9.93151768e-01 -8.09081021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24592 meters 0.02964915117397112 Centerline is valid? [True, True] Translation: X:74.97, Y:-23.55, Z:-8.09 [[ 7.42376188e-01 6.64320415e-01 8.69251549e-02 7.49699389e+01] [-6.59744263e-01 7.47447786e-01 -7.78415920e-02 -2.35469168e+01] [-1.16683773e-01 4.39372044e-04 9.93169021e-01 -8.09339214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27592 meters 0.029534585949007975 Centerline is valid? [True, True] Translation: X:75.00, Y:-23.57, Z:-8.10 [[ 7.43229404e-01 6.63468291e-01 8.61387242e-02 7.49954801e+01] [-6.58959496e-01 7.48204136e-01 -7.72201644e-02 -2.35673219e+01] [-1.15682480e-01 6.30366420e-04 9.93286045e-01 -8.09651051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30592 meters 0.029467786413665185 Centerline is valid? [True, True] Translation: X:75.02, Y:-23.59, Z:-8.10 [[ 7.43227927e-01 6.63646439e-01 8.47682271e-02 7.50204254e+01] [-6.59272310e-01 7.48046106e-01 -7.60726321e-02 -2.35882092e+01] [-1.13895874e-01 6.53959792e-04 9.93492477e-01 -8.09910102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33592 meters 0.029539702111782196 Centerline is valid? [True, True] Translation: X:75.05, Y:-23.61, Z:-8.10 [[ 7.43038386e-01 6.63857867e-01 8.47743431e-02 7.50453102e+01] [-6.59475037e-01 7.47858452e-01 -7.61604294e-02 -2.36100608e+01] [-1.13958909e-01 6.83559486e-04 9.93485229e-01 -8.10302156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36592 meters 0.029440154809276683 Centerline is valid? [True, True] Translation: X:75.07, Y:-23.63, Z:-8.11 [[ 7.42338823e-01 6.64642934e-01 8.47516564e-02 7.50697352e+01] [-6.60258078e-01 7.47160880e-01 -7.62226382e-02 -2.36322238e+01] [-1.13983960e-01 6.25057755e-04 9.93482393e-01 -8.10542224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39591999999999 meters 0.02948760932412138 Centerline is valid? [True, True] Translation: X:75.09, Y:-23.65, Z:-8.11 [[ 7.41935702e-01 6.64994652e-01 8.55191623e-02 7.50932538e+01] [-6.60522294e-01 7.46847845e-01 -7.69973730e-02 -2.36544380e+01] [-1.15072643e-01 6.39786655e-04 9.93356873e-01 -8.10942232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42591999999999 meters 0.029427529443733627 Centerline is valid? [True, True] Translation: X:75.12, Y:-23.68, Z:-8.11 [[ 7.40983242e-01 6.66121536e-01 8.50054994e-02 7.51180291e+01] [-6.61700845e-01 7.45843030e-01 -7.66170118e-02 -2.36766206e+01] [-1.14437001e-01 5.23711080e-04 9.93430369e-01 -8.11214710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45591999999999 meters 0.029307652240949836 Centerline is valid? [True, True] Translation: X:75.14, Y:-23.70, Z:-8.12 [[ 7.40600153e-01 6.66422788e-01 8.59772190e-02 7.51432332e+01] [-6.61892259e-01 7.45573853e-01 -7.75774922e-02 -2.36982616e+01] [-1.15801775e-01 5.46246798e-04 9.93272194e-01 -8.11591606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48592 meters 0.029230740578102224 Centerline is valid? [True, True] Translation: X:75.17, Y:-23.72, Z:-8.12 [[ 7.39618704e-01 6.67664279e-01 8.47855189e-02 7.51676197e+01] [-6.63257653e-01 7.44462386e-01 -7.65835606e-02 -2.37202967e+01] [-1.14251737e-01 4.07989595e-04 9.93451747e-01 -8.11695481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51592 meters 0.029243838219942257 Centerline is valid? [True, True] Translation: X:75.19, Y:-23.74, Z:-8.12 [[ 7.38546931e-01 6.68829700e-01 8.49427090e-02 7.51916509e+01] [-6.64404711e-01 7.43415596e-01 -7.68090557e-02 -2.37428394e+01] [-1.14519912e-01 2.90756276e-04 9.93420910e-01 -8.12105157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54592 meters 0.029163843146751828 Centerline is valid? [True, True] Translation: X:75.22, Y:-23.76, Z:-8.12 [[ 7.37493892e-01 6.70032438e-01 8.46125975e-02 7.52162767e+01] [-6.65640235e-01 7.42331802e-01 -7.65935581e-02 -2.37644810e+01] [-1.14130790e-01 1.65731963e-04 9.93465719e-01 -8.12342630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57592 meters 0.028975781734271795 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.79, Z:-8.13 [[ 7.36811830e-01 6.70777378e-01 8.46524395e-02 7.52418412e+01] [-6.66376354e-01 7.41658746e-01 -7.67128312e-02 -2.37856968e+01] [-1.14240454e-01 1.12537519e-04 9.93453122e-01 -8.12647984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60592 meters 0.028879576117715196 Centerline is valid? [True, True] Translation: X:75.27, Y:-23.81, Z:-8.13 [[ 7.34902117e-01 6.72838972e-01 8.48916768e-02 7.52672867e+01] [-6.68416987e-01 7.39788954e-01 -7.70132161e-02 -2.38069143e+01] [-1.14619418e-01 -1.45863308e-04 9.93409466e-01 -8.12909411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63592 meters 0.028965708019096727 Centerline is valid? [True, True] Translation: X:75.29, Y:-23.83, Z:-8.13 [[ 7.33256644e-01 6.74784051e-01 8.36730478e-02 7.52916576e+01] [-6.70491870e-01 7.38015134e-01 -7.59889065e-02 -2.38284507e+01] [-1.13028078e-01 -3.82727811e-04 9.93591721e-01 -8.13118600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66592 meters 0.02893474145402008 Centerline is valid? [True, True] Translation: X:75.32, Y:-23.85, Z:-8.13 [[ 7.31415235e-01 6.76839885e-01 8.31836824e-02 7.53170910e+01] [-6.72601979e-01 7.36129993e-01 -7.56254714e-02 -2.38494412e+01] [-1.12420339e-01 -6.35887431e-04 9.93660537e-01 -8.13401727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69592 meters 0.02897087013442102 Centerline is valid? [True, True] Translation: X:75.34, Y:-23.87, Z:-8.14 [[ 7.29200163e-01 6.79245757e-01 8.30200186e-02 7.53438783e+01] [-6.75030943e-01 7.33910287e-01 -7.55573746e-02 -2.38679749e+01] [-1.12251272e-01 -9.44631506e-04 9.93679405e-01 -8.13763385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72592 meters 0.028889008119631788 Centerline is valid? [True, True] Translation: X:75.37, Y:-23.89, Z:-8.14 [[ 7.27893258e-01 6.80574978e-01 8.36008576e-02 7.53696390e+01] [-6.76300221e-01 7.32677620e-01 -7.61676821e-02 -2.38888581e+01] [-1.13090296e-01 -1.09733620e-03 9.93584109e-01 -8.14119347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75592 meters 0.029054114480211536 Centerline is valid? [True, True] Translation: X:75.40, Y:-23.91, Z:-8.14 [[ 7.26985461e-01 6.81541951e-01 8.36224165e-02 7.53958663e+01] [-6.77262163e-01 7.31778078e-01 -7.62679922e-02 -2.39095368e+01] [-1.13172887e-01 -1.18857716e-03 9.93574600e-01 -8.14364423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78591999999999 meters 0.02892657055296459 Centerline is valid? [True, True] Translation: X:75.42, Y:-23.93, Z:-8.15 [[ 7.26820685e-01 6.81668179e-01 8.40249144e-02 7.54216480e+01] [-6.77338470e-01 7.31660551e-01 -7.67165920e-02 -2.39298340e+01] [-1.13772975e-01 -1.15410103e-03 9.93506104e-01 -8.14687402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81591999999999 meters 0.028982253624876827 Centerline is valid? [True, True] Translation: X:75.45, Y:-23.95, Z:-8.15 [[ 7.25663563e-01 6.82957497e-01 8.35550782e-02 7.54487093e+01] [-6.78675582e-01 7.30456977e-01 -7.63679251e-02 -2.39486399e+01] [-1.13189437e-01 -1.28937076e-03 9.93572589e-01 -8.14938446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84591999999999 meters 0.028942811856586988 Centerline is valid? [True, True] Translation: X:75.47, Y:-23.97, Z:-8.15 [[ 7.24834363e-01 6.83726011e-01 8.44623433e-02 7.54748355e+01] [-6.79345981e-01 7.29737542e-01 -7.72797405e-02 -2.39693453e+01] [-1.14473512e-01 -1.36414195e-03 9.93425364e-01 -8.15281180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87592 meters 0.02896012324387608 Centerline is valid? [True, True] Translation: X:75.50, Y:-23.99, Z:-8.16 [[ 7.23723549e-01 6.84907266e-01 8.44171867e-02 7.55003928e+01] [-6.80530561e-01 7.28628723e-01 -7.73197295e-02 -2.39892838e+01] [-1.14465631e-01 -1.49036636e-03 9.93426091e-01 -8.15638139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90592 meters 0.02901205344589023 Centerline is valid? [True, True] Translation: X:75.53, Y:-24.01, Z:-8.16 [[ 7.22868643e-01 6.85783416e-01 8.46287813e-02 7.55284346e+01] [-6.81381185e-01 7.27803979e-01 -7.75954259e-02 -2.40070490e+01] [-1.14806820e-01 -1.57315896e-03 9.93386591e-01 -8.15948019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93592 meters 0.028891315922257688 Centerline is valid? [True, True] Translation: X:75.55, Y:-24.03, Z:-8.16 [[ 7.22459205e-01 6.86187557e-01 8.48488856e-02 7.55540239e+01] [-6.81755661e-01 7.27422940e-01 -7.78786564e-02 -2.40272683e+01] [-1.15160391e-01 -1.58205593e-03 9.93345651e-01 -8.16324864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96592 meters 0.028660443859168844 Centerline is valid? [True, True] Translation: X:75.58, Y:-24.05, Z:-8.17 [[ 7.24361148e-01 6.84083810e-01 8.56169853e-02 7.55808059e+01] [-6.79546668e-01 7.29402431e-01 -7.86665057e-02 -2.40463081e+01] [-1.16263720e-01 -1.19777671e-03 9.93217656e-01 -8.16569264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99592 meters 0.02854258573389387 Centerline is valid? [True, True] Translation: X:75.61, Y:-24.07, Z:-8.17 [[ 7.25528638e-01 6.82804340e-01 8.59443385e-02 7.56057175e+01] [-6.78213690e-01 7.30600683e-01 -7.90495601e-02 -2.40672665e+01] [-1.16766375e-01 -9.35907335e-04 9.93158969e-01 -8.16915080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02592 meters 0.028356558688408886 Centerline is valid? [True, True] Translation: X:75.63, Y:-24.09, Z:-8.17 [[ 7.26302642e-01 6.82046569e-01 8.54221830e-02 7.56301368e+01] [-6.77496766e-01 7.31308361e-01 -7.86524848e-02 -2.40889126e+01] [-1.16114614e-01 -7.47745151e-04 9.93235540e-01 -8.17244495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05592 meters 0.028113679066537358 Centerline is valid? [True, True] Translation: X:75.66, Y:-24.11, Z:-8.17 [[ 7.26134829e-01 6.82237442e-01 8.53245795e-02 7.56562577e+01] [-6.77689583e-01 7.31130331e-01 -7.86464784e-02 -2.41095434e+01] [-1.16038960e-01 -7.15631579e-04 9.93244405e-01 -8.17439154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08592 meters 0.028134733893620225 Centerline is valid? [True, True] Translation: X:75.68, Y:-24.13, Z:-8.18 [[ 7.25340561e-01 6.83020148e-01 8.58169441e-02 7.56823615e+01] [-6.78414900e-01 7.30399113e-01 -7.91856000e-02 -2.41299610e+01] [-1.16765980e-01 -7.82966000e-04 9.93159148e-01 -8.17836874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11592 meters 0.028246919354773102 Centerline is valid? [True, True] Translation: X:75.71, Y:-24.15, Z:-8.18 [[ 7.23437942e-01 6.85264670e-01 8.39635433e-02 7.57089493e+01] [-6.80862431e-01 7.28293354e-01 -7.75573368e-02 -2.41496270e+01] [-1.14297393e-01 -1.05970214e-03 9.93446014e-01 -8.18202516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14591999999999 meters 0.028133196836751032 Centerline is valid? [True, True] Translation: X:75.73, Y:-24.17, Z:-8.19 [[ 7.22224103e-01 6.86602847e-01 8.34797930e-02 7.57332070e+01] [-6.82250914e-01 7.27031692e-01 -7.71920341e-02 -2.41710623e+01] [-1.13692726e-01 -1.20421749e-03 9.93515231e-01 -8.18595231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17591999999999 meters 0.028398338020927928 Centerline is valid? [True, True] Translation: X:75.76, Y:-24.19, Z:-8.19 [[ 7.19436348e-01 6.89604137e-01 8.28098739e-02 7.57578187e+01] [-6.85332595e-01 7.24184753e-01 -7.66529671e-02 -2.41924935e+01] [-1.12829851e-01 -1.60537505e-03 9.93613027e-01 -8.18827887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20591999999999 meters 0.028542593418862693 Centerline is valid? [True, True] Translation: X:75.78, Y:-24.21, Z:-8.19 [[ 7.18553069e-01 6.90501520e-01 8.30008381e-02 7.57832846e+01] [-6.86207043e-01 7.23328963e-01 -7.69097283e-02 -2.42138675e+01] [-1.13143194e-01 -1.69203841e-03 9.93577251e-01 -8.19105894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23592 meters 0.02847269067565115 Centerline is valid? [True, True] Translation: X:75.81, Y:-24.23, Z:-8.19 [[ 7.18512155e-01 6.90450715e-01 8.37740603e-02 7.58092391e+01] [-6.86065824e-01 7.23377578e-01 -7.77082019e-02 -2.42339802e+01] [-1.14253960e-01 -1.64023207e-03 9.93450221e-01 -8.19329116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26592 meters 0.028603901026638196 Centerline is valid? [True, True] Translation: X:75.83, Y:-24.25, Z:-8.20 [[ 7.19034844e-01 6.89692573e-01 8.55163616e-02 7.58344320e+01] [-6.85107453e-01 7.24100777e-01 -7.94093380e-02 -2.42544206e+01] [-1.16690495e-01 -1.48981572e-03 9.93167211e-01 -8.19861740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29592 meters 0.028320252916155787 Centerline is valid? [True, True] Translation: X:75.86, Y:-24.27, Z:-8.20 [[ 7.20484765e-01 6.88029441e-01 8.67017377e-02 7.58604949e+01] [-6.83293657e-01 7.25681823e-01 -8.05957190e-02 -2.42740476e+01] [-1.18370103e-01 -1.17475974e-03 9.92968851e-01 -8.20193079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32592 meters 0.02816790871050045 Centerline is valid? [True, True] Translation: X:75.89, Y:-24.30, Z:-8.20 [[ 7.21068727e-01 6.87550234e-01 8.56420877e-02 7.58850393e+01] [-6.82916818e-01 7.26136097e-01 -7.96930883e-02 -2.42956560e+01] [-1.16980813e-01 -1.02222828e-03 9.93133649e-01 -8.20469587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35592 meters 0.028252910772978142 Centerline is valid? [True, True] Translation: X:75.91, Y:-24.32, Z:-8.21 [[ 7.20721077e-01 6.87943572e-01 8.54094300e-02 7.59097258e+01] [-6.83328619e-01 7.25763456e-01 -7.95575540e-02 -2.43173501e+01] [-1.16718151e-01 -1.02390186e-03 9.93164551e-01 -8.20722645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38592 meters 0.028138728269706693 Centerline is valid? [True, True] Translation: X:75.94, Y:-24.34, Z:-8.21 [[ 7.19790455e-01 6.88851510e-01 8.59377607e-02 7.59359579e+01] [-6.84175451e-01 7.24901615e-01 -8.01348890e-02 -2.43368107e+01] [-1.17497461e-01 -1.11617797e-03 9.93072556e-01 -8.20940889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41592 meters 0.02837784713331137 Centerline is valid? [True, True] Translation: X:75.96, Y:-24.36, Z:-8.21 [[ 7.19014725e-01 6.89572987e-01 8.66424822e-02 7.59617199e+01] [-6.84814597e-01 7.24215230e-01 -8.08781069e-02 -2.43578058e+01] [-1.18519163e-01 -1.18148672e-03 9.92951062e-01 -8.21303420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44592 meters 0.0283260794846167 Centerline is valid? [True, True] Translation: X:75.99, Y:-24.38, Z:-8.22 [[ 7.19004300e-01 6.89586121e-01 8.66244726e-02 7.59868114e+01] [-6.84819624e-01 7.24202820e-01 -8.09466296e-02 -2.43791712e+01] [-1.18553360e-01 -1.12116402e-03 9.92947050e-01 -8.21649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47592 meters 0.02825711281023637 Centerline is valid? [True, True] Translation: X:76.01, Y:-24.40, Z:-8.22 [[ 7.19086741e-01 6.89389689e-01 8.74992318e-02 7.60116209e+01] [-6.84514099e-01 7.24389938e-01 -8.18514854e-02 -2.44009842e+01] [-1.19811133e-01 -1.03613995e-03 9.92796162e-01 -8.21977977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50592 meters 0.028356924678521335 Centerline is valid? [True, True] Translation: X:76.04, Y:-24.42, Z:-8.22 [[ 7.18809984e-01 6.89658465e-01 8.76550579e-02 7.60360684e+01] [-6.84756896e-01 7.24134078e-01 -8.20842930e-02 -2.44221285e+01] [-1.20084142e-01 -1.01939595e-03 9.92763194e-01 -8.22367591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53591999999999 meters 0.028287730765857166 Centerline is valid? [True, True] Translation: X:76.06, Y:-24.44, Z:-8.23 [[ 7.19242414e-01 6.89018173e-01 8.91308450e-02 7.60632322e+01] [-6.83933618e-01 7.24743550e-01 -8.35559260e-02 -2.44415922e+01] [-1.22168556e-01 -8.62615392e-04 9.92508992e-01 -8.22747151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56591999999999 meters 0.028469568728798453 Centerline is valid? [True, True] Translation: X:76.09, Y:-24.46, Z:-8.23 [[ 7.19710975e-01 6.88437272e-01 8.98344859e-02 7.60879412e+01] [-6.83256286e-01 7.25295543e-01 -8.43043459e-02 -2.44629384e+01] [-1.23194806e-01 -7.05214257e-04 9.92382256e-01 -8.23148086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59591999999999 meters 0.028520843692256655 Centerline is valid? [True, True] Translation: X:76.11, Y:-24.48, Z:-8.24 [[ 7.20225953e-01 6.87770326e-01 9.08105421e-02 7.61127931e+01] [-6.82458904e-01 7.25928162e-01 -8.53120604e-02 -2.44848824e+01] [-1.24597034e-01 -5.30502958e-04 9.92207286e-01 -8.23545624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62592 meters 0.02839090694143408 Centerline is valid? [True, True] Translation: X:76.14, Y:-24.51, Z:-8.24 [[ 7.20855291e-01 6.87079130e-01 9.10489926e-02 7.61376365e+01] [-6.81722856e-01 7.26582514e-01 -8.56259181e-02 -2.45060850e+01] [-1.24986387e-01 -3.46283210e-04 9.92158396e-01 -8.23874437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65592 meters 0.028475028569834967 Centerline is valid? [True, True] Translation: X:76.16, Y:-24.53, Z:-8.24 [[ 7.22233914e-01 6.85677106e-01 9.06922261e-02 7.61633948e+01] [-6.80341268e-01 7.27905835e-01 -8.53747843e-02 -2.45264298e+01] [-1.24554936e-01 -4.10995579e-05 9.92212712e-01 -8.24336927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68592 meters 0.028594022993599203 Centerline is valid? [True, True] Translation: X:76.19, Y:-24.55, Z:-8.25 [[ 7.22453982e-01 6.85479047e-01 9.04362781e-02 7.61871510e+01] [-6.80160318e-01 7.28092352e-01 -8.52259884e-02 -2.45490574e+01] [-1.24266592e-01 6.06870679e-05 9.92248865e-01 -8.24675650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71592 meters 0.028432056097372597 Centerline is valid? [True, True] Translation: X:76.21, Y:-24.57, Z:-8.25 [[ 7.24067271e-01 6.83790818e-01 9.03144743e-02 7.62104068e+01] [-6.78461880e-01 7.29677972e-01 -8.52029073e-02 -2.45720312e+01] [-1.24161448e-01 4.17708532e-04 9.92261941e-01 -8.24917897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74592 meters 0.028397228812916547 Centerline is valid? [True, True] Translation: X:76.23, Y:-24.59, Z:-8.25 [[ 7.23941491e-01 6.83949632e-01 9.01200265e-02 7.62346027e+01] [-6.78633505e-01 7.29529090e-01 -8.51109436e-02 -2.45937303e+01] [-1.23956779e-01 4.56873884e-04 9.92287513e-01 -8.25196085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77592 meters 0.028582057980241306 Centerline is valid? [True, True] Translation: X:76.26, Y:-24.62, Z:-8.26 [[ 7.23979641e-01 6.83823808e-01 9.07660670e-02 7.62583752e+01] [-6.78418212e-01 7.29646968e-01 -8.58139398e-02 -2.46157962e+01] [-1.24908801e-01 5.50192475e-04 9.92168075e-01 -8.25589997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80592 meters 0.028714227638892836 Centerline is valid? [True, True] Translation: X:76.28, Y:-24.64, Z:-8.26 [[ 7.23544135e-01 6.84203320e-01 9.13766956e-02 7.62817800e+01] [-6.78715649e-01 7.29291099e-01 -8.64844587e-02 -2.46386450e+01] [-1.25813165e-01 5.56529688e-04 9.92053798e-01 -8.25977585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83592 meters 0.02865490544185317 Centerline is valid? [True, True] Translation: X:76.31, Y:-24.66, Z:-8.26 [[ 7.23661095e-01 6.83996960e-01 9.19933614e-02 7.63052610e+01] [-6.78421012e-01 7.29484555e-01 -8.71620023e-02 -2.46609046e+01] [-1.26726281e-01 6.65520611e-04 9.91937501e-01 -8.26239374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86592 meters 0.028693998329468815 Centerline is valid? [True, True] Translation: X:76.33, Y:-24.68, Z:-8.27 [[ 7.23928770e-01 6.83863462e-01 9.08729917e-02 7.63289344e+01] [-6.78410672e-01 7.29609627e-01 -8.61902070e-02 -2.46833926e+01] [-1.25244143e-01 7.46363195e-04 9.92125671e-01 -8.26560565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89591999999999 meters 0.028693998329468815 Centerline is valid? [True, True] Translation: X:76.35, Y:-24.71, Z:-8.27 [[ 7.23568029e-01 6.84251074e-01 9.08282729e-02 7.63526326e+01] [-6.78795414e-01 7.29246126e-01 -8.62373116e-02 -2.47053846e+01] [-1.25244139e-01 7.44746508e-04 9.92125673e-01 -8.26888604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92591999999999 meters 0.028654429833540117 Centerline is valid? [True, True] Translation: X:76.38, Y:-24.73, Z:-8.27 [[ 7.23045033e-01 6.84888318e-01 9.01879828e-02 7.63762812e+01] [-6.79503198e-01 7.28647725e-01 -8.57198684e-02 -2.47277216e+01] [-1.24423805e-01 6.96302288e-04 9.92228921e-01 -8.27225896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95591999999999 meters 0.028739296843926766 Centerline is valid? [True, True] Translation: X:76.40, Y:-24.75, Z:-8.28 [[ 7.21535554e-01 6.86522998e-01 8.98477429e-02 7.64003748e+01] [-6.81179980e-01 7.27107931e-01 -8.54862043e-02 -2.47492925e+01] [-1.24017252e-01 4.78852000e-04 9.92279946e-01 -8.27616212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98592 meters 0.028665772895742722 Centerline is valid? [True, True] Translation: X:76.42, Y:-24.77, Z:-8.28 [[ 7.20529517e-01 6.87614771e-01 8.95719890e-02 7.64237531e+01] [-6.82301722e-01 7.26075615e-01 -8.53144815e-02 -2.47719569e+01] [-1.23699535e-01 3.56479847e-04 9.92319655e-01 -8.27921473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01592 meters 0.028628400238394643 Centerline is valid? [True, True] Translation: X:76.45, Y:-24.79, Z:-8.28 [[ 7.19343946e-01 6.88899273e-01 8.92304807e-02 7.64471072e+01] [-6.83625385e-01 7.24857055e-01 -8.50798553e-02 -2.47944571e+01] [-1.23290794e-01 2.01457140e-04 9.92370566e-01 -8.28198617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04592 meters 0.028642337341781433 Centerline is valid? [True, True] Translation: X:76.47, Y:-24.82, Z:-8.29 [[ 7.19005564e-01 6.89361609e-01 8.83830945e-02 7.64703690e+01] [-6.84180227e-01 7.24417378e-01 -8.43616038e-02 -2.48172188e+01] [-1.22181900e-01 1.86496921e-04 9.92507707e-01 -8.28613596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07592 meters 0.0288437598707623 Centerline is valid? [True, True] Translation: X:76.49, Y:-24.84, Z:-8.29 [[ 7.18721631e-01 6.89499994e-01 8.96045508e-02 7.64927666e+01] [-6.84163492e-01 7.24285651e-01 -8.56189971e-02 -2.48403697e+01] [-1.23933588e-01 2.32062924e-04 9.92290488e-01 -8.29019618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10592 meters 0.028952797064198035 Centerline is valid? [True, True] Translation: X:76.52, Y:-24.86, Z:-8.29 [[ 7.18196150e-01 6.90090299e-01 8.92730009e-02 7.65158322e+01] [-6.84786680e-01 7.23723249e-01 -8.53924025e-02 -2.48642231e+01] [-1.23537415e-01 1.95532898e-04 9.92339896e-01 -8.29392882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13592 meters 0.0288538724632683 Centerline is valid? [True, True] Translation: X:76.54, Y:-24.89, Z:-8.30 [[ 7.17604217e-01 6.90670402e-01 8.95465452e-02 7.65390848e+01] [-6.85327013e-01 7.23169668e-01 -8.57468117e-02 -2.48872291e+01] [-1.23980130e-01 1.63607310e-04 9.92284687e-01 -8.29692177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16592 meters 0.028839889000367085 Centerline is valid? [True, True] Translation: X:76.56, Y:-24.91, Z:-8.30 [[ 7.16699625e-01 6.91710155e-01 8.87620913e-02 7.65639356e+01] [-6.86457000e-01 7.22175227e-01 -8.50865914e-02 -2.49085187e+01] [-1.22957043e-01 5.01692229e-05 9.92411993e-01 -8.30012008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19592 meters 0.028934478655632406 Centerline is valid? [True, True] Translation: X:76.59, Y:-24.93, Z:-8.30 [[ 7.15983067e-01 6.92457263e-01 8.87197095e-02 7.65887133e+01] [-6.87203670e-01 7.21458896e-01 -8.51362308e-02 -2.49302513e+01] [-1.22960825e-01 -1.24102821e-05 9.92411525e-01 -8.30358327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22592 meters 0.029083092646002257 Centerline is valid? [True, True] Translation: X:76.61, Y:-24.95, Z:-8.31 [[ 7.14497101e-01 6.93971710e-01 8.88659526e-02 7.66129872e+01] [-6.88700953e-01 7.20002238e-01 -8.53684619e-02 -2.49527896e+01] [-1.23226982e-01 -2.06547695e-04 9.92378490e-01 -8.30629303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25592 meters 0.029158262593123707 Centerline is valid? [True, True] Translation: X:76.64, Y:-24.98, Z:-8.31 [[ 7.14129161e-01 6.94280963e-01 8.94062917e-02 7.66368332e+01] [-6.88936453e-01 7.19704041e-01 -8.59805601e-02 -2.49751488e+01] [-1.24040736e-01 -1.94028233e-04 9.92277108e-01 -8.31074430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28591999999999 meters 0.028932585524582718 Centerline is valid? [True, True] Translation: X:76.66, Y:-25.00, Z:-8.31 [[ 7.16543408e-01 6.92111677e-01 8.68733073e-02 7.66612251e+01] [-6.87040310e-01 7.21790392e-01 -8.36315892e-02 -2.49975276e+01] [-1.20586718e-01 2.40199953e-04 9.92702768e-01 -8.31208958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31591999999999 meters 0.0290445941988752 Centerline is valid? [True, True] Translation: X:76.69, Y:-25.02, Z:-8.31 [[ 7.17593434e-01 6.90958336e-01 8.73855898e-02 7.66854841e+01] [-6.85807759e-01 7.22894411e-01 -8.42103811e-02 -2.50198009e+01] [-1.21356419e-01 4.99101076e-04 9.92608871e-01 -8.31491292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34591999999999 meters 0.029002984073479565 Centerline is valid? [True, True] Translation: X:76.71, Y:-25.04, Z:-8.32 [[ 7.18691592e-01 6.89765088e-01 8.77867801e-02 7.67106996e+01] [-6.84546834e-01 7.24032824e-01 -8.46882644e-02 -2.50415660e+01] [-1.21975518e-01 7.70581188e-04 9.92532810e-01 -8.31776370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37592 meters 0.02932566575527403 Centerline is valid? [True, True] Translation: X:76.74, Y:-25.06, Z:-8.32 [[ 7.20186261e-01 6.88050622e-01 8.89836535e-02 7.67357637e+01] [-6.82664007e-01 7.25661790e-01 -8.59349700e-02 -2.50625154e+01] [-1.23699647e-01 1.14324725e-03 9.92319047e-01 -8.32143845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40592 meters 0.029622439954698477 Centerline is valid? [True, True] Translation: X:76.76, Y:-25.08, Z:-8.33 [[ 7.20408348e-01 6.87753969e-01 8.94778758e-02 7.67597054e+01] [-6.82293530e-01 7.25942747e-01 -8.65024052e-02 -2.50847272e+01] [-1.24448188e-01 1.26687906e-03 9.92225299e-01 -8.32547310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43592 meters 0.029324999790915855 Centerline is valid? [True, True] Translation: X:76.78, Y:-25.11, Z:-8.33 [[ 7.20535330e-01 6.87689396e-01 8.89501757e-02 7.67827611e+01] [-6.82281714e-01 7.26003794e-01 -8.60822427e-02 -2.51084325e+01] [-1.23776011e-01 1.33621878e-03 9.92309283e-01 -8.33027032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46592 meters 0.029504045017624592 Centerline is valid? [True, True] Translation: X:76.80, Y:-25.13, Z:-8.33 [[ 7.20563240e-01 6.87804437e-01 8.78275182e-02 7.68048919e+01] [-6.82522955e-01 7.25894756e-01 -8.50836066e-02 -2.51318971e+01] [-1.22274417e-01 1.36382202e-03 9.92495394e-01 -8.33378604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49592 meters 0.029281698047064705 Centerline is valid? [True, True] Translation: X:76.83, Y:-25.16, Z:-8.34 [[ 7.20511958e-01 6.88096704e-01 8.59386121e-02 7.68266755e+01] [-6.83032844e-01 7.25617746e-01 -8.33367845e-02 -2.51556788e+01] [-1.19702349e-01 1.34625508e-03 9.92808912e-01 -8.33641369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52592 meters 0.029251146262539305 Centerline is valid? [True, True] Translation: X:76.85, Y:-25.18, Z:-8.34 [[ 7.20292518e-01 6.88263435e-01 8.64414930e-02 7.68482495e+01] [-6.83130761e-01 7.25459520e-01 -8.39097667e-02 -2.51813752e+01] [-1.20461828e-01 1.38873432e-03 9.92716989e-01 -8.33766413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55592 meters 0.02931070323309887 Centerline is valid? [True, True] Translation: X:76.87, Y:-25.21, Z:-8.34 [[ 7.20242618e-01 6.88240042e-01 8.70414587e-02 7.68700545e+01] [-6.83024474e-01 7.25481557e-01 -8.45817826e-02 -2.52056372e+01] [-1.21359543e-01 1.46795796e-03 9.92607529e-01 -8.33933840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58592 meters 0.02942898442931036 Centerline is valid? [True, True] Translation: X:76.89, Y:-25.23, Z:-8.34 [[ 7.20194247e-01 6.88343053e-01 8.66261452e-02 7.68927684e+01] [-6.83167301e-01 7.25383738e-01 -8.42666668e-02 -2.52291538e+01] [-1.20841572e-01 1.50821876e-03 9.92670660e-01 -8.34372979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61592 meters 0.029339296679333517 Centerline is valid? [True, True] Translation: X:76.92, Y:-25.25, Z:-8.35 [[ 7.19712868e-01 6.88823843e-01 8.68049583e-02 7.69152206e+01] [-6.83619253e-01 7.24927222e-01 -8.45295272e-02 -2.52535244e+01] [-1.21153231e-01 1.49544766e-03 9.92632691e-01 -8.34816900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64591999999999 meters 0.02918298468771795 Centerline is valid? [True, True] Translation: X:76.94, Y:-25.28, Z:-8.35 [[ 7.19212089e-01 6.89472753e-01 8.57979890e-02 7.69364266e+01] [-6.84382871e-01 7.24310204e-01 -8.36350122e-02 -2.52787885e+01] [-1.19808421e-01 1.43263786e-03 9.92795996e-01 -8.35220922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67591999999999 meters 0.029147045131527077 Centerline is valid? [True, True] Translation: X:76.96, Y:-25.30, Z:-8.35 [[ 7.18228458e-01 6.90568701e-01 8.52217759e-02 7.69585426e+01] [-6.85544747e-01 7.23265630e-01 -8.31578497e-02 -2.53027916e+01] [-1.19064190e-01 1.30299336e-03 9.92885704e-01 -8.35353314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70591999999999 meters 0.029064990287972443 Centerline is valid? [True, True] Translation: X:76.98, Y:-25.33, Z:-8.36 [[ 7.17415136e-01 6.91482711e-01 8.46592220e-02 7.69798732e+01] [-6.86521293e-01 7.22392004e-01 -8.26940548e-02 -2.53285077e+01] [-1.18338654e-01 1.20560795e-03 9.92972562e-01 -8.35522880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73592 meters 0.02907550665066693 Centerline is valid? [True, True] Translation: X:77.00, Y:-25.35, Z:-8.36 [[ 7.16734472e-01 6.92175695e-01 8.47614571e-02 7.70026530e+01] [-6.87196735e-01 7.21728115e-01 -8.28804921e-02 -2.53514561e+01] [-1.18542589e-01 1.15550915e-03 9.92948296e-01 -8.35869212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76592 meters 0.029126731240460165 Centerline is valid? [True, True] Translation: X:77.03, Y:-25.37, Z:-8.36 [[ 7.15935053e-01 6.92944719e-01 8.52327229e-02 7.70253353e+01] [-6.87904736e-01 7.20989882e-01 -8.34306010e-02 -2.53744725e+01] [-1.19264725e-01 1.09889805e-03 9.92861883e-01 -8.36279617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79592 meters 0.02923925901714661 Centerline is valid? [True, True] Translation: X:77.05, Y:-25.40, Z:-8.37 [[ 7.14752662e-01 6.94073760e-01 8.59665513e-02 7.70480402e+01] [-6.88943413e-01 7.19903221e-01 -8.42396959e-02 -2.53978453e+01] [-1.20356160e-01 9.84457665e-04 9.92730289e-01 -8.36592509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82592 meters 0.029113976013341987 Centerline is valid? [True, True] Translation: X:77.07, Y:-25.42, Z:-8.37 [[ 7.13145054e-01 6.95727406e-01 8.59506183e-02 7.70714092e+01] [-6.90600030e-01 7.18305494e-01 -8.43137935e-02 -2.54204706e+01] [-1.20398218e-01 7.70465156e-04 9.92725378e-01 -8.36836657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85592 meters 0.028946137261734797 Centerline is valid? [True, True] Translation: X:77.09, Y:-25.44, Z:-8.37 [[ 7.12021623e-01 6.96968021e-01 8.52102468e-02 7.70948834e+01] [-6.91927079e-01 7.17101940e-01 -8.36763061e-02 -2.54428500e+01] [-1.19424143e-01 6.20062081e-04 9.92843134e-01 -8.37165862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88592 meters 0.028823269036736994 Centerline is valid? [True, True] Translation: X:77.12, Y:-25.47, Z:-8.37 [[ 7.10948634e-01 6.98210975e-01 8.39849651e-02 7.71180534e+01] [-6.93312981e-01 7.15891902e-01 -8.25584311e-02 -2.54656195e+01] [-1.17767359e-01 4.66937268e-04 9.93041102e-01 -8.37414673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91592 meters 0.029022659642558707 Centerline is valid? [True, True] Translation: X:77.14, Y:-25.49, Z:-8.38 [[ 7.09598706e-01 6.99398725e-01 8.55049719e-02 7.71407668e+01] [-6.94318974e-01 7.14731634e-01 -8.41418672e-02 -2.54892102e+01] [-1.19961823e-01 3.39235658e-04 9.92778448e-01 -8.37902347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94592 meters 0.028889890238122252 Centerline is valid? [True, True] Translation: X:77.16, Y:-25.51, Z:-8.38 [[ 7.08605031e-01 7.00498533e-01 8.47390993e-02 7.71634565e+01] [-6.95506987e-01 7.13653809e-01 -8.34761762e-02 -2.55127353e+01] [-1.18949320e-01 2.15002830e-04 9.92900304e-01 -8.38271634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97592 meters 0.029141559662953006 Centerline is valid? [True, True] Translation: X:77.19, Y:-25.54, Z:-8.39 [[ 7.06845088e-01 7.02211697e-01 8.52569886e-02 7.71866928e+01] [-6.97160099e-01 7.11968210e-01 -8.40777270e-02 -2.55364801e+01] [-1.19740629e-01 -7.84224934e-06 9.92805208e-01 -8.38628729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00592 meters 0.029147032167355594 Centerline is valid? [True, True] Translation: X:77.21, Y:-25.56, Z:-8.39 [[ 7.05626129e-01 7.03341531e-01 8.60375319e-02 7.72107037e+01] [-6.98193725e-01 7.10852075e-01 -8.49402699e-02 -2.55583669e+01] [-1.20901978e-01 -1.34791024e-04 9.92664442e-01 -8.38966031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03591999999999 meters 0.029234332593535688 Centerline is valid? [True, True] Translation: X:77.24, Y:-25.58, Z:-8.39 [[ 7.02153769e-01 7.07069588e-01 8.38610919e-02 7.72361015e+01] [-7.02195756e-01 7.07143633e-01 -8.28794453e-02 -2.55792795e+01] [-1.17903372e-01 -6.92787874e-04 9.93024831e-01 -8.39123427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06591999999999 meters 0.02914527462520428 Centerline is valid? [True, True] Translation: X:77.26, Y:-25.60, Z:-8.40 [[ 7.00865510e-01 7.08240356e-01 8.47533797e-02 7.72606918e+01] [-7.03259501e-01 7.05970893e-01 -8.38520929e-02 -2.56014071e+01] [-1.19220855e-01 -8.34579676e-04 9.92867409e-01 -8.39672586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09591999999999 meters 0.029192178106635002 Centerline is valid? [True, True] Translation: X:77.28, Y:-25.62, Z:-8.40 [[ 6.98829868e-01 7.10307267e-01 8.42638816e-02 7.72838066e+01] [-7.05388365e-01 7.03890857e-01 -8.34560758e-02 -2.56237515e+01] [-1.18592033e-01 -1.11716316e-03 9.92942436e-01 -8.40257764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12592 meters 0.029292731084325542 Centerline is valid? [True, True] Translation: X:77.31, Y:-25.65, Z:-8.40 [[ 6.99334499e-01 7.09898408e-01 8.35195059e-02 7.73078448e+01] [-7.05053046e-01 7.04303413e-01 -8.28064371e-02 -2.56463221e+01] [-1.17607231e-01 -9.76283740e-04 9.93059709e-01 -8.40489767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15592 meters 0.029067817280704296 Centerline is valid? [True, True] Translation: X:77.33, Y:-25.67, Z:-8.41 [[ 7.00359868e-01 7.08891951e-01 8.34760905e-02 7.73329092e+01] [-7.04034082e-01 7.05316700e-01 -8.28514569e-02 -2.56683573e+01] [-1.17609812e-01 -7.44177325e-04 9.93059605e-01 -8.40614824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18592 meters 0.029198037228105475 Centerline is valid? [True, True] Translation: X:77.36, Y:-25.69, Z:-8.41 [[ 7.00444716e-01 7.08664276e-01 8.46885152e-02 7.73571549e+01] [-7.03651181e-01 7.05545547e-01 -8.41456841e-02 -2.56902273e+01] [-1.19382645e-01 -6.51773964e-04 9.92848105e-01 -8.40998960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21592 meters 0.02923690930123119 Centerline is valid? [True, True] Translation: X:77.38, Y:-25.71, Z:-8.41 [[ 7.00930858e-01 7.08108329e-01 8.53142794e-02 7.73827628e+01] [-7.03005455e-01 7.06103638e-01 -8.48586045e-02 -2.57113928e+01] [-1.20329808e-01 -4.96389292e-04 9.92733847e-01 -8.41360373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24592 meters 0.02933047502236363 Centerline is valid? [True, True] Translation: X:77.41, Y:-25.73, Z:-8.42 [[ 7.00877229e-01 7.08135926e-01 8.55255486e-02 7.74072461e+01] [-7.02996776e-01 7.06076000e-01 -8.51599347e-02 -2.57331224e+01] [-1.20692347e-01 -4.37525859e-04 9.92689864e-01 -8.41745179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27592 meters 0.029215663847928355 Centerline is valid? [True, True] Translation: X:77.43, Y:-25.75, Z:-8.42 [[ 7.00708705e-01 7.08285662e-01 8.56663966e-02 7.74316046e+01] [-7.03119487e-01 7.05925819e-01 -8.53916003e-02 -2.57546681e+01] [-1.20955767e-01 -3.99075197e-04 9.92657818e-01 -8.42099091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30592 meters 0.02925998724252479 Centerline is valid? [True, True] Translation: X:77.46, Y:-25.78, Z:-8.43 [[ 6.99845184e-01 7.09106636e-01 8.59331025e-02 7.74552798e+01] [-7.03903057e-01 7.05101093e-01 -8.57492587e-02 -2.57772785e+01] [-1.21396893e-01 -4.77367819e-04 9.92603932e-01 -8.42532437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33592 meters 0.029047945490113594 Centerline is valid? [True, True] Translation: X:77.48, Y:-25.80, Z:-8.43 [[ 7.00077149e-01 7.09092794e-01 8.41391380e-02 7.74773631e+01] [-7.04094367e-01 7.05115060e-01 -8.40468594e-02 -2.58011665e+01] [-1.18924796e-01 -4.02607403e-04 9.92903183e-01 -8.42708150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36592 meters 0.029214980948496474 Centerline is valid? [True, True] Translation: X:77.50, Y:-25.82, Z:-8.43 [[ 7.01034369e-01 7.08189106e-01 8.37794936e-02 7.75010291e+01] [-7.03216718e-01 7.06022773e-01 -8.37740498e-02 -2.58235196e+01] [-1.18478100e-01 -1.86652328e-04 9.92956648e-01 -8.43054891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39591999999999 meters 0.02916331213001905 Centerline is valid? [True, True] Translation: X:77.80, Y:-25.89, Z:-6.48 [[ 7.57146251e-01 -6.50734252e-01 -5.72231452e-02 7.77950348e+01] [-6.48072577e-01 -7.59265237e-01 5.93147171e-02 -2.58895711e+01] [-8.20456630e-02 -7.82516445e-03 -9.96597851e-01 -6.48090845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42591999999999 meters 0.029264679719520494 Centerline is valid? [True, True] Translation: X:77.57, Y:-25.90, Z:-8.44 [[ 7.56157871e-01 6.48280075e-01 8.92088541e-02 7.75662101e+01] [-6.43772169e-01 7.61401909e-01 -7.63185885e-02 -2.59042161e+01] [-1.17399612e-01 2.78723907e-04 9.93084716e-01 -8.43977632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45591999999999 meters 0.02904933226804821 Centerline is valid? [True, True] Translation: X:77.59, Y:-25.93, Z:-8.44 [[ 7.56082997e-01 6.48369244e-01 8.91954380e-02 7.75912048e+01] [-6.43853449e-01 7.61325959e-01 -7.63905745e-02 -2.59259395e+01] [-1.17436101e-01 3.28824080e-04 9.93080386e-01 -8.44292553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48592 meters 0.02912664322770788 Centerline is valid? [True, True] Translation: X:77.62, Y:-25.95, Z:-8.45 [[ 7.56388440e-01 6.47814063e-01 9.06281860e-02 7.76157140e+01] [-6.43137372e-01 7.61798335e-01 -7.77021116e-02 -2.59462773e+01] [-1.19376922e-01 4.86605632e-04 9.92848888e-01 -8.44698884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51592 meters 0.029199312904324804 Centerline is valid? [True, True] Translation: X:77.64, Y:-25.97, Z:-8.45 [[ 7.56260603e-01 6.47900893e-01 9.10732303e-02 7.76404761e+01] [-6.43169316e-01 7.61724456e-01 -7.81606302e-02 -2.59675876e+01] [-1.20013049e-01 5.34298191e-04 9.92772171e-01 -8.44971906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54592 meters 0.029393950471014643 Centerline is valid? [True, True] Translation: X:77.66, Y:-25.99, Z:-8.45 [[ 7.56950721e-01 6.46966578e-01 9.19774634e-02 7.76647424e+01] [-6.42123042e-01 7.62517986e-01 -7.90210114e-02 -2.59888254e+01] [-1.21258423e-01 7.54162982e-04 9.92620686e-01 -8.45287489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57592 meters 0.029402625707901572 Centerline is valid? [True, True] Translation: X:77.69, Y:-26.01, Z:-8.45 [[ 7.56666291e-01 6.47432334e-01 9.10356860e-02 7.76886391e+01] [-6.42682309e-01 7.62122589e-01 -7.82854303e-02 -2.60096974e+01] [-1.20064872e-01 7.28921306e-04 9.92765781e-01 -8.45498552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60592 meters 0.029204756782009504 Centerline is valid? [True, True] Translation: X:77.71, Y:-26.03, Z:-8.46 [[ 7.56918582e-01 6.47198922e-01 9.05970006e-02 7.77139263e+01] [-6.42484051e-01 7.62320722e-01 -7.79830794e-02 -2.60300802e+01] [-1.19534536e-01 8.19713915e-04 9.92829705e-01 -8.45842365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63592 meters 0.029131522928695794 Centerline is valid? [True, True] Translation: X:77.74, Y:-26.05, Z:-8.46 [[ 7.56790430e-01 6.47514696e-01 8.94033795e-02 7.77392331e+01] [-6.42916273e-01 7.62052520e-01 -7.70364938e-02 -2.60498708e+01] [-1.18012333e-01 8.21593644e-04 9.93011790e-01 -8.46173389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66592 meters 0.029196436015386455 Centerline is valid? [True, True] Translation: X:77.76, Y:-26.07, Z:-8.46 [[ 7.56091978e-01 6.48329563e-01 8.94074857e-02 7.77642040e+01] [-6.43727538e-01 7.61359451e-01 -7.71144846e-02 -2.60716701e+01] [-1.18066834e-01 7.51582545e-04 9.93005366e-01 -8.46464089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69592 meters 0.029150142392151003 Centerline is valid? [True, True] Translation: X:77.79, Y:-26.09, Z:-8.47 [[ 7.56973309e-01 6.47313910e-01 8.93090770e-02 7.77911069e+01] [-6.42705117e-01 7.62222904e-01 -7.71127554e-02 -2.60913182e+01] [-1.17989583e-01 9.72896840e-04 9.93014356e-01 -8.46733989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72592 meters 0.029171678825604657 Centerline is valid? [True, True] Translation: X:77.82, Y:-26.11, Z:-8.47 [[ 7.56455535e-01 6.47821203e-01 9.00150709e-02 7.78169286e+01] [-6.43132405e-01 7.61791806e-01 -7.78071518e-02 -2.61111039e+01] [-1.18977866e-01 9.66041543e-04 9.92896437e-01 -8.47127136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75592 meters 0.02905162637177227 Centerline is valid? [True, True] Translation: X:77.84, Y:-26.13, Z:-8.47 [[ 7.55986411e-01 6.48497341e-01 8.90827971e-02 7.78419196e+01] [-6.43900556e-01 7.61216372e-01 -7.70824789e-02 -2.61309782e+01] [-1.17799066e-01 9.12844024e-04 9.93037032e-01 -8.47437167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78591999999999 meters 0.02895250687884242 Centerline is valid? [True, True] Translation: X:77.87, Y:-26.15, Z:-8.48 [[ 7.56389005e-01 6.48061308e-01 8.88381384e-02 7.78668411e+01] [-6.43478148e-01 7.61587468e-01 -7.69441476e-02 -2.61521008e+01] [-1.17522538e-01 1.03430644e-03 9.93069677e-01 -8.47734224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81591999999999 meters 0.02895250687884242 Centerline is valid? [True, True] Translation: X:77.89, Y:-26.17, Z:-8.48 [[ 7.56043767e-01 6.48469654e-01 8.87971307e-02 7.78914959e+01] [-6.43883746e-01 7.61239804e-01 -7.69914473e-02 -2.61729982e+01] [-1.17522528e-01 1.03387479e-03 9.93069679e-01 -8.48061226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84591999999999 meters 0.029184266471687266 Centerline is valid? [True, True] Translation: X:77.92, Y:-26.19, Z:-8.48 [[ 7.56371140e-01 6.48074304e-01 8.88954139e-02 7.79175144e+01] [-6.43465568e-01 7.61576227e-01 -7.71603115e-02 -2.61927450e+01] [-1.17706249e-01 1.16069485e-03 9.93047779e-01 -8.48441909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87592 meters 0.02916405814076238 Centerline is valid? [True, True] Translation: X:77.94, Y:-26.21, Z:-8.49 [[ 7.56265886e-01 6.48085687e-01 8.97042491e-02 7.79423867e+01] [-6.43382454e-01 7.61566425e-01 -7.79461179e-02 -2.62128747e+01] [-1.18831508e-01 1.23384995e-03 9.92913667e-01 -8.48819261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90592 meters 0.029163019909383695 Centerline is valid? [True, True] Translation: X:77.97, Y:-26.23, Z:-8.49 [[ 7.55122308e-01 6.49437636e-01 8.95603523e-02 7.79676915e+01] [-6.44749722e-01 7.60414093e-01 -7.78986791e-02 -2.62339754e+01] [-1.18693288e-01 1.07901815e-03 9.92930380e-01 -8.49252213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93592 meters 0.029141508935567523 Centerline is valid? [True, True] Translation: X:77.99, Y:-26.25, Z:-8.50 [[ 7.54749818e-01 6.49817759e-01 8.99421588e-02 7.79942356e+01] [-6.45082216e-01 7.60089269e-01 -7.83149927e-02 -2.62531916e+01] [-1.19254543e-01 1.08813933e-03 9.92863117e-01 -8.49639051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96592 meters 0.029027076638343675 Centerline is valid? [True, True] Translation: X:78.02, Y:-26.27, Z:-8.50 [[ 7.54235072e-01 6.50493788e-01 8.93716295e-02 7.80202295e+01] [-6.45813136e-01 7.59510864e-01 -7.79014802e-02 -2.62728124e+01] [-1.18553153e-01 1.03865615e-03 9.92947164e-01 -8.49868972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99592 meters 0.02908786794148412 Centerline is valid? [True, True] Translation: X:78.05, Y:-26.29, Z:-8.50 [[ 7.52715636e-01 6.51893351e-01 9.19468918e-02 7.80460933e+01] [-6.46937899e-01 7.58310118e-01 -8.02316592e-02 -2.62911261e+01] [-1.22026744e-01 9.07695348e-04 9.92526398e-01 -8.50169038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02592 meters 0.02914504532526771 Centerline is valid? [True, True] Translation: X:78.07, Y:-26.31, Z:-8.51 [[ 7.52283009e-01 6.52382914e-01 9.20152551e-02 7.80726421e+01] [-6.47414703e-01 7.57889009e-01 -8.03644954e-02 -2.63112789e+01] [-1.22165774e-01 8.84815445e-04 9.92509315e-01 -8.50558276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05592 meters 0.029172148045994026 Centerline is valid? [True, True] Translation: X:78.10, Y:-26.33, Z:-8.51 [[ 7.51725078e-01 6.53077511e-01 9.16469990e-02 7.80988334e+01] [-6.48143682e-01 7.57290610e-01 -8.01292658e-02 -2.63306161e+01] [-1.21734033e-01 8.34755133e-04 9.92562405e-01 -8.50857465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08592 meters 0.029191593490527808 Centerline is valid? [True, True] Translation: X:78.13, Y:-26.35, Z:-8.51 [[ 7.51961653e-01 6.53132641e-01 8.92828401e-02 7.81253531e+01] [-6.48441780e-01 7.57243029e-01 -7.81425189e-02 -2.63487246e+01] [-1.18646238e-01 8.65453880e-04 9.92936212e-01 -8.51318133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11592 meters 0.02904199690181015 Centerline is valid? [True, True] Translation: X:78.15, Y:-26.37, Z:-8.51 [[ 7.52166706e-01 6.52897773e-01 8.92734256e-02 7.81504924e+01] [-6.48197297e-01 7.57445428e-01 -7.82092483e-02 -2.63694004e+01] [-1.18682392e-01 9.59599444e-04 9.92931805e-01 -8.51497537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14591999999999 meters 0.029434693319981012 Centerline is valid? [True, True] Translation: X:78.18, Y:-26.39, Z:-8.52 [[ 7.53688217e-01 6.50738495e-01 9.21600917e-02 7.81768558e+01] [-6.45701115e-01 7.59300616e-01 -8.08247785e-02 -2.63877491e+01] [-1.22573009e-01 1.40880927e-03 9.92458499e-01 -8.51746736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17591999999999 meters 0.029446098494150245 Centerline is valid? [True, True] Translation: X:78.20, Y:-26.41, Z:-8.52 [[ 7.54439480e-01 6.49869693e-01 9.21436584e-02 7.82040610e+01] [-6.44818139e-01 7.60043942e-01 -8.08874133e-02 -2.64071440e+01] [-1.22599508e-01 1.60875569e-03 9.92454922e-01 -8.51986671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20591999999999 meters 0.029651808258330952 Centerline is valid? [True, True] Translation: X:78.23, Y:-26.43, Z:-8.52 [[ 7.55104611e-01 6.48973609e-01 9.30068933e-02 7.82291877e+01] [-6.43809227e-01 7.60808704e-01 -8.17300145e-02 -2.64266322e+01] [-1.23801076e-01 1.83601468e-03 9.92305358e-01 -8.52376343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23592 meters 0.029758382515630885 Centerline is valid? [True, True] Translation: X:78.25, Y:-26.45, Z:-8.53 [[ 7.56493775e-01 6.47469219e-01 9.21996656e-02 7.82534238e+01] [-6.42373937e-01 7.62088647e-01 -8.10963603e-02 -2.64486895e+01] [-1.22771715e-01 2.12222961e-03 9.92432669e-01 -8.52748305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26592 meters 0.029856538842003642 Centerline is valid? [True, True] Translation: X:78.28, Y:-26.47, Z:-8.53 [[ 7.56684383e-01 6.47234775e-01 9.22815787e-02 7.82783859e+01] [-6.42118160e-01 7.62287469e-01 -8.12532100e-02 -2.64705990e+01] [-1.22934994e-01 2.22735762e-03 9.92412226e-01 -8.53022457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29592 meters 0.030039954790954098 Centerline is valid? [True, True] Translation: X:78.31, Y:-26.49, Z:-8.53 [[ 7.57360927e-01 6.46543344e-01 9.15758153e-02 7.83057772e+01] [-6.41489691e-01 7.62873523e-01 -8.07153246e-02 -2.64890554e+01] [-1.22046721e-01 2.38569162e-03 9.92521489e-01 -8.53311075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32592 meters 0.029926059809667643 Centerline is valid? [True, True] Translation: X:78.33, Y:-26.51, Z:-8.54 [[ 7.57299175e-01 6.46471319e-01 9.25893821e-02 7.83306685e+01] [-6.41293799e-01 7.62934231e-01 -8.16922385e-02 -2.65096634e+01] [-1.23451298e-01 2.48846820e-03 9.92347512e-01 -8.53697748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35592 meters 0.03001131764321196 Centerline is valid? [True, True] Translation: X:78.35, Y:-26.53, Z:-8.54 [[ 7.57637848e-01 6.46363516e-01 9.05488665e-02 7.83541091e+01] [-6.41403204e-01 7.63025513e-01 -7.99624668e-02 -2.65308958e+01] [-1.20775917e-01 2.50425818e-03 9.92676638e-01 -8.53995367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38592 meters 0.029971618739082575 Centerline is valid? [True, True] Translation: X:78.38, Y:-26.56, Z:-8.54 [[ 7.58884583e-01 6.45070247e-01 8.93228225e-02 7.83765871e+01] [-6.40226227e-01 7.64118401e-01 -7.89521879e-02 -2.65551075e+01] [-1.19182920e-01 2.72878456e-03 9.92868564e-01 -8.54332818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41592 meters 0.03011147720096369 Centerline is valid? [True, True] Translation: X:78.40, Y:-26.58, Z:-8.55 [[ 7.58311394e-01 6.45606572e-01 9.03104855e-02 7.84006308e+01] [-6.40648111e-01 7.63665278e-01 -7.99083333e-02 -2.65776883e+01] [-1.20556327e-01 2.73815771e-03 9.92702712e-01 -8.54646205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44592 meters 0.03019820881594642 Centerline is valid? [True, True] Translation: X:78.42, Y:-26.60, Z:-8.55 [[ 7.58070780e-01 6.45777184e-01 9.11071958e-02 7.84234697e+01] [-6.40721717e-01 7.63520792e-01 -8.06949941e-02 -2.65995444e+01] [-1.21673224e-01 2.79815814e-03 9.92566268e-01 -8.55018907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47592 meters 0.030341666492249373 Centerline is valid? [True, True] Translation: X:78.45, Y:-26.62, Z:-8.55 [[ 7.57828777e-01 6.46137656e-01 9.05630934e-02 7.84480622e+01] [-6.41136200e-01 7.63215827e-01 -8.02868218e-02 -2.66218689e+01] [-1.20995525e-01 2.78038640e-03 9.92649159e-01 -8.55324872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50592 meters 0.030073805750894453 Centerline is valid? [True, True] Translation: X:78.47, Y:-26.64, Z:-8.56 [[ 7.57196942e-01 6.47030926e-01 8.94638048e-02 7.84712995e+01] [-6.42147312e-01 7.62459097e-01 -7.93911574e-02 -2.66437220e+01] [-1.19581026e-01 2.66579986e-03 9.92820866e-01 -8.55709209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53591999999999 meters 0.029625914491034758 Centerline is valid? [True, True] Translation: X:78.49, Y:-26.67, Z:-8.56 [[ 7.55952303e-01 6.48684681e-01 8.80017087e-02 7.84932661e+01] [-6.43963412e-01 7.61053452e-01 -7.81586062e-02 -2.66676599e+01] [-1.17674295e-01 2.41429772e-03 9.93049310e-01 -8.56159740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56591999999999 meters 0.029349682231145754 Centerline is valid? [True, True] Translation: X:78.52, Y:-26.69, Z:-8.56 [[ 7.53924776e-01 6.51038061e-01 8.80163384e-02 7.85159184e+01] [-6.46325390e-01 7.59042223e-01 -7.82201640e-02 -2.66910882e+01] [-1.17732421e-01 2.08492537e-03 9.93043166e-01 -8.56404371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59591999999999 meters 0.029348178159760964 Centerline is valid? [True, True] Translation: X:78.54, Y:-26.72, Z:-8.57 [[ 7.51139639e-01 6.54149569e-01 8.87557600e-02 7.85358817e+01] [-6.49369973e-01 7.56363380e-01 -7.89498340e-02 -2.67164365e+01] [-1.18776606e-01 1.66702434e-03 9.92919603e-01 -8.56737050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62592 meters 0.02915611970324716 Centerline is valid? [True, True] Translation: X:78.56, Y:-26.74, Z:-8.57 [[ 7.49129187e-01 6.56450867e-01 8.87565190e-02 7.85580132e+01] [-6.51678543e-01 7.54367560e-01 -7.90231709e-02 -2.67394677e+01] [-1.18829868e-01 1.35784486e-03 9.92913702e-01 -8.57075508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65592 meters 0.029068801345116486 Centerline is valid? [True, True] Translation: X:78.58, Y:-26.76, Z:-8.57 [[ 7.47548174e-01 6.58208743e-01 8.90672707e-02 7.85810438e+01] [-6.53406144e-01 7.52834611e-01 -7.93754350e-02 -2.67633992e+01] [-1.19298529e-01 1.13985959e-03 9.92857775e-01 -8.57444573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68592 meters 0.029040856201591452 Centerline is valid? [True, True] Translation: X:78.60, Y:-26.79, Z:-8.58 [[ 7.44594119e-01 6.61393591e-01 9.02115042e-02 7.86022266e+01] [-6.56478930e-01 7.50038680e-01 -8.04822544e-02 -2.67889806e+01] [-1.20892565e-01 7.04661498e-04 9.92665347e-01 -8.57765602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71592 meters 0.02905069993009334 Centerline is valid? [True, True] Translation: X:78.62, Y:-26.81, Z:-8.58 [[ 7.42120554e-01 6.64179999e-01 9.01222009e-02 7.86241065e+01] [-6.59284874e-01 7.47572624e-01 -8.04899194e-02 -2.68135487e+01] [-1.20832685e-01 3.17019754e-04 9.92672837e-01 -8.58008963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74592 meters 0.029058012845811085 Centerline is valid? [True, True] Translation: X:78.65, Y:-26.84, Z:-8.58 [[ 7.40238941e-01 6.66182297e-01 9.08155163e-02 7.86473143e+01] [-6.61215344e-01 7.45788941e-01 -8.11980615e-02 -2.68369335e+01] [-1.21821919e-01 5.73542237e-05 9.92551972e-01 -8.58457578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77592 meters 0.028882164188268097 Centerline is valid? [True, True] Translation: X:78.67, Y:-26.86, Z:-8.59 [[ 7.38561109e-01 6.68151797e-01 9.00036938e-02 7.86699941e+01] [-6.63277542e-01 7.44024957e-01 -8.05590813e-02 -2.68599972e+01] [-1.20790689e-01 -1.99624370e-04 9.92677979e-01 -8.58826406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80592 meters 0.028995662643388757 Centerline is valid? [True, True] Translation: X:78.69, Y:-26.88, Z:-8.59 [[ 7.36008044e-01 6.71041942e-01 8.94140459e-02 7.86912392e+01] [-6.66242387e-01 7.41419144e-01 -8.01170076e-02 -2.68843331e+01] [-1.20055158e-01 -6.04665300e-04 9.92767039e-01 -8.59400087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83592 meters 0.028870529182042977 Centerline is valid? [True, True] Translation: X:78.71, Y:-26.91, Z:-8.60 [[ 7.34859896e-01 6.72456580e-01 8.82217722e-02 7.87145163e+01] [-6.67784720e-01 7.40136182e-01 -7.91327966e-02 -2.69077789e+01] [-1.18509495e-01 -7.61632824e-04 9.92952627e-01 -8.59505739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86592 meters 0.029024207594880554 Centerline is valid? [True, True] Translation: X:78.74, Y:-26.93, Z:-8.60 [[ 7.32649026e-01 6.74985701e-01 8.72909359e-02 7.87364854e+01] [-6.70420426e-01 7.37829994e-01 -7.83795409e-02 -2.69322037e+01] [-1.17310940e-01 -1.09693215e-03 9.93094628e-01 -8.59714691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89591999999999 meters 0.02917469954225605 Centerline is valid? [True, True] Translation: X:78.76, Y:-26.95, Z:-8.60 [[ 7.31043486e-01 6.76486131e-01 8.91175434e-02 7.87599872e+01] [-6.71727787e-01 7.36454221e-01 -8.01059354e-02 -2.69545768e+01] [-1.19821545e-01 -1.30180796e-03 9.92794592e-01 -8.60079877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92591999999999 meters 0.029344998005575246 Centerline is valid? [True, True] Translation: X:78.78, Y:-26.98, Z:-8.60 [[ 7.29320503e-01 6.78295955e-01 8.94773778e-02 7.87839861e+01] [-6.73502465e-01 7.34787189e-01 -8.05122071e-02 -2.69767587e+01] [-1.20357935e-01 -1.54403110e-03 9.92729361e-01 -8.60405142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95591999999999 meters 0.029826823982835666 Centerline is valid? [True, True] Translation: X:78.81, Y:-27.00, Z:-8.61 [[ 7.26808218e-01 6.80953142e-01 8.97364684e-02 7.88080610e+01] [-6.76141718e-01 7.32324452e-01 -8.08286735e-02 -2.69986199e+01] [-1.20756749e-01 -1.92762572e-03 9.92680257e-01 -8.60717077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98592 meters 0.0298629728451177 Centerline is valid? [True, True] Translation: X:78.83, Y:-27.02, Z:-8.61 [[ 7.24952631e-01 6.82930612e-01 8.97187873e-02 7.88335037e+01] [-6.78126145e-01 7.30479950e-01 -8.08948305e-02 -2.70189992e+01] [-1.20783331e-01 -2.19573510e-03 9.92676466e-01 -8.61016313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01592 meters 0.029864713620260462 Centerline is valid? [True, True] Translation: X:78.86, Y:-27.04, Z:-8.61 [[ 7.24061676e-01 6.83972409e-01 8.89743384e-02 7.88583747e+01] [-6.79245647e-01 7.29504284e-01 -8.03047381e-02 -2.70404184e+01] [-1.19833386e-01 -2.28984872e-03 9.92791376e-01 -8.61377730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04592 meters 0.02973191936915563 Centerline is valid? [True, True] Translation: X:78.88, Y:-27.06, Z:-8.62 [[ 7.24311157e-01 6.83749122e-01 8.86593803e-02 7.88833676e+01] [-6.79044280e-01 7.29713894e-01 -8.01030467e-02 -2.70608945e+01] [-1.19466370e-01 -2.18411460e-03 9.92835846e-01 -8.61747653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07592 meters 0.02994393166565648 Centerline is valid? [True, True] Translation: X:78.91, Y:-27.08, Z:-8.62 [[ 7.23865237e-01 6.84198981e-01 8.88305893e-02 7.89080589e+01] [-6.79469301e-01 7.29292057e-01 -8.03403040e-02 -2.70822126e+01] [-1.19752197e-01 -2.20210519e-03 9.92801371e-01 -8.62133256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10592 meters 0.0295851628491655 Centerline is valid? [True, True] Translation: X:78.93, Y:-27.10, Z:-8.62 [[ 7.25325220e-01 6.82687634e-01 8.85489671e-02 7.89343209e+01] [-6.77966861e-01 7.30707903e-01 -8.01679271e-02 -2.71023120e+01] [-1.19433083e-01 -1.88544592e-03 9.92840462e-01 -8.62405873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13592 meters 0.029293689027005694 Centerline is valid? [True, True] Translation: X:78.96, Y:-27.12, Z:-8.63 [[ 7.28744608e-01 6.78762390e-01 9.06251300e-02 7.89604581e+01] [-6.73776211e-01 7.34356968e-01 -8.21307546e-02 -2.71227179e+01] [-1.22298463e-01 -1.20871218e-03 9.92492632e-01 -8.62808512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16592 meters 0.029131777890936194 Centerline is valid? [True, True] Translation: X:78.99, Y:-27.14, Z:-8.63 [[ 7.31343001e-01 6.75936867e-01 9.08117135e-02 7.89862216e+01] [-6.70897626e-01 7.36959225e-01 -8.23861408e-02 -2.71435918e+01] [-1.22612360e-01 -6.72835596e-04 9.92454410e-01 -8.63123797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19592 meters 0.029030217993564006 Centerline is valid? [True, True] Translation: X:79.01, Y:-27.17, Z:-8.64 [[ 7.33372518e-01 6.73841570e-01 9.00127122e-02 7.90108847e+01] [-6.68864875e-01 7.38875817e-01 -8.17453758e-02 -2.71652907e+01] [-1.21591649e-01 -2.56529439e-04 9.92580176e-01 -8.63570878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22592 meters 0.02898981241960773 Centerline is valid? [True, True] Translation: X:79.03, Y:-27.19, Z:-8.64 [[ 7.37041265e-01 6.69883841e-01 8.95869034e-02 7.90339156e+01] [-6.64914679e-01 7.42465776e-01 -8.14434810e-02 -2.71887251e+01] [-1.21072882e-01 4.59559113e-04 9.92643514e-01 -8.64059964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25592 meters 0.029030593318131546 Centerline is valid? [True, True] Translation: X:79.06, Y:-27.21, Z:-8.64 [[ 7.38432137e-01 6.68511829e-01 8.83737148e-02 7.90585108e+01] [-6.63656785e-01 7.43701142e-01 -8.04256419e-02 -2.72103887e+01] [-1.19489126e-01 7.39063184e-04 9.92835234e-01 -8.64339404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28591999999999 meters 0.028863458621546264 Centerline is valid? [True, True] Translation: X:79.08, Y:-27.23, Z:-8.65 [[ 7.38103429e-01 6.68967013e-01 8.76724830e-02 7.90836735e+01] [-6.64181982e-01 7.43291740e-01 -7.98729193e-02 -2.72311842e+01] [-1.18598581e-01 7.23992018e-04 9.92942019e-01 -8.64677688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31591999999999 meters 0.028933114988124252 Centerline is valid? [True, True] Translation: X:79.11, Y:-27.25, Z:-8.65 [[ 7.36819228e-01 6.70380832e-01 8.76753466e-02 7.91071301e+01] [-6.65595123e-01 7.42016998e-01 -7.99619095e-02 -2.72536789e+01] [-1.18661529e-01 5.61189358e-04 9.92934603e-01 -8.64973309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34591999999999 meters 0.02889980864045631 Centerline is valid? [True, True] Translation: X:79.13, Y:-27.28, Z:-8.65 [[ 7.34906392e-01 6.72359230e-01 8.85757348e-02 7.91301701e+01] [-6.67477951e-01 7.40224945e-01 -8.08716028e-02 -2.72769576e+01] [-1.19940737e-01 3.10707843e-04 9.92781005e-01 -8.65253850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37592 meters 0.029070343848698693 Centerline is valid? [True, True] Translation: X:79.15, Y:-27.30, Z:-8.66 [[ 7.31718146e-01 6.75800667e-01 8.87807061e-02 7.91518604e+01] [-6.70911116e-01 7.37084407e-01 -8.11470940e-02 -2.73018502e+01] [-1.20278134e-01 -1.87161395e-04 9.92740215e-01 -8.65626302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40592 meters 0.029125014703880025 Centerline is valid? [True, True] Translation: X:79.18, Y:-27.32, Z:-8.66 [[ 7.30525438e-01 6.77197576e-01 8.79546923e-02 7.91763005e+01] [-6.72398598e-01 7.35801143e-01 -8.04785863e-02 -2.73239006e+01] [-1.19217067e-01 -3.48957368e-04 9.92868153e-01 -8.65947171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43592 meters 0.02914804589004724 Centerline is valid? [True, True] Translation: X:79.20, Y:-27.35, Z:-8.66 [[ 7.29314720e-01 6.78319102e-01 8.93489507e-02 7.92003484e+01] [-6.73363751e-01 7.34767289e-01 -8.18430733e-02 -2.73452910e+01] [-1.21166406e-01 -4.74986526e-04 9.92632095e-01 -8.66499772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46592 meters 0.02907364193400945 Centerline is valid? [True, True] Translation: X:79.22, Y:-27.37, Z:-8.67 [[ 7.28522296e-01 6.79140569e-01 8.95731666e-02 7.92241090e+01] [-6.74155823e-01 7.34008029e-01 -8.21348923e-02 -2.73683366e+01] [-1.21528561e-01 -5.49171469e-04 9.92587783e-01 -8.66695013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49592 meters 0.029113651238204606 Centerline is valid? [True, True] Translation: X:79.25, Y:-27.39, Z:-8.67 [[ 7.28383737e-01 6.79156444e-01 9.05740313e-02 7.92487534e+01] [-6.74048254e-01 7.33993380e-01 -8.31424608e-02 -2.73903645e+01] [-1.22947477e-01 -4.91651342e-04 9.92413057e-01 -8.67001398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52592 meters 0.029000597537135846 Centerline is valid? [True, True] Translation: X:79.27, Y:-27.41, Z:-8.67 [[ 7.27638898e-01 6.80214797e-01 8.85971968e-02 7.92747917e+01] [-6.75325378e-01 7.33012605e-01 -8.14134798e-02 -2.74106444e+01] [-1.20321516e-01 -5.92320656e-04 9.92734799e-01 -8.67162722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55592 meters 0.028858122813380425 Centerline is valid? [True, True] Translation: X:79.30, Y:-27.43, Z:-8.67 [[ 7.27333633e-01 6.80899521e-01 8.57999329e-02 7.93002930e+01] [-6.76310164e-01 7.32376579e-01 -7.89246976e-02 -2.74315972e+01] [-1.16577650e-01 -6.22779650e-04 9.93181385e-01 -8.67495036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58592 meters 0.028965370199662065 Centerline is valid? [True, True] Translation: X:79.32, Y:-27.45, Z:-8.68 [[ 7.26173314e-01 6.82104745e-01 8.60548363e-02 7.93246027e+01] [-6.77486993e-01 7.31254087e-01 -7.92390962e-02 -2.74527848e+01] [-1.16977314e-01 -7.59715084e-04 9.93134296e-01 -8.67992463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61592 meters 0.02906193939403929 Centerline is valid? [True, True] Translation: X:79.35, Y:-27.48, Z:-8.68 [[ 7.25277912e-01 6.83054837e-01 8.60699740e-02 7.93491186e+01] [-6.78432091e-01 7.30366597e-01 -7.93380892e-02 -2.74751225e+01] [-1.17054900e-01 -8.50468761e-04 9.93125081e-01 -8.68250823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64591999999999 meters 0.029284735464651157 Centerline is valid? [True, True] Translation: X:79.37, Y:-27.50, Z:-8.68 [[ 7.24080239e-01 6.84201583e-01 8.70402263e-02 7.93744309e+01] [-6.79471592e-01 7.29292277e-01 -8.03189266e-02 -2.74958138e+01] [-1.18432102e-01 -9.84013606e-04 9.92961665e-01 -8.68453844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67591999999999 meters 0.029238425618340107 Centerline is valid? [True, True] Translation: X:79.40, Y:-27.52, Z:-8.69 [[ 7.24171486e-01 6.84181059e-01 8.64403754e-02 7.93991940e+01] [-6.79506191e-01 7.29311625e-01 -7.98491665e-02 -2.75168259e+01] [-1.17673258e-01 -9.12280695e-04 9.93051948e-01 -8.68695604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70591999999999 meters 0.029238425618340107 Centerline is valid? [True, True] Translation: X:79.42, Y:-27.54, Z:-8.69 [[ 7.23808776e-01 6.84570092e-01 8.63981721e-02 7.94231626e+01] [-6.79892539e-01 7.28946469e-01 -7.98948090e-02 -2.75384925e+01] [-1.17673239e-01 -9.12908629e-04 9.93051950e-01 -8.69022596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73592 meters 0.029230831851135577 Centerline is valid? [True, True] Translation: X:79.45, Y:-27.56, Z:-8.69 [[ 7.24445547e-01 6.83942293e-01 8.60324930e-02 7.94478628e+01] [-6.79289944e-01 7.29535732e-01 -7.96416152e-02 -2.75600581e+01] [-1.17234047e-01 -7.44993893e-04 9.93104034e-01 -8.69336496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76592 meters 0.029057751065665383 Centerline is valid? [True, True] Translation: X:79.47, Y:-27.58, Z:-8.70 [[ 7.25786774e-01 6.82516047e-01 8.60546546e-02 7.94715189e+01] [-6.77841185e-01 7.30870468e-01 -7.97476468e-02 -2.75822782e+01] [-1.17323854e-01 -4.51601666e-04 9.93093605e-01 -8.69824186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79592 meters 0.029060148455914203 Centerline is valid? [True, True] Translation: X:79.50, Y:-27.60, Z:-8.70 [[ 7.26684654e-01 6.81595244e-01 8.57749181e-02 7.94960647e+01] [-6.76934424e-01 7.31729367e-01 -7.95733649e-02 -2.76040794e+01] [-1.17000854e-01 -2.39251590e-04 9.93131785e-01 -8.70176534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82592 meters 0.02887915448801162 Centerline is valid? [True, True] Translation: X:79.52, Y:-27.63, Z:-8.71 [[ 7.28692584e-01 6.79228322e-01 8.74985980e-02 7.95212999e+01] [-6.74349915e-01 7.33927001e-01 -8.12609889e-02 -2.76251673e+01] [-1.19412349e-01 2.09607844e-04 9.92844725e-01 -8.70539988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85592 meters 0.02877975694552099 Centerline is valid? [True, True] Translation: X:79.55, Y:-27.65, Z:-8.71 [[ 7.29323036e-01 6.78532123e-01 8.76474049e-02 7.95454582e+01] [-6.73621682e-01 7.34570628e-01 -8.14851005e-02 -2.76471410e+01] [-1.19673468e-01 3.87768559e-04 9.92813231e-01 -8.70803582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88592 meters 0.028918758504774295 Centerline is valid? [True, True] Translation: X:79.57, Y:-27.67, Z:-8.71 [[ 7.29592738e-01 6.78333394e-01 8.69381625e-02 7.95689926e+01] [-6.73490622e-01 7.34754092e-01 -8.09123400e-02 -2.76704059e+01] [-1.18763713e-01 4.81018529e-04 9.92922429e-01 -8.71060464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91592 meters 0.028771731468438987 Centerline is valid? [True, True] Translation: X:79.59, Y:-27.69, Z:-8.71 [[ 7.29024207e-01 6.78927771e-01 8.70677206e-02 7.95910881e+01] [-6.74064183e-01 7.34204931e-01 -8.11208770e-02 -2.76941785e+01] [-1.19000766e-01 4.49851075e-04 9.92894060e-01 -8.71381197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94592 meters 0.02888148416569128 Centerline is valid? [True, True] Translation: X:79.61, Y:-27.72, Z:-8.72 [[ 7.27196223e-01 6.80851807e-01 8.73296624e-02 7.96144461e+01] [-6.75962036e-01 7.32421175e-01 -8.14527425e-02 -2.77167920e+01] [-1.19419341e-01 2.00590353e-04 9.92843885e-01 -8.71846844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97592 meters 0.02892650981801202 Centerline is valid? [True, True] Translation: X:79.64, Y:-27.74, Z:-8.72 [[ 7.26066870e-01 6.82135941e-01 8.67032764e-02 7.96378153e+01] [-6.77314959e-01 7.31225379e-01 -8.09561058e-02 -2.77394417e+01] [-1.18622706e-01 5.41201934e-05 9.92939399e-01 -8.72115053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00592 meters 0.028716462023183103 Centerline is valid? [True, True] Translation: X:79.66, Y:-27.76, Z:-8.72 [[ 7.24790616e-01 6.83508583e-01 8.65712443e-02 7.96605267e+01] [-6.78701683e-01 7.29942467e-01 -8.09198404e-02 -2.77626143e+01] [-1.18501433e-01 -1.06108241e-04 9.92953876e-01 -8.72345546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03591999999999 meters 0.02879098039653869 Centerline is valid? [True, True] Translation: X:79.68, Y:-27.79, Z:-8.73 [[ 7.22575042e-01 6.85861530e-01 8.64827742e-02 7.96828620e+01] [-6.81070851e-01 7.27731942e-01 -8.09241374e-02 -2.77873770e+01] [-1.18439030e-01 -4.27134608e-04 9.92961235e-01 -8.72529677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06591999999999 meters 0.028807013238559744 Centerline is valid? [True, True] Translation: X:79.71, Y:-27.81, Z:-8.73 [[ 7.21174377e-01 6.87256267e-01 8.70996069e-02 7.97064653e+01] [-6.82396288e-01 7.26414805e-01 -8.15894465e-02 -2.78105356e+01] [-1.19343302e-01 -5.96230174e-04 9.92852870e-01 -8.72890383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09591999999999 meters 0.028769888146117497 Centerline is valid? [True, True] Translation: X:79.73, Y:-27.83, Z:-8.73 [[ 7.19890200e-01 6.88795608e-01 8.55494640e-02 7.97298308e+01] [-6.84108486e-01 7.24955179e-01 -8.02219887e-02 -2.78339348e+01] [-1.17276080e-01 -7.74090777e-04 9.93099049e-01 -8.73201356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12592 meters 0.028859919827363908 Centerline is valid? [True, True] Translation: X:79.75, Y:-27.86, Z:-8.74 [[ 7.19463576e-01 6.89116613e-01 8.65474200e-02 7.97539727e+01] [-6.84310906e-01 7.24650052e-01 -8.12458364e-02 -2.78567022e+01] [-1.18704448e-01 -7.71923410e-04 9.92929332e-01 -8.73600874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15592 meters 0.028881830036525367 Centerline is valid? [True, True] Translation: X:79.78, Y:-27.88, Z:-8.74 [[ 7.19067649e-01 6.89544451e-01 8.64301230e-02 7.97778460e+01] [-6.84744573e-01 7.24242945e-01 -8.12220780e-02 -2.78790540e+01] [-1.18602640e-01 -7.78389023e-04 9.92941493e-01 -8.73960774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18592 meters 0.028879598459202356 Centerline is valid? [True, True] Translation: X:79.80, Y:-27.90, Z:-8.74 [[ 7.19421934e-01 6.89004541e-01 8.77771283e-02 7.98014248e+01] [-6.84038526e-01 7.24756745e-01 -8.25769655e-02 -2.79012920e+01] [-1.20512970e-01 -6.35257293e-04 9.92711550e-01 -8.74265296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21592 meters 0.028857985263335193 Centerline is valid? [True, True] Translation: X:79.82, Y:-27.92, Z:-8.75 [[ 7.19713035e-01 6.88761548e-01 8.72964947e-02 7.98246374e+01] [-6.83837675e-01 7.24987760e-01 -8.22118150e-02 -2.79243669e+01] [-1.19913227e-01 -5.27717132e-04 9.92784236e-01 -8.74570604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24592 meters 0.028759507880084446 Centerline is valid? [True, True] Translation: X:79.85, Y:-27.95, Z:-8.75 [[ 7.20264512e-01 6.88138980e-01 8.76571574e-02 7.98469870e+01] [-6.83158879e-01 7.25578813e-01 -8.26397702e-02 -2.79486655e+01] [-1.20469823e-01 -3.61271616e-04 9.92716924e-01 -8.74924931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27592 meters 0.028710063705457416 Centerline is valid? [True, True] Translation: X:79.87, Y:-27.97, Z:-8.75 [[ 7.20118585e-01 6.88254263e-01 8.79505192e-02 7.98705546e+01] [-6.83230640e-01 7.25469482e-01 -8.30055570e-02 -2.79716147e+01] [-1.20934346e-01 -3.16645330e-04 9.92660457e-01 -8.75349774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30592 meters 0.028609241631798368 Centerline is valid? [True, True] Translation: X:79.89, Y:-27.99, Z:-8.76 [[ 7.20353093e-01 6.88019797e-01 8.78645552e-02 7.98935980e+01] [-6.82993479e-01 7.25691887e-01 -8.30132084e-02 -2.79945701e+01] [-1.20877326e-01 -2.12096784e-04 9.92667430e-01 -8.75713922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33592 meters 0.028882005960933786 Centerline is valid? [True, True] Translation: X:79.91, Y:-28.02, Z:-8.76 [[ 7.19687522e-01 6.88554706e-01 8.91195150e-02 7.99148972e+01] [-6.83376083e-01 7.25184362e-01 -8.42897915e-02 -2.80192880e+01] [-1.22666211e-01 -2.39833967e-04 9.92447955e-01 -8.76131399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36592 meters 0.02886924563324746 Centerline is valid? [True, True] Translation: X:79.94, Y:-28.04, Z:-8.76 [[ 7.19232043e-01 6.89085524e-01 8.86927730e-02 7.99384775e+01] [-6.83949566e-01 7.24679978e-01 -8.39757152e-02 -2.80418710e+01] [-1.22140327e-01 -2.63358288e-04 9.92512807e-01 -8.76442805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39591999999999 meters 0.028718137448359438 Centerline is valid? [True, True] Translation: X:79.96, Y:-28.07, Z:-8.77 [[ 7.17912053e-01 6.90539982e-01 8.80727936e-02 7.99616841e+01] [-6.85475822e-01 7.23294088e-01 -8.34778974e-02 -2.80650953e+01] [-1.21347357e-01 -4.41981885e-04 9.92610006e-01 -8.76882386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42591999999999 meters 0.028687910564313274 Centerline is valid? [True, True] Translation: X:79.98, Y:-28.09, Z:-8.77 [[ 7.17072554e-01 6.91543327e-01 8.70332076e-02 7.99844551e+01] [-6.86595259e-01 7.22334779e-01 -8.25797626e-02 -2.80886579e+01] [-1.19974597e-01 -5.40906483e-04 9.92776815e-01 -8.77223760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45591999999999 meters 0.028791557027631094 Centerline is valid? [True, True] Translation: X:80.01, Y:-28.11, Z:-8.77 [[ 7.15206286e-01 6.93573175e-01 8.62335137e-02 8.00053885e+01] [-6.88720141e-01 7.20385727e-01 -8.19083127e-02 -2.81149113e+01] [-1.18930801e-01 -8.09417582e-04 9.92902215e-01 -8.77482526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48592 meters 0.02867079757528744 Centerline is valid? [True, True] Translation: X:80.03, Y:-28.14, Z:-8.78 [[ 7.14569824e-01 6.94312497e-01 8.55577215e-02 8.00293704e+01] [-6.89529918e-01 7.19673133e-01 -8.13576905e-02 -2.81380676e+01] [-1.18061255e-01 -8.58858127e-04 9.93005943e-01 -8.77710636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51592 meters 0.028879116825586422 Centerline is valid? [True, True] Translation: X:80.05, Y:-28.16, Z:-8.78 [[ 7.13180792e-01 6.95455006e-01 8.78378842e-02 8.00535438e+01] [-6.90410437e-01 7.18568937e-01 -8.36188401e-02 -2.81602247e+01] [-1.21270716e-01 -1.00884151e-03 9.92618958e-01 -8.78054159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54592 meters 0.029091341524960408 Centerline is valid? [True, True] Translation: X:80.08, Y:-28.18, Z:-8.78 [[ 7.12164515e-01 6.96527517e-01 8.75849394e-02 8.00791258e+01] [-6.91509128e-01 7.17529203e-01 -8.34683673e-02 -2.81818821e+01] [-1.20982766e-01 -1.12257578e-03 9.92653973e-01 -8.78211687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57592 meters 0.029196333915603098 Centerline is valid? [True, True] Translation: X:80.10, Y:-28.20, Z:-8.79 [[ 7.12063761e-01 6.96615913e-01 8.77010231e-02 8.01035755e+01] [-6.91573761e-01 7.17443459e-01 -8.36696871e-02 -2.82038478e+01] [-1.21206161e-01 -1.07357429e-03 9.92626775e-01 -8.78610157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60592 meters 0.02896755038325449 Centerline is valid? [True, True] Translation: X:80.13, Y:-28.23, Z:-8.79 [[ 7.12096075e-01 6.96906950e-01 8.50875003e-02 8.01272215e+01] [-6.92153698e-01 7.17160825e-01 -8.12625942e-02 -2.82260493e+01] [-1.17653889e-01 -1.02685355e-03 9.93054132e-01 -8.78873148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63592 meters 0.029210402561276078 Centerline is valid? [True, True] Translation: X:80.15, Y:-28.25, Z:-8.79 [[ 7.12130586e-01 6.96890759e-01 8.49311389e-02 8.01515004e+01] [-6.92144446e-01 7.17176653e-01 -8.12016896e-02 -2.82484036e+01] [-1.17499337e-01 -9.58409346e-04 9.93072498e-01 -8.79306978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66592 meters 0.029039380118730928 Centerline is valid? [True, True] Translation: X:80.18, Y:-28.27, Z:-8.79 [[ 7.13503276e-01 6.95589035e-01 8.40771602e-02 8.01764707e+01] [-6.90918764e-01 7.18439588e-01 -8.04724817e-02 -2.82694058e+01] [-1.16380136e-01 -6.73108249e-04 9.93204516e-01 -8.79480062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69592 meters 0.029253556759249264 Centerline is valid? [True, True] Translation: X:80.20, Y:-28.29, Z:-8.80 [[ 7.13690875e-01 6.95346028e-01 8.44940068e-02 8.02013835e+01] [-6.90617013e-01 7.18674874e-01 -8.09602783e-02 -2.82909209e+01] [-1.17019128e-01 -5.72386787e-04 9.93129496e-01 -8.79833042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72592 meters 0.029160128061481008 Centerline is valid? [True, True] Translation: X:80.23, Y:-28.31, Z:-8.80 [[ 7.14898288e-01 6.94142156e-01 8.41849505e-02 8.02276748e+01] [-6.89429144e-01 7.19837879e-01 -8.07519870e-02 -2.83117077e+01] [-1.16652875e-01 -3.10101164e-04 9.93172699e-01 -8.80075333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75592 meters 0.028977169631817273 Centerline is valid? [True, True] Translation: X:80.25, Y:-28.33, Z:-8.80 [[ 7.15008168e-01 6.94169423e-01 8.30188623e-02 8.02525863e+01] [-6.89576656e-01 7.19811608e-01 -7.97200402e-02 -2.83327431e+01] [-1.15097155e-01 -2.47389453e-04 9.93354209e-01 -8.80449346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78591999999999 meters 0.029307435876692194 Centerline is valid? [True, True] Translation: X:80.28, Y:-28.35, Z:-8.81 [[ 7.14911087e-01 6.94164898e-01 8.38882131e-02 8.02772326e+01] [-6.89464550e-01 7.19815991e-01 -8.06447367e-02 -2.83540668e+01] [-1.16364823e-01 -1.84132678e-04 9.93206521e-01 -8.80874762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81591999999999 meters 0.029393854567892924 Centerline is valid? [True, True] Translation: X:80.30, Y:-28.38, Z:-8.81 [[ 7.14957315e-01 6.94193597e-01 8.32543544e-02 8.03021712e+01] [-6.89554164e-01 7.19788327e-01 -8.01237812e-02 -2.83751845e+01] [-1.15546928e-01 -1.23303199e-04 9.93302015e-01 -8.81187029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84591999999999 meters 0.02940001320240676 Centerline is valid? [True, True] Translation: X:80.33, Y:-28.40, Z:-8.81 [[ 7.14955956e-01 6.94195865e-01 8.32471095e-02 8.03265707e+01] [-6.89547147e-01 7.19786147e-01 -8.02037102e-02 -2.83969193e+01] [-1.15597200e-01 -6.06865107e-05 9.93296171e-01 -8.81426600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87592 meters 0.029430406905216366 Centerline is valid? [True, True] Translation: X:80.35, Y:-28.42, Z:-8.82 [[ 7.14665472e-01 6.94514275e-01 8.30854050e-02 8.03513943e+01] [-6.89875792e-01 7.19478922e-01 -8.01340967e-02 -2.84181002e+01] [-1.15432472e-01 -4.95375139e-05 9.93315329e-01 -8.81722620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90592 meters 0.02964996216632682 Centerline is valid? [True, True] Translation: X:80.38, Y:-28.44, Z:-8.82 [[ 7.14438917e-01 6.94823596e-01 8.24451614e-02 8.03769013e+01] [-6.90248722e-01 7.19180206e-01 -7.96023394e-02 -2.84395976e+01] [-1.14602512e-01 -3.66581756e-05 9.93411427e-01 -8.82021594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93592 meters 0.029731192518262946 Centerline is valid? [True, True] Translation: X:80.40, Y:-28.46, Z:-8.82 [[ 7.13511358e-01 6.95748417e-01 8.26781818e-02 8.04021264e+01] [-6.91143632e-01 7.18285546e-01 -7.99146663e-02 -2.84607756e+01] [-1.14987045e-01 -1.22476735e-04 9.93366984e-01 -8.82405664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96592 meters 0.02951189372056897 Centerline is valid? [True, True] Translation: X:80.43, Y:-28.48, Z:-8.83 [[ 7.12631933e-01 6.96593006e-01 8.31499406e-02 8.04291099e+01] [-6.91930854e-01 7.17466477e-01 -8.04583617e-02 -2.84801653e+01] [-1.15704027e-01 -1.96811592e-04 9.93283715e-01 -8.82827982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99592 meters 0.029520957771251452 Centerline is valid? [True, True] Translation: X:80.45, Y:-28.50, Z:-8.83 [[ 7.12089704e-01 6.97167144e-01 8.29832865e-02 8.04530309e+01] [-6.92517517e-01 7.16908586e-01 -8.03838726e-02 -2.85020355e+01] [-1.15532426e-01 -2.26851484e-04 9.93303683e-01 -8.83138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02592 meters 0.029522660609871288 Centerline is valid? [True, True] Translation: X:80.48, Y:-28.52, Z:-8.83 [[ 7.10898271e-01 6.98437523e-01 8.25146969e-02 8.04772453e+01] [-6.93838959e-01 7.15670938e-01 -8.00163001e-02 -2.85249132e+01] [-1.14939757e-01 -3.68462020e-04 9.93372396e-01 -8.83414534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05592 meters 0.029615486761957542 Centerline is valid? [True, True] Translation: X:80.50, Y:-28.55, Z:-8.84 [[ 7.09863291e-01 6.99437538e-01 8.29532367e-02 8.05010182e+01] [-6.94786472e-01 7.14693577e-01 -8.05285565e-02 -2.85471203e+01] [-1.15610841e-01 -4.70520611e-04 9.93294474e-01 -8.83775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08592 meters 0.02982785763426004 Centerline is valid? [True, True] Translation: X:80.53, Y:-28.57, Z:-8.84 [[ 7.07855139e-01 7.01480952e-01 8.28587759e-02 8.05257808e+01] [-6.96844362e-01 7.12687818e-01 -8.05233470e-02 -2.85692484e+01] [-1.15538034e-01 -7.40805874e-04 9.93302781e-01 -8.84049391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11592 meters 0.029610586798461 Centerline is valid? [True, True] Translation: X:80.55, Y:-28.59, Z:-8.84 [[ 7.07571468e-01 7.01860221e-01 8.20661144e-02 8.05505146e+01] [-6.97305034e-01 7.12314320e-01 -7.98373301e-02 -2.85914298e+01] [-1.14491515e-01 -7.34497857e-04 9.93423955e-01 -8.84318956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14591999999999 meters 0.029922766760300142 Centerline is valid? [True, True] Translation: X:80.57, Y:-28.61, Z:-8.85 [[ 7.05324800e-01 7.04073628e-01 8.24454534e-02 8.05746303e+01] [-6.99481130e-01 7.10126222e-01 -8.02925722e-02 -2.86135091e+01] [-1.15078561e-01 -1.03669652e-03 9.93355853e-01 -8.84734976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17591999999999 meters 0.029790578517109395 Centerline is valid? [True, True] Translation: X:80.60, Y:-28.63, Z:-8.85 [[ 7.03928302e-01 7.05511595e-01 8.20873639e-02 8.06016413e+01] [-7.00958969e-01 7.08697352e-01 -8.00286689e-02 -2.86333917e+01] [-1.14636251e-01 -1.20542902e-03 9.93406803e-01 -8.85003958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20591999999999 meters 0.03014631804179111 Centerline is valid? [True, True] Translation: X:80.63, Y:-28.66, Z:-8.85 [[ 7.01747011e-01 7.07446608e-01 8.40858435e-02 8.06257056e+01] [-7.02672177e-01 7.06765208e-01 -8.20655337e-02 -2.86553349e+01] [-1.17485932e-01 -1.49553979e-03 9.93073421e-01 -8.85431775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23592 meters 0.03005606807274217 Centerline is valid? [True, True] Translation: X:80.65, Y:-28.68, Z:-8.86 [[ 7.00702531e-01 7.08486731e-01 8.40387735e-02 8.06509484e+01] [-7.03715163e-01 7.05722299e-01 -8.21036333e-02 -2.86762257e+01] [-1.17477371e-01 -1.60913548e-03 9.93074256e-01 -8.85585726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26592 meters 0.030264895152139256 Centerline is valid? [True, True] Translation: X:80.68, Y:-28.70, Z:-8.86 [[ 6.99579542e-01 7.09496653e-01 8.48702726e-02 8.06757706e+01] [-7.04626759e-01 7.04706671e-01 -8.30038503e-02 -2.86980927e+01] [-1.18699601e-01 -1.73406953e-03 9.92928697e-01 -8.85952893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29592 meters 0.030146283288908855 Centerline is valid? [True, True] Translation: X:80.70, Y:-28.72, Z:-8.86 [[ 6.99807306e-01 7.09227997e-01 8.52372119e-02 8.07007804e+01] [-7.04303401e-01 7.04977288e-01 -8.34490449e-02 -2.87189477e+01] [-1.19274697e-01 -1.63460690e-03 9.92859947e-01 -8.86271479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32592 meters 0.029901843619263378 Centerline is valid? [True, True] Translation: X:80.73, Y:-28.74, Z:-8.87 [[ 7.01541096e-01 7.07651000e-01 8.40842019e-02 8.07283562e+01] [-7.02837806e-01 7.06560971e-01 -8.24051753e-02 -2.87367830e+01] [-1.17724720e-01 -1.28693907e-03 9.93045434e-01 -8.86704951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35592 meters 0.029751909965786253 Centerline is valid? [True, True] Translation: X:80.75, Y:-28.76, Z:-8.87 [[ 7.02551926e-01 7.06799566e-01 8.27959254e-02 8.07540031e+01] [-7.02117998e-01 7.07413055e-01 -8.12224546e-02 -2.87574725e+01] [-1.15978914e-01 -1.06951749e-03 9.93251100e-01 -8.86978754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38592 meters 0.029497405516106807 Centerline is valid? [True, True] Translation: X:80.78, Y:-28.78, Z:-8.87 [[ 7.04045996e-01 7.05331823e-01 8.26211526e-02 8.07821981e+01] [-7.00650413e-01 7.08876880e-01 -8.11330213e-02 -2.87760974e+01] [-1.15793927e-01 -7.67165933e-04 9.93272962e-01 -8.87244409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41592 meters 0.02945887018466529 Centerline is valid? [True, True] Translation: X:80.81, Y:-28.80, Z:-8.88 [[ 7.04738155e-01 7.04556453e-01 8.33326910e-02 8.08081824e+01] [-6.99778149e-01 7.09647704e-01 -8.19187290e-02 -2.87963376e+01] [-1.16853222e-01 -5.83142389e-04 9.93149024e-01 -8.87584969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44592 meters 0.029540223707091834 Centerline is valid? [True, True] Translation: X:80.84, Y:-28.81, Z:-8.88 [[ 7.07945378e-01 7.01306496e-01 8.35615946e-02 8.08364115e+01] [-6.96468697e-01 7.12859873e-01 -8.22323229e-02 -2.88149668e+01] [-1.17237770e-01 1.79579937e-05 9.93103874e-01 -8.87992898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47592 meters 0.029453437055273788 Centerline is valid? [True, True] Translation: X:80.86, Y:-28.84, Z:-8.88 [[ 7.10251898e-01 6.99103064e-01 8.24448114e-02 8.08613394e+01] [-6.94369220e-01 7.15020777e-01 -8.12199138e-02 -2.88366625e+01] [-1.15730844e-01 4.39458567e-04 9.93280514e-01 -8.88363732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50591999999999 meters 0.029635366434707 Centerline is valid? [True, True] Translation: X:80.89, Y:-28.86, Z:-8.89 [[ 7.12307330e-01 6.97011097e-01 8.24245049e-02 8.08858970e+01] [-6.92255335e-01 7.17059844e-01 -8.12879508e-02 -2.88582272e+01] [-1.15761906e-01 8.43199924e-04 9.93276633e-01 -8.88707653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53591999999999 meters 0.02987558826480951 Centerline is valid? [True, True] Translation: X:80.91, Y:-28.88, Z:-8.89 [[ 7.16151727e-01 6.93012307e-01 8.28290157e-02 8.09109982e+01] [-6.88172576e-01 7.20924061e-01 -8.17741034e-02 -2.88785022e+01] [-1.16383890e-01 1.56200827e-03 9.93203076e-01 -8.89107062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56591999999999 meters 0.03001646139609119 Centerline is valid? [True, True] Translation: X:80.94, Y:-28.90, Z:-8.89 [[ 7.19065748e-01 6.90105949e-01 8.18427035e-02 8.09350185e+01] [-6.85353811e-01 7.23705413e-01 -8.08741606e-02 -2.89000414e+01] [-1.15041747e-01 2.06263009e-03 9.93358516e-01 -8.89397135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59591999999999 meters 0.030284271697251394 Centerline is valid? [True, True] Translation: X:80.96, Y:-28.92, Z:-8.90 [[ 7.20137769e-01 6.88883283e-01 8.27128522e-02 8.09584647e+01] [-6.84012368e-01 7.24868512e-01 -8.18090516e-02 -2.89221575e+01] [-1.16312830e-01 2.33717395e-03 9.93209879e-01 -8.89815997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62592 meters 0.030284271697251394 Centerline is valid? [True, True] Translation: X:80.98, Y:-28.94, Z:-8.90 [[ 7.19781445e-01 6.89260121e-01 8.26750133e-02 8.09816900e+01] [-6.84387294e-01 7.24510217e-01 -8.18472757e-02 -2.89446569e+01] [-1.16312955e-01 2.33042172e-03 9.93209880e-01 -8.90143002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65592 meters 0.03052475896491472 Centerline is valid? [True, True] Translation: X:81.01, Y:-28.97, Z:-8.90 [[ 7.20501011e-01 6.88564426e-01 8.22029454e-02 8.10062065e+01] [-6.83732941e-01 7.25170897e-01 -8.14643204e-02 -2.89665944e+01] [-1.15704617e-01 2.49026359e-03 9.93280545e-01 -8.90434037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68592 meters 0.03054842623697876 Centerline is valid? [True, True] Translation: X:81.03, Y:-28.99, Z:-8.91 [[ 7.20277318e-01 6.88506409e-01 8.46138867e-02 8.10293024e+01] [-6.83375384e-01 7.25225459e-01 -8.39411593e-02 -2.89883552e+01] [-1.19158171e-01 2.63786574e-03 9.92871780e-01 -8.90731107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71592 meters 0.030670016991102268 Centerline is valid? [True, True] Translation: X:81.05, Y:-29.01, Z:-8.91 [[ 7.19884888e-01 6.88745344e-01 8.59976643e-02 8.10511441e+01] [-6.83436669e-01 7.24998324e-01 -8.53917413e-02 -2.90115181e+01] [-1.21161327e-01 2.69826687e-03 9.92629162e-01 -8.91184230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74592 meters 0.030675592401515402 Centerline is valid? [True, True] Translation: X:81.07, Y:-29.04, Z:-8.91 [[ 7.20823770e-01 6.87758010e-01 8.60349433e-02 8.10726404e+01] [-6.82428343e-01 7.25934145e-01 -8.55054030e-02 -2.90359777e+01] [-1.21262729e-01 2.92164325e-03 9.92616147e-01 -8.91476085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77592 meters 0.030770141360560315 Centerline is valid? [True, True] Translation: X:81.10, Y:-29.06, Z:-8.92 [[ 7.20904821e-01 6.87603432e-01 8.65895970e-02 8.10951205e+01] [-6.82193967e-01 7.26080147e-01 -8.61336859e-02 -2.90585571e+01] [-1.22096805e-01 3.02328878e-03 9.92513592e-01 -8.91873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80592 meters 0.030729301509224174 Centerline is valid? [True, True] Translation: X:81.12, Y:-29.08, Z:-8.92 [[ 7.21493728e-01 6.87169208e-01 8.51192116e-02 8.11178622e+01] [-6.81930383e-01 7.26490794e-01 -8.47471404e-02 -2.90818698e+01] [-1.20073949e-01 3.09915365e-03 9.92760113e-01 -8.92030950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83592 meters 0.03075147741959157 Centerline is valid? [True, True] Translation: X:81.14, Y:-29.11, Z:-8.92 [[ 7.22523412e-01 6.86246754e-01 8.38171262e-02 8.11385033e+01] [-6.81151434e-01 7.27361494e-01 -8.35343146e-02 -2.91072198e+01] [-1.18290502e-01 3.26334237e-03 9.92973669e-01 -8.92359543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86592 meters 0.03098705930353978 Centerline is valid? [True, True] Translation: X:81.16, Y:-29.13, Z:-8.93 [[ 7.22878177e-01 6.85870351e-01 8.38391491e-02 8.11594799e+01] [-6.80759824e-01 7.27715870e-01 -8.36401542e-02 -2.91318955e+01] [-1.18377381e-01 3.38731781e-03 9.92962900e-01 -8.92709911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89591999999999 meters 0.030881324416350334 Centerline is valid? [True, True] Translation: X:81.18, Y:-29.16, Z:-8.93 [[ 7.21944357e-01 6.86586830e-01 8.59934325e-02 8.11785879e+01] [-6.81204762e-01 7.27039808e-01 -8.58672866e-02 -2.91579743e+01] [-1.21475997e-01 3.41226740e-03 9.92588504e-01 -8.93050869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92591999999999 meters 0.03069926254604166 Centerline is valid? [True, True] Translation: X:81.20, Y:-29.18, Z:-8.93 [[ 7.20898037e-01 6.87589728e-01 8.67547410e-02 8.12002342e+01] [-6.82108933e-01 7.26091779e-01 -8.67071681e-02 -2.91823668e+01] [-1.22610862e-01 3.33084354e-03 9.92449234e-01 -8.93293379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95591999999999 meters 0.029925997399553116 Centerline is valid? [True, True] Translation: X:81.48, Y:-29.25, Z:-6.99 [[ 7.42789415e-01 -6.67323022e-01 -5.42574368e-02 8.14754033e+01] [-6.64936694e-01 -7.44743886e-01 5.67074806e-02 -2.92490980e+01] [-7.82501016e-02 -6.04395571e-03 -9.96915439e-01 -6.98616283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98592 meters 0.029598103976311137 Centerline is valid? [True, True] Translation: X:81.25, Y:-29.26, Z:-8.94 [[ 7.66133689e-01 6.35901731e-01 9.31029532e-02 8.12503305e+01] [-6.30897504e-01 7.71766650e-01 -7.96528556e-02 -2.92607320e+01] [-1.22505143e-01 2.28631529e-03 9.92465245e-01 -8.94210581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01592 meters 0.029318520488170477 Centerline is valid? [True, True] Translation: X:81.27, Y:-29.28, Z:-8.95 [[ 7.63956057e-01 6.38536738e-01 9.29622315e-02 8.12731165e+01] [-6.33558524e-01 7.69588959e-01 -7.96016989e-02 -2.92838965e+01] [-1.22371316e-01 1.91518587e-03 9.92482540e-01 -8.94522584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04592 meters 0.029214394912718603 Centerline is valid? [True, True] Translation: X:81.29, Y:-29.31, Z:-8.95 [[ 7.59792550e-01 6.43374686e-01 9.37245656e-02 8.12937623e+01] [-6.38341019e-01 7.65550492e-01 -8.03317306e-02 -2.93096887e+01] [-1.23434289e-01 1.20721572e-03 9.92352014e-01 -8.94905214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07592 meters 0.02915402111754352 Centerline is valid? [True, True] Translation: X:81.32, Y:-29.33, Z:-8.95 [[ 7.58197384e-01 6.45327652e-01 9.32145316e-02 8.13167824e+01] [-6.40353243e-01 7.63905310e-01 -7.99775104e-02 -2.93326115e+01] [-1.22818775e-01 9.48511592e-04 9.92428662e-01 -8.95184398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10592 meters 0.02911549383093113 Centerline is valid? [True, True] Translation: X:81.34, Y:-29.36, Z:-8.96 [[ 7.55214417e-01 6.48885382e-01 9.27304986e-02 8.13386997e+01] [-6.43979023e-01 7.60886045e-01 -7.96457380e-02 -2.93568891e+01] [-1.22238297e-01 4.33113647e-04 9.92500686e-01 -8.95602912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13592 meters 0.02914806313544585 Centerline is valid? [True, True] Translation: X:81.36, Y:-29.38, Z:-8.96 [[ 7.53399325e-01 6.51017404e-01 9.25515954e-02 8.13625581e+01] [-6.46135701e-01 7.59062789e-01 -7.95759946e-02 -2.93797367e+01] [-1.22057830e-01 1.51610673e-04 9.92522979e-01 -8.95980274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16592 meters 0.029214277847313005 Centerline is valid? [True, True] Translation: X:81.39, Y:-29.40, Z:-8.96 [[ 7.49951044e-01 6.55059309e-01 9.20365829e-02 8.13859975e+01] [-6.50251623e-01 7.55577336e-01 -7.92194194e-02 -2.94027544e+01] [-1.21434174e-01 -4.36251021e-04 9.92599391e-01 -8.96426053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19592 meters 0.0293385224763119 Centerline is valid? [True, True] Translation: X:81.41, Y:-29.42, Z:-8.97 [[ 7.47809630e-01 6.57349308e-01 9.31270359e-02 8.14100326e+01] [-6.52433295e-01 7.53585645e-01 -8.02463155e-02 -2.94249963e+01] [-1.22929057e-01 -7.50211424e-04 9.92415177e-01 -8.96843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22592 meters 0.029871453252156586 Centerline is valid? [True, True] Translation: X:81.43, Y:-29.45, Z:-8.97 [[ 7.43720213e-01 6.61804450e-01 9.43139154e-02 8.14330775e+01] [-6.56786539e-01 7.49675130e-01 -8.13550361e-02 -2.94487739e+01] [-1.24545922e-01 -1.43872524e-03 9.92212802e-01 -8.97072467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25591999999999 meters 0.029863842169976382 Centerline is valid? [True, True] Translation: X:81.46, Y:-29.47, Z:-8.97 [[ 7.41891276e-01 6.63928495e-01 9.37885241e-02 8.14574765e+01] [-6.58973008e-01 7.47794081e-01 -8.09851031e-02 -2.94711576e+01] [-1.23902821e-01 -1.72196434e-03 9.92292863e-01 -8.97287411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28591999999999 meters 0.030229104199074347 Centerline is valid? [True, True] Translation: X:81.48, Y:-29.49, Z:-8.98 [[ 7.39670412e-01 6.66472065e-01 9.32880906e-02 8.14814886e+01] [-6.61579087e-01 7.45527124e-01 -8.06375766e-02 -2.94930715e+01] [-1.23291494e-01 -2.07222027e-03 9.92368336e-01 -8.97618232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31591999999999 meters 0.03055179949958068 Centerline is valid? [True, True] Translation: X:81.51, Y:-29.51, Z:-8.98 [[ 7.36149025e-01 6.70373895e-01 9.31850523e-02 8.15070073e+01] [-6.65512547e-01 7.42018711e-01 -8.06305314e-02 -2.95130580e+01] [-1.23197656e-01 -2.65973445e-03 9.92378589e-01 -8.97954639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34591999999999 meters 0.030870470892639897 Centerline is valid? [True, True] Translation: X:81.53, Y:-29.53, Z:-8.98 [[ 7.35067716e-01 6.71391306e-01 9.43883839e-02 8.15325563e+01] [-6.66401272e-01 7.41097724e-01 -8.17527261e-02 -2.95330102e+01] [-1.24839086e-01 -2.80674944e-03 9.92173032e-01 -8.98325998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37592 meters 0.031102423255022445 Centerline is valid? [True, True] Translation: X:81.56, Y:-29.55, Z:-8.99 [[ 7.33290797e-01 6.73381742e-01 9.40299773e-02 8.15575556e+01] [-6.68435604e-01 7.39288573e-01 -8.15245287e-02 -2.95540336e+01] [-1.24412417e-01 -3.07179802e-03 9.92225839e-01 -8.98645092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40592 meters 0.031164360392830968 Centerline is valid? [True, True] Translation: X:81.58, Y:-29.57, Z:-8.99 [[ 7.32715373e-01 6.74128018e-01 9.31643583e-02 8.15831086e+01] [-6.69268554e-01 7.38607990e-01 -8.08569087e-02 -2.95743823e+01] [-1.23319847e-01 -3.10687531e-03 9.92362113e-01 -8.98902304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43592 meters 0.03103165252477685 Centerline is valid? [True, True] Translation: X:81.61, Y:-29.59, Z:-8.99 [[ 7.32918218e-01 6.73948200e-01 9.28693148e-02 8.16096644e+01] [-6.69107927e-01 7.38772489e-01 -8.06832712e-02 -2.95937146e+01] [-1.22985640e-01 -3.00535540e-03 9.92403900e-01 -8.99267535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46592 meters 0.03068225795947918 Centerline is valid? [True, True] Translation: X:81.64, Y:-29.61, Z:-9.00 [[ 7.32790587e-01 6.74196185e-01 9.20731150e-02 8.16390429e+01] [-6.69431040e-01 7.38546365e-01 -8.00708967e-02 -2.96092329e+01] [-1.21983758e-01 -2.96140177e-03 9.92527679e-01 -8.99612098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49592 meters 0.030508117877999 Centerline is valid? [True, True] Translation: X:81.67, Y:-29.63, Z:-9.00 [[ 7.33149248e-01 6.73796359e-01 9.21447083e-02 8.16652940e+01] [-6.69010791e-01 7.38911642e-01 -8.02131372e-02 -2.96281380e+01] [-1.22134117e-01 -2.83760297e-03 9.92509549e-01 -9.00006813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52592 meters 0.030456936962684807 Centerline is valid? [True, True] Translation: X:81.69, Y:-29.65, Z:-9.00 [[ 7.33228530e-01 6.73565495e-01 9.31957409e-02 8.16923356e+01] [-6.68657513e-01 7.39122353e-01 -8.12113134e-02 -2.96465339e+01] [-1.23584194e-01 -2.76958039e-03 9.92330226e-01 -9.00385061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.55592 meters 0.030274043745357342 Centerline is valid? [True, True] Translation: X:81.72, Y:-29.67, Z:-9.01 [[ 7.33649564e-01 6.73076683e-01 9.34135796e-02 8.17197156e+01] [-6.68131178e-01 7.39568021e-01 -8.14854068e-02 -2.96655927e+01] [-1.23931623e-01 -2.63079179e-03 9.92287273e-01 -9.00722993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58592 meters 0.029595705021270846 Centerline is valid? [True, True] Translation: X:81.75, Y:-29.68, Z:-9.01 [[ 7.35759372e-01 6.70875362e-01 9.26520113e-02 8.17494661e+01] [-6.65983448e-01 7.41566911e-01 -8.08984771e-02 -2.96808110e+01] [-1.22980461e-01 -2.18289328e-03 9.92406691e-01 -9.01030913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61592 meters 0.029341209234644602 Centerline is valid? [True, True] Translation: X:81.78, Y:-29.70, Z:-9.01 [[ 7.36912916e-01 6.69680084e-01 9.21300140e-02 8.17764387e+01] [-6.64827023e-01 7.42647199e-01 -8.04994792e-02 -2.96999243e+01] [-1.22328995e-01 -1.92941699e-03 9.92487730e-01 -9.01369294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64591999999999 meters 0.029171004973001017 Centerline is valid? [True, True] Translation: X:81.80, Y:-29.72, Z:-9.02 [[ 7.37721469e-01 6.68689195e-01 9.28536222e-02 8.18031291e+01] [-6.63741249e-01 7.43540053e-01 -8.12141783e-02 -2.97196660e+01] [-1.23347431e-01 -1.71733629e-03 9.92362062e-01 -9.01790108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67591999999999 meters 0.028921838093630057 Centerline is valid? [True, True] Translation: X:81.83, Y:-29.74, Z:-9.02 [[ 7.40697464e-01 6.65189384e-01 9.42886566e-02 8.18308538e+01] [-6.60047221e-01 7.46673896e-01 -8.25576170e-02 -2.97375824e+01] [-1.25319329e-01 -1.08474824e-03 9.92115865e-01 -9.02173536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70591999999999 meters 0.028817251074093896 Centerline is valid? [True, True] Translation: X:81.86, Y:-29.76, Z:-9.02 [[ 7.41935478e-01 6.63787375e-01 9.44355186e-02 8.18564879e+01] [-6.58606633e-01 7.47920923e-01 -8.27743644e-02 -2.97575937e+01] [-1.25574878e-01 -7.82621325e-04 9.92083836e-01 -9.02475930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73592 meters 0.02880702072944647 Centerline is valid? [True, True] Translation: X:81.88, Y:-29.78, Z:-9.03 [[ 7.44917189e-01 6.60472350e-01 9.42053935e-02 8.18830888e+01] [-6.55279560e-01 7.50850351e-01 -8.26586218e-02 -2.97760321e+01] [-1.25327887e-01 -1.57040645e-04 9.92115364e-01 -9.02693251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76592 meters 0.028455948531424295 Centerline is valid? [True, True] Translation: X:81.91, Y:-29.80, Z:-9.03 [[ 7.46179628e-01 6.58996868e-01 9.45467642e-02 8.19093190e+01] [-6.53744124e-01 7.52145667e-01 -8.30392413e-02 -2.97953499e+01] [-1.25835539e-01 1.52798658e-04 9.92051104e-01 -9.03020373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79592 meters 0.028233568673477875 Centerline is valid? [True, True] Translation: X:81.93, Y:-29.81, Z:-9.03 [[ 7.49012432e-01 6.56134078e-01 9.20241721e-02 8.19349856e+01] [-6.51126964e-01 7.54644027e-01 -8.09077833e-02 -2.98142831e+01] [-1.22531846e-01 6.81515685e-04 9.92464348e-01 -9.03287234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82592 meters 0.028311430041825517 Centerline is valid? [True, True] Translation: X:81.96, Y:-29.84, Z:-9.04 [[ 7.49642393e-01 6.55311092e-01 9.27558923e-02 8.19587220e+01] [-6.50207822e-01 7.55358588e-01 -8.16283756e-02 -2.98355844e+01] [-1.23555940e-01 8.81484109e-04 9.92337217e-01 -9.03660135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85592 meters 0.028820479651092103 Centerline is valid? [True, True] Translation: X:81.98, Y:-29.86, Z:-9.04 [[ 7.51603930e-01 6.52768117e-01 9.47909213e-02 8.19821860e+01] [-6.47407266e-01 7.57556503e-01 -8.34983632e-02 -2.98574727e+01] [-1.26314548e-01 1.38936677e-03 9.91989266e-01 -9.03991450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88592 meters 0.02874217472139408 Centerline is valid? [True, True] Translation: X:82.01, Y:-29.88, Z:-9.04 [[ 7.52192094e-01 6.52051265e-01 9.50589388e-02 8.20063355e+01] [-6.46644300e-01 7.58173247e-01 -8.38121529e-02 -2.98782429e+01] [-1.26720965e-01 1.57351785e-03 9.91937156e-01 -9.04282751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.91592 meters 0.028729683423975517 Centerline is valid? [True, True] Translation: X:82.03, Y:-29.90, Z:-9.05 [[ 7.51981716e-01 6.52490143e-01 9.37022464e-02 8.20308425e+01] [-6.47230889e-01 7.57795655e-01 -8.26917263e-02 -2.98992259e+01] [-1.24962691e-01 1.53567799e-03 9.92160253e-01 -9.04652386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94592 meters 0.028483615043987658 Centerline is valid? [True, True] Translation: X:82.05, Y:-29.92, Z:-9.05 [[ 7.51602089e-01 6.53237625e-01 9.15145146e-02 8.20539821e+01] [-6.48218548e-01 7.57151603e-01 -8.08341758e-02 -2.99215392e+01] [-1.22094286e-01 1.43372962e-03 9.92517471e-01 -9.05027493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97592 meters 0.02822891469346502 Centerline is valid? [True, True] Translation: X:82.08, Y:-29.94, Z:-9.05 [[ 7.50825911e-01 6.54164653e-01 9.12636702e-02 8.20778056e+01] [-6.49170695e-01 7.56350989e-01 -8.06882221e-02 -2.99441967e+01] [-1.21810750e-01 1.33710767e-03 9.92552444e-01 -9.05359624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00591999999999 meters 0.028215831205051223 Centerline is valid? [True, True] Translation: X:82.10, Y:-29.97, Z:-9.06 [[ 7.49824303e-01 6.55323370e-01 9.11854981e-02 8.21020839e+01] [-6.50336032e-01 7.55347475e-01 -8.07046304e-02 -2.99667312e+01] [-1.21764366e-01 1.21307818e-03 9.92558294e-01 -9.05550329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03591999999999 meters 0.028434524820578334 Centerline is valid? [True, True] Translation: X:82.13, Y:-29.99, Z:-9.06 [[ 7.49081906e-01 6.55964844e-01 9.26629513e-02 8.21264670e+01] [-6.50808048e-01 7.54790502e-01 -8.20986182e-02 -2.99876567e+01] [-1.23794923e-01 1.19279493e-03 9.92307107e-01 -9.05944232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06591999999999 meters 0.02820562853548702 Centerline is valid? [True, True] Translation: X:82.15, Y:-30.01, Z:-9.06 [[ 7.47970639e-01 6.57264563e-01 9.24295281e-02 8.21507192e+01] [-6.52133907e-01 7.53659222e-01 -8.19703892e-02 -3.00095685e+01] [-1.23536598e-01 1.03501506e-03 9.92339477e-01 -9.06469898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09591999999999 meters 0.027987630834713666 Centerline is valid? [True, True] Translation: X:82.18, Y:-30.03, Z:-9.07 [[ 7.47641549e-01 6.57680971e-01 9.21295542e-02 8.21753268e+01] [-6.52576096e-01 7.53295879e-01 -8.17909319e-02 -3.00312385e+01] [-1.23193153e-01 1.02875419e-03 9.92382179e-01 -9.06778897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12592 meters 0.02793607613969656 Centerline is valid? [True, True] Translation: X:82.20, Y:-30.05, Z:-9.07 [[ 7.45582473e-01 6.59973458e-01 9.24219220e-02 8.22003071e+01] [-6.54842558e-01 7.51288572e-01 -8.21383387e-02 -3.00529647e+01] [-1.23644657e-01 7.19097895e-04 9.92326298e-01 -9.07144232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15592 meters 0.02791862592392879 Centerline is valid? [True, True] Translation: X:82.23, Y:-30.07, Z:-9.07 [[ 7.44594768e-01 6.61132977e-01 9.20967860e-02 8.22250835e+01] [-6.56036195e-01 7.50268511e-01 -8.19370071e-02 -3.00738666e+01] [-1.23268576e-01 5.91041730e-04 9.92373170e-01 -9.07460223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18592 meters 0.027797591001931347 Centerline is valid? [True, True] Translation: X:82.25, Y:-30.09, Z:-9.08 [[ 7.44137841e-01 6.61724814e-01 9.15376597e-02 8.22498266e+01] [-6.56683672e-01 7.49746598e-01 -8.15266427e-02 -3.00947707e+01] [-1.22578251e-01 5.55773445e-04 9.92458696e-01 -9.07757204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21592 meters 0.028069746667933555 Centerline is valid? [True, True] Translation: X:82.27, Y:-30.12, Z:-9.08 [[ 7.44241921e-01 6.61558571e-01 9.18924398e-02 8.22739895e+01] [-6.56465918e-01 7.49893213e-01 -8.19308684e-02 -3.01165150e+01] [-1.23111585e-01 6.52132015e-04 9.92392620e-01 -9.08233070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24592 meters 0.027960439747418225 Centerline is valid? [True, True] Translation: X:82.30, Y:-30.14, Z:-9.09 [[ 7.43440163e-01 6.62391762e-01 9.23789836e-02 8.22993901e+01] [-6.57240080e-01 7.49157401e-01 -8.24540248e-02 -3.01380442e+01] [-1.23823266e-01 5.84463132e-04 9.92304115e-01 -9.08525770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.27592 meters 0.027797189201767585 Centerline is valid? [True, True] Translation: X:82.33, Y:-30.16, Z:-9.09 [[ 7.43865812e-01 6.61878468e-01 9.26312477e-02 8.23251767e+01] [-6.56683430e-01 7.49610798e-01 -8.27678984e-02 -3.01584378e+01] [-1.24219673e-01 7.38804535e-04 9.92254467e-01 -9.08718913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30592 meters 0.027829643335982476 Centerline is valid? [True, True] Translation: X:82.35, Y:-30.18, Z:-9.09 [[ 7.44385465e-01 6.61286626e-01 9.26837541e-02 8.23496722e+01] [-6.56069999e-01 7.50132775e-01 -8.29034159e-02 -3.01797453e+01] [-1.24348042e-01 9.05067280e-04 9.92238250e-01 -9.09002505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.33592 meters 0.02775501452007896 Centerline is valid? [True, True] Translation: X:82.37, Y:-30.20, Z:-9.09 [[ 7.44544264e-01 6.60987003e-01 9.35415471e-02 8.23731039e+01] [-6.55659512e-01 7.50396642e-01 -8.37584897e-02 -3.02014312e+01] [-1.25556536e-01 1.03049792e-03 9.92085931e-01 -9.09338399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36592 meters 0.02776434067821887 Centerline is valid? [True, True] Translation: X:82.40, Y:-30.22, Z:-9.10 [[ 7.43846636e-01 6.61734180e-01 9.38086213e-02 8.23981142e+01] [-6.56371741e-01 7.49737912e-01 -8.40785341e-02 -3.02231328e+01] [-1.25969520e-01 9.68206569e-04 9.92033640e-01 -9.09701013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39591999999999 meters 0.027684126298335013 Centerline is valid? [True, True] Translation: X:82.42, Y:-30.24, Z:-9.10 [[ 7.43477207e-01 6.62180632e-01 9.35866084e-02 8.24240112e+01] [-6.56835810e-01 7.49343641e-01 -8.39691916e-02 -3.02438432e+01] [-1.25731302e-01 9.58144310e-04 9.92063870e-01 -9.10017290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42591999999999 meters 0.027522763463356803 Centerline is valid? [True, True] Translation: X:82.45, Y:-30.26, Z:-9.10 [[ 7.42314515e-01 6.63639403e-01 9.24765090e-02 8.24496777e+01] [-6.58422407e-01 7.48052245e-01 -8.30528270e-02 -3.02634818e+01] [-1.24294389e-01 7.62713300e-04 9.92245092e-01 -9.10246171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45591999999999 meters 0.027503121148790215 Centerline is valid? [True, True] Translation: X:82.47, Y:-30.28, Z:-9.11 [[ 7.41603451e-01 6.64542607e-01 9.16921264e-02 8.24736517e+01] [-6.59414573e-01 7.47250098e-01 -8.23997132e-02 -3.02839836e+01] [-1.23275071e-01 6.44787224e-04 9.92372330e-01 -9.10548881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48592 meters 0.027322185341246117 Centerline is valid? [True, True] Translation: X:82.50, Y:-30.30, Z:-9.11 [[ 7.41757743e-01 6.64389507e-01 9.15534475e-02 8.24988493e+01] [-6.59266010e-01 7.47386146e-01 -8.23545797e-02 -3.03044482e+01] [-1.23141297e-01 7.29071178e-04 9.92388880e-01 -9.10926829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51592 meters 0.027322185341246117 Centerline is valid? [True, True] Translation: X:82.52, Y:-30.33, Z:-9.11 [[ 7.41407228e-01 6.64786677e-01 9.15095442e-02 8.25231230e+01] [-6.59660175e-01 7.47032893e-01 -8.24033399e-02 -3.03258099e+01] [-1.23141282e-01 7.29229859e-04 9.92388882e-01 -9.11252882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54592 meters 0.027282486331241376 Centerline is valid? [True, True] Translation: X:82.55, Y:-30.35, Z:-9.12 [[ 7.41378198e-01 6.64784489e-01 9.17602902e-02 8.25477435e+01] [-6.59618701e-01 7.47034769e-01 -8.27177292e-02 -3.03474809e+01] [-1.23537590e-01 7.98317628e-04 9.92339572e-01 -9.11643504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57592 meters 0.027213686662439146 Centerline is valid? [True, True] Translation: X:82.57, Y:-30.37, Z:-9.12 [[ 7.41899747e-01 6.64348613e-01 9.06955685e-02 8.25714728e+01] [-6.59288800e-01 7.47422281e-01 -8.18426112e-02 -3.03686660e+01] [-1.22159914e-01 9.24440036e-04 9.92510000e-01 -9.11946439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60592 meters 0.027367098884060425 Centerline is valid? [True, True] Translation: X:82.60, Y:-30.39, Z:-9.12 [[ 7.42522718e-01 6.63523841e-01 9.16303818e-02 8.25961077e+01] [-6.58342933e-01 7.48154287e-01 -8.27631861e-02 -3.03881995e+01] [-1.23469010e-01 1.12933153e-03 9.92347786e-01 -9.12418986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63592 meters 0.02758192501000304 Centerline is valid? [True, True] Translation: X:82.62, Y:-30.41, Z:-9.13 [[ 7.43745503e-01 6.62114089e-01 9.19106049e-02 8.26215037e+01] [-6.56881491e-01 7.49401700e-01 -8.30891008e-02 -3.04075893e+01] [-1.23892428e-01 1.42276987e-03 9.92294635e-01 -9.12710573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66592 meters 0.027545934997351067 Centerline is valid? [True, True] Translation: X:82.65, Y:-30.43, Z:-9.13 [[ 7.43538096e-01 6.62313746e-01 9.21498867e-02 8.26457663e+01] [-6.57045350e-01 7.49225193e-01 -8.33847623e-02 -3.04293757e+01] [-1.24267891e-01 1.45309289e-03 9.92247640e-01 -9.13038258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.69592 meters 0.027746605818038228 Centerline is valid? [True, True] Translation: X:82.67, Y:-30.45, Z:-9.13 [[ 7.43702629e-01 6.62131456e-01 9.21321608e-02 8.26698882e+01] [-6.56852633e-01 7.49386104e-01 -8.34570920e-02 -3.04517761e+01] [-1.24302127e-01 1.55000636e-03 9.92243205e-01 -9.13297990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72592 meters 0.027787041893474907 Centerline is valid? [True, True] Translation: X:82.69, Y:-30.47, Z:-9.14 [[ 7.43377158e-01 6.62429182e-01 9.26173810e-02 8.26941741e+01] [-6.57085453e-01 7.49122884e-01 -8.39857832e-02 -3.04739034e+01] [-1.25016433e-01 1.57557907e-03 9.92153420e-01 -9.13635421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75591999999999 meters 0.027866535144942358 Centerline is valid? [True, True] Translation: X:82.72, Y:-30.49, Z:-9.14 [[ 7.43133695e-01 6.62389135e-01 9.48311398e-02 8.27185160e+01] [-6.56773850e-01 7.49158049e-01 -8.60832621e-02 -3.04949652e+01] [-1.28064129e-01 1.68875985e-03 9.91764451e-01 -9.13898209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78591999999999 meters 0.02785935255911735 Centerline is valid? [True, True] Translation: X:82.74, Y:-30.52, Z:-9.14 [[ 7.43058234e-01 6.62500282e-01 9.46458564e-02 8.27428365e+01] [-6.56897434e-01 7.49059672e-01 -8.59963334e-02 -3.05173606e+01] [-1.27867989e-01 1.72766339e-03 9.91789692e-01 -9.14200586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81591999999999 meters 0.027854271868541978 Centerline is valid? [True, True] Translation: X:82.77, Y:-30.54, Z:-9.14 [[ 7.42887681e-01 6.62942984e-01 9.28681460e-02 8.27659594e+01] [-6.57542199e-01 7.48667993e-01 -8.44659273e-02 -3.05396237e+01] [-1.25523502e-01 1.68397188e-03 9.92089217e-01 -9.14444502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84591999999999 meters 0.027738211476449143 Centerline is valid? [True, True] Translation: X:82.79, Y:-30.56, Z:-9.15 [[ 7.41628569e-01 6.64398967e-01 9.25260951e-02 8.27880996e+01] [-6.59039663e-01 7.47376606e-01 -8.42314092e-02 -3.05631481e+01] [-1.25115100e-01 1.49005289e-03 9.92141115e-01 -9.14962483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87592 meters 0.027622974332005404 Centerline is valid? [True, True] Translation: X:82.81, Y:-30.59, Z:-9.15 [[ 7.40318874e-01 6.65796898e-01 9.29648084e-02 8.28119194e+01] [-6.60387176e-01 7.46131856e-01 -8.47114598e-02 -3.05861875e+01] [-1.25764632e-01 1.32072518e-03 9.92059229e-01 -9.15349238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90592 meters 0.027585000988173066 Centerline is valid? [True, True] Translation: X:82.83, Y:-30.61, Z:-9.15 [[ 7.36706694e-01 6.69599230e-01 9.43404395e-02 8.28347175e+01] [-6.64046522e-01 7.42722226e-01 -8.60576124e-02 -3.06106717e+01] [-1.27692852e-01 7.52778418e-04 9.91813475e-01 -9.15481640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93592 meters 0.027473476561795118 Centerline is valid? [True, True] Translation: X:82.86, Y:-30.63, Z:-9.16 [[ 7.34440380e-01 6.72079544e-01 9.43738049e-02 8.28586497e+01] [-6.66531469e-01 7.40478855e-01 -8.61792702e-02 -3.06328076e+01] [-1.27801132e-01 3.90425163e-04 9.91799737e-01 -9.15694922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96592 meters 0.027474934033297232 Centerline is valid? [True, True] Translation: X:82.88, Y:-30.65, Z:-9.16 [[ 7.32020968e-01 6.74783761e-01 9.38731991e-02 8.28832353e+01] [-6.69305052e-01 7.38015498e-01 -8.58130039e-02 -3.06548451e+01] [-1.27185097e-01 -1.28882867e-05 9.91879000e-01 -9.16065741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99592 meters 0.02746125135361868 Centerline is valid? [True, True] Translation: X:82.91, Y:-30.68, Z:-9.17 [[ 7.28441459e-01 6.78642756e-01 9.38991493e-02 8.29078193e+01] [-6.73181026e-01 7.34468262e-01 -8.59283323e-02 -3.06757498e+01] [-1.27280585e-01 -6.17365929e-04 9.91866559e-01 -9.16533145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02592 meters 0.027818686332038125 Centerline is valid? [True, True] Translation: X:82.93, Y:-30.70, Z:-9.17 [[ 7.26061645e-01 6.81203283e-01 9.37900615e-02 8.29318272e+01] [-6.75763621e-01 7.32093639e-01 -8.59210896e-02 -3.06984819e+01] [-1.27192836e-01 -9.95903951e-04 9.91877508e-01 -9.16891910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.05592 meters 0.027929340016440547 Centerline is valid? [True, True] Translation: X:82.96, Y:-30.72, Z:-9.17 [[ 7.25840960e-01 6.81423359e-01 9.38994431e-02 8.29559207e+01] [-6.75960953e-01 7.31888836e-01 -8.61134242e-02 -3.07202441e+01] [-1.27403653e-01 -9.67706475e-04 9.91850479e-01 -9.17163842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08592 meters 0.02768661110797082 Centerline is valid? [True, True] Translation: X:82.98, Y:-30.74, Z:-9.18 [[ 7.26410504e-01 6.80920435e-01 9.31404374e-02 8.29802053e+01] [-6.75530796e-01 7.32356956e-01 -8.55069120e-02 -3.07412332e+01] [-1.26435451e-01 -8.06114789e-04 9.91974509e-01 -9.17543567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11592 meters 0.027661506774430997 Centerline is valid? [True, True] Translation: X:83.01, Y:-30.76, Z:-9.18 [[ 7.28401858e-01 6.78671042e-01 9.40018633e-02 8.30057043e+01] [-6.73150580e-01 7.34442300e-01 -8.63875214e-02 -3.07621468e+01] [-1.27667654e-01 -3.52577720e-04 9.91816942e-01 -9.18028821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14591999999999 meters 0.027816624618337456 Centerline is valid? [True, True] Translation: X:83.03, Y:-30.78, Z:-9.18 [[ 7.29995457e-01 6.76967628e-01 9.39226524e-02 8.30306386e+01] [-6.71430575e-01 7.36012793e-01 -8.64068987e-02 -3.07829537e+01] [-1.27622947e-01 1.41029380e-05 9.91822758e-01 -9.18468046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17591999999999 meters 0.027820306315328957 Centerline is valid? [True, True] Translation: X:83.06, Y:-30.80, Z:-9.19 [[ 7.32657910e-01 6.73996730e-01 9.45557773e-02 8.30570394e+01] [-6.68347887e-01 7.38734082e-01 -8.70807628e-02 -3.08013840e+01] [-1.28543725e-01 6.04255787e-04 9.91703658e-01 -9.18738772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20591999999999 meters 0.027896871606979644 Centerline is valid? [True, True] Translation: X:83.08, Y:-30.82, Z:-9.19 [[ 7.33282075e-01 6.73127884e-01 9.58970852e-02 8.30818750e+01] [-6.67298561e-01 7.39525634e-01 -8.83994730e-02 -3.08221506e+01] [-1.30422503e-01 8.29762044e-04 9.91458160e-01 -9.19096045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23592 meters 0.028115140461273107 Centerline is valid? [True, True] Translation: X:83.10, Y:-30.85, Z:-9.19 [[ 7.35054698e-01 6.71056381e-01 9.68396891e-02 8.31046782e+01] [-6.65082080e-01 7.41405228e-01 -8.93538772e-02 -3.08456193e+01] [-1.31758941e-01 1.27364537e-03 9.91280969e-01 -9.19282682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26592 meters 0.027932251222013635 Centerline is valid? [True, True] Translation: X:83.13, Y:-30.87, Z:-9.20 [[ 7.36045790e-01 6.70207312e-01 9.51774889e-02 8.31275521e+01] [-6.64418636e-01 7.42172492e-01 -8.79083020e-02 -3.08686775e+01] [-1.29554901e-01 1.46683827e-03 9.91571165e-01 -9.19593106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29592 meters 0.028100587179480503 Centerline is valid? [True, True] Translation: X:83.15, Y:-30.89, Z:-9.20 [[ 7.36579486e-01 6.69765202e-01 9.41553796e-02 8.31502879e+01] [-6.64086084e-01 7.42571236e-01 -8.70495982e-02 -3.08907388e+01] [-1.28219868e-01 1.59167091e-03 9.91744489e-01 -9.19986572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32592 meters 0.028102354958710933 Centerline is valid? [True, True] Translation: X:83.17, Y:-30.92, Z:-9.20 [[ 7.37937576e-01 6.68437962e-01 9.29452785e-02 8.31721249e+01] [-6.62883681e-01 7.43765577e-01 -8.60115766e-02 -3.09152995e+01] [-1.26622902e-01 1.85926600e-03 9.91949184e-01 -9.20415448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35592 meters 0.028274100760347354 Centerline is valid? [True, True] Translation: X:83.19, Y:-30.94, Z:-9.21 [[ 7.38312478e-01 6.67921358e-01 9.36789450e-02 8.31940003e+01] [-6.62262838e-01 7.44229085e-01 -8.67813489e-02 -3.09393559e+01] [-1.27681712e-01 2.03166877e-03 9.91813114e-01 -9.20802586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38592 meters 0.028599262298428785 Centerline is valid? [True, True] Translation: X:83.22, Y:-30.96, Z:-9.21 [[ 7.39809631e-01 6.66361476e-01 9.29736207e-02 8.32155414e+01] [-6.60764710e-01 7.45625150e-01 -8.62156234e-02 -3.09649851e+01] [-1.26774240e-01 2.34946101e-03 9.91928814e-01 -9.20924362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.41592 meters 0.028644164251595265 Centerline is valid? [True, True] Translation: X:83.24, Y:-30.99, Z:-9.21 [[ 7.40091308e-01 6.66166891e-01 9.21223631e-02 8.32403275e+01] [-6.60659930e-01 7.45798756e-01 -8.55141599e-02 -3.09868595e+01] [-1.25671446e-01 2.42673249e-03 9.92068949e-01 -9.21259066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44592 meters 0.0284262228436905 Centerline is valid? [True, True] Translation: X:83.26, Y:-31.01, Z:-9.22 [[ 7.40077990e-01 6.66261208e-01 9.15454667e-02 8.32637021e+01] [-6.60812943e-01 7.45714385e-01 -8.50665022e-02 -3.10098590e+01] [-1.24943282e-01 2.46141665e-03 9.92160833e-01 -9.21657088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47592 meters 0.028512204549661926 Centerline is valid? [True, True] Translation: X:83.29, Y:-31.03, Z:-9.22 [[ 7.39294188e-01 6.66931137e-01 9.29890480e-02 8.32858983e+01] [-6.61302615e-01 7.45115318e-01 -8.64986435e-02 -3.10343284e+01] [-1.26976203e-01 2.45404377e-03 9.91902728e-01 -9.22099246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50591999999999 meters 0.028565031474845126 Centerline is valid? [True, True] Translation: X:83.31, Y:-31.06, Z:-9.22 [[ 7.38418286e-01 6.67885047e-01 9.31020845e-02 8.33068255e+01] [-6.62239757e-01 7.44260720e-01 -8.66861338e-02 -3.10595444e+01] [-1.27188597e-01 2.35472459e-03 9.91875756e-01 -9.22453206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53591999999999 meters 0.028576828919439645 Centerline is valid? [True, True] Translation: X:83.33, Y:-31.09, Z:-9.23 [[ 7.37177140e-01 6.69075538e-01 9.43810821e-02 8.33276321e+01] [-6.63274026e-01 7.43191055e-01 -8.79467012e-02 -3.10853478e+01] [-1.28986162e-01 2.23177732e-03 9.91643882e-01 -9.22795624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56591999999999 meters 0.02857767833796957 Centerline is valid? [True, True] Translation: X:83.35, Y:-31.11, Z:-9.23 [[ 7.36473261e-01 6.69813609e-01 9.46407219e-02 8.33507018e+01] [-6.63974059e-01 7.42526087e-01 -8.82805709e-02 -3.11090870e+01] [-1.29404733e-01 2.17729560e-03 9.91589469e-01 -9.23109752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59591999999999 meters 0.02837664878632208 Centerline is valid? [True, True] Translation: X:83.37, Y:-31.13, Z:-9.23 [[ 7.35351843e-01 6.71270499e-01 9.30246413e-02 8.33715980e+01] [-6.65629795e-01 7.41209890e-01 -8.68612455e-02 -3.11345124e+01] [-1.27258176e-01 1.95360409e-03 9.91867703e-01 -9.23381174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62592 meters 0.028353074448555334 Centerline is valid? [True, True] Translation: X:83.39, Y:-31.16, Z:-9.24 [[ 7.34824293e-01 6.71915223e-01 9.25375104e-02 8.33942381e+01] [-6.66327825e-01 7.40625639e-01 -8.64921553e-02 -3.11578859e+01] [-1.26651049e-01 1.89621895e-03 9.91945521e-01 -9.23799285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65592 meters 0.027903335724274753 Centerline is valid? [True, True] Translation: X:83.42, Y:-31.18, Z:-9.24 [[ 7.32697616e-01 6.74458747e-01 9.08823501e-02 8.34169387e+01] [-6.69079477e-01 7.38311028e-01 -8.50263445e-02 -3.11803198e+01] [-1.24446203e-01 1.49108464e-03 9.92225236e-01 -9.24112583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68592 meters 0.02783407804947044 Centerline is valid? [True, True] Translation: X:83.44, Y:-31.20, Z:-9.24 [[ 7.31019910e-01 6.76239484e-01 9.11594890e-02 8.34398316e+01] [-6.70832609e-01 7.36680813e-01 -8.53521607e-02 -3.12032647e+01] [-1.24873948e-01 1.24137096e-03 9.92171838e-01 -9.24398810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71592 meters 0.027758203249228026 Centerline is valid? [True, True] Translation: X:83.46, Y:-31.23, Z:-9.25 [[ 7.28134351e-01 6.79277920e-01 9.16617401e-02 8.34614962e+01] [-6.73823142e-01 7.33880696e-01 -8.59156365e-02 -3.12289027e+01] [-1.25629377e-01 7.94324472e-04 9.92076927e-01 -9.24662415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74592 meters 0.02788728709858663 Centerline is valid? [True, True] Translation: X:83.48, Y:-31.25, Z:-9.25 [[ 7.26689026e-01 6.80774593e-01 9.20272396e-02 8.34848177e+01] [-6.75276030e-01 7.32492720e-01 -8.63521782e-02 -3.12518827e+01] [-1.26195652e-01 6.07391292e-04 9.92005186e-01 -9.24915097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.77592 meters 0.028016297128154805 Centerline is valid? [True, True] Translation: X:83.51, Y:-31.27, Z:-9.25 [[ 7.25649790e-01 6.81840840e-01 9.23333741e-02 8.35089466e+01] [-6.76302089e-01 7.31500394e-01 -8.67332582e-02 -3.12745818e+01] [-1.26680177e-01 4.92716822e-04 9.91943491e-01 -9.25275448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80592 meters 0.02778664005071249 Centerline is valid? [True, True] Translation: X:83.53, Y:-31.30, Z:-9.26 [[ 7.25022211e-01 6.82570641e-01 9.18700910e-02 8.35324404e+01] [-6.77081574e-01 7.30819494e-01 -8.63910279e-02 -3.12969510e+01] [-1.26108433e-01 4.31868228e-04 9.92016369e-01 -9.25612097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.83592 meters 0.027793445461453122 Centerline is valid? [True, True] Translation: X:83.56, Y:-31.32, Z:-9.26 [[ 7.24997088e-01 6.82683787e-01 9.12253774e-02 8.35560230e+01] [-6.77260994e-01 7.30713774e-01 -8.58773922e-02 -3.13193852e+01] [-1.25286743e-01 4.77469491e-04 9.92120458e-01 -9.25954093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86592 meters 0.02773693632120855 Centerline is valid? [True, True] Translation: X:83.58, Y:-31.34, Z:-9.26 [[ 7.24786688e-01 6.82850057e-01 9.16518232e-02 8.35796393e+01] [-6.77365688e-01 7.30558368e-01 -8.63724193e-02 -3.13423638e+01] [-1.25936418e-01 5.19779405e-04 9.92038179e-01 -9.26188051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89591999999999 meters 0.027825491320657238 Centerline is valid? [True, True] Translation: X:83.60, Y:-31.36, Z:-9.27 [[ 7.24838950e-01 6.82672007e-01 9.25604002e-02 8.36038577e+01] [-6.77064315e-01 7.30724667e-01 -8.73233922e-02 -3.13644278e+01] [-1.27249403e-01 6.26051927e-04 9.91870555e-01 -9.26518854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92591999999999 meters 0.027886486554106058 Centerline is valid? [True, True] Translation: X:83.63, Y:-31.39, Z:-9.27 [[ 7.25614246e-01 6.81817945e-01 9.27806857e-02 8.36284377e+01] [-6.76164287e-01 7.31521408e-01 -8.76258320e-02 -3.13862159e+01] [-1.27615923e-01 8.47565822e-04 9.91823300e-01 -9.26863585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95591999999999 meters 0.027938242989924283 Centerline is valid? [True, True] Translation: X:83.65, Y:-31.41, Z:-9.27 [[ 7.25781776e-01 6.81556815e-01 9.33869494e-02 8.36524621e+01] [-6.75814133e-01 7.31764557e-01 -8.82943448e-02 -3.14084929e+01] [-1.28514872e-01 9.70206162e-04 9.91707107e-01 -9.27302400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98592 meters 0.02783284132411502 Centerline is valid? [True, True] Translation: X:83.68, Y:-31.43, Z:-9.28 [[ 7.26594805e-01 6.80886039e-01 9.19466741e-02 8.36768286e+01] [-6.75302565e-01 7.32388490e-01 -8.70261147e-02 -3.14311500e+01] [-1.26595552e-01 1.14089795e-03 9.91953761e-01 -9.27628222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01592 meters 0.02788943334502617 Centerline is valid? [True, True] Translation: X:83.70, Y:-31.45, Z:-9.28 [[ 7.27309260e-01 6.80147142e-01 9.17665796e-02 8.37006670e+01] [-6.74567377e-01 7.33074398e-01 -8.69527579e-02 -3.14533414e+01] [-1.26412400e-01 1.33880515e-03 9.91976871e-01 -9.27861946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04592 meters 0.028001784877550905 Centerline is valid? [True, True] Translation: X:83.72, Y:-31.48, Z:-9.28 [[ 7.28261033e-01 6.79145952e-01 9.16332024e-02 8.37235792e+01] [-6.73562693e-01 7.34001554e-01 -8.69195990e-02 -3.14765613e+01] [-1.26290007e-01 1.57945042e-03 9.91992107e-01 -9.28158838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07592 meters 0.027994575029493752 Centerline is valid? [True, True] Translation: X:83.75, Y:-31.50, Z:-9.28 [[ 7.28318110e-01 6.79110537e-01 9.14418333e-02 8.37479513e+01] [-6.73538554e-01 7.34034163e-01 -8.68312418e-02 -3.14989989e+01] [-1.26089441e-01 1.65116578e-03 9.92017503e-01 -9.28473002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10592 meters 0.027984552685918464 Centerline is valid? [True, True] Translation: X:83.77, Y:-31.52, Z:-9.29 [[ 7.29050769e-01 6.78363817e-01 9.11455307e-02 8.37715739e+01] [-6.72810447e-01 7.34723848e-01 -8.66427682e-02 -3.15215198e+01] [-1.25742114e-01 1.84331150e-03 9.92061250e-01 -9.28888799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13592 meters 0.028140980618804864 Centerline is valid? [True, True] Translation: X:83.79, Y:-31.55, Z:-9.29 [[ 7.28707218e-01 6.78759584e-01 9.09462324e-02 8.37939788e+01] [-6.73222106e-01 7.34358255e-01 -8.65444901e-02 -3.15451496e+01] [-1.25530019e-01 1.83858056e-03 9.92088118e-01 -9.29310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16592 meters 0.028228416034649085 Centerline is valid? [True, True] Translation: X:83.82, Y:-31.57, Z:-9.30 [[ 7.28661690e-01 6.79008289e-01 8.94420744e-02 8.38155394e+01] [-6.73644028e-01 7.34128320e-01 -8.52017150e-02 -3.15698029e+01] [-1.23514631e-01 1.83110636e-03 9.92341062e-01 -9.29590971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.19592 meters 0.02784215904385315 Centerline is valid? [True, True] Translation: X:83.84, Y:-31.59, Z:-9.30 [[ 7.28305617e-01 6.79570948e-01 8.80582466e-02 8.38390086e+01] [-6.74365351e-01 7.33607649e-01 -8.39713674e-02 -3.15934872e+01] [-1.21664705e-01 1.77338813e-03 9.92569672e-01 -9.29788743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22592 meters 0.027926872134287004 Centerline is valid? [True, True] Translation: X:83.86, Y:-31.62, Z:-9.30 [[ 7.27636208e-01 6.80373244e-01 8.73944900e-02 8.38623830e+01] [-6.75241129e-01 7.32863825e-01 -8.34268039e-02 -3.16163386e+01] [-1.20809625e-01 1.69200918e-03 9.92674252e-01 -9.30006072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25591999999999 meters 0.02746828710519002 Centerline is valid? [True, True] Translation: X:83.89, Y:-31.64, Z:-9.30 [[ 7.24997421e-01 6.83016994e-01 8.86934403e-02 8.38855268e+01] [-6.77738834e-01 7.30401255e-01 -8.47589519e-02 -3.16395484e+01] [-1.22673605e-01 1.33903268e-03 9.92446167e-01 -9.30307536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28591999999999 meters 0.027536122563863032 Centerline is valid? [True, True] Translation: X:83.91, Y:-31.66, Z:-9.31 [[ 7.22445315e-01 6.85599534e-01 8.95882007e-02 8.39085751e+01] [-6.80222026e-01 7.27978242e-01 -8.57069141e-02 -3.16626069e+01] [-1.23978881e-01 9.78691211e-04 9.92284374e-01 -9.30628679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31591999999999 meters 0.027775159376459472 Centerline is valid? [True, True] Translation: X:83.93, Y:-31.69, Z:-9.31 [[ 7.18551514e-01 6.89375410e-01 9.18981305e-02 8.39308134e+01] [-6.83734141e-01 7.24404154e-01 -8.80127638e-02 -3.16859216e+01] [-1.27245223e-01 4.07815305e-04 9.91871205e-01 -9.31118912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34591999999999 meters 0.02763436716409478 Centerline is valid? [True, True] Translation: X:83.95, Y:-31.71, Z:-9.31 [[ 7.16703834e-01 6.91466394e-01 9.06081684e-02 8.39543538e+01] [-6.85988200e-01 7.22408620e-01 -8.68675671e-02 -3.17094423e+01] [-1.25522125e-01 1.02183991e-04 9.92090815e-01 -9.31482336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37592 meters 0.02761569582804849 Centerline is valid? [True, True] Translation: X:83.98, Y:-31.73, Z:-9.32 [[ 7.15092275e-01 6.93568447e-01 8.72115142e-02 8.39785329e+01] [-6.88498601e-01 7.20390710e-01 -8.37072379e-02 -3.17319631e+01] [-1.20883064e-01 -1.86606351e-04 9.92666737e-01 -9.31928846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40592 meters 0.02744203727870703 Centerline is valid? [True, True] Translation: X:84.00, Y:-31.75, Z:-9.32 [[ 7.14589359e-01 6.94183253e-01 8.64387581e-02 8.40025002e+01] [-6.89196940e-01 7.19798278e-01 -8.30543003e-02 -3.17541716e+01] [-1.19873374e-01 -2.23608427e-04 9.92789164e-01 -9.32286775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43592 meters 0.02744203727870703 Centerline is valid? [True, True] Translation: X:84.03, Y:-31.78, Z:-9.33 [[ 7.14218582e-01 6.94570247e-01 8.63943848e-02 8.40260361e+01] [-6.89581174e-01 7.19424855e-01 -8.31004367e-02 -3.17762921e+01] [-1.19873359e-01 -2.24065301e-04 9.92789166e-01 -9.32612795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46592 meters 0.027594551790861614 Centerline is valid? [True, True] Translation: X:84.05, Y:-31.80, Z:-9.33 [[ 7.14020856e-01 6.94538855e-01 8.82609534e-02 8.40502489e+01] [-6.89319328e-01 7.19455179e-01 -8.49888806e-02 -3.17981964e+01] [-1.22527880e-01 -1.56147847e-04 9.92465059e-01 -9.32879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49592 meters 0.027717333843968874 Centerline is valid? [True, True] Translation: X:84.08, Y:-31.82, Z:-9.33 [[ 7.13702730e-01 6.94825644e-01 8.85761666e-02 8.40750219e+01] [-6.89559442e-01 7.19178215e-01 -8.53842538e-02 -3.18203537e+01] [-1.23029219e-01 -1.39556962e-04 9.92403039e-01 -9.33188427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52592 meters 0.027421497757325893 Centerline is valid? [True, True] Translation: X:84.10, Y:-31.84, Z:-9.34 [[ 7.13323482e-01 6.95262385e-01 8.82033216e-02 8.40991857e+01] [-6.90032679e-01 7.18756004e-01 -8.51158487e-02 -3.18421589e+01] [-1.22574515e-01 -1.48040725e-04 9.92459302e-01 -9.33542915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.55592 meters 0.027395788210505534 Centerline is valid? [True, True] Translation: X:84.12, Y:-31.86, Z:-9.34 [[ 7.12683595e-01 6.95982835e-01 8.76925684e-02 8.41232767e+01] [-6.90808014e-01 7.18058390e-01 -8.47138572e-02 -3.18642365e+01] [-1.21927775e-01 -2.04552639e-04 9.92538954e-01 -9.33897397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58592 meters 0.027431500667940176 Centerline is valid? [True, True] Translation: X:84.15, Y:-31.89, Z:-9.34 [[ 7.11201451e-01 6.97460588e-01 8.79842272e-02 8.41468205e+01] [-6.92251244e-01 7.16623034e-01 -8.50860861e-02 -3.18862385e+01] [-1.22395715e-01 -3.93842871e-04 9.92481301e-01 -9.34290086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61592 meters 0.027672327773558963 Centerline is valid? [True, True] Translation: X:84.17, Y:-31.91, Z:-9.35 [[ 7.10050938e-01 6.98584340e-01 8.83605421e-02 8.41704825e+01] [-6.93328045e-01 7.15527527e-01 -8.55370126e-02 -3.19085597e+01] [-1.22979218e-01 -5.27205872e-04 9.92409106e-01 -9.34715296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64591999999999 meters 0.027786974621345783 Centerline is valid? [True, True] Translation: X:84.19, Y:-31.93, Z:-9.35 [[ 7.08813392e-01 6.99659476e-01 8.97785796e-02 8.41934404e+01] [-6.94230059e-01 7.14476157e-01 -8.69968144e-02 -3.19311139e+01] [-1.25012800e-01 -6.62481606e-04 9.92154908e-01 -9.35167236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67591999999999 meters 0.02776235201026512 Centerline is valid? [True, True] Translation: X:84.22, Y:-31.95, Z:-9.35 [[ 7.06534865e-01 7.02003217e-01 8.94425424e-02 8.42181145e+01] [-6.96624826e-01 7.12173036e-01 -8.67376432e-02 -3.19548917e+01] [-1.24588672e-01 -1.02472651e-03 9.92207948e-01 -9.35291355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70591999999999 meters 0.027883653403782304 Centerline is valid? [True, True] Translation: X:84.24, Y:-31.98, Z:-9.36 [[ 7.05152740e-01 7.03460755e-01 8.88964538e-02 8.42428838e+01] [-6.98146903e-01 7.10733088e-01 -8.63097873e-02 -3.19773314e+01] [-1.23897199e-01 -1.20120089e-03 9.92294332e-01 -9.35568457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73592 meters 0.028064252391033145 Centerline is valid? [True, True] Translation: X:84.27, Y:-32.00, Z:-9.36 [[ 7.03533840e-01 7.05103865e-01 8.87055536e-02 8.42680875e+01] [-6.99813445e-01 7.09102627e-01 -8.62241716e-02 -3.19986454e+01] [-1.23698338e-01 -1.41571644e-03 9.92318859e-01 -9.35929770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76592 meters 0.028104844067095354 Centerline is valid? [True, True] Translation: X:84.29, Y:-32.02, Z:-9.36 [[ 7.02707681e-01 7.05868121e-01 8.91746081e-02 8.42919025e+01] [-7.00516085e-01 7.08341701e-01 -8.67712532e-02 -3.20217490e+01] [-1.24415155e-01 -1.49342123e-03 9.92229126e-01 -9.36277359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79592 meters 0.028006937867646884 Centerline is valid? [True, True] Translation: X:84.32, Y:-32.05, Z:-9.37 [[ 7.03746716e-01 7.04931161e-01 8.83890213e-02 8.43154008e+01] [-6.99654662e-01 7.09274626e-01 -8.60979609e-02 -3.20453538e+01] [-1.23385225e-01 -1.25063365e-03 9.92358061e-01 -9.36681117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82592 meters 0.027798164397965695 Centerline is valid? [True, True] Translation: X:84.34, Y:-32.07, Z:-9.37 [[ 7.04020360e-01 7.04768056e-01 8.75061099e-02 8.43389581e+01] [-6.99583448e-01 7.09436882e-01 -8.53364478e-02 -3.20678748e+01] [-1.22222464e-01 -1.13922942e-03 9.92502076e-01 -9.36906224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85592 meters 0.027955288264909665 Centerline is valid? [True, True] Translation: X:84.36, Y:-32.09, Z:-9.37 [[ 7.04375864e-01 7.04301239e-01 8.83991373e-02 8.43632800e+01] [-6.98994223e-01 7.09900531e-01 -8.63036009e-02 -3.20894914e+01] [-1.23538328e-01 -1.00031285e-03 9.92339297e-01 -9.37283710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88592 meters 0.027869342508355932 Centerline is valid? [True, True] Translation: X:84.39, Y:-32.11, Z:-9.38 [[ 7.04182077e-01 7.04425145e-01 8.89540229e-02 8.43876712e+01] [-6.99040345e-01 7.09777634e-01 -8.69385220e-02 -3.21119464e+01] [-1.24379257e-01 -9.61901900e-04 9.92234284e-01 -9.37565753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.91592 meters 0.028032126881224775 Centerline is valid? [True, True] Translation: X:84.41, Y:-32.13, Z:-9.38 [[ 7.03075063e-01 7.05522650e-01 8.90126169e-02 8.44124434e+01] [-7.00127837e-01 7.08686532e-01 -8.70885223e-02 -3.21333728e+01] [-1.24524968e-01 -1.09044271e-03 9.92215875e-01 -9.37896742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94592 meters 0.028302194192977106 Centerline is valid? [True, True] Translation: X:84.44, Y:-32.16, Z:-9.38 [[ 7.02745932e-01 7.05867032e-01 8.88813137e-02 8.44372088e+01] [-7.00479326e-01 7.08343531e-01 -8.70526009e-02 -3.21554057e+01] [-1.24406065e-01 -1.08366157e-03 9.92230798e-01 -9.38277448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97592 meters 0.028227384841167002 Centerline is valid? [True, True] Translation: X:84.46, Y:-32.18, Z:-9.39 [[ 7.02310092e-01 7.06379834e-01 8.82500125e-02 8.44610390e+01] [-7.01061417e-01 7.07832125e-01 -8.65249849e-02 -3.21780444e+01] [-1.23585698e-01 -1.10130875e-03 9.92333292e-01 -9.38591815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00591999999999 meters 0.02821384532811737 Centerline is valid? [True, True] Translation: X:84.48, Y:-32.20, Z:-9.39 [[ 7.02414955e-01 7.06169776e-01 8.90925308e-02 8.44839259e+01] [-7.00735729e-01 7.08041827e-01 -8.74426095e-02 -3.22007836e+01] [-1.24830566e-01 -1.00932285e-03 9.92177560e-01 -9.38936799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03591999999999 meters 0.028266848316509458 Centerline is valid? [True, True] Translation: X:84.51, Y:-32.22, Z:-9.39 [[ 7.03158851e-01 7.05451162e-01 8.89173151e-02 8.45089255e+01] [-7.00021848e-01 7.08758062e-01 -8.73580118e-02 -3.22227832e+01] [-1.24647675e-01 -8.17504068e-04 9.92200730e-01 -9.39273446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06591999999999 meters 0.028233349850579906 Centerline is valid? [True, True] Translation: X:84.53, Y:-32.24, Z:-9.40 [[ 7.03380258e-01 7.05296876e-01 8.83885180e-02 8.45334907e+01] [-6.99919584e-01 7.08911700e-01 -8.69297260e-02 -3.22446135e+01] [-1.23970919e-01 -7.20201712e-04 9.92285590e-01 -9.39701570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09591999999999 meters 0.02823868048539186 Centerline is valid? [True, True] Translation: X:84.56, Y:-32.27, Z:-9.40 [[ 7.03573089e-01 7.05028502e-01 8.89928066e-02 8.45571902e+01] [-6.99563316e-01 7.09178706e-01 -8.76169503e-02 -3.22667656e+01] [-1.24884251e-01 -6.11174510e-04 9.92171130e-01 -9.40055149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12592 meters 0.027831946262370365 Centerline is valid? [True, True] Translation: X:84.58, Y:-32.29, Z:-9.40 [[ 7.04539499e-01 7.04292726e-01 8.71541762e-02 8.45812396e+01] [-6.99035234e-01 7.09909565e-01 -8.58961623e-02 -3.22894626e+01] [-1.22367626e-01 -4.06600827e-04 9.92484760e-01 -9.40246850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15592 meters 0.027765798517488824 Centerline is valid? [True, True] Translation: X:84.61, Y:-32.31, Z:-9.41 [[ 7.04588450e-01 7.04234743e-01 8.72269549e-02 8.46057488e+01] [-6.98956693e-01 7.09967123e-01 -8.60594255e-02 -3.23116207e+01] [-1.22534308e-01 -3.31386692e-04 9.92464223e-01 -9.40565680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18592 meters 0.02789043288929756 Centerline is valid? [True, True] Translation: X:84.63, Y:-32.33, Z:-9.41 [[ 7.04108214e-01 7.04661593e-01 8.76565025e-02 8.46292050e+01] [-6.99322963e-01 7.09543461e-01 -8.65763878e-02 -3.23349334e+01] [-1.23203154e-01 -3.41059171e-04 9.92381412e-01 -9.40866540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21592 meters 0.028079491889696075 Centerline is valid? [True, True] Translation: X:84.65, Y:-32.36, Z:-9.41 [[ 7.03589785e-01 7.05058062e-01 8.86258659e-02 8.46520494e+01] [-6.99591416e-01 7.09149497e-01 -8.76290010e-02 -3.23586264e+01] [-1.24632522e-01 -3.47024987e-04 9.92202910e-01 -9.41290507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24592 meters 0.028149915988085646 Centerline is valid? [True, True] Translation: X:84.67, Y:-32.38, Z:-9.42 [[ 7.02017652e-01 7.06719633e-01 8.78554327e-02 8.46744985e+01] [-7.01349301e-01 7.07493489e-01 -8.69604573e-02 -3.23823152e+01] [-1.23613809e-01 -5.69570274e-04 9.92330238e-01 -9.41561057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.27592 meters 0.028161058713415066 Centerline is valid? [True, True] Translation: X:84.70, Y:-32.41, Z:-9.42 [[ 7.00641944e-01 7.07976556e-01 8.87133685e-02 8.46979794e+01] [-7.02498519e-01 7.06235556e-01 -8.79043279e-02 -3.24052762e+01] [-1.24886738e-01 -7.31550777e-04 9.92170735e-01 -9.41957636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30592 meters 0.028487378768300896 Centerline is valid? [True, True] Translation: X:84.72, Y:-32.43, Z:-9.42 [[ 6.98165249e-01 7.10280189e-01 8.98183625e-02 8.47215064e+01] [-7.04671128e-01 7.03918223e-01 -8.90939759e-02 -3.24282698e+01] [-1.26506468e-01 -1.09008895e-03 9.91965183e-01 -9.42491009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.33592 meters 0.028525006815668896 Centerline is valid? [True, True] Translation: X:84.75, Y:-32.45, Z:-9.43 [[ 6.97256258e-01 7.11255485e-01 8.91591039e-02 8.47455165e+01] [-7.05724711e-01 7.02932584e-01 -8.85348223e-02 -3.24513789e+01] [-1.25643717e-01 -1.19032395e-03 9.92074715e-01 -9.42822508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36592 meters 0.02857814960845402 Centerline is valid? [True, True] Translation: X:84.77, Y:-32.47, Z:-9.43 [[ 6.96455891e-01 7.12178113e-01 8.80427607e-02 8.47699060e+01] [-7.06780342e-01 7.01997668e-01 -8.75261241e-02 -3.24740237e+01] [-1.24140003e-01 -1.26880783e-03 9.92263901e-01 -9.43144786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39591999999999 meters 0.028535001642852217 Centerline is valid? [True, True] Translation: X:84.79, Y:-32.50, Z:-9.43 [[ 6.96043263e-01 7.12540689e-01 8.83716143e-02 8.47935182e+01] [-7.07093680e-01 7.01629635e-01 -8.79453421e-02 -3.24961461e+01] [-1.24668778e-01 -1.27324712e-03 9.92197599e-01 -9.43499912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42591999999999 meters 0.028516302020361504 Centerline is valid? [True, True] Translation: X:84.82, Y:-32.52, Z:-9.44 [[ 6.95999868e-01 7.12594138e-01 8.82823790e-02 8.48170102e+01] [-7.07147036e-01 7.01575452e-01 -8.79485857e-02 -3.25184139e+01] [-1.24608397e-01 -1.21641863e-03 9.92205255e-01 -9.43914966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45591999999999 meters 0.02853907245420134 Centerline is valid? [True, True] Translation: X:84.84, Y:-32.54, Z:-9.44 [[ 6.96058081e-01 7.12537695e-01 8.82789915e-02 8.48412966e+01] [-7.07078946e-01 7.01632903e-01 -8.80376802e-02 -3.25412461e+01] [-1.24669611e-01 -1.14087753e-03 9.92197655e-01 -9.44128075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48592 meters 0.02848667634863408 Centerline is valid? [True, True] Translation: X:84.87, Y:-32.56, Z:-9.45 [[ 6.96532409e-01 7.11990748e-01 8.89481793e-02 8.48660936e+01] [-7.06432242e-01 7.02188156e-01 -8.87991116e-02 -3.25628806e+01] [-1.25682504e-01 -9.84402568e-04 9.92070027e-01 -9.44531009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51592 meters 0.02818776279705597 Centerline is valid? [True, True] Translation: X:84.89, Y:-32.58, Z:-9.45 [[ 6.98971714e-01 7.09666189e-01 8.83880274e-02 8.48929476e+01] [-7.04147466e-01 7.04537901e-01 -8.83328470e-02 -3.25827057e+01] [-1.24959550e-01 -4.96044046e-04 9.92161713e-01 -9.44942103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54592 meters 0.028196356817089045 Centerline is valid? [True, True] Translation: X:85.20, Y:-32.62, Z:-7.48 [[ 7.57072140e-01 -6.51326275e-01 -5.11454552e-02 8.52046834e+01] [-6.49126942e-01 -7.58758651e-01 5.40326161e-02 -3.26166291e+01] [-7.39999192e-02 -7.70669536e-03 -9.97228469e-01 -7.48140750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57592 meters 0.02826447595676811 Centerline is valid? [True, True] Translation: X:84.95, Y:-32.66, Z:-9.46 [[ 7.56209556e-01 6.47337499e-01 9.54005753e-02 8.49542064e+01] [-6.42184683e-01 7.62203398e-01 -8.15157257e-02 -3.26564369e+01] [-1.25482829e-01 3.78182556e-04 9.92095720e-01 -9.45729674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60592 meters 0.02812386584637793 Centerline is valid? [True, True] Translation: X:84.98, Y:-32.68, Z:-9.46 [[ 7.57131954e-01 6.46253899e-01 9.54311398e-02 8.49802773e+01] [-6.41076842e-01 7.63122203e-01 -8.16393632e-02 -3.26771762e+01] [-1.25585378e-01 6.33076836e-04 9.92082613e-01 -9.45924029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63592 meters 0.028054826126305703 Centerline is valid? [True, True] Translation: X:85.01, Y:-32.70, Z:-9.46 [[ 7.58847052e-01 6.44484545e-01 9.37593921e-02 8.50059211e+01] [-6.39463888e-01 7.64616714e-01 -8.02945582e-02 -3.26968789e+01] [-1.23438600e-01 9.75543354e-04 9.92351732e-01 -9.46127030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66592 meters 0.0283930857806156 Centerline is valid? [True, True] Translation: X:85.03, Y:-32.72, Z:-9.47 [[ 7.60278784e-01 6.42443819e-01 9.61358976e-02 8.50313389e+01] [-6.37136849e-01 7.66331492e-01 -8.24177194e-02 -3.27165655e+01] [-1.26620720e-01 1.40872057e-03 9.91950205e-01 -9.46716083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.69592 meters 0.028543310777646557 Centerline is valid? [True, True] Translation: X:85.06, Y:-32.74, Z:-9.47 [[ 7.60393562e-01 6.42197173e-01 9.68732269e-02 8.50563960e+01] [-6.36794874e-01 7.66537967e-01 -8.31374384e-02 -3.27371154e+01] [-1.27647634e-01 1.52879856e-03 9.91818403e-01 -9.46965860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72592 meters 0.028480192145707333 Centerline is valid? [True, True] Translation: X:85.08, Y:-32.76, Z:-9.47 [[ 7.60286257e-01 6.42329175e-01 9.68402703e-02 8.50814980e+01] [-6.36920391e-01 7.66427266e-01 -8.31965201e-02 -3.27588087e+01] [-1.27660576e-01 1.57362807e-03 9.91816667e-01 -9.47317021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75591999999999 meters 0.028726904064024228 Centerline is valid? [True, True] Translation: X:85.11, Y:-32.78, Z:-9.48 [[ 7.61109615e-01 6.41572994e-01 9.53742432e-02 8.51060034e+01] [-6.36310585e-01 7.67060012e-01 -8.20230266e-02 -3.27806851e+01] [-1.25781527e-01 1.74087375e-03 9.92056438e-01 -9.47781687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78591999999999 meters 0.02878723062294258 Centerline is valid? [True, True] Translation: X:85.13, Y:-32.80, Z:-9.48 [[ 7.61550742e-01 6.40974871e-01 9.58732586e-02 8.51301355e+01] [-6.35641349e-01 7.67559473e-01 -8.25380589e-02 -3.28022853e+01] [-1.26493249e-01 1.91591253e-03 9.91965618e-01 -9.48113203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81591999999999 meters 0.028789149756241333 Centerline is valid? [True, True] Translation: X:85.15, Y:-32.82, Z:-9.48 [[ 7.61635986e-01 6.40653790e-01 9.73311146e-02 8.51538802e+01] [-6.35142133e-01 7.67827094e-01 -8.38810147e-02 -3.28240922e+01] [-1.28472157e-01 2.06770752e-03 9.91710961e-01 -9.48448468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84591999999999 meters 0.028787825550891794 Centerline is valid? [True, True] Translation: X:85.18, Y:-32.85, Z:-9.49 [[ 7.62412029e-01 6.39844630e-01 9.65750868e-02 8.51767683e+01] [-6.34401203e-01 7.68500992e-01 -8.33147028e-02 -3.28472265e+01] [-1.27526515e-01 2.25278042e-03 9.91832603e-01 -9.48738668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87592 meters 0.028907616149873968 Centerline is valid? [True, True] Translation: X:85.20, Y:-32.87, Z:-9.49 [[ 7.64013520e-01 6.38223758e-01 9.46243904e-02 8.51997864e+01] [-6.32975742e-01 7.69846733e-01 -8.17173033e-02 -3.28701255e+01] [-1.25000202e-01 2.53818084e-03 9.92153470e-01 -9.49125710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90592 meters 0.02901844812441176 Centerline is valid? [True, True] Translation: X:85.22, Y:-32.89, Z:-9.50 [[ 7.64227345e-01 6.37968637e-01 9.46180865e-02 8.52241567e+01] [-6.32708451e-01 7.70057797e-01 -8.17985608e-02 -3.28913052e+01] [-1.25046312e-01 2.64703397e-03 9.92147375e-01 -9.49513348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93592 meters 0.029049979447196277 Centerline is valid? [True, True] Translation: X:85.25, Y:-32.91, Z:-9.50 [[ 7.64334185e-01 6.37823352e-01 9.47344995e-02 8.52487972e+01] [-6.32538106e-01 7.70177808e-01 -8.19859069e-02 -3.29131127e+01] [-1.25254935e-01 2.74145045e-03 9.92120802e-01 -9.49818950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96592 meters 0.029072497386299873 Centerline is valid? [True, True] Translation: X:85.27, Y:-32.94, Z:-9.50 [[ 7.63785904e-01 6.38522952e-01 9.44432780e-02 8.52726021e+01] [-6.33264850e-01 7.69598097e-01 -8.18193042e-02 -3.29361858e+01] [-1.24926871e-01 2.68482289e-03 9.92162320e-01 -9.50166483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99592 meters 0.029071832398454 Centerline is valid? [True, True] Translation: X:85.30, Y:-32.96, Z:-9.50 [[ 7.62787302e-01 6.39546754e-01 9.55797115e-02 8.52954725e+01] [-6.34157737e-01 7.68747754e-01 -8.28906214e-02 -3.29591627e+01] [-1.26489116e-01 2.61529986e-03 9.91964548e-01 -9.50484973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02592 meters 0.02879287336700285 Centerline is valid? [True, True] Translation: X:85.32, Y:-32.98, Z:-9.51 [[ 7.60888187e-01 6.41612677e-01 9.68624824e-02 8.53185053e+01] [-6.36083375e-01 7.67025143e-01 -8.40854874e-02 -3.29824560e+01] [-1.28246274e-01 2.36703929e-03 9.91739527e-01 -9.50699944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.05592 meters 0.02870665911389968 Centerline is valid? [True, True] Translation: X:85.34, Y:-33.00, Z:-9.51 [[ 7.59897990e-01 6.42865968e-01 9.63244110e-02 8.53430850e+01] [-6.37397791e-01 7.65975509e-01 -8.36993127e-02 -3.30035175e+01] [-1.27589579e-01 2.20597273e-03 9.91824598e-01 -9.51085796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08592 meters 0.0286045898367712 Centerline is valid? [True, True] Translation: X:85.37, Y:-33.03, Z:-9.52 [[ 7.57405383e-01 6.45908403e-01 9.56003169e-02 8.53659824e+01] [-6.40535599e-01 7.63412917e-01 -8.31556632e-02 -3.30273557e+01] [-1.26693459e-01 1.74714066e-03 9.91940379e-01 -9.51526127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11592 meters 0.028272774691270736 Centerline is valid? [True, True] Translation: X:85.39, Y:-33.05, Z:-9.52 [[ 7.56859900e-01 6.46861165e-01 9.34543962e-02 8.53894597e+01] [-6.41724448e-01 7.62606071e-01 -8.13739141e-02 -3.30507305e+01] [-1.23906515e-01 1.61668173e-03 9.92292579e-01 -9.51771162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14591999999999 meters 0.028187018528866067 Centerline is valid? [True, True] Translation: X:85.41, Y:-33.07, Z:-9.52 [[ 7.56514638e-01 6.47342847e-01 9.29130766e-02 8.54125985e+01] [-6.42259077e-01 7.62197286e-01 -8.09850263e-02 -3.30738290e+01] [-1.23243172e-01 1.59209107e-03 9.92375224e-01 -9.52105140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17591999999999 meters 0.02837440057790417 Centerline is valid? [True, True] Translation: X:85.44, Y:-33.09, Z:-9.52 [[ 7.56091638e-01 6.47744443e-01 9.35551795e-02 8.54379255e+01] [-6.42581872e-01 7.61855997e-01 -8.16331962e-02 -3.30945099e+01] [-1.24153024e-01 1.60531467e-03 9.92261785e-01 -9.52489507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20591999999999 meters 0.02835693393804487 Centerline is valid? [True, True] Translation: X:85.46, Y:-33.12, Z:-9.53 [[ 7.55106406e-01 6.48776474e-01 9.43578439e-02 8.54637016e+01] [-6.43521277e-01 7.60977520e-01 -8.24231767e-02 -3.31155069e+01] [-1.25278416e-01 1.51698851e-03 9.92120465e-01 -9.52837909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23592 meters 0.028387906760684204 Centerline is valid? [True, True] Translation: X:85.49, Y:-33.14, Z:-9.53 [[ 7.55170121e-01 6.48749108e-01 9.40355483e-02 8.54879333e+01] [-6.43518586e-01 7.61000714e-01 -8.22298205e-02 -3.31373097e+01] [-1.24907642e-01 1.58388044e-03 9.92167109e-01 -9.53235967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26592 meters 0.028400633401510472 Centerline is valid? [True, True] Translation: X:85.51, Y:-33.16, Z:-9.54 [[ 7.55214064e-01 6.48737588e-01 9.37617198e-02 8.55114815e+01] [-6.43526386e-01 7.61010396e-01 -8.20790339e-02 -3.31596306e+01] [-1.24601398e-01 1.64910006e-03 9.92205509e-01 -9.53544083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29592 meters 0.028455464500822602 Centerline is valid? [True, True] Translation: X:85.54, Y:-33.18, Z:-9.54 [[ 7.55169488e-01 6.48591989e-01 9.51182203e-02 8.55362295e+01] [-6.43215565e-01 7.61134225e-01 -8.33572403e-02 -3.31810381e+01] [-1.26462571e-01 1.76732472e-03 9.91969805e-01 -9.53921708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32592 meters 0.028455464500822602 Centerline is valid? [True, True] Translation: X:85.56, Y:-33.20, Z:-9.54 [[ 7.54826554e-01 6.48997554e-01 9.50739056e-02 8.55607540e+01] [-6.43617972e-01 7.60788441e-01 -8.34077592e-02 -3.32020712e+01] [-1.26462560e-01 1.76711720e-03 9.91969807e-01 -9.54246825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35592 meters 0.028618612397404593 Centerline is valid? [True, True] Translation: X:85.59, Y:-33.22, Z:-9.54 [[ 7.55009585e-01 6.48825167e-01 9.47967747e-02 8.55858397e+01] [-6.43464330e-01 7.60935244e-01 -8.32538918e-02 -3.32236804e+01] [-1.26151427e-01 1.85914324e-03 9.92009254e-01 -9.54470733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38592 meters 0.028972948860847537 Centerline is valid? [True, True] Translation: X:85.61, Y:-33.24, Z:-9.55 [[ 7.56824440e-01 6.46853843e-01 9.37916506e-02 8.56104519e+01] [-6.41580400e-01 7.62610729e-01 -8.24588764e-02 -3.32447242e+01] [-1.24865360e-01 2.23200826e-03 9.92171185e-01 -9.54826814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.41592 meters 0.029026632354522325 Centerline is valid? [True, True] Translation: X:85.63, Y:-33.27, Z:-9.55 [[ 7.58526599e-01 6.45037141e-01 9.25445100e-02 8.56340412e+01] [-6.39879390e-01 7.64146920e-01 -8.14484539e-02 -3.32680741e+01] [-1.23254880e-01 2.56349406e-03 9.92371736e-01 -9.55223979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44592 meters 0.02921895602147673 Centerline is valid? [True, True] Translation: X:85.66, Y:-33.29, Z:-9.55 [[ 7.59200137e-01 6.44115146e-01 9.34389117e-02 8.56583970e+01] [-6.38838875e-01 7.64923393e-01 -8.23231120e-02 -3.32906998e+01] [-1.24499173e-01 2.80730869e-03 9.92215740e-01 -9.55484839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47592 meters 0.02935452627225223 Centerline is valid? [True, True] Translation: X:85.68, Y:-33.31, Z:-9.56 [[ 7.59738584e-01 6.43386239e-01 9.40820446e-02 8.56828080e+01] [-6.38020128e-01 7.65535797e-01 -8.29774641e-02 -3.33125894e+01] [-1.25409732e-01 3.01494300e-03 9.92100453e-01 -9.55726243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50591999999999 meters 0.029569596966594957 Centerline is valid? [True, True] Translation: X:85.71, Y:-33.34, Z:-9.56 [[ 7.60834580e-01 6.42062894e-01 9.42654881e-02 8.57059056e+01] [-6.36654652e-01 7.66644837e-01 -8.32258846e-02 -3.33354798e+01] [-1.25704402e-01 3.30656947e-03 9.92062231e-01 -9.55956889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53591999999999 meters 0.029558050419613426 Centerline is valid? [True, True] Translation: X:85.73, Y:-33.36, Z:-9.56 [[ 7.61084569e-01 6.41989829e-01 9.27326138e-02 8.57290269e+01] [-6.36746031e-01 7.66705935e-01 -8.19542654e-02 -3.33588864e+01] [-1.23712450e-01 3.32700301e-03 9.92312532e-01 -9.56304591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56591999999999 meters 0.029587263812895406 Centerline is valid? [True, True] Translation: X:85.75, Y:-33.38, Z:-9.57 [[ 7.60976999e-01 6.42262852e-01 9.17193317e-02 8.57504642e+01] [-6.37124508e-01 7.66477294e-01 -8.11475190e-02 -3.33833476e+01] [-1.22418822e-01 3.31476141e-03 9.92472994e-01 -9.56737437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59591999999999 meters 0.02967058849814152 Centerline is valid? [True, True] Translation: X:85.77, Y:-33.41, Z:-9.57 [[ 7.60271209e-01 6.43052682e-01 9.20376922e-02 8.57741826e+01] [-6.37873478e-01 7.65814979e-01 -8.15159098e-02 -3.34061897e+01] [-1.22902868e-01 3.26579639e-03 9.92413331e-01 -9.57058371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62592 meters 0.029215169801103304 Centerline is valid? [True, True] Translation: X:85.80, Y:-33.43, Z:-9.57 [[ 7.57653982e-01 6.46059490e-01 9.25612215e-02 8.57954662e+01] [-6.40833201e-01 7.63281714e-01 -8.20599386e-02 -3.34318379e+01] [-1.23665890e-01 2.85673532e-03 9.92319801e-01 -9.57351129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65592 meters 0.02889094266288127 Centerline is valid? [True, True] Translation: X:85.82, Y:-33.46, Z:-9.58 [[ 7.56038990e-01 6.48092020e-01 9.15520641e-02 8.58175738e+01] [-6.42986981e-01 7.61557792e-01 -8.12248209e-02 -3.34562971e+01] [-1.22363346e-01 2.54234625e-03 9.92482115e-01 -9.57619549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68592 meters 0.028745843606943253 Centerline is valid? [True, True] Translation: X:85.84, Y:-33.48, Z:-9.58 [[ 7.52430375e-01 6.52388644e-01 9.07611604e-02 8.58380235e+01] [-6.47392469e-01 7.57882229e-01 -8.06071859e-02 -3.34819510e+01] [-1.21373483e-01 1.89320348e-03 9.92605104e-01 -9.57886642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71592 meters 0.028509080679086904 Centerline is valid? [True, True] Translation: X:85.86, Y:-33.51, Z:-9.58 [[ 7.49623359e-01 6.55722216e-01 8.99621924e-02 8.58617529e+01] [-6.50827865e-01 7.55000929e-01 -7.99792852e-02 -3.35053243e+01] [-1.20365733e-01 1.40443871e-03 9.92728622e-01 -9.58271048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74592 meters 0.02833654417638717 Centerline is valid? [True, True] Translation: X:85.89, Y:-33.53, Z:-9.59 [[ 7.47330981e-01 6.58425450e-01 8.92879111e-02 8.58864767e+01] [-6.53612568e-01 7.52645243e-01 -7.94716896e-02 -3.35285310e+01] [-1.19528305e-01 1.03195486e-03 9.92830257e-01 -9.58690817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77592 meters 0.028042237877050537 Centerline is valid? [True, True] Translation: X:85.91, Y:-33.55, Z:-9.59 [[ 7.44032712e-01 6.62630628e-01 8.56503017e-02 8.59084263e+01] [-6.58220617e-01 7.48946248e-01 -7.63225828e-02 -3.35538494e+01] [-1.14721153e-01 4.09703910e-04 9.93397649e-01 -9.58954663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80592 meters 0.028195647090357087 Centerline is valid? [True, True] Translation: X:85.93, Y:-33.58, Z:-9.59 [[ 7.41454911e-01 6.65575150e-01 8.51723823e-02 8.59318504e+01] [-6.61223610e-01 7.46330838e-01 -7.59843310e-02 -3.35775764e+01] [-1.14140058e-01 2.09653123e-05 9.93464668e-01 -9.59124869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.83592 meters 0.028242232259534365 Centerline is valid? [True, True] Translation: X:85.96, Y:-33.60, Z:-9.60 [[ 7.40205873e-01 6.66790218e-01 8.65220819e-02 8.59575440e+01] [-6.62296326e-01 7.45245460e-01 -7.72837644e-02 -3.35993486e+01] [-1.16012247e-01 -9.73606193e-05 9.93247778e-01 -9.59528883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86592 meters 0.02842884315148982 Centerline is valid? [True, True] Translation: X:85.98, Y:-33.62, Z:-9.60 [[ 7.39405313e-01 6.67545553e-01 8.75369554e-02 8.59834610e+01] [-6.62939199e-01 7.44568945e-01 -7.82860484e-02 -3.36208142e+01] [-1.17436802e-01 -1.46558962e-04 9.93080347e-01 -9.59788896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89591999999999 meters 0.02839889547914422 Centerline is valid? [True, True] Translation: X:86.01, Y:-33.64, Z:-9.60 [[ 7.37678191e-01 6.69495210e-01 8.72184069e-02 8.60103699e+01] [-6.64924954e-01 7.42816273e-01 -7.80947528e-02 -3.36415009e+01] [-1.17071315e-01 -3.84899207e-04 9.93123436e-01 -9.60163477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92591999999999 meters 0.028196847120947745 Centerline is valid? [True, True] Translation: X:86.04, Y:-33.66, Z:-9.61 [[ 7.36046974e-01 6.71454825e-01 8.59259621e-02 8.60361519e+01] [-6.67022087e-01 7.41045233e-01 -7.70292056e-02 -3.36635620e+01] [-1.15396656e-01 -6.17400869e-04 9.93319299e-01 -9.60510779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95591999999999 meters 0.028263428679003257 Centerline is valid? [True, True] Translation: X:86.06, Y:-33.69, Z:-9.61 [[ 7.34782504e-01 6.72815677e-01 8.61030586e-02 8.60620472e+01] [-6.68363087e-01 7.39809761e-01 -7.72806681e-02 -3.36854855e+01] [-1.15695528e-01 -7.63623301e-04 9.93284431e-01 -9.60933257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98592 meters 0.02839448493194642 Centerline is valid? [True, True] Translation: X:86.09, Y:-33.71, Z:-9.61 [[ 7.33944439e-01 6.73619677e-01 8.69602832e-02 8.60888329e+01] [-6.69072241e-01 7.39077697e-01 -7.81440582e-02 -3.37065844e+01] [-1.16909781e-01 -8.29314646e-04 9.93142193e-01 -9.61239526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01592 meters 0.02844624114179948 Centerline is valid? [True, True] Translation: X:86.12, Y:-33.73, Z:-9.62 [[ 7.32029966e-01 6.75639472e-01 8.74267253e-02 8.61160954e+01] [-6.71046649e-01 7.37231384e-01 -7.86529249e-02 -3.37258763e+01] [-1.17594746e-01 -1.09111305e-03 9.93061068e-01 -9.61553155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04592 meters 0.028358550586884603 Centerline is valid? [True, True] Translation: X:86.14, Y:-33.75, Z:-9.62 [[ 7.31882107e-01 6.75900708e-01 8.66418764e-02 8.61414693e+01] [-6.71383858e-01 7.36991917e-01 -7.80168474e-02 -3.37475736e+01] [-1.16586005e-01 -1.07082264e-03 9.93180022e-01 -9.61837723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07592 meters 0.028453826323998482 Centerline is valid? [True, True] Translation: X:86.17, Y:-33.77, Z:-9.62 [[ 7.31456136e-01 6.76267301e-01 8.73753948e-02 8.61669667e+01] [-6.71664851e-01 7.36655547e-01 -7.87713922e-02 -3.37688999e+01] [-1.17636086e-01 -1.06916340e-03 9.93056196e-01 -9.62213191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10592 meters 0.028444991716135095 Centerline is valid? [True, True] Translation: X:86.19, Y:-33.79, Z:-9.63 [[ 7.31661137e-01 6.76020805e-01 8.75662737e-02 8.61938771e+01] [-6.71385297e-01 7.36881907e-01 -7.90369401e-02 -3.37896259e+01] [-1.17956619e-01 -9.62451274e-04 9.93018283e-01 -9.62613754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13592 meters 0.02856391356807884 Centerline is valid? [True, True] Translation: X:86.22, Y:-33.81, Z:-9.63 [[ 7.31922287e-01 6.75706544e-01 8.78090672e-02 8.62200085e+01] [-6.71031819e-01 7.37170233e-01 -7.93495176e-02 -3.38111088e+01] [-1.18347219e-01 -8.44997676e-04 9.92971914e-01 -9.63112483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16592 meters 0.0285734288818365 Centerline is valid? [True, True] Translation: X:86.24, Y:-33.83, Z:-9.63 [[ 7.31848209e-01 6.75758606e-01 8.80255951e-02 8.62446365e+01] [-6.71049789e-01 7.37122574e-01 -7.96397613e-02 -3.38336806e+01] [-1.18702907e-01 -7.85340356e-04 9.92929506e-01 -9.63406045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.19592 meters 0.028717278579014967 Centerline is valid? [True, True] Translation: X:86.27, Y:-33.86, Z:-9.64 [[ 7.31330392e-01 6.76221757e-01 8.87693276e-02 8.62698379e+01] [-6.71424563e-01 7.36697700e-01 -8.04086727e-02 -3.38552300e+01] [-1.19770253e-01 -7.96600958e-04 9.92801315e-01 -9.63729348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22592 meters 0.028878129313043146 Centerline is valid? [True, True] Translation: X:86.30, Y:-33.87, Z:-9.64 [[ 7.30310887e-01 6.77363711e-01 8.84556995e-02 8.62985956e+01] [-6.72597385e-01 7.35647725e-01 -8.02195904e-02 -3.38739955e+01] [-1.19410074e-01 -9.09831903e-04 9.92844603e-01 -9.63966910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25591999999999 meters 0.028961175819486776 Centerline is valid? [True, True] Translation: X:86.32, Y:-33.90, Z:-9.64 [[ 7.29050189e-01 6.78594513e-01 8.94164963e-02 8.63236132e+01] [-6.73721088e-01 7.34512343e-01 -8.11881443e-02 -3.38958627e+01] [-1.20771349e-01 -1.05154721e-03 9.92679795e-01 -9.64229282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28591999999999 meters 0.02911300608207453 Centerline is valid? [True, True] Translation: X:86.35, Y:-33.92, Z:-9.65 [[ 7.28866038e-01 6.78626465e-01 9.06665339e-02 8.63478324e+01] [-6.73603416e-01 7.34482895e-01 -8.24215663e-02 -3.39184451e+01] [-1.22526474e-01 -9.99006456e-04 9.92464742e-01 -9.64569774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31591999999999 meters 0.029215581490888466 Centerline is valid? [True, True] Translation: X:86.37, Y:-33.94, Z:-9.65 [[ 7.28326861e-01 6.79157546e-01 9.10220365e-02 8.63738023e+01] [-6.74087253e-01 7.33991814e-01 -8.28395615e-02 -3.39400914e+01] [-1.23070543e-01 -1.02251676e-03 9.92397398e-01 -9.64933941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34591999999999 meters 0.0290821331309964 Centerline is valid? [True, True] Translation: X:86.40, Y:-33.96, Z:-9.65 [[ 7.27793374e-01 6.80021864e-01 8.88091731e-02 8.64024719e+01] [-6.75191051e-01 7.33191051e-01 -8.09192592e-02 -3.39588663e+01] [-1.20140957e-01 -1.07065825e-03 9.92756266e-01 -9.65211724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37592 meters 0.02914986699064115 Centerline is valid? [True, True] Translation: X:86.43, Y:-33.98, Z:-9.66 [[ 7.27407855e-01 6.80525414e-01 8.81077423e-02 8.64286310e+01] [-6.75763277e-01 7.32723690e-01 -8.03740518e-02 -3.39802336e+01] [-1.19255215e-01 -1.07526008e-03 9.92863051e-01 -9.65575915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40592 meters 0.029114926942665154 Centerline is valid? [True, True] Translation: X:86.45, Y:-34.00, Z:-9.66 [[ 7.26888542e-01 6.81145916e-01 8.75973151e-02 8.64538700e+01] [-6.76432401e-01 7.32146862e-01 -8.00011166e-02 -3.40009302e+01] [-1.18626533e-01 -1.10176728e-03 9.92938332e-01 -9.65825906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43592 meters 0.029146838938031803 Centerline is valid? [True, True] Translation: X:86.48, Y:-34.02, Z:-9.66 [[ 7.27314650e-01 6.80781088e-01 8.68936712e-02 8.64794038e+01] [-6.76130754e-01 7.32486290e-01 -7.94420493e-02 -3.40214120e+01] [-1.17731068e-01 -9.72117167e-04 9.93045040e-01 -9.66148951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46592 meters 0.02921273479758605 Centerline is valid? [True, True] Translation: X:86.51, Y:-34.04, Z:-9.67 [[ 7.27833381e-01 6.79991226e-01 8.87158517e-02 8.65054430e+01] [-6.75126716e-01 7.33219814e-01 -8.11949607e-02 -3.40413192e+01] [-1.20260081e-01 -7.98038798e-04 9.92742099e-01 -9.66617896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49592 meters 0.029068175487014233 Centerline is valid? [True, True] Translation: X:86.53, Y:-34.06, Z:-9.67 [[ 7.27865696e-01 6.80036173e-01 8.81040954e-02 8.65297284e+01] [-6.75228955e-01 7.33178191e-01 -8.07192629e-02 -3.40626453e+01] [-1.19488020e-01 -7.37653744e-04 9.92835369e-01 -9.66999277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52592 meters 0.029141890945587157 Centerline is valid? [True, True] Translation: X:86.56, Y:-34.08, Z:-9.67 [[ 7.28901860e-01 6.78978711e-01 8.76925794e-02 8.65550398e+01] [-6.74198657e-01 7.34157791e-01 -8.04270460e-02 -3.40842025e+01] [-1.18988442e-01 -4.98795788e-04 9.92895514e-01 -9.67360135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.55592 meters 0.02893309062560392 Centerline is valid? [True, True] Translation: X:86.58, Y:-34.10, Z:-9.68 [[ 7.30868525e-01 6.76677421e-01 8.91003187e-02 8.65820215e+01] [-6.71714199e-01 7.36279610e-01 -8.18069075e-02 -3.41031790e+01] [-1.20959635e-01 -5.98553880e-05 9.92657425e-01 -9.67716636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58592 meters 0.028965551363447826 Centerline is valid? [True, True] Translation: X:86.61, Y:-34.12, Z:-9.68 [[ 7.31615914e-01 6.75892963e-01 8.89205091e-02 8.66075274e+01] [-6.70933466e-01 7.36999786e-01 -8.17288145e-02 -3.41245069e+01] [-1.20774327e-01 1.34355906e-04 9.92679981e-01 -9.68045864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61592 meters 0.028852855372478076 Centerline is valid? [True, True] Translation: X:86.63, Y:-34.15, Z:-9.68 [[ 7.32353549e-01 6.75023974e-01 8.94478265e-02 8.66296294e+01] [-6.69987935e-01 7.37795714e-01 -8.23021958e-02 -3.41487674e+01] [-1.21550178e-01 3.45340533e-04 9.92585228e-01 -9.68440041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64591999999999 meters 0.028910332031189527 Centerline is valid? [True, True] Translation: X:86.65, Y:-34.17, Z:-9.69 [[ 7.32461594e-01 6.75000004e-01 8.87412402e-02 8.66539093e+01] [-6.70032803e-01 7.37817610e-01 -8.17387136e-02 -3.41705236e+01] [-1.20648482e-01 4.10926593e-04 9.92695207e-01 -9.68809726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67591999999999 meters 0.028690258415873818 Centerline is valid? [True, True] Translation: X:86.68, Y:-34.19, Z:-9.69 [[ 7.32204683e-01 6.75446655e-01 8.74535215e-02 8.66806076e+01] [-6.70615936e-01 7.37408746e-01 -8.06387459e-02 -3.41899648e+01] [-1.18956163e-01 3.96342193e-04 9.92899428e-01 -9.69150867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70591999999999 meters 0.028769081247683386 Centerline is valid? [True, True] Translation: X:86.70, Y:-34.21, Z:-9.69 [[ 7.30592628e-01 6.77067165e-01 8.83994670e-02 8.67046628e+01] [-6.72132094e-01 7.35921201e-01 -8.15992346e-02 -3.42122113e+01] [-1.20303204e-01 1.99680365e-04 9.92737175e-01 -9.69434846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73592 meters 0.028578283402932184 Centerline is valid? [True, True] Translation: X:86.73, Y:-34.24, Z:-9.70 [[ 7.28853895e-01 6.78865254e-01 8.89604782e-02 8.67256564e+01] [-6.73869637e-01 7.34262872e-01 -8.22055122e-02 -3.42374079e+01] [-1.21126842e-01 -3.19574958e-05 9.92637037e-01 -9.69661285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76592 meters 0.028744938017924784 Centerline is valid? [True, True] Translation: X:86.75, Y:-34.26, Z:-9.70 [[ 7.28733314e-01 6.78991947e-01 8.89814155e-02 8.67493568e+01] [-6.73984103e-01 7.34145718e-01 -8.23133822e-02 -3.42597080e+01] [-1.21215449e-01 1.24442595e-05 9.92626221e-01 -9.69865166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79592 meters 0.028915846519360962 Centerline is valid? [True, True] Translation: X:86.77, Y:-34.28, Z:-9.70 [[ 7.27494584e-01 6.79982647e-01 9.15162828e-02 8.67744711e+01] [-6.74680367e-01 7.33228199e-01 -8.47514624e-02 -3.42803339e+01] [-1.24731843e-01 -8.80093419e-05 9.92190486e-01 -9.70319730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82592 meters 0.02904956331119652 Centerline is valid? [True, True] Translation: X:86.80, Y:-34.30, Z:-9.71 [[ 7.26274616e-01 6.81163962e-01 9.24166567e-02 8.67995839e+01] [-6.75753914e-01 7.32130867e-01 -8.56798797e-02 -3.43027794e+01] [-1.26023133e-01 -2.23795692e-04 9.92027278e-01 -9.70708247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85592 meters 0.02884205086942257 Centerline is valid? [True, True] Translation: X:86.82, Y:-34.33, Z:-9.71 [[ 7.25925144e-01 6.81624815e-01 9.17621749e-02 8.68244768e+01] [-6.76282328e-01 7.31701824e-01 -8.51742529e-02 -3.43251166e+01] [-1.25199435e-01 -2.27005453e-04 9.92131569e-01 -9.70957754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88592 meters 0.028989069433679827 Centerline is valid? [True, True] Translation: X:86.85, Y:-34.35, Z:-9.71 [[ 7.23805946e-01 6.83831030e-01 9.20873237e-02 8.68491907e+01] [-6.78455241e-01 7.29640210e-01 -8.55783214e-02 -3.43475535e+01] [-1.25711726e-01 -5.35029543e-04 9.92066669e-01 -9.71352294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.91592 meters 0.029072905492291138 Centerline is valid? [True, True] Translation: X:86.87, Y:-34.37, Z:-9.72 [[ 7.22102500e-01 6.85538584e-01 9.27622176e-02 8.68743661e+01] [-6.80084142e-01 7.28035898e-01 -8.63092746e-02 -3.43698695e+01] [-1.26702562e-01 -7.61970284e-04 9.91940462e-01 -9.71634084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94592 meters 0.029044985129290237 Centerline is valid? [True, True] Translation: X:86.90, Y:-34.39, Z:-9.72 [[ 7.21953502e-01 6.85709890e-01 9.26557558e-02 8.68996989e+01] [-6.80256396e-01 7.27874601e-01 -8.63122289e-02 -3.43920438e+01] [-1.26626920e-01 -7.16254626e-04 9.91950155e-01 -9.71965483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97592 meters 0.0291367610215036 Centerline is valid? [True, True] Translation: X:86.92, Y:-34.41, Z:-9.72 [[ 7.21667233e-01 6.85948971e-01 9.31150524e-02 8.69248508e+01] [-6.80429836e-01 7.27649323e-01 -8.68429699e-02 -3.44143911e+01] [-1.27324951e-01 -6.86533950e-04 9.91860820e-01 -9.72241201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00591999999999 meters 0.029038933149735564 Centerline is valid? [True, True] Translation: X:86.95, Y:-34.44, Z:-9.73 [[ 7.21909232e-01 6.85800631e-01 9.23285199e-02 8.69507394e+01] [-6.80360542e-01 7.27789226e-01 -8.62112257e-02 -3.44356468e+01] [-1.26319415e-01 -5.80002049e-04 9.91989450e-01 -9.72684241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03591999999999 meters 0.028969083501061185 Centerline is valid? [True, True] Translation: X:86.98, Y:-34.46, Z:-9.73 [[ 7.21715204e-01 6.86019540e-01 9.22190560e-02 8.69764405e+01] [-6.80581137e-01 7.27582914e-01 -8.62114805e-02 -3.44576812e+01] [-1.26239770e-01 -5.42413766e-04 9.91999610e-01 -9.73150167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06591999999999 meters 0.028819872761662802 Centerline is valid? [True, True] Translation: X:87.00, Y:-34.48, Z:-9.73 [[ 7.22050498e-01 6.85788788e-01 9.13061656e-02 8.70022622e+01] [-6.80443367e-01 7.27800494e-01 -8.54591407e-02 -3.44793829e+01] [-1.25059593e-01 -4.22859640e-04 9.92149142e-01 -9.73409073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09591999999999 meters 0.028813999329673337 Centerline is valid? [True, True] Translation: X:87.03, Y:-34.50, Z:-9.74 [[ 7.22273282e-01 6.85474670e-01 9.19009409e-02 8.70272029e+01] [-6.80043797e-01 7.28096415e-01 -8.61164653e-02 -3.45010176e+01] [-1.25943401e-01 -2.97042688e-04 9.92037384e-01 -9.73700158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12592 meters 0.028883314649707097 Centerline is valid? [True, True] Translation: X:87.05, Y:-34.52, Z:-9.74 [[ 7.24129256e-01 6.83275374e-01 9.36567326e-02 8.70525285e+01] [-6.77603528e-01 7.30160762e-01 -8.78562496e-02 -3.45214466e+01] [-1.28414483e-01 1.57148250e-04 9.91720573e-01 -9.74111341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15592 meters 0.02873195595626394 Centerline is valid? [True, True] Translation: X:87.08, Y:-34.54, Z:-9.74 [[ 7.24707617e-01 6.82630999e-01 9.38817773e-02 8.70771114e+01] [-6.76914113e-01 7.30763164e-01 -8.81616767e-02 -3.45431226e+01] [-1.28787238e-01 3.41538613e-04 9.91672189e-01 -9.74410390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18592 meters 0.028875943141942993 Centerline is valid? [True, True] Translation: X:87.10, Y:-34.56, Z:-9.75 [[ 7.26726129e-01 6.80345175e-01 9.48660962e-02 8.71020078e+01] [-6.74475246e-01 7.32891370e-01 -8.91817339e-02 -3.45641813e+01] [-1.30200906e-01 8.25862714e-04 9.91487288e-01 -9.74746438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21592 meters 0.028868137351510652 Centerline is valid? [True, True] Translation: X:87.13, Y:-34.59, Z:-9.75 [[ 7.27043958e-01 6.79916153e-01 9.55044928e-02 8.71265220e+01] [-6.73950263e-01 7.33289210e-01 -8.98775651e-02 -3.45850836e+01] [-1.31141622e-01 9.79662619e-04 9.91363160e-01 -9.75283039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24592 meters 0.028868137351510652 Centerline is valid? [True, True] Translation: X:87.15, Y:-34.61, Z:-9.76 [[ 7.26685393e-01 6.80306072e-01 9.54567322e-02 8.71502960e+01] [-6.74336873e-01 7.32927478e-01 -8.99282685e-02 -3.46069691e+01] [-1.31141609e-01 9.79564777e-04 9.91363162e-01 -9.75608173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27592 meters 0.02876559266686897 Centerline is valid? [True, True] Translation: X:87.18, Y:-34.63, Z:-9.76 [[ 7.27219978e-01 6.79835512e-01 9.47353135e-02 8.71757619e+01] [-6.73940187e-01 7.33363762e-01 -8.93432494e-02 -3.46282815e+01] [-1.30214160e-01 1.12626093e-03 9.91485252e-01 -9.76034455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30592 meters 0.028699616850093906 Centerline is valid? [True, True] Translation: X:87.20, Y:-34.65, Z:-9.76 [[ 7.25847001e-01 6.81332079e-01 9.45131153e-02 8.71998337e+01] [-6.75464662e-01 7.31973866e-01 -8.92286354e-02 -3.46503131e+01] [-1.29975462e-01 9.26067972e-04 9.91516778e-01 -9.76396250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.33592 meters 0.028431206168278315 Centerline is valid? [True, True] Translation: X:87.22, Y:-34.67, Z:-9.77 [[ 7.25554311e-01 6.81742235e-01 9.38001406e-02 8.72238723e+01] [-6.75954533e-01 7.31591885e-01 -8.86497724e-02 -3.46731665e+01] [-1.29059716e-01 9.15594355e-04 9.91636401e-01 -9.76709730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36592 meters 0.02846990545622916 Centerline is valid? [True, True] Translation: X:87.25, Y:-34.70, Z:-9.77 [[ 7.25065215e-01 6.82328173e-01 9.33204082e-02 8.72471867e+01] [-6.76592439e-01 7.31045482e-01 -8.82902840e-02 -3.46959356e+01] [-1.28464411e-01 8.76331175e-04 9.91713732e-01 -9.77067329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39591999999999 meters 0.028608797217928635 Centerline is valid? [True, True] Translation: X:87.27, Y:-34.72, Z:-9.77 [[ 7.24081373e-01 6.83423915e-01 9.29404034e-02 8.72706741e+01] [-6.77731781e-01 7.30021364e-01 -8.80252319e-02 -3.47183759e+01] [-1.28007029e-01 7.48765609e-04 9.91772978e-01 -9.77348992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42591999999999 meters 0.028604883881199916 Centerline is valid? [True, True] Translation: X:87.29, Y:-34.74, Z:-9.78 [[ 7.22968499e-01 6.84476074e-01 9.38565610e-02 8.72943955e+01] [-6.78667174e-01 7.29035046e-01 -8.89874613e-02 -3.47402017e+01] [-1.29334510e-01 6.37764272e-04 9.91600816e-01 -9.77715516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45591999999999 meters 0.028355613983615642 Centerline is valid? [True, True] Translation: X:87.32, Y:-34.76, Z:-9.78 [[ 7.20592398e-01 6.86982333e-01 9.38182806e-02 8.73190727e+01] [-6.81187480e-01 7.26674074e-01 -8.90416095e-02 -3.47622879e+01] [-1.29345325e-01 2.54868796e-04 9.91599577e-01 -9.78001284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48592 meters 0.028445874697441313 Centerline is valid? [True, True] Translation: X:87.34, Y:-34.78, Z:-9.78 [[ 7.19729315e-01 6.87920357e-01 9.35697354e-02 8.73433774e+01] [-6.82151764e-01 7.25786166e-01 -8.89011374e-02 -3.47837815e+01] [-1.29068522e-01 1.55994623e-04 9.91635665e-01 -9.78297017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51592 meters 0.02837878987663531 Centerline is valid? [True, True] Translation: X:87.37, Y:-34.81, Z:-9.79 [[ 7.18368750e-01 6.89297948e-01 9.38865170e-02 8.73682875e+01] [-6.83489266e-01 7.24477976e-01 -8.92977380e-02 -3.48051212e+01] [-1.29571461e-01 -2.17221537e-05 9.91570086e-01 -9.78570073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54592 meters 0.028359409267264213 Centerline is valid? [True, True] Translation: X:87.40, Y:-34.82, Z:-9.79 [[ 7.16609032e-01 6.91293803e-01 9.26518897e-02 8.73952237e+01] [-6.85642060e-01 7.22573721e-01 -8.82166848e-02 -3.48247380e+01] [-1.27931468e-01 -3.09159392e-04 9.91782962e-01 -9.78888939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57592 meters 0.028205694675205253 Centerline is valid? [True, True] Translation: X:87.42, Y:-34.85, Z:-9.79 [[ 7.15819005e-01 6.92123031e-01 9.25681437e-02 8.74205662e+01] [-6.86476322e-01 7.21779439e-01 -8.82309530e-02 -3.48456892e+01] [-1.27880457e-01 -3.88445731e-04 9.91789513e-01 -9.79281406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60592 meters 0.028232633221315678 Centerline is valid? [True, True] Translation: X:87.45, Y:-34.87, Z:-9.80 [[ 7.15644565e-01 6.92564054e-01 9.05973967e-02 8.74462837e+01] [-6.87148302e-01 7.21356277e-01 -8.64426576e-02 -3.48666192e+01] [-1.25220078e-01 -3.91629169e-04 9.92128912e-01 -9.79720321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63592 meters 0.028088715910828916 Centerline is valid? [True, True] Translation: X:87.47, Y:-34.89, Z:-9.80 [[ 7.16080513e-01 6.92205339e-01 8.98914259e-02 8.74718093e+01] [-6.86859743e-01 7.21700562e-01 -8.58603028e-02 -3.48873671e+01] [-1.24307653e-01 -2.59912136e-04 9.92243690e-01 -9.79912939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66592 meters 0.02799160725272826 Centerline is valid? [True, True] Translation: X:87.50, Y:-34.91, Z:-9.80 [[ 7.17156320e-01 6.91091335e-01 8.98864789e-02 8.75004161e+01] [-6.85726135e-01 7.22767436e-01 -8.59470822e-02 -3.49050824e+01] [-1.24364304e-01 -1.45355409e-08 9.92236625e-01 -9.80175607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.69592 meters 0.027977050247990888 Centerline is valid? [True, True] Translation: X:87.53, Y:-34.93, Z:-9.81 [[ 7.17612580e-01 6.90634683e-01 8.97547771e-02 8.75265226e+01] [-6.85270145e-01 7.23203784e-01 -8.59134176e-02 -3.49251361e+01] [-1.24245780e-01 1.46280174e-04 9.92251462e-01 -9.80559437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72592 meters 0.027822738199915816 Centerline is valid? [True, True] Translation: X:87.55, Y:-34.95, Z:-9.81 [[ 7.19322556e-01 6.88873485e-01 8.96012371e-02 8.75526195e+01] [-6.83502199e-01 7.24881407e-01 -8.58585498e-02 -3.49452690e+01] [-1.24095949e-01 5.17348899e-04 9.92270088e-01 -9.80906945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75591999999999 meters 0.028121461463704346 Centerline is valid? [True, True] Translation: X:87.58, Y:-34.97, Z:-9.81 [[ 7.19700194e-01 6.88393273e-01 9.02570311e-02 8.75766861e+01] [-6.82927222e-01 7.25337334e-01 -8.65803713e-02 -3.49671275e+01] [-1.25068140e-01 6.72926555e-04 9.92147926e-01 -9.81236236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78591999999999 meters 0.028111302349411418 Centerline is valid? [True, True] Translation: X:87.60, Y:-34.99, Z:-9.82 [[ 7.21546535e-01 6.86629346e-01 8.89423380e-02 8.76006230e+01] [-6.81297502e-01 7.27006933e-01 -8.54086270e-02 -3.49888827e+01] [-1.23305766e-01 1.03010621e-03 9.92368191e-01 -9.81566574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81591999999999 meters 0.028185660036085906 Centerline is valid? [True, True] Translation: X:87.62, Y:-35.01, Z:-9.82 [[ 7.21183669e-01 6.87094984e-01 8.82870239e-02 8.76243345e+01] [-6.81834192e-01 7.26566904e-01 -8.48685380e-02 -3.50117606e+01] [-1.22459176e-01 1.00869205e-03 9.92473039e-01 -9.81983865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84591999999999 meters 0.0282025822388615 Centerline is valid? [True, True] Translation: X:87.65, Y:-35.03, Z:-9.82 [[ 7.21394428e-01 6.86901108e-01 8.80735330e-02 8.76478911e+01] [-6.81653363e-01 7.26750058e-01 -8.47528497e-02 -3.50349837e+01] [-1.22224272e-01 1.10461356e-03 9.92501893e-01 -9.82271936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87592 meters 0.028205938413236077 Centerline is valid? [True, True] Translation: X:87.67, Y:-35.06, Z:-9.83 [[ 7.21317626e-01 6.86937575e-01 8.84174779e-02 8.76718725e+01] [-6.81637713e-01 7.26715489e-01 -8.51740929e-02 -3.50578763e+01] [-1.22763636e-01 1.16888706e-03 9.92435249e-01 -9.82691366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90592 meters 0.028195900070814437 Centerline is valid? [True, True] Translation: X:87.70, Y:-35.08, Z:-9.83 [[ 7.20967966e-01 6.87324467e-01 8.82625005e-02 8.76955321e+01] [-6.82034995e-01 7.26349582e-01 -8.51149196e-02 -3.50808306e+01] [-1.22610997e-01 1.16701642e-03 9.92454121e-01 -9.82981139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93592 meters 0.028126760559301602 Centerline is valid? [True, True] Translation: X:87.72, Y:-35.10, Z:-9.83 [[ 7.21017584e-01 6.87373558e-01 8.74713390e-02 8.77176788e+01] [-6.82168330e-01 7.26303049e-01 -8.44408046e-02 -3.51049240e+01] [-1.21573077e-01 1.21312764e-03 9.92581742e-01 -9.83331379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96592 meters 0.02806566527433674 Centerline is valid? [True, True] Translation: X:87.74, Y:-35.13, Z:-9.84 [[ 7.20780182e-01 6.87781344e-01 8.62134119e-02 8.77395208e+01] [-6.82717779e-01 7.25916941e-01 -8.33128373e-02 -3.51298196e+01] [-1.19884791e-01 1.19081288e-03 9.92787096e-01 -9.83558104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99592 meters 0.02816569921551642 Centerline is valid? [True, True] Translation: X:87.76, Y:-35.15, Z:-9.84 [[ 7.20207680e-01 6.88340087e-01 8.65379795e-02 8.77616613e+01] [-6.83231333e-01 7.25387180e-01 -8.37160949e-02 -3.51539459e+01] [-1.20398685e-01 1.16751538e-03 9.92724933e-01 -9.83820361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02592 meters 0.02816955428215644 Centerline is valid? [True, True] Translation: X:87.78, Y:-35.18, Z:-9.84 [[ 7.20999583e-01 6.87627415e-01 8.56045498e-02 8.77816163e+01] [-6.82613111e-01 7.26062498e-01 -8.29010875e-02 -3.51807788e+01] [-1.19159314e-01 1.33686148e-03 9.92874247e-01 -9.84128854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.05592 meters 0.028220945615469433 Centerline is valid? [True, True] Translation: X:87.80, Y:-35.21, Z:-9.84 [[ 7.20879731e-01 6.87759536e-01 8.55525229e-02 8.78036299e+01] [-6.82741697e-01 7.25937270e-01 -8.29388624e-02 -3.52054857e+01] [-1.19147758e-01 1.37867017e-03 9.92875577e-01 -9.84445559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08592 meters 0.028284758738794477 Centerline is valid? [True, True] Translation: X:87.83, Y:-35.23, Z:-9.85 [[ 7.21381518e-01 6.87374013e-01 8.44136939e-02 8.78265855e+01] [-6.82476538e-01 7.26302113e-01 -8.19207920e-02 -3.52291878e+01] [-1.17620068e-01 1.48577971e-03 9.93057557e-01 -9.84816698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11592 meters 0.02818228376141209 Centerline is valid? [True, True] Translation: X:87.85, Y:-35.26, Z:-9.85 [[ 7.20532143e-01 6.88452748e-01 8.28628131e-02 8.78465022e+01] [-6.83731429e-01 7.25279945e-01 -8.05005258e-02 -3.52554301e+01] [-1.15519545e-01 1.34730676e-03 9.93304294e-01 -9.85231528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14591999999999 meters 0.027924519362116602 Centerline is valid? [True, True] Translation: X:87.86, Y:-35.28, Z:-9.85 [[ 7.18216673e-01 6.90940633e-01 8.22548021e-02 8.78639197e+01] [-6.86294938e-01 7.22910808e-01 -7.99951366e-02 -3.52842078e+01] [-1.14734776e-01 1.00278650e-03 9.93395654e-01 -9.85337469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17591999999999 meters 0.0279852166231087 Centerline is valid? [True, True] Translation: X:87.89, Y:-35.31, Z:-9.86 [[ 7.15933832e-01 6.93273085e-01 8.25298533e-02 8.78859091e+01] [-6.88601426e-01 7.20674646e-01 -8.03500520e-02 -3.53090970e+01] [-1.15181701e-01 6.95146005e-04 9.93344196e-01 -9.85686572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20591999999999 meters 0.02789240552234227 Centerline is valid? [True, True] Translation: X:87.91, Y:-35.33, Z:-9.86 [[ 7.13269510e-01 6.96176461e-01 8.11476494e-02 8.79084680e+01] [-6.91669509e-01 7.17870639e-01 -7.90887875e-02 -3.53328140e+01] [-1.13313267e-01 2.84265922e-04 9.93559270e-01 -9.86028910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23592 meters 0.028043696008996612 Centerline is valid? [True, True] Translation: X:87.93, Y:-35.36, Z:-9.87 [[ 7.08120805e-01 7.01324372e-01 8.19087962e-02 8.79296593e+01] [-6.96756157e-01 7.12842125e-01 -7.99184718e-02 -3.53580098e+01] [-1.14436812e-01 -4.78525484e-04 9.93430414e-01 -9.86567173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26592 meters 0.028200153863673562 Centerline is valid? [True, True] Translation: X:87.95, Y:-35.38, Z:-9.87 [[ 7.05606403e-01 7.03795761e-01 8.24083107e-02 8.79521652e+01] [-6.99177383e-01 7.10401899e-01 -8.04992460e-02 -3.53829965e+01] [-1.15198049e-01 -8.17243595e-04 9.93342208e-01 -9.86916489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29592 meters 0.028317330449918212 Centerline is valid? [True, True] Translation: X:87.97, Y:-35.41, Z:-9.87 [[ 7.04030784e-01 7.05384171e-01 8.23032584e-02 8.79746521e+01] [-7.00777015e-01 7.08824492e-01 -8.04948106e-02 -3.54084090e+01] [-1.15118331e-01 -1.00540716e-03 9.93351277e-01 -9.87176743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32592 meters 0.028433058623763146 Centerline is valid? [True, True] Translation: X:88.00, Y:-35.43, Z:-9.87 [[ 7.03399364e-01 7.05995964e-01 8.24562504e-02 8.79995690e+01] [-7.01364624e-01 7.08215094e-01 -8.07406069e-02 -3.54315941e+01] [-1.15399304e-01 -1.03900552e-03 9.93318640e-01 -9.87461906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35592 meters 0.02841485563921776 Centerline is valid? [True, True] Translation: X:88.02, Y:-35.46, Z:-9.88 [[ 7.02650043e-01 7.06725071e-01 8.25989787e-02 8.80241123e+01] [-7.02071489e-01 7.07487442e-01 -8.09761891e-02 -3.54552045e+01] [-1.15665643e-01 -1.09246521e-03 9.93287605e-01 -9.87826564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38592 meters 0.02832410113049632 Centerline is valid? [True, True] Translation: X:88.05, Y:-35.48, Z:-9.88 [[ 7.01641131e-01 7.07795319e-01 8.20092075e-02 8.80482745e+01] [-7.03204428e-01 7.06416567e-01 -8.04932697e-02 -3.54792739e+01] [-1.14905422e-01 -1.19184911e-03 9.93375721e-01 -9.88019920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.41592 meters 0.02847013938996197 Centerline is valid? [True, True] Translation: X:88.07, Y:-35.50, Z:-9.88 [[ 7.00433435e-01 7.08894594e-01 8.28339207e-02 8.80739143e+01] [-7.04206910e-01 7.05313207e-01 -8.13996837e-02 -3.55012425e+01] [-1.16127654e-01 -1.31715924e-03 9.93233423e-01 -9.88396927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44592 meters 0.028488310433958015 Centerline is valid? [True, True] Translation: X:88.10, Y:-35.52, Z:-9.89 [[ 6.99503689e-01 7.09863934e-01 8.23880190e-02 8.80996773e+01] [-7.05222396e-01 7.04337439e-01 -8.10564188e-02 -3.55236675e+01] [-1.15567995e-01 -1.40261227e-03 9.93298581e-01 -9.88719039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47592 meters 0.02876217861622524 Centerline is valid? [True, True] Translation: X:88.13, Y:-35.55, Z:-9.89 [[ 6.98205645e-01 7.11088489e-01 8.28374217e-02 8.81254214e+01] [-7.06393250e-01 7.03100827e-01 -8.15953634e-02 -3.55456466e+01] [-1.16264583e-01 -1.54545217e-03 9.93217075e-01 -9.89133954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50591999999999 meters 0.028797955738400945 Centerline is valid? [True, True] Translation: X:88.15, Y:-35.57, Z:-9.89 [[ 6.97492021e-01 7.11711046e-01 8.35001071e-02 8.81500222e+01] [-7.06933061e-01 7.02470531e-01 -8.23456106e-02 -3.55689554e+01] [-1.17262645e-01 -1.59358002e-03 9.93099659e-01 -9.89368488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53591999999999 meters 0.028740488093625605 Centerline is valid? [True, True] Translation: X:88.18, Y:-35.59, Z:-9.90 [[ 6.96700346e-01 7.12543844e-01 8.30054121e-02 8.81750727e+01] [-7.07817163e-01 7.01625633e-01 -8.19532479e-02 -3.55915912e+01] [-1.16634007e-01 -1.65579909e-03 9.93173583e-01 -9.89691328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56591999999999 meters 0.028997027474565434 Centerline is valid? [True, True] Translation: X:88.20, Y:-35.61, Z:-9.90 [[ 6.96712370e-01 7.12553935e-01 8.28176492e-02 8.82007080e+01] [-7.07837518e-01 7.01615546e-01 -8.18637551e-02 -3.56132884e+01] [-1.16438491e-01 -1.58594843e-03 9.93196638e-01 -9.90047139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59591999999999 meters 0.028925427912696648 Centerline is valid? [True, True] Translation: X:88.23, Y:-35.64, Z:-9.90 [[ 6.96778964e-01 7.12451387e-01 8.31390141e-02 8.82260605e+01] [-7.07685979e-01 7.01719853e-01 -8.22788126e-02 -3.56359507e+01] [-1.16959951e-01 -1.50616872e-03 9.93135490e-01 -9.90414996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62592 meters 0.028950354325157086 Centerline is valid? [True, True] Translation: X:88.25, Y:-35.66, Z:-9.91 [[ 6.97123644e-01 7.12119220e-01 8.30953691e-02 8.82529098e+01] [-7.07345188e-01 7.02057196e-01 -8.23315137e-02 -3.56568262e+01] [-1.16967555e-01 -1.38186466e-03 9.93134775e-01 -9.90745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65592 meters 0.02912090014334081 Centerline is valid? [True, True] Translation: X:88.28, Y:-35.68, Z:-9.91 [[ 6.96490584e-01 7.12724693e-01 8.32128458e-02 8.82791671e+01] [-7.07929920e-01 7.01442445e-01 -8.25452873e-02 -3.56784635e+01] [-1.17201087e-01 -1.41684790e-03 9.93107194e-01 -9.91105338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68592 meters 0.02907727854745633 Centerline is valid? [True, True] Translation: X:88.31, Y:-35.70, Z:-9.91 [[ 6.96862547e-01 7.12390740e-01 8.29579696e-02 8.83072418e+01] [-7.07611868e-01 7.01781855e-01 -8.23873363e-02 -3.56968711e+01] [-1.16910373e-01 -1.28939478e-03 9.93141632e-01 -9.91440091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71592 meters 0.029039875784336054 Centerline is valid? [True, True] Translation: X:88.33, Y:-35.72, Z:-9.92 [[ 6.97299241e-01 7.11976010e-01 8.28488331e-02 8.83323131e+01] [-7.07196694e-01 7.02202835e-01 -8.23651268e-02 -3.57179248e+01] [-1.16818680e-01 -1.15728051e-03 9.93152585e-01 -9.91798837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74592 meters 0.02888025017365052 Centerline is valid? [True, True] Translation: X:88.36, Y:-35.74, Z:-9.92 [[ 6.98167511e-01 7.11241105e-01 8.18426416e-02 8.83569648e+01] [-7.06562613e-01 7.02947485e-01 -8.14500319e-02 -3.57398768e+01] [-1.15461690e-01 -9.61184654e-04 9.93311469e-01 -9.92044126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77592 meters 0.028974251450368856 Centerline is valid? [True, True] Translation: X:88.38, Y:-35.76, Z:-9.92 [[ 7.00636858e-01 7.08779698e-01 8.20934421e-02 8.83828820e+01] [-7.04045391e-01 7.05429724e-01 -8.17862571e-02 -3.57608588e+01] [-1.15879593e-01 -4.95043360e-04 9.93263145e-01 -9.92330045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80592 meters 0.02873576915395743 Centerline is valid? [True, True] Translation: X:88.41, Y:-35.78, Z:-9.93 [[ 7.02286637e-01 7.07103010e-01 8.24549168e-02 8.84086422e+01] [-7.02304904e-01 7.07110535e-01 -8.22344969e-02 -3.57817359e+01] [-1.16453001e-01 -1.56304151e-04 9.93196191e-01 -9.92594327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.83592 meters 0.028937937447444603 Centerline is valid? [True, True] Translation: X:88.44, Y:-35.80, Z:-9.93 [[ 7.04339313e-01 7.04871306e-01 8.40391223e-02 8.84361182e+01] [-6.99859587e-01 7.09335155e-01 -8.39058718e-02 -3.58008666e+01] [-1.18754745e-01 2.82618650e-04 9.92923577e-01 -9.92955330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86592 meters 0.029073940107742703 Centerline is valid? [True, True] Translation: X:88.46, Y:-35.82, Z:-9.93 [[ 7.05553284e-01 7.03557819e-01 8.48584646e-02 8.84610331e+01] [-6.98426949e-01 7.10637788e-01 -8.48158710e-02 -3.58222497e+01] [-1.19976501e-01 5.74677774e-04 9.92776566e-01 -9.93326805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89591999999999 meters 0.029135987741428806 Centerline is valid? [True, True] Translation: X:88.78, Y:-35.88, Z:-7.97 [[ 7.50754913e-01 -6.58297929e-01 -5.48716452e-02 8.87789107e+01] [-6.55845999e-01 -7.52725435e-01 5.71878123e-02 -3.58766569e+01] [-7.89499014e-02 -6.94668205e-03 -9.96854381e-01 -7.96744703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92591999999999 meters 0.029257623945708786 Centerline is valid? [True, True] Translation: X:88.54, Y:-35.91, Z:-9.95 [[ 7.62243437e-01 6.40821565e-01 9.12834303e-02 8.85373342e+01] [-6.36052917e-01 7.67688532e-01 -7.80448904e-02 -3.59086379e+01] [-1.20090091e-01 1.42811337e-03 9.92761971e-01 -9.94517538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95591999999999 meters 0.029429206992207774 Centerline is valid? [True, True] Translation: X:88.56, Y:-35.93, Z:-9.95 [[ 7.63706392e-01 6.39125233e-01 9.09476966e-02 8.85640494e+01] [-6.34367046e-01 7.69100645e-01 -7.78630102e-02 -3.59269044e+01] [-1.19712147e-01 1.77025693e-03 9.92807065e-01 -9.94840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98592 meters 0.02940707193606626 Centerline is valid? [True, True] Translation: X:88.59, Y:-35.95, Z:-9.95 [[ 7.63302159e-01 6.39619795e-01 9.08643539e-02 8.85899398e+01] [-6.34864894e-01 7.68689443e-01 -7.78659527e-02 -3.59474659e+01] [-1.19651074e-01 1.74866141e-03 9.92814465e-01 -9.95328944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01592 meters 0.02923636922198896 Centerline is valid? [True, True] Translation: X:88.61, Y:-35.97, Z:-9.96 [[ 7.63261942e-01 6.39849125e-01 8.95784855e-02 8.86146101e+01] [-6.35220506e-01 7.68498560e-01 -7.68431646e-02 -3.59685733e+01] [-1.18008969e-01 1.74937213e-03 9.93010988e-01 -9.95542697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04592 meters 0.029316136404178093 Centerline is valid? [True, True] Translation: X:88.64, Y:-35.99, Z:-9.96 [[ 7.61765434e-01 6.41355520e-01 9.15233364e-02 8.86399449e+01] [-6.36524816e-01 7.67242150e-01 -7.85852586e-02 -3.59884741e+01] [-1.20621651e-01 1.60665875e-03 9.92697253e-01 -9.95957465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07592 meters 0.02952209196637633 Centerline is valid? [True, True] Translation: X:88.67, Y:-36.01, Z:-9.96 [[ 7.60600185e-01 6.42602683e-01 9.24616221e-02 8.86658509e+01] [-6.37671796e-01 7.66198142e-01 -7.94675206e-02 -3.60087989e+01] [-1.21909965e-01 1.48284223e-03 9.92540055e-01 -9.96347767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10592 meters 0.029447602338801032 Centerline is valid? [True, True] Translation: X:88.69, Y:-36.03, Z:-9.96 [[ 7.59226286e-01 6.44352918e-01 9.15683574e-02 8.86907622e+01] [-6.39519886e-01 7.64727236e-01 -7.87817792e-02 -3.60298915e+01] [-1.20788086e-01 1.25341210e-03 9.92677524e-01 -9.96456934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13592 meters 0.029447602338801032 Centerline is valid? [True, True] Translation: X:88.72, Y:-36.05, Z:-9.97 [[ 7.58887580e-01 6.44757087e-01 9.15310854e-02 8.87154858e+01] [-6.39921764e-01 7.64386515e-01 -7.88250629e-02 -3.60507113e+01] [-1.20788145e-01 1.24662760e-03 9.92677526e-01 -9.96780928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16592 meters 0.029393797786168296 Centerline is valid? [True, True] Translation: X:88.74, Y:-36.07, Z:-9.97 [[ 7.58358220e-01 6.45427144e-01 9.11954595e-02 8.87403623e+01] [-6.40621997e-01 7.63820896e-01 -7.86199472e-02 -3.60715888e+01] [-1.20400446e-01 1.20026589e-03 9.92724681e-01 -9.97032758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.19592 meters 0.02932095184206255 Centerline is valid? [True, True] Translation: X:88.76, Y:-36.09, Z:-9.97 [[ 7.57902633e-01 6.46045037e-01 9.06057869e-02 8.87647854e+01] [-6.41296601e-01 7.63298414e-01 -7.81933544e-02 -3.60920888e+01] [-1.19675682e-01 1.15776609e-03 9.92812364e-01 -9.97444096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22592 meters 0.029266418394988322 Centerline is valid? [True, True] Translation: X:88.79, Y:-36.11, Z:-9.98 [[ 7.56741726e-01 6.47483782e-01 9.00372859e-02 8.87907403e+01] [-6.42796338e-01 7.62078599e-01 -7.77758164e-02 -3.61101661e+01] [-1.18974068e-01 9.80567849e-04 9.92896878e-01 -9.97871023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25591999999999 meters 0.029152492596093788 Centerline is valid? [True, True] Translation: X:88.82, Y:-36.13, Z:-9.98 [[ 7.56511599e-01 6.47885958e-01 8.90729272e-02 8.88164787e+01] [-6.43293034e-01 7.61736739e-01 -7.70143702e-02 -3.61299136e+01] [-1.17746650e-01 9.62270790e-04 9.93043202e-01 -9.98158025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28591999999999 meters 0.029268432971149238 Centerline is valid? [True, True] Translation: X:88.84, Y:-36.15, Z:-9.98 [[ 7.56089671e-01 6.48355955e-01 8.92354496e-02 8.88415924e+01] [-6.43740645e-01 7.61336757e-01 -7.72290327e-02 -3.61511058e+01] [-1.18010131e-01 9.47588020e-04 9.93011939e-01 -9.98299668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31591999999999 meters 0.029146422801085228 Centerline is valid? [True, True] Translation: X:88.87, Y:-36.17, Z:-9.99 [[ 7.55895414e-01 6.48526512e-01 8.96408786e-02 8.88664677e+01] [-6.43860217e-01 7.61191424e-01 -7.76636086e-02 -3.61721339e+01] [-1.18600777e-01 9.89369976e-04 9.92941527e-01 -9.98530950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34591999999999 meters 0.029382029987436723 Centerline is valid? [True, True] Translation: X:88.89, Y:-36.19, Z:-9.99 [[ 7.56317702e-01 6.47992778e-01 8.99382701e-02 8.88930393e+01] [-6.43281480e-01 7.61645624e-01 -7.80056480e-02 -3.61907323e+01] [-1.19048186e-01 1.14142895e-03 9.92887822e-01 -9.99067593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37592 meters 0.029586444400613886 Centerline is valid? [True, True] Translation: X:88.92, Y:-36.21, Z:-10.00 [[ 7.56729504e-01 6.47343191e-01 9.11441266e-02 8.89171050e+01] [-6.42489383e-01 7.62197506e-01 -7.91350363e-02 -3.62107780e+01] [-1.20697353e-01 1.32468305e-03 9.92688468e-01 -9.99546030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40592 meters 0.029551918744097058 Centerline is valid? [True, True] Translation: X:88.94, Y:-36.23, Z:-10.00 [[ 7.57120964e-01 6.47089981e-01 8.96794446e-02 8.89403280e+01] [-6.42381636e-01 7.62412363e-01 -7.79308776e-02 -3.62322619e+01] [-1.18801007e-01 1.39467286e-03 9.92917104e-01 -9.99816373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43592 meters 0.029560279141905264 Centerline is valid? [True, True] Translation: X:88.96, Y:-36.25, Z:-10.00 [[ 7.58136357e-01 6.46046617e-01 8.86173357e-02 8.89644418e+01] [-6.41433850e-01 7.63296288e-01 -7.70804293e-02 -3.62546714e+01] [-1.17438834e-01 1.59531701e-03 9.93078836e-01 -1.00006024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46592 meters 0.029642453550263913 Centerline is valid? [True, True] Translation: X:88.99, Y:-36.27, Z:-10.00 [[ 7.57827520e-01 6.46365161e-01 8.89355346e-02 8.89905037e+01] [-6.41711460e-01 7.63026520e-01 -7.74398621e-02 -3.62746974e+01] [-1.17914600e-01 1.61510683e-03 9.93022426e-01 -1.00036265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49592 meters 0.029659685389476772 Centerline is valid? [True, True] Translation: X:89.02, Y:-36.29, Z:-10.01 [[ 7.57061865e-01 6.47060571e-01 9.03877767e-02 8.90161892e+01] [-6.42247934e-01 7.62436929e-01 -7.87878165e-02 -3.62939439e+01] [-1.19895468e-01 1.59588837e-03 9.92785239e-01 -1.00083366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52592 meters 0.029714972947047558 Centerline is valid? [True, True] Translation: X:89.04, Y:-36.32, Z:-10.01 [[ 7.56378517e-01 6.47827941e-01 9.06118025e-02 8.90406365e+01] [-6.42987700e-01 7.61785141e-01 -7.90583143e-02 -3.63157467e+01] [-1.20242910e-01 1.53573604e-03 9.92743312e-01 -1.00120204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.55592 meters 0.029712405319352098 Centerline is valid? [True, True] Translation: X:89.06, Y:-36.34, Z:-10.01 [[ 7.56100475e-01 6.48257797e-01 8.98548917e-02 8.90647360e+01] [-6.43491637e-01 7.61419416e-01 -7.84792066e-02 -3.63368499e+01] [-1.19292017e-01 1.51729399e-03 9.92858053e-01 -1.00138313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58592 meters 0.029594039984226283 Centerline is valid? [True, True] Translation: X:89.09, Y:-36.36, Z:-10.02 [[ 7.55736145e-01 6.48763995e-01 8.92645429e-02 8.90895465e+01] [-6.44055160e-01 7.60988223e-01 -7.80376578e-02 -3.63577807e+01] [-1.18557288e-01 1.48458930e-03 9.92946104e-01 -1.00169768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61592 meters 0.029697677651041404 Centerline is valid? [True, True] Translation: X:89.11, Y:-36.38, Z:-10.02 [[ 7.55509381e-01 6.48990116e-01 8.95399588e-02 8.91142430e+01] [-6.44243632e-01 7.60795324e-01 -7.83620875e-02 -3.63800086e+01] [-1.18977802e-01 1.51774392e-03 9.92895754e-01 -1.00205305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64591999999999 meters 0.02981152866899363 Centerline is valid? [True, True] Translation: X:89.14, Y:-36.41, Z:-10.02 [[ 7.55905618e-01 6.48510796e-01 8.96685257e-02 8.91354311e+01] [-6.43737224e-01 7.61203647e-01 -7.85582196e-02 -3.64061721e+01] [-1.19201862e-01 1.65963169e-03 9.92868653e-01 -1.00241832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67591999999999 meters 0.03004812810125472 Centerline is valid? [True, True] Translation: X:89.16, Y:-36.43, Z:-10.03 [[ 7.56428308e-01 6.47901328e-01 8.96665123e-02 8.91585925e+01] [-6.43113631e-01 7.61722099e-01 -7.86403288e-02 -3.64289331e+01] [-1.19252138e-01 1.82001456e-03 9.92862334e-01 -1.00277687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70591999999999 meters 0.029833587526788947 Centerline is valid? [True, True] Translation: X:89.18, Y:-36.45, Z:-10.03 [[ 7.55924014e-01 6.48512458e-01 8.95012632e-02 8.91831867e+01] [-6.43736782e-01 7.61201950e-01 -7.85782842e-02 -3.64511080e+01] [-1.19087532e-01 1.78395689e-03 9.92882157e-01 -1.00299040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73592 meters 0.029736503748732546 Centerline is valid? [True, True] Translation: X:89.21, Y:-36.47, Z:-10.03 [[ 7.55256441e-01 6.49327616e-01 8.92264234e-02 8.92076721e+01] [-6.44577083e-01 7.60506877e-01 -7.84198622e-02 -3.64732046e+01] [-1.18777491e-01 1.71379828e-03 9.92919418e-01 -1.00334037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76592 meters 0.029544844965761447 Centerline is valid? [True, True] Translation: X:89.23, Y:-36.50, Z:-10.04 [[ 7.53414715e-01 6.51612492e-01 8.81330071e-02 8.92285637e+01] [-6.46984092e-01 7.58550726e-01 -7.75395452e-02 -3.64984690e+01] [-1.17379093e-01 1.39878081e-03 9.93086196e-01 -1.00354767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79592 meters 0.029501967979911944 Centerline is valid? [True, True] Translation: X:89.25, Y:-36.52, Z:-10.04 [[ 7.52355039e-01 6.52903391e-01 8.76302344e-02 8.92509174e+01] [-6.48327524e-01 7.57440164e-01 -7.71739534e-02 -3.65218250e+01] [-1.16761795e-01 1.24911982e-03 9.93159163e-01 -1.00390246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82592 meters 0.029450461496941395 Centerline is valid? [True, True] Translation: X:89.27, Y:-36.54, Z:-10.04 [[ 7.51068512e-01 6.54234825e-01 8.87292810e-02 8.92739438e+01] [-6.49542219e-01 7.56290645e-01 -7.82263766e-02 -3.65446712e+01] [-1.18283545e-01 1.11995415e-03 9.92979229e-01 -1.00431444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85592 meters 0.02942880072562348 Centerline is valid? [True, True] Translation: X:89.30, Y:-36.57, Z:-10.05 [[ 7.48829780e-01 6.56877650e-01 8.81232856e-02 8.92960402e+01] [-6.52257521e-01 7.53996799e-01 -7.77750106e-02 -3.65685945e+01] [-1.17533342e-01 7.61168217e-04 9.93068645e-01 -1.00456522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88592 meters 0.029434673860646195 Centerline is valid? [True, True] Translation: X:89.32, Y:-36.59, Z:-10.05 [[ 7.47285096e-01 6.58619361e-01 8.82356141e-02 8.93203504e+01] [-6.53989783e-01 7.52476070e-01 -7.79559370e-02 -3.65912766e+01] [-1.17738477e-01 5.50119776e-04 9.93044485e-01 -1.00488866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.91592 meters 0.02956745332411767 Centerline is valid? [True, True] Translation: X:89.35, Y:-36.61, Z:-10.05 [[ 7.45694358e-01 6.60405436e-01 8.83435633e-02 8.93457408e+01] [-6.55766848e-01 7.50909149e-01 -7.81363623e-02 -3.66124864e+01] [-1.17939668e-01 3.33064391e-04 9.93020707e-01 -1.00520113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94592 meters 0.02963495205996724 Centerline is valid? [True, True] Translation: X:89.37, Y:-36.63, Z:-10.06 [[ 7.44032236e-01 6.62302767e-01 8.81537144e-02 8.93709197e+01] [-6.57687265e-01 7.49236301e-01 -7.80539935e-02 -3.66340127e+01] [-1.17743339e-01 9.71119544e-05 9.93044056e-01 -1.00558277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97592 meters 0.029515037172849666 Centerline is valid? [True, True] Translation: X:89.39, Y:-36.66, Z:-10.06 [[ 7.41229705e-01 6.65547721e-01 8.73198467e-02 8.93949004e+01] [-6.61031954e-01 7.46355216e-01 -7.73992733e-02 -3.66558864e+01] [-1.16684533e-01 -3.50568412e-04 9.93168967e-01 -1.00602049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00591999999999 meters 0.029741410682418815 Centerline is valid? [True, True] Translation: X:89.42, Y:-36.68, Z:-10.06 [[ 7.39834693e-01 6.66970123e-01 8.82920265e-02 8.94190700e+01] [-6.62353371e-01 7.45084280e-01 -7.83417378e-02 -3.66771933e+01] [-1.18036599e-01 -5.20585868e-04 9.93009109e-01 -1.00629767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03591999999999 meters 0.029702474375579165 Centerline is valid? [True, True] Translation: X:89.45, Y:-36.70, Z:-10.07 [[ 7.37381630e-01 6.69703107e-01 8.81253674e-02 8.94451120e+01] [-6.65116574e-01 7.42628382e-01 -7.82497939e-02 -3.66975589e+01] [-1.17848529e-01 -9.13681915e-04 9.93031162e-01 -1.00656743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06591999999999 meters 0.029814522426273974 Centerline is valid? [True, True] Translation: X:89.47, Y:-36.72, Z:-10.07 [[ 7.35867625e-01 6.71326235e-01 8.84303356e-02 8.94706321e+01] [-6.66709443e-01 7.41161145e-01 -7.86045512e-02 -3.67182637e+01] [-1.18310426e-01 -1.11479540e-03 9.92976032e-01 -1.00685793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09591999999999 meters 0.030139865672865633 Centerline is valid? [True, True] Translation: X:89.50, Y:-36.74, Z:-10.07 [[ 7.34466292e-01 6.72511574e-01 9.10354267e-02 8.94958600e+01] [-6.67616103e-01 7.40085499e-01 -8.10073625e-02 -3.67384811e+01] [-1.21852388e-01 -1.27953972e-03 9.92547409e-01 -1.00728561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12592 meters 0.030259144590102604 Centerline is valid? [True, True] Translation: X:89.52, Y:-36.76, Z:-10.08 [[ 7.33146536e-01 6.74082003e-01 9.00533775e-02 8.95224772e+01] [-6.69293858e-01 7.38655070e-01 -8.02148245e-02 -3.67577530e+01] [-1.20589753e-01 -1.46295177e-03 9.92701350e-01 -1.00755520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15592 meters 0.030277759665678836 Centerline is valid? [True, True] Translation: X:89.55, Y:-36.78, Z:-10.08 [[ 7.32524201e-01 6.74817296e-01 8.96097785e-02 8.95480520e+01] [-6.70071739e-01 7.37983283e-01 -7.99033056e-02 -3.67786110e+01] [-1.20050651e-01 -1.51387503e-03 9.92766614e-01 -1.00795170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18592 meters 0.030269401816406503 Centerline is valid? [True, True] Translation: X:89.57, Y:-36.80, Z:-10.08 [[ 7.33197037e-01 6.74070209e-01 8.97299142e-02 8.95747932e+01] [-6.69296165e-01 7.38666082e-01 -8.00940880e-02 -3.67984539e+01] [-1.20269483e-01 -1.33113939e-03 9.92740389e-01 -1.00842142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21592 meters 0.030257876235747043 Centerline is valid? [True, True] Translation: X:89.60, Y:-36.82, Z:-10.09 [[ 7.33237238e-01 6.73946455e-01 9.03290009e-02 8.95998717e+01] [-6.69097531e-01 7.38779119e-01 -8.07087820e-02 -3.68191301e+01] [-1.21126577e-01 -1.26022708e-03 9.92636270e-01 -1.00872939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24592 meters 0.030118573658187483 Centerline is valid? [True, True] Translation: X:89.63, Y:-36.84, Z:-10.09 [[ 7.34213744e-01 6.72893264e-01 9.02487287e-02 8.96269557e+01] [-6.68034710e-01 7.39738880e-01 -8.07218416e-02 -3.68387448e+01] [-1.21077677e-01 -1.02219772e-03 9.92642509e-01 -1.00889044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27592 meters 0.029992682117452818 Centerline is valid? [True, True] Translation: X:89.65, Y:-36.86, Z:-10.09 [[ 7.34141757e-01 6.73126155e-01 8.90901763e-02 8.96532360e+01] [-6.68383745e-01 7.39527017e-01 -7.97681717e-02 -3.68584173e+01] [-1.19578635e-01 -9.85279906e-04 9.92824244e-01 -1.00917501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30592 meters 0.03003216777006868 Centerline is valid? [True, True] Translation: X:89.68, Y:-36.88, Z:-10.10 [[ 7.33478015e-01 6.73859189e-01 8.90157062e-02 8.96812520e+01] [-6.69120247e-01 7.38859057e-01 -7.97833853e-02 -3.68766131e+01] [-1.19532828e-01 -1.04285225e-03 9.92829701e-01 -1.00956287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.33592 meters 0.030073370807626554 Centerline is valid? [True, True] Translation: X:89.71, Y:-36.90, Z:-10.10 [[ 7.33428671e-01 6.73890394e-01 8.91858814e-02 8.97079956e+01] [-6.69123254e-01 7.38830672e-01 -8.00206747e-02 -3.68960472e+01] [-1.19818429e-01 -9.86890075e-04 9.92795331e-01 -1.00989471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36592 meters 0.029927448562425088 Centerline is valid? [True, True] Translation: X:89.74, Y:-36.91, Z:-10.10 [[ 7.33329626e-01 6.74152033e-01 8.80153172e-02 8.97359188e+01] [-6.69501693e-01 7.38591988e-01 -7.90528821e-02 -3.69137527e+01] [-1.18301069e-01 -9.54583416e-04 9.92977314e-01 -1.01003191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39591999999999 meters 0.029837513314934217 Centerline is valid? [True, True] Translation: X:89.76, Y:-36.93, Z:-10.10 [[ 7.33603268e-01 6.73778668e-01 8.85920546e-02 8.97623706e+01] [-6.69054378e-01 7.38932745e-01 -7.96532252e-02 -3.69332661e+01] [-1.19132214e-01 -8.39035700e-04 9.92878045e-01 -1.01034097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42591999999999 meters 0.02971893890054187 Centerline is valid? [True, True] Translation: X:89.79, Y:-36.95, Z:-10.11 [[ 7.36088280e-01 6.71054418e-01 8.86567103e-02 8.97896917e+01] [-6.66293221e-01 7.41408023e-01 -7.97965360e-02 -3.69517282e+01] [-1.19278614e-01 -3.34070089e-04 9.92860766e-01 -1.01056667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45591999999999 meters 0.029615847176165975 Centerline is valid? [True, True] Translation: X:89.82, Y:-36.97, Z:-10.11 [[ 7.37688760e-01 6.69334723e-01 8.83533954e-02 8.98156255e+01] [-6.64583582e-01 7.42960987e-01 -7.96092535e-02 -3.69713147e+01] [-1.18928364e-01 8.63545084e-06 9.92902837e-01 -1.01092259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48592 meters 0.029891544457500918 Centerline is valid? [True, True] Translation: X:89.84, Y:-36.99, Z:-10.12 [[ 7.41069402e-01 6.65435652e-01 8.95071762e-02 8.98432002e+01] [-6.60520179e-01 7.46454881e-01 -8.07353962e-02 -3.69885928e+01] [-1.20537280e-01 7.09235757e-04 9.92708548e-01 -1.01157210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51592 meters 0.029927602218665115 Centerline is valid? [True, True] Translation: X:89.87, Y:-37.01, Z:-10.12 [[ 7.42488478e-01 6.63864567e-01 8.94130696e-02 8.98695748e+01] [-6.58938660e-01 7.47852120e-01 -8.07282438e-02 -3.70080072e+01] [-1.20460374e-01 1.02206258e-03 9.92717610e-01 -1.01186233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54592 meters 0.03029470845930294 Centerline is valid? [True, True] Translation: X:89.89, Y:-37.03, Z:-10.12 [[ 7.43771069e-01 6.62235687e-01 9.08212041e-02 8.98947111e+01] [-6.57130172e-01 7.49294345e-01 -8.20848516e-02 -3.70271159e+01] [-1.22411333e-01 1.37098442e-03 9.92478507e-01 -1.01228741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57592 meters 0.03018161314599751 Centerline is valid? [True, True] Translation: X:89.92, Y:-37.05, Z:-10.12 [[ 7.44412888e-01 6.61607275e-01 9.01402531e-02 8.99211043e+01] [-6.56564930e-01 7.49848992e-01 -8.15412926e-02 -3.70476404e+01] [-1.21539890e-01 1.51746022e-03 9.92585388e-01 -1.01239603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60592 meters 0.030170195953252526 Centerline is valid? [True, True] Translation: X:89.95, Y:-37.07, Z:-10.13 [[ 7.44226976e-01 6.61881422e-01 8.96615341e-02 8.99462861e+01] [-6.56884365e-01 7.49606995e-01 -8.11928849e-02 -3.70680608e+01] [-1.20950975e-01 1.52867535e-03 9.92657305e-01 -1.01278087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63592 meters 0.02983333476045891 Centerline is valid? [True, True] Translation: X:89.97, Y:-37.09, Z:-10.13 [[ 7.42827446e-01 6.63576743e-01 8.87315722e-02 8.99708065e+01] [-6.58685283e-01 7.48107085e-01 -8.04331225e-02 -3.70883286e+01] [-1.19754267e-01 1.30175021e-03 9.92802710e-01 -1.01325685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66592 meters 0.029838593261737392 Centerline is valid? [True, True] Translation: X:90.00, Y:-37.11, Z:-10.14 [[ 7.42369537e-01 6.64072027e-01 8.88583859e-02 8.99950787e+01] [-6.59160913e-01 7.47667508e-01 -8.06237422e-02 -3.71105893e+01] [-1.19976500e-01 1.28063545e-03 9.92775906e-01 -1.01359775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.69592 meters 0.029921757187094004 Centerline is valid? [True, True] Translation: X:90.02, Y:-37.13, Z:-10.14 [[ 7.41718463e-01 6.64798510e-01 8.88631741e-02 9.00201353e+01] [-6.59881753e-01 7.47021710e-01 -8.07133021e-02 -3.71324679e+01] [-1.20040803e-01 1.22735919e-03 9.92768200e-01 -1.01383810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72592 meters 0.029723743733999275 Centerline is valid? [True, True] Translation: X:90.05, Y:-37.15, Z:-10.14 [[ 7.40849932e-01 6.65844983e-01 8.82713834e-02 9.00450637e+01] [-6.60991178e-01 7.46089284e-01 -8.02586000e-02 -3.71527563e+01] [-1.19298119e-01 1.11297261e-03 9.92857855e-01 -1.01405839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75591999999999 meters 0.029819101964167784 Centerline is valid? [True, True] Translation: X:90.07, Y:-37.17, Z:-10.14 [[ 7.40509043e-01 6.66125310e-01 8.90136439e-02 9.00703928e+01] [-6.61181940e-01 7.45838980e-01 -8.10102351e-02 -3.71734065e+01] [-1.20352813e-01 1.13459785e-03 9.92730534e-01 -1.01433829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78591999999999 meters 0.029705162054007625 Centerline is valid? [True, True] Translation: X:90.09, Y:-37.19, Z:-10.15 [[ 7.39565402e-01 6.67266285e-01 8.83103727e-02 9.00944074e+01] [-6.62399145e-01 7.44818567e-01 -8.04529305e-02 -3.71947074e+01] [-1.19458733e-01 1.00348842e-03 9.92838660e-01 -1.01467169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81591999999999 meters 0.02984665413790631 Centerline is valid? [True, True] Translation: X:90.12, Y:-37.22, Z:-10.15 [[ 7.39071700e-01 6.67750448e-01 8.87826693e-02 9.01183772e+01] [-6.62825038e-01 7.44384553e-01 -8.09605210e-02 -3.72165599e+01] [-1.20149872e-01 9.88253739e-04 9.92755273e-01 -1.01511231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84591999999999 meters 0.029822648900761466 Centerline is valid? [True, True] Translation: X:90.14, Y:-37.24, Z:-10.15 [[ 7.40290472e-01 6.66668737e-01 8.67341499e-02 9.01438030e+01] [-6.61951848e-01 7.45353179e-01 -7.91731550e-02 -3.72362584e+01] [-1.17429842e-01 1.19730141e-03 9.93080459e-01 -1.01536760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87592 meters 0.029828323412137737 Centerline is valid? [True, True] Translation: X:90.17, Y:-37.26, Z:-10.16 [[ 7.40599226e-01 6.66342128e-01 8.66080494e-02 9.01695680e+01] [-6.61627957e-01 7.45645002e-01 -7.91326563e-02 -3.72573148e+01] [-1.17308282e-01 1.30327722e-03 9.93094693e-01 -1.01565313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90592 meters 0.029855476984015923 Centerline is valid? [True, True] Translation: X:90.19, Y:-37.28, Z:-10.16 [[ 7.41112874e-01 6.65650237e-01 8.75298238e-02 9.01931226e+01] [-6.60820044e-01 7.46262379e-01 -8.00582932e-02 -3.72793318e+01] [-1.18611036e-01 1.49076967e-03 9.92939676e-01 -1.01578516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93592 meters 0.02985341333205256 Centerline is valid? [True, True] Translation: X:90.22, Y:-37.30, Z:-10.16 [[ 7.41566509e-01 6.65152011e-01 8.74752243e-02 9.02168535e+01] [-6.60315358e-01 7.46706205e-01 -8.00841495e-02 -3.73016803e+01] [-1.18586426e-01 1.62648907e-03 9.92942402e-01 -1.01613751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96592 meters 0.029911764863927708 Centerline is valid? [True, True] Translation: X:90.24, Y:-37.32, Z:-10.16 [[ 7.42018189e-01 6.64674927e-01 8.72711225e-02 9.02415975e+01] [-6.59847633e-01 7.47130603e-01 -7.99810201e-02 -3.73235663e+01] [-1.18364305e-01 1.76172810e-03 9.92968674e-01 -1.01644906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99592 meters 0.03014040153683017 Centerline is valid? [True, True] Translation: X:90.27, Y:-37.34, Z:-10.17 [[ 7.43970578e-01 6.62564594e-01 8.66945021e-02 9.02657282e+01] [-6.57777165e-01 7.49001706e-01 -7.95339230e-02 -3.73438740e+01] [-1.17630691e-01 2.14523491e-03 9.93055093e-01 -1.01684686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02592 meters 0.030281050359871983 Centerline is valid? [True, True] Translation: X:90.29, Y:-37.37, Z:-10.17 [[ 7.44676832e-01 6.61811916e-01 8.63794188e-02 9.02898658e+01] [-6.57045677e-01 7.49666357e-01 -7.93179124e-02 -3.73656752e+01] [-1.17249284e-01 2.31098804e-03 9.93099826e-01 -1.01719259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.05592 meters 0.030281050359871983 Centerline is valid? [True, True] Translation: X:90.31, Y:-37.39, Z:-10.18 [[ 7.44341758e-01 6.62194083e-01 8.63385434e-02 9.03139264e+01] [-6.57425250e-01 7.49328802e-01 -7.93623845e-02 -3.73872963e+01] [-1.17249259e-01 2.31159835e-03 9.93099828e-01 -1.01751667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08592 meters 0.030452313946838887 Centerline is valid? [True, True] Translation: X:90.34, Y:-37.41, Z:-10.18 [[ 7.45777767e-01 6.60696333e-01 8.54159047e-02 9.03365337e+01] [-6.56010303e-01 7.50648856e-01 -7.85924795e-02 -3.74105383e+01] [-1.16043114e-01 2.57881040e-03 9.93240830e-01 -1.01779752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11592 meters 0.03059910828250231 Centerline is valid? [True, True] Translation: X:90.36, Y:-37.43, Z:-10.18 [[ 7.45816714e-01 6.60501583e-01 8.65741788e-02 9.03592756e+01] [-6.55677325e-01 7.50819801e-01 -7.97299989e-02 -3.74323967e+01] [-1.17663398e-01 2.69923983e-03 9.93049867e-01 -1.01825785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14591999999999 meters 0.030426906763114103 Centerline is valid? [True, True] Translation: X:90.38, Y:-37.46, Z:-10.18 [[ 7.46775928e-01 6.59548772e-01 8.55636060e-02 9.03809660e+01] [-6.54823087e-01 7.51656312e-01 -7.88638942e-02 -3.74570861e+01] [-1.16329009e-01 2.86463322e-03 9.93206603e-01 -1.01849800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17591999999999 meters 0.03032492780130902 Centerline is valid? [True, True] Translation: X:90.40, Y:-37.48, Z:-10.19 [[ 7.46558801e-01 6.59954787e-01 8.43186509e-02 9.04025748e+01] [-6.55364198e-01 7.51300138e-01 -7.77551919e-02 -3.74809745e+01] [-1.14663525e-01 2.78939790e-03 9.93400471e-01 -1.01875910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20591999999999 meters 0.030205511033744307 Centerline is valid? [True, True] Translation: X:90.42, Y:-37.51, Z:-10.19 [[ 7.45336125e-01 6.61228137e-01 8.51552188e-02 9.04227250e+01] [-6.56545412e-01 7.50180109e-01 -7.85997882e-02 -3.75071861e+01] [-1.15854143e-01 2.67499338e-03 9.93262635e-01 -1.01905498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23592 meters 0.0301283057550254 Centerline is valid? [True, True] Translation: X:90.45, Y:-37.53, Z:-10.19 [[ 7.44218410e-01 6.62343562e-01 8.62552277e-02 9.04461892e+01] [-6.57536197e-01 7.49195742e-01 -7.96987509e-02 -3.75304182e+01] [-1.17410004e-01 2.59734328e-03 9.93080130e-01 -1.01937556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26592 meters 0.02998742340397466 Centerline is valid? [True, True] Translation: X:90.47, Y:-37.55, Z:-10.20 [[ 7.43309707e-01 6.63258108e-01 8.70595333e-02 9.04701223e+01] [-6.58356591e-01 7.48386421e-01 -8.05255524e-02 -3.75534190e+01] [-1.18563398e-01 2.53920719e-03 9.92943238e-01 -1.01965366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29592 meters 0.029855001498868283 Centerline is valid? [True, True] Translation: X:90.49, Y:-37.58, Z:-10.20 [[ 7.42122738e-01 6.64448930e-01 8.80991553e-02 9.04933968e+01] [-6.59427293e-01 7.47329685e-01 -8.15719728e-02 -3.75770281e+01] [-1.20039524e-01 2.44142828e-03 9.92766111e-01 -1.01986248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32592 meters 0.029614089927545127 Centerline is valid? [True, True] Translation: X:90.52, Y:-37.60, Z:-10.20 [[ 7.41094375e-01 6.65580375e-01 8.82150287e-02 9.05158702e+01] [-6.60543239e-01 7.46322558e-01 -8.17634984e-02 -3.76007398e+01] [-1.20257046e-01 2.32462806e-03 9.92740066e-01 -1.02016887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35592 meters 0.029289784597883076 Centerline is valid? [True, True] Translation: X:90.54, Y:-37.63, Z:-10.21 [[ 7.38720334e-01 6.68268653e-01 8.78024826e-02 9.05365013e+01] [-6.63288651e-01 7.43917514e-01 -8.14548889e-02 -3.76261566e+01] [-1.19751553e-01 1.93399254e-03 9.92802007e-01 -1.02060794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38592 meters 0.028798815158580272 Centerline is valid? [True, True] Translation: X:90.56, Y:-37.65, Z:-10.21 [[ 7.36417751e-01 6.70795943e-01 8.78731977e-02 9.05585924e+01] [-6.65821525e-01 7.41640342e-01 -8.15554992e-02 -3.76490144e+01] [-1.19877406e-01 1.55105073e-03 9.92787491e-01 -1.02091911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.41592 meters 0.028483245645888448 Centerline is valid? [True, True] Translation: X:90.58, Y:-37.67, Z:-10.21 [[ 7.33141186e-01 6.74516763e-01 8.67821325e-02 9.05819636e+01] [-6.69682546e-01 7.38258872e-01 -8.06171494e-02 -3.76721242e+01] [-1.18445298e-01 9.87273029e-04 9.92960088e-01 -1.02117764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44592 meters 0.028211719051947987 Centerline is valid? [True, True] Translation: X:90.61, Y:-37.69, Z:-10.21 [[ 7.31282731e-01 6.76547165e-01 8.66573769e-02 9.06055249e+01] [-6.71731353e-01 7.36398952e-01 -8.05827077e-02 -3.76946481e+01] [-1.18332404e-01 7.18265497e-04 9.92973779e-01 -1.02141487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47592 meters 0.02819724031984036 Centerline is valid? [True, True] Translation: X:90.63, Y:-37.72, Z:-10.22 [[ 7.27126041e-01 6.80930080e-01 8.73037609e-02 9.06300567e+01] [-6.76062763e-01 7.32348429e-01 -8.12706537e-02 -3.77174854e+01] [-1.19276405e-01 7.11868080e-05 9.92861085e-01 -1.02151718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50591999999999 meters 0.028289193702313243 Centerline is valid? [True, True] Translation: X:90.66, Y:-37.74, Z:-10.22 [[ 7.24833815e-01 6.83184121e-01 8.87434337e-02 9.06552422e+01] [-6.78160186e-01 7.30246123e-01 -8.27004332e-02 -3.77385692e+01] [-1.21304171e-01 -2.38192981e-04 9.92615354e-01 -1.02191833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53591999999999 meters 0.02851782306416651 Centerline is valid? [True, True] Translation: X:90.68, Y:-37.76, Z:-10.22 [[ 7.22043498e-01 6.86060058e-01 8.93016437e-02 9.06805583e+01] [-6.80983441e-01 7.27544611e-01 -8.33090141e-02 -3.77598584e+01] [-1.22125917e-01 -6.60208640e-04 9.92514395e-01 -1.02225898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56591999999999 meters 0.028704771335623352 Centerline is valid? [True, True] Translation: X:90.71, Y:-37.78, Z:-10.23 [[ 7.18693587e-01 6.89381544e-01 9.07337621e-02 9.07067298e+01] [-6.84155112e-01 7.24397475e-01 -8.47353584e-02 -3.77799343e+01] [-1.24142300e-01 -1.17720858e-03 9.92263727e-01 -1.02269522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59591999999999 meters 0.02854338341955104 Centerline is valid? [True, True] Translation: X:90.73, Y:-37.80, Z:-10.23 [[ 7.18986919e-01 6.89202609e-01 8.97639852e-02 9.07317473e+01] [-6.84075831e-01 7.24567881e-01 -8.39144995e-02 -3.78005593e+01] [-1.22874193e-01 -1.07194529e-03 9.92421676e-01 -1.02299255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62592 meters 0.02832048713317724 Centerline is valid? [True, True] Translation: X:90.76, Y:-37.82, Z:-10.23 [[ 7.19573290e-01 6.88773674e-01 8.83465114e-02 9.07580467e+01] [-6.83794835e-01 7.24975844e-01 -8.26719311e-02 -3.78206568e+01] [-1.20991336e-01 -9.22374786e-04 9.92653135e-01 -1.02320696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65592 meters 0.028434401308075175 Centerline is valid? [True, True] Translation: X:90.79, Y:-37.84, Z:-10.24 [[ 7.21138069e-01 6.87006561e-01 8.93413153e-02 9.07857120e+01] [-6.81890311e-01 7.26650990e-01 -8.36895601e-02 -3.78392579e+01] [-1.22415232e-01 -5.69249526e-04 9.92478809e-01 -1.02359838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68592 meters 0.028471929163520305 Centerline is valid? [True, True] Translation: X:90.81, Y:-37.86, Z:-10.24 [[ 7.22032859e-01 6.85966772e-01 9.01007128e-02 9.08123822e+01] [-6.80743405e-01 7.27632792e-01 -8.44922347e-02 -3.78586043e+01] [-1.23519099e-01 -3.29296231e-04 9.92342141e-01 -1.02399351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71592 meters 0.028359368168728024 Centerline is valid? [True, True] Translation: X:90.84, Y:-37.88, Z:-10.24 [[ 7.22662927e-01 6.85299107e-01 9.01300620e-02 9.08384786e+01] [-6.80055811e-01 7.28261706e-01 -8.46107621e-02 -3.78782123e+01] [-1.23621952e-01 -1.48411409e-04 9.92329376e-01 -1.02428326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74592 meters 0.028307688657066312 Centerline is valid? [True, True] Translation: X:90.86, Y:-37.90, Z:-10.25 [[ 7.23960600e-01 6.83662470e-01 9.21231664e-02 9.08630580e+01] [-6.78158750e-01 7.29798319e-01 -8.65743782e-02 -3.78988992e+01] [-1.26418985e-01 2.02307387e-04 9.91976915e-01 -1.02464802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77592 meters 0.028488472800153618 Centerline is valid? [True, True] Translation: X:90.89, Y:-37.92, Z:-10.25 [[ 7.23888052e-01 6.83815932e-01 9.15524945e-02 9.08865689e+01] [-6.78371350e-01 7.29654518e-01 -8.61196595e-02 -3.79214801e+01] [-1.25691687e-01 2.34403246e-04 9.92069325e-01 -1.02494614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80592 meters 0.028674869520675828 Centerline is valid? [True, True] Translation: X:90.91, Y:-37.94, Z:-10.25 [[ 7.24297580e-01 6.83340068e-01 9.18660287e-02 9.09118310e+01] [-6.77842996e-01 7.30100133e-01 -8.65024203e-02 -3.79427293e+01] [-1.26181970e-01 3.82749564e-04 9.92007038e-01 -1.02515347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.83592 meters 0.028482842110066 Centerline is valid? [True, True] Translation: X:90.94, Y:-37.96, Z:-10.25 [[ 7.23911071e-01 6.83781930e-01 9.16244136e-02 9.09368030e+01] [-6.78305706e-01 7.29686326e-01 -8.63668694e-02 -3.79636114e+01] [-1.25913186e-01 3.72570408e-04 9.92041194e-01 -1.02542147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86592 meters 0.028535491770232995 Centerline is valid? [True, True] Translation: X:90.96, Y:-37.98, Z:-10.26 [[ 7.23653481e-01 6.83978546e-01 9.21899591e-02 9.09612647e+01] [-6.78423914e-01 7.29502009e-01 -8.69931692e-02 -3.79848807e+01] [-1.26754222e-01 4.09036831e-04 9.91934070e-01 -1.02590645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89591999999999 meters 0.02873881908288032 Centerline is valid? [True, True] Translation: X:90.98, Y:-38.01, Z:-10.26 [[ 7.23348773e-01 6.84176564e-01 9.31073728e-02 9.09842986e+01] [-6.78500099e-01 7.29316276e-01 -8.79510351e-02 -3.80065535e+01] [-1.28078759e-01 4.45911627e-04 9.91763900e-01 -1.02629460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92591999999999 meters 0.02865842339436629 Centerline is valid? [True, True] Translation: X:91.01, Y:-38.03, Z:-10.27 [[ 7.22687347e-01 6.84715725e-01 9.42728728e-02 9.10071342e+01] [-6.78889236e-01 7.28810128e-01 -8.91358634e-02 -3.80283010e+01] [-1.29739752e-01 4.16522064e-04 9.91547993e-01 -1.02665126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95591999999999 meters 0.02876314564265853 Centerline is valid? [True, True] Translation: X:91.03, Y:-38.05, Z:-10.27 [[ 7.22585573e-01 6.84950956e-01 9.33395848e-02 9.10301251e+01] [-6.79231141e-01 7.28589049e-01 -8.83348980e-02 -3.80506324e+01] [-1.28511272e-01 4.30370195e-04 9.91707955e-01 -1.02695998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98592 meters 0.028584909286381435 Centerline is valid? [True, True] Translation: X:91.05, Y:-38.07, Z:-10.27 [[ 7.23503130e-01 6.84226722e-01 9.15260331e-02 9.10526509e+01] [-6.78712915e-01 7.29269108e-01 -8.66911017e-02 -3.80741418e+01] [-1.26063477e-01 6.01382702e-04 9.92021995e-01 -1.02725852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01592 meters 0.028684235362447835 Centerline is valid? [True, True] Translation: X:91.08, Y:-38.10, Z:-10.28 [[ 7.23834173e-01 6.83897079e-01 9.13721830e-02 9.10763485e+01] [-6.78392029e-01 7.29578163e-01 -8.66022997e-02 -3.80966532e+01] [-1.25890209e-01 6.99543294e-04 9.92043933e-01 -1.02756748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04592 meters 0.028737597043618383 Centerline is valid? [True, True] Translation: X:91.10, Y:-38.12, Z:-10.28 [[ 7.23959602e-01 6.83835378e-01 9.08387077e-02 9.11007608e+01] [-6.78382770e-01 7.29635922e-01 -8.61872307e-02 -3.81185844e+01] [-1.25217062e-01 7.72659068e-04 9.92129069e-01 -1.02794473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07592 meters 0.028836253833979666 Centerline is valid? [True, True] Translation: X:91.13, Y:-38.14, Z:-10.28 [[ 7.24200501e-01 6.83548278e-01 9.10790123e-02 9.11263233e+01] [-6.78052816e-01 7.29904758e-01 -8.65067745e-02 -3.81398939e+01] [-1.25610561e-01 8.91868626e-04 9.92079226e-01 -1.02832969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10592 meters 0.02875891425215857 Centerline is valid? [True, True] Translation: X:91.15, Y:-38.16, Z:-10.29 [[ 7.22984008e-01 6.84718090e-01 9.19524923e-02 9.11492985e+01] [-6.79114058e-01 7.28807626e-01 -8.74273410e-02 -3.81627323e+01] [-1.26878760e-01 7.62339236e-04 9.91917940e-01 -1.02861730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13592 meters 0.02877990228960537 Centerline is valid? [True, True] Translation: X:91.17, Y:-38.19, Z:-10.29 [[ 7.21605494e-01 6.86096617e-01 9.25037525e-02 9.11720137e+01] [-6.80425177e-01 7.27510199e-01 -8.80368629e-02 -3.81867846e+01] [-1.27699217e-01 5.86001784e-04 9.91812768e-01 -1.02904425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16592 meters 0.028636623318033242 Centerline is valid? [True, True] Translation: X:91.20, Y:-38.21, Z:-10.29 [[ 7.20410924e-01 6.87347891e-01 9.25255525e-02 9.11958622e+01] [-6.81671990e-01 7.26328225e-01 -8.81510535e-02 -3.82096824e+01] [-1.27794361e-01 4.32904407e-04 9.91800592e-01 -1.02940949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.19592 meters 0.028880506226539742 Centerline is valid? [True, True] Translation: X:91.22, Y:-38.23, Z:-10.30 [[ 7.19427934e-01 6.88441427e-01 9.20426530e-02 9.12199614e+01] [-6.82823216e-01 7.25291881e-01 -8.77732461e-02 -3.82312428e+01] [-1.27184528e-01 2.97664682e-04 9.91879029e-01 -1.02992830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22592 meters 0.02875838230877967 Centerline is valid? [True, True] Translation: X:91.24, Y:-38.25, Z:-10.30 [[ 7.19031013e-01 6.88976870e-01 9.11332797e-02 9.12439694e+01] [-6.83467037e-01 7.24783288e-01 -8.69597308e-02 -3.82536696e+01] [-1.25965121e-01 2.40150668e-04 9.92034642e-01 -1.03016880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25591999999999 meters 0.028788172250196243 Centerline is valid? [True, True] Translation: X:91.27, Y:-38.28, Z:-10.30 [[ 7.18637249e-01 6.89445331e-01 9.06953156e-02 9.12684792e+01] [-6.83980913e-01 7.24337688e-01 -8.66315422e-02 -3.82761036e+01] [-1.25421747e-01 2.22788410e-04 9.92103490e-01 -1.03047276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28591999999999 meters 0.02892583286215843 Centerline is valid? [True, True] Translation: X:91.29, Y:-38.30, Z:-10.31 [[ 7.19776348e-01 6.88144550e-01 9.15373563e-02 9.12924254e+01] [-6.82555488e-01 7.25573433e-01 -8.75282739e-02 -3.82974873e+01] [-1.26649178e-01 5.21456413e-04 9.91947435e-01 -1.03080554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31591999999999 meters 0.02885875699155012 Centerline is valid? [True, True] Translation: X:91.32, Y:-38.32, Z:-10.31 [[ 7.20837542e-01 6.87178151e-01 9.04401828e-02 9.13167725e+01] [-6.81705201e-01 7.26488568e-01 -8.65585350e-02 -3.83189376e+01] [-1.25184893e-01 7.41098648e-04 9.92133153e-01 -1.03114369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34591999999999 meters 0.029118976015344036 Centerline is valid? [True, True] Translation: X:91.34, Y:-38.34, Z:-10.32 [[ 7.22902064e-01 6.84803881e-01 9.19578731e-02 9.13398938e+01] [-6.79115133e-01 7.28726371e-01 -8.80937750e-02 -3.83411885e+01] [-1.27339086e-01 1.23318851e-03 9.91858476e-01 -1.03160593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37592 meters 0.02907656758648321 Centerline is valid? [True, True] Translation: X:91.36, Y:-38.36, Z:-10.32 [[ 7.23404878e-01 6.84173376e-01 9.26939761e-02 9.13624944e+01] [-6.78377018e-01 7.29318029e-01 -8.88810072e-02 -3.83634674e+01] [-1.28413407e-01 1.41549107e-03 9.91719715e-01 -1.03185087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40592 meters 0.02941310671402055 Centerline is valid? [True, True] Translation: X:91.39, Y:-38.39, Z:-10.32 [[ 7.23569737e-01 6.83936806e-01 9.31519202e-02 9.13853479e+01] [-6.78070127e-01 7.29539662e-01 -8.94023745e-02 -3.83857154e+01] [-1.29103595e-01 1.52531828e-03 9.91629939e-01 -1.03226854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43592 meters 0.029133375300654893 Centerline is valid? [True, True] Translation: X:91.41, Y:-38.41, Z:-10.32 [[ 7.24187926e-01 6.83526025e-01 9.13456170e-02 9.14091167e+01] [-6.77872212e-01 7.29924332e-01 -8.77481221e-02 -3.84075587e+01] [-1.26653514e-01 1.62547507e-03 9.91945687e-01 -1.03249783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46592 meters 0.028923492231330287 Centerline is valid? [True, True] Translation: X:91.43, Y:-38.43, Z:-10.33 [[ 7.23691269e-01 6.84403604e-01 8.86716114e-02 9.14323203e+01] [-6.79074435e-01 7.29101849e-01 -8.52549443e-02 -3.84299852e+01] [-1.22999427e-01 1.48363444e-03 9.92405633e-01 -1.03275149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49592 meters 0.028932658553648693 Centerline is valid? [True, True] Translation: X:91.46, Y:-38.45, Z:-10.33 [[ 7.22732426e-01 6.85425355e-01 8.85997922e-02 9.14554317e+01] [-6.80102597e-01 7.28141616e-01 -8.52657289e-02 -3.84538488e+01] [-1.22956488e-01 1.36735838e-03 9.92411121e-01 -1.03303991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52592 meters 0.029022782934898583 Centerline is valid? [True, True] Translation: X:91.48, Y:-38.48, Z:-10.33 [[ 7.20977615e-01 6.86893349e-01 9.14811795e-02 9.14775026e+01] [-6.81217215e-01 7.26757204e-01 -8.81309919e-02 -3.84765510e+01] [-1.27021198e-01 1.22191798e-03 9.91899250e-01 -1.03349624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.55592 meters 0.028927237211968108 Centerline is valid? [True, True] Translation: X:91.50, Y:-38.50, Z:-10.34 [[ 7.18996686e-01 6.89053537e-01 9.08239481e-02 9.15011744e+01] [-6.83465708e-01 7.24709889e-01 -8.75796897e-02 -3.84990138e+01] [-1.26168108e-01 8.94452630e-04 9.92008472e-01 -1.03365369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58592 meters 0.028992325912370727 Centerline is valid? [True, True] Translation: X:91.52, Y:-38.52, Z:-10.34 [[ 7.17849992e-01 6.90300802e-01 9.04222993e-02 9.15246190e+01] [-6.84761404e-01 7.23522123e-01 -8.72786182e-02 -3.85202761e+01] [-1.25671034e-01 7.35254718e-04 9.92071696e-01 -1.03394761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61592 meters 0.028769917237388008 Centerline is valid? [True, True] Translation: X:91.55, Y:-38.54, Z:-10.34 [[ 7.15721868e-01 6.92693945e-01 8.89792509e-02 9.15488649e+01] [-6.87339157e-01 7.21231560e-01 -8.59646406e-02 -3.85410488e+01] [-1.23721830e-01 3.67849776e-04 9.92316872e-01 -1.03412602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64591999999999 meters 0.028692982186733187 Centerline is valid? [True, True] Translation: X:91.57, Y:-38.56, Z:-10.34 [[ 7.14326468e-01 6.94120817e-01 8.90729376e-02 9.15728179e+01] [-6.88755432e-01 7.19858499e-01 -8.61376592e-02 -3.85637419e+01] [-1.23909854e-01 1.80940302e-04 9.92293462e-01 -1.03435624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67591999999999 meters 0.028897318029302965 Centerline is valid? [True, True] Translation: X:91.60, Y:-38.59, Z:-10.35 [[ 7.13678221e-01 6.94737792e-01 8.94583610e-02 9.15966484e+01] [-6.89318834e-01 7.19263082e-01 -8.66034867e-02 -3.85859208e+01] [-1.24510812e-01 1.41689148e-04 9.92218241e-01 -1.03466251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70591999999999 meters 0.028965034306512122 Centerline is valid? [True, True] Translation: X:91.62, Y:-38.61, Z:-10.35 [[ 7.11981206e-01 6.96535365e-01 8.90013883e-02 9.16213135e+01] [-6.91174249e-01 7.17522455e-01 -8.62535973e-02 -3.86079440e+01] [-1.23939176e-01 -1.04527535e-04 9.92289811e-01 -1.03482168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73592 meters 0.029093781431104238 Centerline is valid? [True, True] Translation: X:91.64, Y:-38.63, Z:-10.35 [[ 7.10318396e-01 6.98189606e-01 8.93255293e-02 9.16447934e+01] [-6.92790500e-01 7.15912821e-01 -8.66611599e-02 -3.86301997e+01] [-1.24455213e-01 -3.26861968e-04 9.92225173e-01 -1.03524591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76592 meters 0.028883908792938204 Centerline is valid? [True, True] Translation: X:91.67, Y:-38.65, Z:-10.36 [[ 7.08830421e-01 6.99694218e-01 8.93724515e-02 9.16681024e+01] [-6.94289561e-01 7.14442249e-01 -8.68002206e-02 -3.86532149e+01] [-1.24585068e-01 -5.23723213e-04 9.92208792e-01 -1.03561904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79592 meters 0.028990634872010583 Centerline is valid? [True, True] Translation: X:91.69, Y:-38.68, Z:-10.36 [[ 7.08199434e-01 7.00159815e-01 9.07182118e-02 9.16917347e+01] [-6.94582408e-01 7.13985947e-01 -8.82005965e-02 -3.86753651e+01] [-1.26526042e-01 -5.47661503e-04 9.91963135e-01 -1.03590860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82592 meters 0.029092833684147303 Centerline is valid? [True, True] Translation: X:91.72, Y:-38.70, Z:-10.36 [[ 7.06506551e-01 7.01876069e-01 9.06558163e-02 9.17175723e+01] [-6.96309533e-01 7.12298642e-01 -8.82251602e-02 -3.86968019e+01] [-1.26497143e-01 -7.92855448e-04 9.91966655e-01 -1.03604631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85592 meters 0.029066865800248042 Centerline is valid? [True, True] Translation: X:91.74, Y:-38.72, Z:-10.36 [[ 7.04886374e-01 7.03588945e-01 8.99877604e-02 9.17420596e+01] [-6.98106598e-01 7.10606463e-01 -8.76677335e-02 -3.87188855e+01] [-1.25627932e-01 -1.02525852e-03 9.92076898e-01 -1.03623713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88592 meters 0.02945372776927402 Centerline is valid? [True, True] Translation: X:91.76, Y:-38.74, Z:-10.37 [[ 7.02934017e-01 7.05394184e-01 9.11197742e-02 9.17644492e+01] [-6.99775664e-01 7.08814052e-01 -8.88631518e-02 -3.87411029e+01] [-1.27270527e-01 -1.29846824e-03 9.91867192e-01 -1.03662095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91592 meters 0.029457459160224284 Centerline is valid? [True, True] Translation: X:91.79, Y:-38.76, Z:-10.37 [[ 7.01902948e-01 7.06553520e-01 9.00798233e-02 9.17878037e+01] [-7.01062033e-01 7.07658160e-01 -8.79315331e-02 -3.87634316e+01] [-1.25874056e-01 -1.43214177e-03 9.92045196e-01 -1.03686640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94592 meters 0.029457459160224284 Centerline is valid? [True, True] Translation: X:91.81, Y:-38.79, Z:-10.37 [[ 7.01533609e-01 7.06926014e-01 9.00344665e-02 9.18111914e+01] [-7.01431625e-01 7.07286049e-01 -8.79779554e-02 -3.87857748e+01] [-1.25874027e-01 -1.43352956e-03 9.92045198e-01 -1.03719048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97592 meters 0.029468502367853183 Centerline is valid? [True, True] Translation: X:91.84, Y:-38.81, Z:-10.38 [[ 6.99213558e-01 7.09271922e-01 8.96311366e-02 9.18360165e+01] [-7.03834343e-01 7.04932740e-01 -8.76758224e-02 -3.88072573e+01] [-1.25369922e-01 -1.78134838e-03 9.92108467e-01 -1.03752905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00591999999999 meters 0.029559254942580483 Centerline is valid? [True, True] Translation: X:91.86, Y:-38.83, Z:-10.38 [[ 6.97780359e-01 7.10656272e-01 8.98344817e-02 9.18596144e+01] [-7.05193836e-01 7.03536624e-01 -8.79651824e-02 -3.88282142e+01] [-1.25714857e-01 -1.97034623e-03 9.92064460e-01 -1.03790435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03591999999999 meters 0.029588305404569967 Centerline is valid? [True, True] Translation: X:91.88, Y:-38.85, Z:-10.38 [[ 6.96497788e-01 7.12006438e-01 8.90935654e-02 9.18843318e+01] [-7.06634609e-01 7.02169685e-01 -8.73227509e-02 -3.88501340e+01] [-1.24733162e-01 -2.13649385e-03 9.92188023e-01 -1.03829626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06591999999999 meters 0.029997849773023742 Centerline is valid? [True, True] Translation: X:91.91, Y:-38.87, Z:-10.39 [[ 6.93903570e-01 7.14463312e-01 8.96661045e-02 9.19089492e+01] [-7.09030864e-01 6.99668330e-01 -8.79742131e-02 -3.88707225e+01] [-1.25590881e-01 -2.53041498e-03 9.92078892e-01 -1.03856331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09591999999999 meters 0.03037897581110335 Centerline is valid? [True, True] Translation: X:91.93, Y:-38.89, Z:-10.39 [[ 6.90854479e-01 7.17245214e-01 9.09911648e-02 9.19338431e+01] [-7.11663843e-01 6.96814295e-01 -8.93555427e-02 -3.88909285e+01] [-1.27493780e-01 -3.02344508e-03 9.91834762e-01 -1.03886176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12592 meters 0.030484961388169866 Centerline is valid? [True, True] Translation: X:91.96, Y:-38.91, Z:-10.39 [[ 6.89745952e-01 7.18193608e-01 9.19155243e-02 9.19584194e+01] [-7.12495632e-01 6.95836089e-01 -9.03444059e-02 -3.89109314e+01] [-1.28842914e-01 -3.17472139e-03 9.91659934e-01 -1.03926788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15592 meters 0.03037740274426464 Centerline is valid? [True, True] Translation: X:91.98, Y:-38.93, Z:-10.40 [[ 6.89208547e-01 7.18762953e-01 9.14953312e-02 9.19838249e+01] [-7.13111507e-01 6.95247815e-01 -9.00136308e-02 -3.89320213e+01] [-1.28310392e-01 -3.20820977e-03 9.91728870e-01 -1.03958856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18592 meters 0.03012589511459676 Centerline is valid? [True, True] Translation: X:92.01, Y:-38.95, Z:-10.40 [[ 6.89634724e-01 7.18389800e-01 9.12142675e-02 9.20102731e+01] [-7.12758464e-01 6.95634020e-01 -8.98258463e-02 -3.89501730e+01] [-1.27981719e-01 -3.06671850e-03 9.91771786e-01 -1.03992240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21592 meters 0.029952643252164377 Centerline is valid? [True, True] Translation: X:92.03, Y:-38.97, Z:-10.40 [[ 6.89603174e-01 7.18444009e-01 9.10256456e-02 9.20347102e+01] [-7.12825861e-01 6.95578271e-01 -8.97226885e-02 -3.89715220e+01] [-1.27776189e-01 -3.01238341e-03 9.91798453e-01 -1.04022461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24592 meters 0.029766701355033412 Centerline is valid? [True, True] Translation: X:92.06, Y:-38.99, Z:-10.41 [[ 6.91036746e-01 7.16843653e-01 9.27544710e-02 9.20606481e+01] [-7.10982225e-01 6.97228714e-01 -9.15226501e-02 -3.89917561e+01] [-1.30278511e-01 -2.70126579e-03 9.91473758e-01 -1.04053695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27592 meters 0.0295132899892094 Centerline is valid? [True, True] Translation: X:92.09, Y:-39.01, Z:-10.41 [[ 6.92100351e-01 7.15787848e-01 9.29777493e-02 9.20850138e+01] [-7.09876355e-01 6.98313531e-01 -9.18355787e-02 -3.90133304e+01] [-1.30662412e-01 -2.44326946e-03 9.91423908e-01 -1.04084044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30592 meters 0.02905263223966407 Centerline is valid? [True, True] Translation: X:92.11, Y:-39.03, Z:-10.41 [[ 6.94506176e-01 7.13548417e-01 9.22487334e-02 9.21105749e+01] [-7.07699074e-01 7.00603217e-01 -9.11984216e-02 -3.90331187e+01] [-1.29704249e-01 -1.94647623e-03 9.91550815e-01 -1.04122825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.33592 meters 0.02885550314336126 Centerline is valid? [True, True] Translation: X:92.13, Y:-39.05, Z:-10.42 [[ 6.95661039e-01 7.12444623e-01 9.20781049e-02 9.21346202e+01] [-7.06596451e-01 7.01726330e-01 -9.11131853e-02 -3.90544062e+01] [-1.29526730e-01 -1.67816904e-03 9.91574511e-01 -1.04164884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36592 meters 0.02867035920892734 Centerline is valid? [True, True] Translation: X:92.16, Y:-39.08, Z:-10.42 [[ 6.97801494e-01 7.10376573e-01 9.18596693e-02 9.21569655e+01] [-7.04527461e-01 7.03820721e-01 -9.09804861e-02 -3.90767343e+01] [-1.29283145e-01 -1.23134050e-03 9.91606955e-01 -1.04199344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39591999999999 meters 0.028615378001791782 Centerline is valid? [True, True] Translation: X:92.18, Y:-39.10, Z:-10.42 [[ 6.98221872e-01 7.10072089e-01 9.10156354e-02 9.21794574e+01] [-7.04317088e-01 7.04128118e-01 -9.02276688e-02 -3.90993209e+01] [-1.28154817e-01 -1.10493554e-03 9.91753559e-01 -1.04222637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42591999999999 meters 0.028555022134546502 Centerline is valid? [True, True] Translation: X:92.20, Y:-39.12, Z:-10.42 [[ 6.99399599e-01 7.08910554e-01 9.10276209e-02 9.22047840e+01] [-7.03133008e-01 7.05297906e-01 -9.03262772e-02 -3.91209626e+01] [-1.28234842e-01 -8.30362904e-04 9.91743483e-01 -1.04245602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45591999999999 meters 0.02867866844685014 Centerline is valid? [True, True] Translation: X:92.23, Y:-39.14, Z:-10.43 [[ 6.98918335e-01 7.09258202e-01 9.20106737e-02 9.22278768e+01] [-7.03345215e-01 7.04948299e-01 -9.13969623e-02 -3.91424679e+01] [-1.29686813e-01 -8.36254384e-04 9.91554654e-01 -1.04285817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48592 meters 0.028420148333325693 Centerline is valid? [True, True] Translation: X:92.25, Y:-39.17, Z:-10.43 [[ 6.98502699e-01 7.09651513e-01 9.21341929e-02 9.22507032e+01] [-7.03714454e-01 7.04552348e-01 -9.16076242e-02 -3.91662238e+01] [-1.29922851e-01 -8.47990428e-04 9.91523743e-01 -1.04313353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51592 meters 0.028389536266947058 Centerline is valid? [True, True] Translation: X:92.27, Y:-39.19, Z:-10.44 [[ 6.97917851e-01 7.10217898e-01 9.22020142e-02 9.22741118e+01] [-7.04264241e-01 7.03981359e-01 -9.17721345e-02 -3.91895776e+01] [-1.30086712e-01 -8.85170675e-04 9.91502226e-01 -1.04357263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54592 meters 0.02814075716397289 Centerline is valid? [True, True] Translation: X:92.30, Y:-39.21, Z:-10.44 [[ 6.98002417e-01 7.10327481e-01 9.07055375e-02 9.22971332e+01] [-7.04555300e-01 7.03870861e-01 -9.03750000e-02 -3.92119177e+01] [-1.28040831e-01 -8.25098776e-04 9.91768554e-01 -1.04385087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57592 meters 0.027934174703729223 Centerline is valid? [True, True] Translation: X:92.32, Y:-39.23, Z:-10.44 [[ 6.98907904e-01 7.09315299e-01 9.16490512e-02 9.23201683e+01] [-7.03402014e-01 7.04891101e-01 -9.14009946e-02 -3.92340711e+01] [-1.29434724e-01 -5.85249696e-04 9.91587772e-01 -1.04425778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60592 meters 0.028045274082381864 Centerline is valid? [True, True] Translation: X:92.34, Y:-39.26, Z:-10.45 [[ 7.00166223e-01 7.08077802e-01 9.16137912e-02 9.23435796e+01] [-7.02147028e-01 7.06134364e-01 -9.14538732e-02 -3.92571542e+01] [-1.29448104e-01 -2.93438247e-04 9.91586155e-01 -1.04455390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63592 meters 0.027829541794419394 Centerline is valid? [True, True] Translation: X:92.37, Y:-39.28, Z:-10.45 [[ 7.02671366e-01 7.05668521e-01 9.10213714e-02 9.23672270e+01] [-6.99782151e-01 7.08542089e-01 -9.09563088e-02 -3.92788253e+01] [-1.28677477e-01 2.17262708e-04 9.91686473e-01 -1.04474583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66592 meters 0.028129074450032102 Centerline is valid? [True, True] Translation: X:92.57, Y:-39.43, Z:-8.50 [[ 7.55457439e-01 -6.53404140e-01 -4.84467553e-02 9.25696008e+01] [-6.51405177e-01 -7.56972806e-01 5.16087856e-02 -3.94346305e+01] [-7.03942705e-02 -7.42977377e-03 -9.97491576e-01 -8.49706898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.69592 meters 0.028232718212202332 Centerline is valid? [True, True] Translation: X:92.42, Y:-39.35, Z:-10.46 [[ 7.55647981e-01 6.47688576e-01 9.74455594e-02 9.24247375e+01] [-6.42291757e-01 7.61905044e-01 -8.34386240e-02 -3.93542404e+01] [-1.28286507e-01 4.61748315e-04 9.91737041e-01 -1.04563331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72592 meters 0.028062851394791363 Centerline is valid? [True, True] Translation: X:92.45, Y:-39.38, Z:-10.46 [[ 7.55266954e-01 6.48033978e-01 9.81009233e-02 9.24478454e+01] [-6.42555523e-01 7.61611279e-01 -8.40872162e-02 -3.93759971e+01] [-1.29206143e-01 4.73005575e-04 9.91617643e-01 -1.04600130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75591999999999 meters 0.02788528032712555 Centerline is valid? [True, True] Translation: X:92.47, Y:-39.40, Z:-10.47 [[ 7.54496629e-01 6.48973946e-01 9.78143842e-02 9.24720317e+01] [-6.43525040e-01 7.60810540e-01 -8.39216595e-02 -3.93984205e+01] [-1.28881185e-01 3.72603738e-04 9.91659973e-01 -1.04650812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78591999999999 meters 0.02795676712011282 Centerline is valid? [True, True] Translation: X:92.50, Y:-39.42, Z:-10.47 [[ 7.53761263e-01 6.49903377e-01 9.73116572e-02 9.24954977e+01] [-6.44507175e-01 7.60016791e-01 -8.35761829e-02 -3.94201705e+01] [-1.28274937e-01 2.78427915e-04 9.91738606e-01 -1.04680050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81591999999999 meters 0.028124036140376413 Centerline is valid? [True, True] Translation: X:92.52, Y:-39.44, Z:-10.47 [[ 7.52819808e-01 6.51008390e-01 9.72132381e-02 9.25198782e+01] [-6.45621910e-01 7.59070519e-01 -8.35720973e-02 -3.94424163e+01] [-1.28197840e-01 1.51733661e-04 9.91748603e-01 -1.04707898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84591999999999 meters 0.028394322635658293 Centerline is valid? [True, True] Translation: X:92.54, Y:-39.46, Z:-10.47 [[ 7.50617146e-01 6.53274044e-01 9.90299114e-02 9.25436010e+01] [-6.47691222e-01 7.57121519e-01 -8.52237463e-02 -3.94635124e+01] [-1.30652138e-01 -1.70399138e-04 9.91428257e-01 -1.04731585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87592 meters 0.028403528738662424 Centerline is valid? [True, True] Translation: X:92.57, Y:-39.48, Z:-10.48 [[ 7.49912288e-01 6.53976266e-01 9.97326679e-02 9.25679749e+01] [-6.48309036e-01 7.56515029e-01 -8.59092761e-02 -3.94844031e+01] [-1.31631890e-01 -2.33168055e-04 9.91298639e-01 -1.04760412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90592 meters 0.02832183136446896 Centerline is valid? [True, True] Translation: X:92.59, Y:-39.51, Z:-10.48 [[ 7.49798338e-01 6.54099203e-01 9.97831895e-02 9.25905063e+01] [-6.48416194e-01 7.56408749e-01 -8.60362917e-02 -3.95082871e+01] [-1.31753147e-01 -1.91167465e-04 9.91282539e-01 -1.04809441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93592 meters 0.028468896437318217 Centerline is valid? [True, True] Translation: X:92.61, Y:-39.53, Z:-10.49 [[ 7.50026619e-01 6.53852014e-01 9.96875826e-02 9.26142573e+01] [-6.48165463e-01 7.56622454e-01 -8.60464717e-02 -3.95302081e+01] [-1.31687522e-01 -7.69039053e-05 9.91291274e-01 -1.04852675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96592 meters 0.02839378327570541 Centerline is valid? [True, True] Translation: X:92.64, Y:-39.55, Z:-10.49 [[ 7.50294297e-01 6.53408839e-01 1.00575136e-01 9.26394532e+01] [-6.47603885e-01 7.57005208e-01 -8.69041090e-02 -3.95502668e+01] [-1.32919814e-01 7.08087598e-05 9.91126792e-01 -1.04898305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99592 meters 0.02838603313689676 Centerline is valid? [True, True] Translation: X:92.66, Y:-39.57, Z:-10.49 [[ 7.50095055e-01 6.53648973e-01 1.00500889e-01 9.26640871e+01] [-6.47843466e-01 7.56797867e-01 -8.69242904e-02 -3.95719732e+01] [-1.32876832e-01 9.26358666e-05 9.91132554e-01 -1.04939772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02592 meters 0.02830090809689807 Centerline is valid? [True, True] Translation: X:92.69, Y:-39.59, Z:-10.50 [[ 7.49614344e-01 6.54167020e-01 1.00716660e-01 9.26878075e+01] [-6.48328577e-01 7.56350121e-01 -8.72040763e-02 -3.95947594e+01] [-1.33223088e-01 7.19376398e-05 9.91086073e-01 -1.04977743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.05592 meters 0.028266057624453892 Centerline is valid? [True, True] Translation: X:92.71, Y:-39.62, Z:-10.50 [[ 7.47193120e-01 6.56903570e-01 1.00896686e-01 9.27102003e+01] [-6.51056272e-01 7.53974523e-01 -8.74536994e-02 -3.96199532e+01] [-1.33522178e-01 -3.44617943e-04 9.91045765e-01 -1.04990786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08592 meters 0.028332145474347443 Centerline is valid? [True, True] Translation: X:92.74, Y:-39.64, Z:-10.50 [[ 7.45897816e-01 6.58392628e-01 1.00774977e-01 9.27356555e+01] [-6.52560404e-01 7.52674469e-01 -8.74417682e-02 -3.96412986e+01] [-1.33421768e-01 -5.39136044e-04 9.91059202e-01 -1.05007595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11592 meters 0.028472819536247355 Centerline is valid? [True, True] Translation: X:92.76, Y:-39.66, Z:-10.51 [[ 7.42335799e-01 6.62311528e-01 1.01395275e-01 9.27596544e+01] [-6.56430718e-01 7.49227634e-01 -8.80719269e-02 -3.96623441e+01] [-1.34299194e-01 -1.18002865e-03 9.90940126e-01 -1.05051590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14591999999999 meters 0.028565095624762876 Centerline is valid? [True, True] Translation: X:92.78, Y:-39.68, Z:-10.51 [[ 7.40593579e-01 6.64202355e-01 1.01766311e-01 9.27830085e+01] [-6.58284711e-01 7.47551392e-01 -8.84768684e-02 -3.96842685e+01] [-1.34842092e-01 -1.46580613e-03 9.90866016e-01 -1.05091942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17591999999999 meters 0.02887217925444159 Centerline is valid? [True, True] Translation: X:92.81, Y:-39.71, Z:-10.51 [[ 7.38324849e-01 6.66628374e-01 1.02386662e-01 9.28056781e+01] [-6.60649796e-01 7.45387926e-01 -8.90993067e-02 -3.97064560e+01] [-1.35713907e-01 -1.85749501e-03 9.90746327e-01 -1.05135661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20591999999999 meters 0.02884867570204555 Centerline is valid? [True, True] Translation: X:92.83, Y:-39.73, Z:-10.52 [[ 7.38102565e-01 6.66760698e-01 1.03125050e-01 9.28302873e+01] [-6.60684870e-01 7.45269625e-01 -8.98258768e-02 -3.97262851e+01] [-1.36748331e-01 -1.83245001e-03 9.90604127e-01 -1.05168264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23592 meters 0.028729935906372045 Centerline is valid? [True, True] Translation: X:92.85, Y:-39.75, Z:-10.52 [[ 7.37622359e-01 6.67745822e-01 1.00143763e-01 9.28549455e+01] [-6.62016148e-01 7.44386943e-01 -8.73080670e-02 -3.97468110e+01] [-1.32845306e-01 -1.89640566e-03 9.91134970e-01 -1.05185435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26592 meters 0.02850468898270482 Centerline is valid? [True, True] Translation: X:92.88, Y:-39.77, Z:-10.52 [[ 7.37878213e-01 6.67917311e-01 9.70680557e-02 9.28789388e+01] [-6.62527135e-01 7.44233290e-01 -8.47030386e-02 -3.97682174e+01] [-1.28815904e-01 -1.80969404e-03 9.91666873e-01 -1.05215330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29592 meters 0.028346926568672846 Centerline is valid? [True, True] Translation: X:92.90, Y:-39.79, Z:-10.52 [[ 7.37878134e-01 6.68199860e-01 9.51041880e-02 9.29036234e+01] [-6.63019177e-01 7.43979727e-01 -8.30646551e-02 -3.97887532e+01] [-1.26259379e-01 -1.76430778e-03 9.91995694e-01 -1.05247944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32592 meters 0.02814813203488781 Centerline is valid? [True, True] Translation: X:92.93, Y:-39.81, Z:-10.53 [[ 7.36996012e-01 6.69342294e-01 9.39029885e-02 9.29309408e+01] [-6.64292002e-01 7.42951790e-01 -8.20900334e-02 -3.98067628e+01] [-1.24711725e-01 -1.87897699e-03 9.92191239e-01 -1.05279227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35592 meters 0.02844237061713629 Centerline is valid? [True, True] Translation: X:92.96, Y:-39.83, Z:-10.53 [[ 7.34934643e-01 6.71131199e-01 9.72316064e-02 9.29565308e+01] [-6.65720286e-01 7.41335327e-01 -8.50789804e-02 -3.98252664e+01] [-1.29180383e-01 -2.20156277e-03 9.91618668e-01 -1.05306877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38592 meters 0.028629652912131865 Centerline is valid? [True, True] Translation: X:92.98, Y:-39.85, Z:-10.53 [[ 7.33795374e-01 6.72385625e-01 9.71695445e-02 9.29815230e+01] [-6.66982571e-01 7.40197261e-01 -8.51014913e-02 -3.98470290e+01] [-1.29145650e-01 -2.36331202e-03 9.91622819e-01 -1.05346405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41592 meters 0.02853607375275767 Centerline is valid? [True, True] Translation: X:93.01, Y:-39.87, Z:-10.54 [[ 7.33205253e-01 6.73288692e-01 9.53540500e-02 9.30067030e+01] [-6.68083236e-01 7.39375765e-01 -8.35958610e-02 -3.98673197e+01] [-1.26786622e-01 -2.41151791e-03 9.91927083e-01 -1.05370335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44592 meters 0.028265228783518077 Centerline is valid? [True, True] Translation: X:93.03, Y:-39.89, Z:-10.54 [[ 7.32626736e-01 6.74310830e-01 9.25363227e-02 9.30331167e+01] [-6.69408687e-01 7.38443545e-01 -8.11981539e-02 -3.98855595e+01] [-1.23085645e-01 -2.45667986e-03 9.92393011e-01 -1.05395649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47592 meters 0.02820440323839598 Centerline is valid? [True, True] Translation: X:93.06, Y:-39.91, Z:-10.54 [[ 7.32996667e-01 6.74018180e-01 9.17353812e-02 9.30574927e+01] [-6.69189577e-01 7.38711077e-01 -8.05683221e-02 -3.99057895e+01] [-1.22070456e-01 -2.33204945e-03 9.92518698e-01 -1.05424760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50591999999999 meters 0.028294742328445813 Centerline is valid? [True, True] Translation: X:93.08, Y:-39.93, Z:-10.54 [[ 7.32877535e-01 6.74010123e-01 9.27408881e-02 9.30826237e+01] [-6.69064952e-01 7.38718532e-01 -8.15292585e-02 -3.99272855e+01] [-1.23460958e-01 -2.29871593e-03 9.92346768e-01 -1.05445348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53591999999999 meters 0.0282441567385352 Centerline is valid? [True, True] Translation: X:93.11, Y:-39.95, Z:-10.55 [[ 7.32782570e-01 6.74027277e-01 9.33645312e-02 9.31081131e+01] [-6.69004379e-01 7.38703023e-01 -8.21643802e-02 -3.99475123e+01] [-1.24349695e-01 -2.25265452e-03 9.92235899e-01 -1.05479713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56591999999999 meters 0.02816663666841373 Centerline is valid? [True, True] Translation: X:93.14, Y:-39.97, Z:-10.55 [[ 7.33052768e-01 6.73626643e-01 9.41317434e-02 9.31353466e+01] [-6.68506098e-01 7.39068723e-01 -8.29277933e-02 -3.99666847e+01] [-1.25432198e-01 -2.13719610e-03 9.92099892e-01 -1.05515282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59591999999999 meters 0.02818724268294179 Centerline is valid? [True, True] Translation: X:93.16, Y:-39.99, Z:-10.55 [[ 7.33088611e-01 6.73383883e-01 9.55784204e-02 9.31607056e+01] [-6.68090813e-01 7.39290126e-01 -8.42898305e-02 -3.99867403e+01] [-1.27419596e-01 -2.06314981e-03 9.91846757e-01 -1.05546446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62592 meters 0.0281446522251446 Centerline is valid? [True, True] Translation: X:93.19, Y:-40.01, Z:-10.56 [[ 7.33863758e-01 6.72486495e-01 9.59473724e-02 9.31871002e+01] [-6.67134254e-01 7.40107070e-01 -8.46960016e-02 -4.00063317e+01] [-1.27968246e-01 -1.85445265e-03 9.91776532e-01 -1.05583411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65592 meters 0.027714027879657734 Centerline is valid? [True, True] Translation: X:93.21, Y:-40.03, Z:-10.56 [[ 7.34609130e-01 6.72019347e-01 9.34848836e-02 9.32120320e+01] [-6.66925062e-01 7.40531720e-01 -8.26058926e-02 -4.00259616e+01] [-1.24741280e-01 -1.66436891e-03 9.92187907e-01 -1.05609268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68592 meters 0.02765775742098032 Centerline is valid? [True, True] Translation: X:93.24, Y:-40.05, Z:-10.57 [[ 7.35914065e-01 6.70779811e-01 9.21136961e-02 9.32370787e+01] [-6.65815484e-01 7.41655277e-01 -8.14689650e-02 -4.00457622e+01] [-1.22964346e-01 -1.37656789e-03 9.92410134e-01 -1.05654827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71592 meters 0.027535047659916996 Centerline is valid? [True, True] Translation: X:93.26, Y:-40.07, Z:-10.57 [[ 7.36733148e-01 6.69764120e-01 9.29531697e-02 9.32622028e+01] [-6.64690498e-01 7.42573014e-01 -8.22913119e-02 -4.00673987e+01] [-1.24140284e-01 -1.15835148e-03 9.92264001e-01 -1.05701397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74592 meters 0.02744347276202475 Centerline is valid? [True, True] Translation: X:93.29, Y:-40.09, Z:-10.57 [[ 7.40217181e-01 6.65907287e-01 9.29839172e-02 9.32874843e+01] [-6.60789069e-01 7.46034373e-01 -8.24046124e-02 -4.00878903e+01] [-1.24243030e-01 -4.45446174e-04 9.92251718e-01 -1.05709205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77592 meters 0.02776166176128225 Centerline is valid? [True, True] Translation: X:93.31, Y:-40.11, Z:-10.57 [[ 7.40902500e-01 6.65034348e-01 9.37699405e-02 9.33124808e+01] [-6.59811626e-01 7.46812733e-01 -8.31826895e-02 -4.01084284e+01] [-1.25347931e-01 -2.40234347e-04 9.92112815e-01 -1.05746342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80592 meters 0.02785701169284576 Centerline is valid? [True, True] Translation: X:93.34, Y:-40.13, Z:-10.58 [[ 7.41510253e-01 6.64295615e-01 9.42012706e-02 9.33380062e+01] [-6.59007091e-01 7.47469955e-01 -8.36559690e-02 -4.01297440e+01] [-1.25984913e-01 -4.75465214e-05 9.92032156e-01 -1.05780487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.83592 meters 0.027727391539046974 Centerline is valid? [True, True] Translation: X:93.36, Y:-40.15, Z:-10.58 [[ 7.41774865e-01 6.64022009e-01 9.40469110e-02 9.33627761e+01] [-6.58737372e-01 7.47713025e-01 -8.36080605e-02 -4.01511489e+01] [-1.25837693e-01 6.61427556e-05 9.92050841e-01 -1.05831584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86592 meters 0.027727391539046974 Centerline is valid? [True, True] Translation: X:93.39, Y:-40.17, Z:-10.59 [[ 7.41425224e-01 6.64418682e-01 9.40024022e-02 9.33872000e+01] [-6.59130879e-01 7.47360563e-01 -8.36580788e-02 -4.01723813e+01] [-1.25837679e-01 6.63238681e-05 9.92050843e-01 -1.05863895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89591999999999 meters 0.027857906309879596 Centerline is valid? [True, True] Translation: X:93.41, Y:-40.20, Z:-10.59 [[ 7.41279872e-01 6.64628524e-01 9.36646971e-02 9.34114919e+01] [-6.59369229e-01 7.47173952e-01 -8.34464215e-02 -4.01950291e+01] [-1.25444694e-01 9.75335582e-05 9.92100609e-01 -1.05887094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92591999999999 meters 0.027909512692245085 Centerline is valid? [True, True] Translation: X:93.44, Y:-40.22, Z:-10.59 [[ 7.41053575e-01 6.64856791e-01 9.38352095e-02 9.34360920e+01] [-6.59568731e-01 7.46970837e-01 -8.36878563e-02 -4.02164847e+01] [-1.25732605e-01 1.26415043e-04 9.92064159e-01 -1.05908988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95591999999999 meters 0.0279515153796459 Centerline is valid? [True, True] Translation: X:93.46, Y:-40.24, Z:-10.59 [[ 7.41378116e-01 6.64187787e-01 9.59847550e-02 9.34594110e+01] [-6.58636326e-01 7.47565706e-01 -8.56954157e-02 -4.02386669e+01] [-1.28672760e-01 3.13659431e-04 9.91687059e-01 -1.05948487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98592 meters 0.028069253674193453 Centerline is valid? [True, True] Translation: X:93.48, Y:-40.26, Z:-10.60 [[ 7.41359681e-01 6.64210757e-01 9.59681943e-02 9.34834121e+01] [-6.58650735e-01 7.47545271e-01 -8.57629156e-02 -4.02614402e+01] [-1.28705221e-01 3.71646081e-04 9.91682826e-01 -1.05987791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01592 meters 0.027962989503360815 Centerline is valid? [True, True] Translation: X:93.51, Y:-40.28, Z:-10.60 [[ 7.41211252e-01 6.64367539e-01 9.60294368e-02 9.35073438e+01] [-6.58789843e-01 7.47405915e-01 -8.59089118e-02 -4.02833262e+01] [-1.28848061e-01 4.13434514e-04 9.91664261e-01 -1.06026006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04592 meters 0.027721854127922586 Centerline is valid? [True, True] Translation: X:93.53, Y:-40.30, Z:-10.61 [[ 7.39649560e-01 6.65977011e-01 9.69182647e-02 9.35316048e+01] [-6.60297045e-01 7.45972238e-01 -8.67941975e-02 -4.03038254e+01] [-1.30101275e-01 2.02446189e-04 9.91500689e-01 -1.06054853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07592 meters 0.027616554317933955 Centerline is valid? [True, True] Translation: X:93.56, Y:-40.33, Z:-10.61 [[ 7.38883456e-01 6.66887599e-01 9.64995802e-02 9.35564181e+01] [-6.61253716e-01 7.45158319e-01 -8.65020386e-02 -4.03250213e+01] [-1.29594602e-01 1.04219224e-04 9.91567057e-01 -1.06080158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10592 meters 0.027804941831521608 Centerline is valid? [True, True] Translation: X:93.58, Y:-40.35, Z:-10.61 [[ 7.35438540e-01 6.70515899e-01 9.76656663e-02 9.35793146e+01] [-6.64764214e-01 7.41895010e-01 -8.76375132e-02 -4.03465468e+01] [-1.31220016e-01 -4.72635149e-04 9.91353158e-01 -1.06118527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13592 meters 0.027837952308640293 Centerline is valid? [True, True] Translation: X:93.60, Y:-40.37, Z:-10.61 [[ 7.34068833e-01 6.71889260e-01 9.85280227e-02 9.36030572e+01] [-6.66036949e-01 7.40651321e-01 -8.84895687e-02 -4.03678216e+01] [-1.32430101e-01 -6.65869230e-04 9.91192123e-01 -1.06149368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16592 meters 0.027808008631806987 Centerline is valid? [True, True] Translation: X:93.63, Y:-40.39, Z:-10.62 [[ 7.31908036e-01 6.74373230e-01 9.76287572e-02 9.36278395e+01] [-6.68638963e-01 7.38389908e-01 -8.77626407e-02 -4.03878247e+01] [-1.31272865e-01 -1.04420890e-03 9.91345724e-01 -1.06184034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.19592 meters 0.02782559860959386 Centerline is valid? [True, True] Translation: X:93.65, Y:-40.41, Z:-10.62 [[ 7.31695148e-01 6.74691787e-01 9.70216634e-02 9.36524839e+01] [-6.69021034e-01 7.38098858e-01 -8.72979510e-02 -4.04076046e+01] [-1.30510789e-01 -1.03404639e-03 9.91446350e-01 -1.06225385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22592 meters 0.027635515862672898 Centerline is valid? [True, True] Translation: X:93.68, Y:-40.43, Z:-10.63 [[ 7.32748390e-01 6.73827476e-01 9.50596091e-02 9.36783193e+01] [-6.68368349e-01 7.38888271e-01 -8.56029961e-02 -4.04272297e+01] [-1.27920081e-01 -8.09376430e-04 9.91784149e-01 -1.06269688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25591999999999 meters 0.02771989238695008 Centerline is valid? [True, True] Translation: X:93.70, Y:-40.45, Z:-10.63 [[ 7.33242748e-01 6.73230707e-01 9.54750621e-02 9.37041218e+01] [-6.67711352e-01 7.39432194e-01 -8.60324355e-02 -4.04479181e+01] [-1.28517012e-01 -6.67123345e-04 9.91707080e-01 -1.06305112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28591999999999 meters 0.027768966792985978 Centerline is valid? [True, True] Translation: X:93.73, Y:-40.47, Z:-10.63 [[ 7.35689996e-01 6.70346344e-01 9.69330148e-02 9.37306611e+01] [-6.64619245e-01 7.42048361e-01 -8.74384839e-02 -4.04669161e+01] [-1.30543053e-01 -9.59292611e-05 9.91442637e-01 -1.06340392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31591999999999 meters 0.028027179859956425 Centerline is valid? [True, True] Translation: X:93.76, Y:-40.49, Z:-10.64 [[ 7.37318862e-01 6.68483675e-01 9.74190520e-02 9.37550131e+01] [-6.62671561e-01 7.43726756e-01 -8.79597305e-02 -4.04871707e+01] [-1.31252799e-01 2.97533147e-04 9.91348886e-01 -1.06371175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34591999999999 meters 0.028053779156227625 Centerline is valid? [True, True] Translation: X:93.78, Y:-40.51, Z:-10.64 [[ 7.38343979e-01 6.67263265e-01 9.80199113e-02 9.37793378e+01] [-6.61357126e-01 7.44821722e-01 -8.85852935e-02 -4.05084942e+01] [-1.32117071e-01 5.80251352e-04 9.91233950e-01 -1.06404275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37592 meters 0.028212984864966692 Centerline is valid? [True, True] Translation: X:93.80, Y:-40.53, Z:-10.64 [[ 7.41327334e-01 6.64139666e-01 9.67072271e-02 9.38043883e+01] [-6.58354290e-01 7.47607588e-01 -8.74787043e-02 -4.05289674e+01] [-1.30397134e-01 1.18273689e-03 9.91461138e-01 -1.06445971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40592 meters 0.028065114116012382 Centerline is valid? [True, True] Translation: X:93.83, Y:-40.55, Z:-10.65 [[ 7.41550183e-01 6.63989026e-01 9.60307207e-02 9.38283523e+01] [-6.58273010e-01 7.47741255e-01 -8.69463026e-02 -4.05495111e+01] [-1.29537522e-01 1.26061498e-03 9.91573719e-01 -1.06480779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43592 meters 0.027946348513524087 Centerline is valid? [True, True] Translation: X:93.85, Y:-40.57, Z:-10.65 [[ 7.42007610e-01 6.63605064e-01 9.51473915e-02 9.38522226e+01] [-6.57980944e-01 7.48081835e-01 -8.62243954e-02 -4.05708842e+01] [-1.28396981e-01 1.37398709e-03 9.91721900e-01 -1.06511912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46592 meters 0.028030717663425735 Centerline is valid? [True, True] Translation: X:93.88, Y:-40.59, Z:-10.66 [[ 7.41513466e-01 6.64062053e-01 9.58090274e-02 9.38759459e+01] [-6.58352577e-01 7.47676220e-01 -8.69031280e-02 -4.05927543e+01] [-1.29343201e-01 1.36371952e-03 9.91598949e-01 -1.06554620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49592 meters 0.02797222507104959 Centerline is valid? [True, True] Translation: X:93.90, Y:-40.61, Z:-10.66 [[ 7.41281083e-01 6.64604646e-01 9.38244137e-02 9.38995401e+01] [-6.59124872e-01 7.47194068e-01 -8.51787938e-02 -4.06140536e+01] [-1.26715268e-01 1.29942380e-03 9.91938281e-01 -1.06587906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52592 meters 0.02810348862391198 Centerline is valid? [True, True] Translation: X:93.92, Y:-40.64, Z:-10.66 [[ 7.41572930e-01 6.64208026e-01 9.43254298e-02 9.39239049e+01] [-6.58656139e-01 7.47546416e-01 -8.57114148e-02 -4.06353717e+01] [-1.27442847e-01 1.43324156e-03 9.91844880e-01 -1.06632067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.55592 meters 0.028306406257124224 Centerline is valid? [True, True] Translation: X:93.95, Y:-40.66, Z:-10.67 [[ 7.42733173e-01 6.62989078e-01 9.37705522e-02 9.39473510e+01] [-6.57482726e-01 7.48627155e-01 -8.52868603e-02 -4.06592351e+01] [-1.26743439e-01 1.69286209e-03 9.91934088e-01 -1.06650953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58592 meters 0.028177672768574295 Centerline is valid? [True, True] Translation: X:93.97, Y:-40.68, Z:-10.67 [[ 7.43188704e-01 6.62519009e-01 9.34832211e-02 9.39711287e+01] [-6.57031589e-01 7.49042856e-01 -8.51134025e-02 -4.06812696e+01] [-1.26412186e-01 1.83388997e-03 9.91976107e-01 -1.06682165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61591999999999 meters 0.028450880488956963 Centerline is valid? [True, True] Translation: X:94.00, Y:-40.70, Z:-10.67 [[ 7.44382244e-01 6.61264736e-01 9.28656257e-02 9.39960225e+01] [-6.55829124e-01 7.50149680e-01 -8.46381522e-02 -4.07025561e+01] [-1.25631345e-01 2.09915566e-03 9.92074775e-01 -1.06718529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64591999999999 meters 0.028673719435670774 Centerline is valid? [True, True] Translation: X:94.02, Y:-40.72, Z:-10.68 [[ 7.44567256e-01 6.60992919e-01 9.33164645e-02 9.40192644e+01] [-6.55491169e-01 7.50388853e-01 -8.51345800e-02 -4.07246440e+01] [-1.26296989e-01 2.22030220e-03 9.91989990e-01 -1.06755950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67591999999999 meters 0.02882102629634759 Centerline is valid? [True, True] Translation: X:94.04, Y:-40.75, Z:-10.68 [[ 7.44715536e-01 6.60658723e-01 9.44924474e-02 9.40424027e+01] [-6.55004124e-01 7.50682662e-01 -8.62852149e-02 -4.07468553e+01] [-1.27938922e-01 2.36499730e-03 9.91779229e-01 -1.06783696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70591999999999 meters 0.02907094710037044 Centerline is valid? [True, True] Translation: X:94.07, Y:-40.77, Z:-10.68 [[ 7.45814399e-01 6.59461311e-01 9.41894964e-02 9.40654982e+01] [-6.53823694e-01 7.51733938e-01 -8.60852129e-02 -4.07687303e+01] [-1.27575308e-01 2.62026688e-03 9.91825426e-01 -1.06806608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73592 meters 0.02913875409905995 Centerline is valid? [True, True] Translation: X:94.09, Y:-40.79, Z:-10.68 [[ 7.45881371e-01 6.59450322e-01 9.37350125e-02 9.40892814e+01] [-6.53857076e-01 7.51743407e-01 -8.57483186e-02 -4.07917522e+01] [-1.27011434e-01 2.66877227e-03 9.91897663e-01 -1.06849211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76592 meters 0.029317060679314277 Centerline is valid? [True, True] Translation: X:94.11, Y:-40.81, Z:-10.69 [[ 7.46035826e-01 6.59212604e-01 9.41769092e-02 9.41116497e+01] [-6.53554349e-01 7.51951466e-01 -8.62305381e-02 -4.08139121e+01] [-1.27660723e-01 2.78134211e-03 9.91813997e-01 -1.06889600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79592 meters 0.02951056688923051 Centerline is valid? [True, True] Translation: X:94.13, Y:-40.84, Z:-10.69 [[ 7.46288583e-01 6.58794907e-01 9.50927022e-02 9.41344636e+01] [-6.53015618e-01 7.52316919e-01 -8.71197742e-02 -4.08365841e+01] [-1.28933912e-01 2.91947307e-03 9.91648891e-01 -1.06918883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82592 meters 0.029681113758702284 Centerline is valid? [True, True] Translation: X:94.16, Y:-40.86, Z:-10.69 [[ 7.47259778e-01 6.57594928e-01 9.57691760e-02 9.41563837e+01] [-6.51712906e-01 7.53364868e-01 -8.78160863e-02 -4.08595194e+01] [-1.29896546e-01 3.20742122e-03 9.91522365e-01 -1.06944687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85592 meters 0.029883182427364013 Centerline is valid? [True, True] Translation: X:94.18, Y:-40.88, Z:-10.70 [[ 7.47467163e-01 6.57417174e-01 9.53703245e-02 9.41799889e+01] [-6.51572999e-01 7.53519667e-01 -8.75256452e-02 -4.08822376e+01] [-1.29404278e-01 3.28181744e-03 9.91586488e-01 -1.06968065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88592 meters 0.02990754909255694 Centerline is valid? [True, True] Translation: X:94.20, Y:-40.91, Z:-10.70 [[ 7.47575018e-01 6.57409720e-01 9.45730068e-02 9.42015279e+01] [-6.51652280e-01 7.53526006e-01 -8.68784461e-02 -4.09055626e+01] [-1.28377955e-01 3.31944036e-03 9.91719760e-01 -1.07001874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91592 meters 0.0297452984056485 Centerline is valid? [True, True] Translation: X:94.22, Y:-40.93, Z:-10.70 [[ 7.47467541e-01 6.57662185e-01 9.36628345e-02 9.42242848e+01] [-6.52007866e-01 7.53305751e-01 -8.61172908e-02 -4.09283685e+01] [-1.27192838e-01 3.30097464e-03 9.91872515e-01 -1.07036013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94592 meters 0.029892596724852595 Centerline is valid? [True, True] Translation: X:94.25, Y:-40.95, Z:-10.71 [[ 7.47535076e-01 6.57843977e-01 9.18292595e-02 9.42469225e+01] [-6.52401926e-01 7.53147177e-01 -8.45047740e-02 -4.09508666e+01] [-1.24751904e-01 3.26069685e-03 9.92182609e-01 -1.07057074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97592 meters 0.02972395629837255 Centerline is valid? [True, True] Translation: X:94.27, Y:-40.97, Z:-10.71 [[ 7.47668139e-01 6.57750932e-01 9.14115196e-02 9.42707579e+01] [-6.52348223e-01 7.53228183e-01 -8.41968007e-02 -4.09735781e+01] [-1.24234257e-01 3.31912290e-03 9.92247365e-01 -1.07094948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00591999999999 meters 0.02977096516529648 Centerline is valid? [True, True] Translation: X:94.29, Y:-41.00, Z:-10.71 [[ 7.47331116e-01 6.58193952e-01 9.09776069e-02 9.42937500e+01] [-6.52835439e-01 7.52841202e-01 -8.38809562e-02 -4.09973490e+01] [-1.23701629e-01 3.29344278e-03 9.92313993e-01 -1.07122589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03591999999999 meters 0.030068071535407574 Centerline is valid? [True, True] Translation: X:94.32, Y:-41.02, Z:-10.72 [[ 7.47787384e-01 6.57738784e-01 9.05191680e-02 9.43154086e+01] [-6.52420663e-01 7.53238362e-01 -8.35418996e-02 -4.10217284e+01] [-1.23131257e-01 3.41500292e-03 9.92384518e-01 -1.07163734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06591999999999 meters 0.03003146285618597 Centerline is valid? [True, True] Translation: X:94.34, Y:-41.04, Z:-10.72 [[ 7.47531413e-01 6.57927764e-01 9.12570180e-02 9.43374450e+01] [-6.52513300e-01 7.53073028e-01 -8.43054460e-02 -4.10441631e+01] [-1.24190092e-01 3.47455121e-03 9.92252361e-01 -1.07203205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09591999999999 meters 0.03048307823761939 Centerline is valid? [True, True] Translation: X:94.36, Y:-41.07, Z:-10.72 [[ 7.48447334e-01 6.56744450e-01 9.22676306e-02 9.43592046e+01] [-6.51190884e-01 7.54103799e-01 -8.53105661e-02 -4.10672259e+01] [-1.25606612e-01 3.76662578e-03 9.92072977e-01 -1.07234672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12592 meters 0.030744058403891585 Centerline is valid? [True, True] Translation: X:94.38, Y:-41.09, Z:-10.73 [[ 7.48877373e-01 6.56310973e-01 9.18617811e-02 9.43822813e+01] [-6.50793427e-01 7.54480515e-01 -8.50121609e-02 -4.10902370e+01] [-1.25102338e-01 3.88064035e-03 9.92136254e-01 -1.07255799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15592 meters 0.030778402522294437 Centerline is valid? [True, True] Translation: X:94.40, Y:-41.11, Z:-10.73 [[ 7.49115167e-01 6.55883341e-01 9.29704722e-02 9.44045854e+01] [-6.50217122e-01 7.54851322e-01 -8.61230346e-02 -4.11127618e+01] [-1.26665547e-01 4.06507863e-03 9.91937152e-01 -1.07293932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18592 meters 0.03088850963556679 Centerline is valid? [True, True] Translation: X:94.43, Y:-41.14, Z:-10.73 [[ 7.48668275e-01 6.56462735e-01 9.24796826e-02 9.44272487e+01] [-6.50851365e-01 7.54347836e-01 -8.57428856e-02 -4.11355179e+01] [-1.26048858e-01 4.00245049e-03 9.92015961e-01 -1.07336161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21592 meters 0.031111399425867495 Centerline is valid? [True, True] Translation: X:94.45, Y:-41.16, Z:-10.74 [[ 7.48581175e-01 6.56478473e-01 9.30711478e-02 9.44482116e+01] [-6.50785263e-01 7.54333708e-01 -8.63666514e-02 -4.11600193e+01] [-1.26904551e-01 4.08311803e-03 9.91906529e-01 -1.07380684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24592 meters 0.031006577179816298 Centerline is valid? [True, True] Translation: X:94.47, Y:-41.18, Z:-10.74 [[ 7.48038275e-01 6.57218307e-01 9.22108233e-02 9.44700534e+01] [-6.51626519e-01 7.53689779e-01 -8.56422637e-02 -4.11837068e+01] [-1.25784019e-01 3.97667341e-03 9.92049680e-01 -1.07394908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27592 meters 0.030904702787618712 Centerline is valid? [True, True] Translation: X:94.49, Y:-41.21, Z:-10.74 [[ 7.47244631e-01 6.58200922e-01 9.16351865e-02 9.44910163e+01] [-6.52677069e-01 7.52832502e-01 -8.51813790e-02 -4.12082063e+01] [-1.25052409e-01 3.84314321e-03 9.92142694e-01 -1.07424402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30592 meters 0.03098409395971314 Centerline is valid? [True, True] Translation: X:94.51, Y:-41.23, Z:-10.75 [[ 7.46863885e-01 6.58621559e-01 9.17168420e-02 9.45143548e+01] [-6.53081293e-01 7.52464577e-01 -8.53339622e-02 -4.12318057e+01] [-1.25216462e-01 3.83430075e-03 9.92122037e-01 -1.07462392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33592 meters 0.030662542165397294 Centerline is valid? [True, True] Translation: X:94.54, Y:-41.26, Z:-10.75 [[ 7.46084818e-01 6.59393179e-01 9.25098884e-02 9.45350221e+01] [-6.53751144e-01 7.51788649e-01 -8.61583953e-02 -4.12575447e+01] [-1.26360142e-01 3.80302531e-03 9.91977143e-01 -1.07483811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36591999999999 meters 0.030563788340412405 Centerline is valid? [True, True] Translation: X:94.56, Y:-41.28, Z:-10.75 [[ 7.44997516e-01 6.60494177e-01 9.34138226e-02 9.45585348e+01] [-6.54738172e-01 7.50821958e-01 -8.70879622e-02 -4.12804754e+01] [-1.27658241e-01 3.71872009e-03 9.91811244e-01 -1.07515113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39591999999999 meters 0.030760841727147964 Centerline is valid? [True, True] Translation: X:94.58, Y:-41.30, Z:-10.75 [[ 7.44661367e-01 6.60851241e-01 9.35686116e-02 9.45830220e+01] [-6.55067501e-01 7.50507643e-01 -8.73203733e-02 -4.13026067e+01] [-1.27929735e-01 3.73035196e-03 9.91776218e-01 -1.07543383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42591999999999 meters 0.030445499004149067 Centerline is valid? [True, True] Translation: X:94.61, Y:-41.33, Z:-10.76 [[ 7.42788994e-01 6.62884551e-01 9.40669020e-02 9.46056731e+01] [-6.57043778e-01 7.48713612e-01 -8.78714998e-02 -4.13255665e+01] [-1.28677830e-01 3.46391019e-03 9.91680401e-01 -1.07577075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45591999999999 meters 0.030070667166371683 Centerline is valid? [True, True] Translation: X:94.63, Y:-41.35, Z:-10.76 [[ 7.40468224e-01 6.65545898e-01 9.35706480e-02 9.46282754e+01] [-6.59778063e-01 7.46350718e-01 -8.74843606e-02 -4.13484513e+01] [-1.28061378e-01 3.04352831e-03 9.91761574e-01 -1.07620864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48592 meters 0.0297196478748918 Centerline is valid? [True, True] Translation: X:94.65, Y:-41.37, Z:-10.76 [[ 7.39557816e-01 6.66702219e-01 9.25331717e-02 9.46528153e+01] [-6.61061406e-01 7.45318672e-01 -8.65903824e-02 -4.13694389e+01] [-1.26696701e-01 2.86848553e-03 9.91937356e-01 -1.07649514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51592 meters 0.029304589856726692 Centerline is valid? [True, True] Translation: X:94.68, Y:-41.39, Z:-10.77 [[ 7.38150701e-01 6.68408739e-01 9.14510795e-02 9.46766860e+01] [-6.62903137e-01 7.43789613e-01 -8.56530382e-02 -4.13902487e+01] [-1.25271602e-01 2.60164274e-03 9.92119074e-01 -1.07687747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54592 meters 0.029077204217276994 Centerline is valid? [True, True] Translation: X:94.70, Y:-41.41, Z:-10.77 [[ 7.37178353e-01 6.69690681e-01 8.99025456e-02 9.46987086e+01] [-6.64370958e-01 7.42636277e-01 -8.42768746e-02 -4.14136515e+01] [-1.23204329e-01 2.39844732e-03 9.92378426e-01 -1.07718238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57592 meters 0.029206937305488446 Centerline is valid? [True, True] Translation: X:94.72, Y:-41.43, Z:-10.77 [[ 7.37097651e-01 6.69669962e-01 9.07149088e-02 9.47232264e+01] [-6.64243474e-01 7.42654687e-01 -8.51153485e-02 -4.14344925e+01] [-1.24369044e-01 2.48153728e-03 9.92232928e-01 -1.07743579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60592 meters 0.029285315474876995 Centerline is valid? [True, True] Translation: X:94.75, Y:-41.45, Z:-10.78 [[ 7.36609466e-01 6.70224892e-01 9.05819511e-02 9.47490954e+01] [-6.64808675e-01 7.42154044e-01 -8.50693839e-02 -4.14545575e+01] [-1.24241380e-01 2.44324655e-03 9.92249016e-01 -1.07775573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63592 meters 0.029223544586606233 Centerline is valid? [True, True] Translation: X:94.77, Y:-41.48, Z:-10.78 [[ 7.35910602e-01 6.70996216e-01 9.05519983e-02 9.47742468e+01] [-6.65578424e-01 7.41456960e-01 -8.51289431e-02 -4.14752590e+01] [-1.24261608e-01 2.37783536e-03 9.92246642e-01 -1.07811295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66592 meters 0.028948417467108765 Centerline is valid? [True, True] Translation: X:94.80, Y:-41.50, Z:-10.79 [[ 7.34219362e-01 6.72817434e-01 9.07668936e-02 9.47958437e+01] [-6.67376830e-01 7.39805465e-01 -8.54168711e-02 -4.14990826e+01] [-1.24619804e-01 2.13899894e-03 9.92202262e-01 -1.07850440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.69592 meters 0.028868084132864118 Centerline is valid? [True, True] Translation: X:94.82, Y:-41.52, Z:-10.79 [[ 7.33803518e-01 6.73363192e-01 9.00800087e-02 9.48191100e+01] [-6.67999578e-01 7.39308904e-01 -8.48463814e-02 -4.15209820e+01] [-1.23729383e-01 2.08716539e-03 9.92313803e-01 -1.07868095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72592 meters 0.028664259246716083 Centerline is valid? [True, True] Translation: X:94.85, Y:-41.54, Z:-10.79 [[ 7.32499164e-01 6.74751249e-01 9.03090675e-02 9.48455928e+01] [-6.69361911e-01 7.38042753e-01 -8.51324132e-02 -4.15404044e+01] [-1.24095155e-01 1.90997148e-03 9.92268484e-01 -1.07891100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75591999999999 meters 0.028664259246716083 Centerline is valid? [True, True] Translation: X:94.87, Y:-41.56, Z:-10.79 [[ 7.32154002e-01 6.75129250e-01 9.02829660e-02 9.48693528e+01] [-6.69739363e-01 7.37697055e-01 -8.51600859e-02 -4.15623480e+01] [-1.24095543e-01 1.88424152e-03 9.92268485e-01 -1.07923398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78591999999999 meters 0.02872861400345901 Centerline is valid? [True, True] Translation: X:94.89, Y:-41.58, Z:-10.80 [[ 7.31397669e-01 6.75785928e-01 9.14922381e-02 9.48930873e+01] [-6.70244085e-01 7.37095593e-01 -8.63883908e-02 -4.15834843e+01] [-1.25818584e-01 1.86213626e-03 9.92051519e-01 -1.07958641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81591999999999 meters 0.029049786833981087 Centerline is valid? [True, True] Translation: X:94.92, Y:-41.61, Z:-10.80 [[ 7.31410783e-01 6.75775256e-01 9.14662252e-02 9.49161478e+01] [-6.70226303e-01 7.37105220e-01 -8.64441880e-02 -4.16071943e+01] [-1.25837075e-01 1.92314129e-03 9.92049057e-01 -1.07986303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84591999999999 meters 0.02879561201285035 Centerline is valid? [True, True] Translation: X:94.94, Y:-41.63, Z:-10.80 [[ 7.31216599e-01 6.76120935e-01 9.04586459e-02 9.49394120e+01] [-6.70685911e-01 7.36788196e-01 -8.55778158e-02 -4.16291523e+01] [-1.24509815e-01 1.90658007e-03 9.92216544e-01 -1.08006921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87592 meters 0.02881378032716363 Centerline is valid? [True, True] Translation: X:94.96, Y:-41.65, Z:-10.81 [[ 7.31216352e-01 6.76159636e-01 9.01709158e-02 9.49643773e+01] [-6.70749600e-01 7.36752559e-01 -8.53852539e-02 -4.16509126e+01] [-1.24167715e-01 1.95298825e-03 9.92259323e-01 -1.08050720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90592 meters 0.028626249637207748 Centerline is valid? [True, True] Translation: X:94.99, Y:-41.67, Z:-10.81 [[ 7.30886993e-01 6.76586253e-01 8.96395291e-02 9.49875475e+01] [-6.71232562e-01 7.36360853e-01 -8.49678933e-02 -4.16734625e+01] [-1.23495149e-01 1.93295731e-03 9.92343293e-01 -1.08083652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93592 meters 0.028737352393826698 Centerline is valid? [True, True] Translation: X:95.01, Y:-41.70, Z:-10.81 [[ 7.30153328e-01 6.77081520e-01 9.18516868e-02 9.50101446e+01] [-6.71452791e-01 7.35905422e-01 -8.71456220e-02 -4.16964916e+01] [-1.26598845e-01 1.95559445e-03 9.91952070e-01 -1.08115144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96592 meters 0.02889179918806784 Centerline is valid? [True, True] Translation: X:95.03, Y:-41.72, Z:-10.81 [[ 7.29084383e-01 6.78097062e-01 9.28457699e-02 9.50343643e+01] [-6.72343028e-01 7.34970012e-01 -8.81699168e-02 -4.17171858e+01] [-1.28026618e-01 1.85910337e-03 9.91768990e-01 -1.08145314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99592 meters 0.028834613544612708 Centerline is valid? [True, True] Translation: X:95.06, Y:-41.74, Z:-10.82 [[ 7.27820971e-01 6.79486634e-01 9.25988560e-02 9.50584091e+01] [-6.73764167e-01 7.33685986e-01 -8.80154609e-02 -4.17385456e+01] [-1.27743812e-01 1.66970715e-03 9.91805793e-01 -1.08179306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02592 meters 0.02878621886253761 Centerline is valid? [True, True] Translation: X:95.08, Y:-41.76, Z:-10.82 [[ 7.27017599e-01 6.80374638e-01 9.23891934e-02 9.50822904e+01] [-6.74674754e-01 7.32862801e-01 -8.78981884e-02 -4.17604710e+01] [-1.27512301e-01 1.57087354e-03 9.91835745e-01 -1.08210954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.05592 meters 0.02869809169004023 Centerline is valid? [True, True] Translation: X:95.11, Y:-41.78, Z:-10.82 [[ 7.26502611e-01 6.81150575e-01 9.07075034e-02 9.51059059e+01] [-6.75652098e-01 7.32141875e-01 -8.63858597e-02 -4.17828468e+01] [-1.25252540e-01 1.47283761e-03 9.92123799e-01 -1.08239681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08592 meters 0.029015005533840028 Centerline is valid? [True, True] Translation: X:95.13, Y:-41.80, Z:-10.83 [[ 7.28235842e-01 6.79168489e-01 9.16663636e-02 9.51322539e+01] [-6.73526020e-01 7.33979948e-01 -8.73849853e-02 -4.18016441e+01] [-1.26630401e-01 1.89719722e-03 9.91948155e-01 -1.08275506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11591999999999 meters 0.029794142449262002 Centerline is valid? [True, True] Translation: X:95.16, Y:-41.82, Z:-10.83 [[ 7.30547508e-01 6.76482912e-01 9.31193223e-02 9.51579478e+01] [-6.70626955e-01 7.36454212e-01 -8.88520119e-02 -4.18208522e+01] [-1.28684985e-01 2.46228828e-03 9.91682465e-01 -1.08296482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14591999999999 meters 0.03001194787743496 Centerline is valid? [True, True] Translation: X:95.18, Y:-41.84, Z:-10.83 [[ 7.31039374e-01 6.75893436e-01 9.35387437e-02 9.51811834e+01] [-6.69969186e-01 7.36994647e-01 -8.93318581e-02 -4.18423024e+01] [-1.29316370e-01 2.63702968e-03 9.91599880e-01 -1.08320074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17591999999999 meters 0.03018455250611138 Centerline is valid? [True, True] Translation: X:95.21, Y:-41.86, Z:-10.84 [[ 7.32084349e-01 6.74763012e-01 9.35274480e-02 9.52051633e+01] [-6.68821153e-01 7.38028800e-01 -8.93966172e-02 -4.18638547e+01] [-1.29347481e-01 2.89272865e-03 9.91595110e-01 -1.08351781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20591999999999 meters 0.030520947829834912 Centerline is valid? [True, True] Translation: X:95.23, Y:-41.88, Z:-10.84 [[ 7.34088698e-01 6.72541838e-01 9.38150282e-02 9.52302566e+01] [-6.66534606e-01 7.40051498e-01 -8.97518746e-02 -4.18841358e+01] [-1.29789843e-01 3.35487388e-03 9.91535850e-01 -1.08402234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23592 meters 0.03077960945844313 Centerline is valid? [True, True] Translation: X:95.25, Y:-41.91, Z:-10.84 [[ 7.35072899e-01 6.71426584e-01 9.40966218e-02 9.52527073e+01] [-6.65363598e-01 7.41062227e-01 -9.01002715e-02 -4.19060891e+01] [-1.30227170e-01 3.62180104e-03 9.91477568e-01 -1.08449258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26592 meters 0.031031461444959843 Centerline is valid? [True, True] Translation: X:95.27, Y:-41.93, Z:-10.85 [[ 7.37033453e-01 6.69457219e-01 9.27831966e-02 9.52733562e+01] [-6.63538026e-01 7.42840011e-01 -8.89157253e-02 -4.19301888e+01] [-1.28448345e-01 3.96868486e-03 9.91708260e-01 -1.08490859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29592 meters 0.03144475029509288 Centerline is valid? [True, True] Translation: X:95.30, Y:-41.95, Z:-10.85 [[ 7.37495619e-01 6.68896536e-01 9.31538282e-02 9.52953125e+01] [-6.62915111e-01 7.43343979e-01 -8.93492239e-02 -4.19534521e+01] [-1.29010724e-01 4.14158077e-03 9.91634550e-01 -1.08524291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32592 meters 0.03166456696803808 Centerline is valid? [True, True] Translation: X:95.32, Y:-41.98, Z:-10.85 [[ 7.37224543e-01 6.69092790e-01 9.38872337e-02 9.53161404e+01] [-6.63007581e-01 7.43167009e-01 -9.01318172e-02 -4.19778458e+01] [-1.30080444e-01 4.19944000e-03 9.91494550e-01 -1.08539469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35592 meters 0.031646510681994776 Centerline is valid? [True, True] Translation: X:95.34, Y:-42.00, Z:-10.86 [[ 7.36533045e-01 6.69900877e-01 9.35515326e-02 9.53387385e+01] [-6.63855590e-01 7.42439225e-01 -8.98874445e-02 -4.20007978e+01] [-1.29672005e-01 4.10036534e-03 9.91548465e-01 -1.08565434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38592 meters 0.03134964409359182 Centerline is valid? [True, True] Translation: X:95.36, Y:-42.02, Z:-10.86 [[ 7.35007275e-01 6.71842713e-01 9.16060815e-02 9.53608633e+01] [-6.66052564e-01 7.40684424e-01 -8.80940715e-02 -4.20239137e+01] [-1.27036558e-01 3.73531800e-03 9.91891002e-01 -1.08606279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41592 meters 0.031009975583162135 Centerline is valid? [True, True] Translation: X:95.38, Y:-42.05, Z:-10.86 [[ 7.33646374e-01 6.73431360e-01 9.08471298e-02 9.53827754e+01] [-6.67740903e-01 7.39241564e-01 -8.74299513e-02 -4.20468917e+01] [-1.26036045e-01 3.48032236e-03 9.92019558e-01 -1.08640118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44592 meters 0.0306395801972259 Centerline is valid? [True, True] Translation: X:95.40, Y:-42.07, Z:-10.87 [[ 7.30794119e-01 6.76489107e-01 9.11177511e-02 9.54043577e+01] [-6.70783143e-01 7.36446561e-01 -8.77293437e-02 -4.20702455e+01] [-1.26451300e-01 2.99183697e-03 9.91968305e-01 -1.08670751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47592 meters 0.030579478028401424 Centerline is valid? [True, True] Translation: X:95.43, Y:-42.09, Z:-10.87 [[ 7.28690228e-01 6.78569131e-01 9.24904699e-02 9.54270315e+01] [-6.72695003e-01 7.34531458e-01 -8.91345687e-02 -4.20937295e+01] [-1.28421126e-01 2.73361222e-03 9.91715958e-01 -1.08700357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50591999999999 meters 0.03079078961776333 Centerline is valid? [True, True] Translation: X:95.45, Y:-42.12, Z:-10.87 [[ 7.28513611e-01 6.78452917e-01 9.47077484e-02 9.54498931e+01] [-6.72280073e-01 7.34638221e-01 -9.13574735e-02 -4.21160683e+01] [-1.31557676e-01 2.88503095e-03 9.91304320e-01 -1.08747491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53591999999999 meters 0.03093725126977127 Centerline is valid? [True, True] Translation: X:95.47, Y:-42.14, Z:-10.88 [[ 7.27778368e-01 6.78971273e-01 9.66263780e-02 9.54727097e+01] [-6.72540243e-01 7.34159120e-01 -9.32738309e-02 -4.21394430e+01] [-1.34269388e-01 2.89754870e-03 9.90940632e-01 -1.08788680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56591999999999 meters 0.030854247971386774 Centerline is valid? [True, True] Translation: X:95.50, Y:-42.16, Z:-10.88 [[ 7.27638606e-01 6.79123120e-01 9.66118365e-02 9.54963447e+01] [-6.72682868e-01 7.34018501e-01 -9.33520147e-02 -4.21621040e+01] [-1.34312387e-01 2.93740252e-03 9.90934687e-01 -1.08831721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59591999999999 meters 0.03040189481234325 Centerline is valid? [True, True] Translation: X:95.52, Y:-42.19, Z:-10.89 [[ 7.25478719e-01 6.81650643e-01 9.50422533e-02 9.55177849e+01] [-6.75428509e-01 7.31673544e-01 -9.19247162e-02 -4.21862267e+01] [-1.32200444e-01 2.49517791e-03 9.91219863e-01 -1.08852059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62592 meters 0.030385026248089912 Centerline is valid? [True, True] Translation: X:95.54, Y:-42.21, Z:-10.89 [[ 7.23034831e-01 6.84139232e-01 9.57817564e-02 9.55399691e+01] [-6.77829514e-01 7.29348349e-01 -9.27261344e-02 -4.22098459e+01] [-1.33295852e-01 2.12052354e-03 9.91074023e-01 -1.08881728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65592 meters 0.030064371665487737 Centerline is valid? [True, True] Translation: X:95.56, Y:-42.23, Z:-10.89 [[ 7.17614372e-01 6.89801454e-01 9.59352203e-02 9.55612861e+01] [-6.83508614e-01 7.23997684e-01 -9.29695055e-02 -4.22339858e+01] [-1.33587377e-01 1.14370392e-03 9.91036379e-01 -1.08912337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68592 meters 0.029880403520234675 Centerline is valid? [True, True] Translation: X:95.58, Y:-42.26, Z:-10.89 [[ 7.14902348e-01 6.92798078e-01 9.45804252e-02 9.55842289e+01] [-6.86696568e-01 7.21131341e-01 -9.17464512e-02 -4.22567354e+01] [-1.31766674e-01 6.41699853e-04 9.91280552e-01 -1.08939402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71592 meters 0.02991686730485076 Centerline is valid? [True, True] Translation: X:95.61, Y:-42.28, Z:-10.90 [[ 7.10923138e-01 6.97090621e-01 9.30212763e-02 9.56069856e+01] [-6.91213995e-01 7.16983025e-01 -9.03247168e-02 -4.22803172e+01] [-1.29659189e-01 -8.36769677e-05 9.91558615e-01 -1.08963948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74592 meters 0.03001143025663523 Centerline is valid? [True, True] Translation: X:95.63, Y:-42.30, Z:-10.90 [[ 7.09177178e-01 6.98731789e-01 9.40298779e-02 9.56300781e+01] [-6.92727785e-01 7.15383664e-01 -9.14025622e-02 -4.23036369e+01] [-1.31133314e-01 -3.16497969e-04 9.91364693e-01 -1.08997587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77592 meters 0.029934706901795057 Centerline is valid? [True, True] Translation: X:95.65, Y:-42.33, Z:-10.90 [[ 7.07603078e-01 7.00424310e-01 9.32934610e-02 9.56528516e+01] [-6.94516361e-01 7.13726472e-01 -9.07829675e-02 -4.23268281e+01] [-1.30172610e-01 -5.55527806e-04 9.91491192e-01 -1.09027850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80592 meters 0.0303004617334442 Centerline is valid? [True, True] Translation: X:95.68, Y:-42.35, Z:-10.91 [[ 7.05098788e-01 7.02782201e-01 9.45138991e-02 9.56771402e+01] [-6.96725789e-01 7.11404463e-01 -9.20698939e-02 -4.23493372e+01] [-1.31942692e-01 -9.31900306e-04 9.91256908e-01 -1.09072367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83592 meters 0.030699255696581978 Centerline is valid? [True, True] Translation: X:95.70, Y:-42.37, Z:-10.91 [[ 7.00587854e-01 7.07024322e-01 9.64015949e-02 9.57011656e+01] [-7.00749802e-01 7.07187192e-01 -9.39999468e-02 -4.23709803e+01] [-1.34634222e-01 -1.69817756e-03 9.90893911e-01 -1.09102438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86591999999999 meters 0.03073150433173294 Centerline is valid? [True, True] Translation: X:95.72, Y:-42.39, Z:-10.91 [[ 6.98709196e-01 7.08899457e-01 9.62653560e-02 9.57245810e+01] [-7.02650637e-01 7.05306699e-01 -9.39390381e-02 -4.23934579e+01] [-1.34489934e-01 -2.00484392e-03 9.90912932e-01 -1.09131517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89591999999999 meters 0.03081134336238022 Centerline is valid? [True, True] Translation: X:95.75, Y:-42.42, Z:-10.92 [[ 6.97373629e-01 7.10152337e-01 9.67144183e-02 9.57487652e+01] [-7.03843425e-01 7.04044653e-01 -9.44751835e-02 -4.24162593e+01] [-1.35183041e-01 -2.18730579e-03 9.90818228e-01 -1.09156915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92591999999999 meters 0.031246169570932597 Centerline is valid? [True, True] Translation: X:95.77, Y:-42.44, Z:-10.92 [[ 6.94335088e-01 7.13355261e-01 9.49897753e-02 9.57728558e+01] [-7.07287319e-01 7.00797422e-01 -9.28849972e-02 -4.24390675e+01] [-1.32828591e-01 -2.69175085e-03 9.91135369e-01 -1.09181945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95591999999999 meters 0.03140274181681199 Centerline is valid? [True, True] Translation: X:95.80, Y:-42.46, Z:-10.92 [[ 6.92249604e-01 7.15477743e-01 9.42448159e-02 9.57983918e+01] [-7.09511873e-01 6.98629057e-01 -9.22515203e-02 -4.24606661e+01] [-1.31846076e-01 -3.00673747e-03 9.91265641e-01 -1.09203932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98592 meters 0.03151509432365342 Centerline is valid? [True, True] Translation: X:95.82, Y:-42.48, Z:-10.92 [[ 6.91489108e-01 7.16185721e-01 9.44501256e-02 9.58229166e+01] [-7.10187678e-01 6.97902940e-01 -9.25470052e-02 -4.24825744e+01] [-1.32197864e-01 -3.08206937e-03 9.91218556e-01 -1.09233557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01592 meters 0.03145723425987085 Centerline is valid? [True, True] Translation: X:95.85, Y:-42.50, Z:-10.93 [[ 6.90549305e-01 7.17079819e-01 9.45420097e-02 9.58479952e+01] [-7.11065726e-01 6.96983758e-01 -9.27317294e-02 -4.25041567e+01] [-1.32390297e-01 -3.18975156e-03 9.91192532e-01 -1.09274139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04592 meters 0.031206470996527687 Centerline is valid? [True, True] Translation: X:95.87, Y:-42.52, Z:-10.93 [[ 6.91015482e-01 7.16755304e-01 9.35918705e-02 9.58735252e+01] [-7.10846727e-01 6.97318186e-01 -9.18927554e-02 -4.25249937e+01] [-1.31127933e-01 -3.03015813e-03 9.91360824e-01 -1.09314097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07592 meters 0.03132920186567319 Centerline is valid? [True, True] Translation: X:95.90, Y:-42.55, Z:-10.93 [[ 6.90589552e-01 7.17152897e-01 9.36898729e-02 9.58979760e+01] [-7.11223098e-01 6.96909221e-01 -9.20828019e-02 -4.25476087e+01] [-1.31330784e-01 -3.04298071e-03 9.91333932e-01 -1.09345422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10592 meters 0.031084853116529206 Centerline is valid? [True, True] Translation: X:95.92, Y:-42.57, Z:-10.94 [[ 6.90900373e-01 7.17026105e-01 9.23592904e-02 9.59224257e+01] [-7.11251320e-01 6.97040232e-01 -9.08651454e-02 -4.25685627e+01] [-1.29530822e-01 -2.91190432e-03 9.91571120e-01 -1.09366779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13592 meters 0.031123141640340957 Centerline is valid? [True, True] Translation: X:95.95, Y:-42.59, Z:-10.94 [[ 6.91185399e-01 7.16845029e-01 9.16294086e-02 9.59471584e+01] [-7.11148714e-01 6.97226934e-01 -9.02336305e-02 -4.25895622e+01] [-1.28570021e-01 -2.79396820e-03 9.91696498e-01 -1.09395735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16592 meters 0.031158833516681878 Centerline is valid? [True, True] Translation: X:95.97, Y:-42.61, Z:-10.94 [[ 6.90842953e-01 7.16974688e-01 9.31842856e-02 9.59728945e+01] [-7.11071762e-01 6.97093567e-01 -9.18559082e-02 -4.26094529e+01] [-1.30816527e-01 -2.80270728e-03 9.91402633e-01 -1.09438345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.19592 meters 0.030863724449944924 Centerline is valid? [True, True] Translation: X:96.00, Y:-42.63, Z:-10.95 [[ 6.91055739e-01 7.16788600e-01 9.30379937e-02 9.59970702e+01] [-7.10890614e-01 6.97285320e-01 -9.18026024e-02 -4.26308806e+01] [-1.30677086e-01 -2.69912119e-03 9.91421310e-01 -1.09471944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22592 meters 0.030829319156673824 Centerline is valid? [True, True] Translation: X:96.02, Y:-42.65, Z:-10.95 [[ 6.90034863e-01 7.17718836e-01 9.34428165e-02 9.60225793e+01] [-7.11766469e-01 6.96327274e-01 -9.22866242e-02 -4.26509041e+01] [-1.31302630e-01 -2.82847548e-03 9.91338297e-01 -1.09492888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25591999999999 meters 0.030829855553672764 Centerline is valid? [True, True] Translation: X:96.05, Y:-42.67, Z:-10.95 [[ 6.89642299e-01 7.18276977e-01 9.20417549e-02 9.60471689e+01] [-7.12499203e-01 6.95751455e-01 -9.09659271e-02 -4.26717344e+01] [-1.29376916e-01 -2.84572591e-03 9.91591406e-01 -1.09520808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28591999999999 meters 0.030650150054377063 Centerline is valid? [True, True] Translation: X:96.07, Y:-42.69, Z:-10.96 [[ 6.88607436e-01 7.19227975e-01 9.23629692e-02 9.60729690e+01] [-7.13406304e-01 6.94767795e-01 -9.13737232e-02 -4.26928173e+01] [-1.29889354e-01 -2.97169921e-03 9.91524041e-01 -1.09553191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31591999999999 meters 0.031098432297339405 Centerline is valid? [True, True] Translation: X:96.10, Y:-42.71, Z:-10.96 [[ 6.85805942e-01 7.22010105e-01 9.14965519e-02 9.61004640e+01] [-7.16310439e-01 6.91874149e-01 -9.06063839e-02 -4.27112549e+01] [-1.28722824e-01 -3.40153886e-03 9.91674777e-01 -1.09591367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34591999999999 meters 0.03127526284691934 Centerline is valid? [True, True] Translation: X:96.13, Y:-42.73, Z:-10.96 [[ 6.84037939e-01 7.23770939e-01 9.08169932e-02 9.61267106e+01] [-7.18159875e-01 6.90030696e-01 -9.00224026e-02 -4.27308148e+01] [-1.27822112e-01 -3.64238171e-03 9.91790422e-01 -1.09617102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37592 meters 0.0311164334420498 Centerline is valid? [True, True] Translation: X:96.16, Y:-42.75, Z:-10.96 [[ 6.83083453e-01 7.24604345e-01 9.13539273e-02 9.61557732e+01] [-7.18922356e-01 6.89154853e-01 -9.06434471e-02 -4.27466835e+01] [-1.28637638e-01 -3.75934180e-03 9.91684539e-01 -1.09636541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40592 meters 0.031145835008816236 Centerline is valid? [True, True] Translation: X:96.18, Y:-42.77, Z:-10.97 [[ 6.82989779e-01 7.24624064e-01 9.18962868e-02 9.61807443e+01] [-7.18863333e-01 6.89134292e-01 -9.12657460e-02 -4.27677908e+01] [-1.29462238e-01 -3.72729936e-03 9.91577348e-01 -1.09672385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43592 meters 0.030692817564375252 Centerline is valid? [True, True] Translation: X:96.21, Y:-42.79, Z:-10.97 [[ 6.84931787e-01 7.22843670e-01 9.14629740e-02 9.62089051e+01] [-7.17109845e-01 6.91003664e-01 -9.09252823e-02 -4.27850360e+01] [-1.28926015e-01 -3.31138298e-03 9.91648687e-01 -1.09701518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46592 meters 0.030383377412073757 Centerline is valid? [True, True] Translation: X:96.23, Y:-42.80, Z:-10.97 [[ 6.86217499e-01 7.21621040e-01 9.14801562e-02 9.62347690e+01] [-7.15863686e-01 6.92281678e-01 -9.10234170e-02 -4.28039771e+01] [-1.29014449e-01 -3.02546021e-03 9.91638099e-01 -1.09728088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49592 meters 0.029912426106299062 Centerline is valid? [True, True] Translation: X:96.26, Y:-42.82, Z:-10.98 [[ 6.89855735e-01 7.18119326e-01 9.16716881e-02 9.62621382e+01] [-7.12296127e-01 6.95916136e-01 -9.12959995e-02 -4.28221808e+01] [-1.29357229e-01 -2.31631953e-03 9.91595352e-01 -1.09757653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52592 meters 0.029809998532853824 Centerline is valid? [True, True] Translation: X:96.29, Y:-42.84, Z:-10.98 [[ 6.91091833e-01 7.16824032e-01 9.24953250e-02 9.62874664e+01] [-7.10872190e-01 6.97251162e-01 -9.22038382e-02 -4.28436206e+01] [-1.30586400e-01 -2.03103459e-03 9.91434853e-01 -1.09794614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.55592 meters 0.029746744858335592 Centerline is valid? [True, True] Translation: X:96.31, Y:-42.86, Z:-10.98 [[ 6.91655455e-01 7.16145194e-01 9.35349800e-02 9.63126434e+01] [-7.10039179e-01 6.97948862e-01 -9.33367581e-02 -4.28641093e+01] [-1.32125304e-01 -1.85662253e-03 9.91231283e-01 -1.09825072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58592 meters 0.02961031526811289 Centerline is valid? [True, True] Translation: X:96.34, Y:-42.88, Z:-10.99 [[ 6.91871575e-01 7.16065769e-01 9.25393860e-02 9.63406187e+01] [-7.10077692e-01 6.98030594e-01 -9.24281401e-02 -4.28817050e+01] [-1.30779950e-01 -1.76175075e-03 9.91409855e-01 -1.09869557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61591999999999 meters 0.02985156687319218 Centerline is valid? [True, True] Translation: X:96.37, Y:-42.90, Z:-10.99 [[ 6.88919531e-01 7.19099053e-01 9.10298380e-02 9.63679527e+01] [-7.13320570e-01 6.94903984e-01 -9.10066911e-02 -4.29009453e+01] [-1.28699822e-01 -2.23716888e-03 9.91681073e-01 -1.09913032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64591999999999 meters 0.030029287010264773 Centerline is valid? [True, True] Translation: X:96.54, Y:-43.09, Z:-9.03 [[ 7.69198665e-01 -6.37231980e-01 -4.76320957e-02 9.65391860e+01] [-6.35258832e-01 -7.70620820e-01 5.08897635e-02 -4.30913176e+01] [-6.91348694e-02 -8.88562871e-03 -9.97567750e-01 -9.03054022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67591999999999 meters 0.030029287010264773 Centerline is valid? [True, True] Translation: X:96.43, Y:-42.97, Z:-11.00 [[ 7.40334149e-01 6.65102989e-01 9.76901330e-02 9.64252766e+01] [-6.59811294e-01 7.46747651e-01 -8.37675462e-02 -4.29731817e+01] [-1.28663923e-01 -2.44107805e-03 9.91685251e-01 -1.10007146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70591999999999 meters 0.03012308838264431 Centerline is valid? [True, True] Translation: X:96.45, Y:-42.99, Z:-11.00 [[ 7.39252325e-01 6.66226952e-01 9.82224456e-02 9.64517642e+01] [-6.60875636e-01 7.45744571e-01 -8.43115007e-02 -4.29914225e+01] [-1.29419450e-01 -2.58534829e-03 9.91586568e-01 -1.10036173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73592 meters 0.029878714894565457 Centerline is valid? [True, True] Translation: X:96.48, Y:-43.01, Z:-11.01 [[ 7.40655614e-01 6.64473184e-01 9.95221013e-02 9.64817833e+01] [-6.58951965e-01 7.47308731e-01 -8.55100431e-02 -4.30069679e+01] [-1.31192866e-01 -2.24679077e-03 9.91354318e-01 -1.10073878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76592 meters 0.029839277227050487 Centerline is valid? [True, True] Translation: X:96.51, Y:-43.03, Z:-11.01 [[ 7.42477706e-01 6.62556909e-01 9.87177702e-02 9.65083260e+01] [-6.57098200e-01 7.49009328e-01 -8.48939506e-02 -4.30259237e+01] [-1.30187604e-01 -1.83540338e-03 9.91487680e-01 -1.10112349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79592 meters 0.02951623190943242 Centerline is valid? [True, True] Translation: X:96.54, Y:-43.04, Z:-11.02 [[ 7.46662020e-01 6.57619380e-01 1.00162765e-01 9.65355826e+01] [-6.51948502e-01 7.53349749e-01 -8.61818154e-02 -4.30437140e+01] [-1.32132426e-01 -9.52276512e-04 9.91231615e-01 -1.10172437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82592 meters 0.029191499540739147 Centerline is valid? [True, True] Translation: X:96.56, Y:-43.06, Z:-11.02 [[ 7.48267484e-01 6.55949334e-01 9.91274142e-02 9.65613078e+01] [-6.50369322e-01 7.54804698e-01 -8.53792368e-02 -4.30632263e+01] [-1.30826291e-01 -5.82922473e-04 9.91405135e-01 -1.10210977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85592 meters 0.02950618613057176 Centerline is valid? [True, True] Translation: X:96.59, Y:-43.08, Z:-11.02 [[ 7.51462669e-01 6.52067753e-01 1.00555965e-01 9.65899135e+01] [-6.46279370e-01 7.58160682e-01 -8.66911509e-02 -4.30793105e+01] [-1.32766083e-01 1.57917976e-04 9.91147387e-01 -1.10247457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88592 meters 0.02944916451277729 Centerline is valid? [True, True] Translation: X:96.62, Y:-43.10, Z:-11.03 [[ 7.52267078e-01 6.51141778e-01 1.00541675e-01 9.66169863e+01] [-6.45335630e-01 7.58956017e-01 -8.67622507e-02 -4.30979744e+01] [-1.32801235e-01 3.85259851e-04 9.91142615e-01 -1.10268235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91592 meters 0.029508366621501223 Centerline is valid? [True, True] Translation: X:96.64, Y:-43.12, Z:-11.03 [[ 7.52402310e-01 6.51048408e-01 1.00133584e-01 9.66440113e+01] [-6.45276615e-01 7.59036067e-01 -8.65005198e-02 -4.31166932e+01] [-1.32321028e-01 4.69330693e-04 9.91206803e-01 -1.10290293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94592 meters 0.029333769431974074 Centerline is valid? [True, True] Translation: X:96.67, Y:-43.14, Z:-11.03 [[ 7.51333693e-01 6.52448737e-01 9.90369997e-02 9.66684170e+01] [-6.46803938e-01 7.57832807e-01 -8.56393793e-02 -4.31374661e+01] [-1.30928792e-01 2.86229705e-04 9.91391734e-01 -1.10316498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97592 meters 0.029262426221778475 Centerline is valid? [True, True] Translation: X:96.70, Y:-43.16, Z:-11.04 [[ 7.49427773e-01 6.54659355e-01 9.88895410e-02 9.66954497e+01] [-6.49039865e-01 7.55924022e-01 -8.55927921e-02 -4.31564966e+01] [-1.30787102e-01 -3.76387624e-05 9.91410476e-01 -1.10352610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00591999999999 meters 0.02934693526049233 Centerline is valid? [True, True] Translation: X:96.72, Y:-43.17, Z:-11.04 [[ 7.48463288e-01 6.55605784e-01 9.99187776e-02 9.67215516e+01] [-6.49864762e-01 7.55103328e-01 -8.65722491e-02 -4.31749388e+01] [-1.32206269e-01 -1.37542418e-04 9.91222217e-01 -1.10393300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03591999999999 meters 0.029246737289345143 Centerline is valid? [True, True] Translation: X:96.75, Y:-43.19, Z:-11.04 [[ 7.47167464e-01 6.57014332e-01 1.00364083e-01 9.67470406e+01] [-6.51223642e-01 7.53878014e-01 -8.70385385e-02 -4.31940919e+01] [-1.32847843e-01 -3.27099434e-04 9.91136390e-01 -1.10419364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06591999999999 meters 0.02925713401440639 Centerline is valid? [True, True] Translation: X:96.77, Y:-43.21, Z:-11.05 [[ 7.45254569e-01 6.59230461e-01 1.00054112e-01 9.67733831e+01] [-6.53484469e-01 7.51940667e-01 -8.68520659e-02 -4.32141775e+01] [-1.32490283e-01 -6.56909312e-04 9.91184086e-01 -1.10452865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09591999999999 meters 0.029218273407256665 Centerline is valid? [True, True] Translation: X:96.80, Y:-43.23, Z:-11.05 [[ 7.44221200e-01 6.60576481e-01 9.88611056e-02 9.67984588e+01] [-6.54967609e-01 7.50758311e-01 -8.59033733e-02 -4.32339108e+01] [-1.30966545e-01 -8.19710392e-04 9.91386450e-01 -1.10477662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12592 meters 0.028954177554190594 Centerline is valid? [True, True] Translation: X:96.83, Y:-43.25, Z:-11.05 [[ 7.43705604e-01 6.61544399e-01 9.62339959e-02 9.68268931e+01] [-6.56230666e-01 7.49905441e-01 -8.36847790e-02 -4.32509098e+01] [-1.27527594e-01 -9.14860078e-04 9.91834601e-01 -1.10498916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15592 meters 0.028857144608425162 Centerline is valid? [True, True] Translation: X:96.85, Y:-43.27, Z:-11.05 [[ 7.42889454e-01 6.62516906e-01 9.58467975e-02 9.68538451e+01] [-6.57248828e-01 7.49046230e-01 -8.33889910e-02 -4.32702167e+01] [-1.27040299e-01 -1.04639326e-03 9.91897005e-01 -1.10519259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18592 meters 0.029115864259482954 Centerline is valid? [True, True] Translation: X:96.88, Y:-43.29, Z:-11.05 [[ 7.43444927e-01 6.61778170e-01 9.66400223e-02 9.68814504e+01] [-6.56404327e-01 7.49699216e-01 -8.41691484e-02 -4.32886210e+01] [-1.28152254e-01 -8.59802411e-04 9.91754133e-01 -1.10539535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21592 meters 0.029143810334441956 Centerline is valid? [True, True] Translation: X:96.91, Y:-43.31, Z:-11.06 [[ 7.44017257e-01 6.61182741e-01 9.63104596e-02 9.69070873e+01] [-6.55829485e-01 7.50224572e-01 -8.39689134e-02 -4.33079724e+01] [-1.27773270e-01 -6.88918493e-04 9.91803164e-01 -1.10560245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24592 meters 0.029211649171734428 Centerline is valid? [True, True] Translation: X:96.94, Y:-43.32, Z:-11.06 [[ 7.45338644e-01 6.59804071e-01 9.55452477e-02 9.69351127e+01] [-6.54514801e-01 7.51437579e-01 -8.33782955e-02 -4.33245627e+01] [-1.26809628e-01 -3.90713110e-04 9.91926996e-01 -1.10592255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27592 meters 0.029271147005069345 Centerline is valid? [True, True] Translation: X:96.96, Y:-43.34, Z:-11.06 [[ 7.45770062e-01 6.59279628e-01 9.57986810e-02 9.69620792e+01] [-6.53947637e-01 7.51897808e-01 -8.36789974e-02 -4.33437457e+01] [-1.27198677e-01 -2.42030013e-04 9.91877229e-01 -1.10630127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30592 meters 0.02937916759029192 Centerline is valid? [True, True] Translation: X:96.99, Y:-43.36, Z:-11.07 [[ 7.45897829e-01 6.59278331e-01 9.48077524e-02 9.69883052e+01] [-6.54045809e-01 7.51898963e-01 -8.28977002e-02 -4.33628155e+01] [-1.25938508e-01 -1.75398452e-04 9.92038034e-01 -1.10657802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33592 meters 0.029732859942182433 Centerline is valid? [True, True] Translation: X:97.01, Y:-43.38, Z:-11.07 [[ 7.45693966e-01 6.59394982e-01 9.55969005e-02 9.70136986e+01] [-6.54065686e-01 7.51796674e-01 -8.36650455e-02 -4.33826082e+01] [-1.27037743e-01 -1.38132688e-04 9.91897874e-01 -1.10682284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36591999999999 meters 0.029775951284016115 Centerline is valid? [True, True] Translation: X:97.04, Y:-43.40, Z:-11.07 [[ 7.46082630e-01 6.59084780e-01 9.46993246e-02 9.70392544e+01] [-6.53843389e-01 7.52068648e-01 -8.29552357e-02 -4.34022605e+01] [-1.25894926e-01 -2.70669279e-05 9.92043581e-01 -1.10713940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39591999999999 meters 0.02975838473533225 Centerline is valid? [True, True] Translation: X:97.06, Y:-43.42, Z:-11.08 [[ 7.46615568e-01 6.58278239e-01 9.60986637e-02 9.70644625e+01] [-6.52863408e-01 7.52774688e-01 -8.42593564e-02 -4.34219534e+01] [-1.27806742e-01 1.70046159e-04 9.91799076e-01 -1.10750832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42591999999999 meters 0.02989764133579401 Centerline is valid? [True, True] Translation: X:97.09, Y:-43.44, Z:-11.08 [[ 7.46870987e-01 6.57800339e-01 9.73778383e-02 9.70883750e+01] [-6.52225393e-01 7.53192283e-01 -8.54600581e-02 -4.34424513e+01] [-1.29559891e-01 3.15339089e-04 9.91571548e-01 -1.10802774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45591999999999 meters 0.03013964215664335 Centerline is valid? [True, True] Translation: X:97.11, Y:-43.46, Z:-11.08 [[ 7.48324404e-01 6.56014690e-01 9.82614534e-02 9.71148830e+01] [-6.50311814e-01 7.54747805e-01 -8.63150997e-02 -4.34610146e+01] [-1.30786590e-01 6.91111519e-04 9.91410304e-01 -1.10832918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48592 meters 0.03006566062424544 Centerline is valid? [True, True] Translation: X:97.14, Y:-43.48, Z:-11.09 [[ 7.48947041e-01 6.55355569e-01 9.79153136e-02 9.71411044e+01] [-6.49676857e-01 7.55320019e-01 -8.60909430e-02 -4.34808319e+01] [-1.30377575e-01 8.64243829e-04 9.91464039e-01 -1.10858368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51592 meters 0.03039712994682321 Centerline is valid? [True, True] Translation: X:97.16, Y:-43.50, Z:-11.09 [[ 7.51952089e-01 6.51910968e-01 9.78782169e-02 9.71649027e+01] [-6.46196166e-01 7.58293977e-01 -8.61438249e-02 -4.35018345e+01] [-1.30378567e-01 1.52750050e-03 9.91463109e-01 -1.10897586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54592 meters 0.030573328324569764 Centerline is valid? [True, True] Translation: X:97.19, Y:-43.52, Z:-11.09 [[ 7.52123803e-01 6.51731916e-01 9.77511813e-02 9.71888723e+01] [-6.46020023e-01 7.58447686e-01 -8.61117693e-02 -4.35248892e+01] [-1.30260946e-01 1.61749098e-03 9.91478426e-01 -1.10928166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57592 meters 0.03078296448700859 Centerline is valid? [True, True] Translation: X:97.21, Y:-43.55, Z:-11.10 [[ 7.52676350e-01 6.50919622e-01 9.89037764e-02 9.72124302e+01] [-6.45053057e-01 7.59144412e-01 -8.72141919e-02 -4.35469333e+01] [-1.31851678e-01 1.84587633e-03 9.91267738e-01 -1.10962016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60592 meters 0.030675220537155167 Centerline is valid? [True, True] Translation: X:97.24, Y:-43.57, Z:-11.10 [[ 7.51967673e-01 6.51655860e-01 9.94447519e-02 9.72370876e+01] [-6.45720215e-01 7.58512651e-01 -8.77722140e-02 -4.35689957e+01] [-1.32627380e-01 1.78838089e-03 9.91164356e-01 -1.10986713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63592 meters 0.030727201811946474 Centerline is valid? [True, True] Translation: X:97.26, Y:-43.59, Z:-11.10 [[ 7.51268118e-01 6.52458740e-01 9.94676152e-02 9.72598912e+01] [-6.46515403e-01 7.57822308e-01 -8.78816452e-02 -4.35927110e+01] [-1.32717925e-01 1.71533292e-03 9.91152365e-01 -1.11028646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66592 meters 0.030864874661185693 Centerline is valid? [True, True] Translation: X:97.28, Y:-43.61, Z:-11.11 [[ 7.50438761e-01 6.53312443e-01 1.00122518e-01 9.72832193e+01] [-6.47286011e-01 7.57086625e-01 -8.85475171e-02 -4.36145518e+01] [-1.33650614e-01 1.64158384e-03 9.91027153e-01 -1.11066227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.69592 meters 0.03129331542895342 Centerline is valid? [True, True] Translation: X:97.31, Y:-43.64, Z:-11.11 [[ 7.48449309e-01 6.55144821e-01 1.02999489e-01 9.73074386e+01] [-6.48771088e-01 7.55501990e-01 -9.11746572e-02 -4.36360130e+01] [-1.37548924e-01 1.41651831e-03 9.90493961e-01 -1.11103662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72592 meters 0.03142788879623887 Centerline is valid? [True, True] Translation: X:97.33, Y:-43.66, Z:-11.11 [[ 7.47406533e-01 6.56273040e-01 1.03388450e-01 9.73323334e+01] [-6.49849719e-01 7.54522407e-01 -9.16039288e-02 -4.36576101e+01] [-1.38126091e-01 1.27841931e-03 9.90413827e-01 -1.11128001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75591999999999 meters 0.031248345017751866 Centerline is valid? [True, True] Translation: X:97.36, Y:-43.68, Z:-11.12 [[ 7.47095571e-01 6.56514965e-01 1.04097592e-01 9.73561317e+01] [-6.49992429e-01 7.54311859e-01 -9.23225929e-02 -4.36796009e+01] [-1.39133212e-01 1.31115341e-03 9.90272806e-01 -1.11168111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78591999999999 meters 0.03075356197094304 Centerline is valid? [True, True] Translation: X:97.38, Y:-43.70, Z:-11.12 [[ 7.47109073e-01 6.56908401e-01 1.01485895e-01 9.73786176e+01] [-6.50705421e-01 7.53969348e-01 -9.00704015e-02 -4.37028283e+01] [-1.35685258e-01 1.25499184e-03 9.90751198e-01 -1.11192050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81591999999999 meters 0.030561500292629797 Centerline is valid? [True, True] Translation: X:97.40, Y:-43.72, Z:-11.12 [[ 7.46427935e-01 6.57760646e-01 1.00976586e-01 9.74026431e+01] [-6.51622067e-01 7.53226170e-01 -8.96605738e-02 -4.37235769e+01] [-1.35033404e-01 1.12658545e-03 9.90840406e-01 -1.11211753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84591999999999 meters 0.030775238659710887 Centerline is valid? [True, True] Translation: X:97.43, Y:-43.74, Z:-11.13 [[ 7.44619068e-01 6.59500264e-01 1.02965263e-01 9.74272508e+01] [-6.53121260e-01 7.51703803e-01 -9.15096282e-02 -4.37438909e+01] [-1.37750004e-01 8.91011624e-04 9.90466629e-01 -1.11250972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87592 meters 0.030677989114464187 Centerline is valid? [True, True] Translation: X:97.45, Y:-43.77, Z:-11.13 [[ 7.43464395e-01 6.60828699e-01 1.02791651e-01 9.74521478e+01] [-6.54472077e-01 7.50536427e-01 -9.14405384e-02 -4.37658847e+01] [-1.37575411e-01 7.08518911e-04 9.90491042e-01 -1.11274176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90592 meters 0.030581532501258276 Centerline is valid? [True, True] Translation: X:97.48, Y:-43.79, Z:-11.13 [[ 7.42365805e-01 6.62381188e-01 1.00718290e-01 9.74751467e+01] [-6.56281885e-01 7.49166826e-01 -8.96836352e-02 -4.37879468e+01] [-1.34859554e-01 4.78474751e-04 9.90864608e-01 -1.11302324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93592 meters 0.030417668640593195 Centerline is valid? [True, True] Translation: X:97.50, Y:-43.81, Z:-11.13 [[ 7.42242317e-01 6.62516175e-01 1.00740556e-01 9.75000245e+01] [-6.56403927e-01 7.49047428e-01 -8.97877216e-02 -4.38096776e+01] [-1.34945272e-01 5.17750119e-04 9.90852918e-01 -1.11344126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96592 meters 0.030224329136202238 Centerline is valid? [True, True] Translation: X:97.52, Y:-43.83, Z:-11.14 [[ 7.42957605e-01 6.61831863e-01 9.99629026e-02 9.75241476e+01] [-6.55795834e-01 7.49651978e-01 -8.91837182e-02 -4.38306846e+01] [-1.33962014e-01 7.04466627e-04 9.90986217e-01 -1.11376275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99592 meters 0.030524938356033815 Centerline is valid? [True, True] Translation: X:97.55, Y:-43.85, Z:-11.14 [[ 7.43658760e-01 6.60738524e-01 1.01962007e-01 9.75486798e+01] [-6.54435746e-01 7.50615505e-01 -9.10506371e-02 -4.38510949e+01] [-1.36694927e-01 9.83021697e-04 9.90612705e-01 -1.11413335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02592 meters 0.030664135756140937 Centerline is valid? [True, True] Translation: X:97.57, Y:-43.87, Z:-11.14 [[ 7.44515915e-01 6.59667740e-01 1.02637835e-01 9.75729216e+01] [-6.53259102e-01 7.51556325e-01 -9.17367776e-02 -4.38719213e+01] [-1.37653907e-01 1.25039107e-03 9.90479600e-01 -1.11443149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05592 meters 0.03084711327063656 Centerline is valid? [True, True] Translation: X:97.60, Y:-43.89, Z:-11.15 [[ 7.45163844e-01 6.58871477e-01 1.03049608e-01 9.75973839e+01] [-6.52392001e-01 7.52254098e-01 -9.21870349e-02 -4.38929263e+01] [-1.38258898e-01 1.46570508e-03 9.90395037e-01 -1.11486210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08592 meters 0.03054895098690146 Centerline is valid? [True, True] Translation: X:97.62, Y:-43.91, Z:-11.15 [[ 7.46087148e-01 6.58172029e-01 1.00814419e-01 9.76218260e+01] [-6.51956640e-01 7.52865850e-01 -9.02527056e-02 -4.39141800e+01] [-1.35301539e-01 1.60975401e-03 9.90803160e-01 -1.11526306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11591999999999 meters 0.030382588881377435 Centerline is valid? [True, True] Translation: X:97.65, Y:-43.94, Z:-11.16 [[ 7.45227868e-01 6.59331009e-01 9.95893818e-02 9.76465571e+01] [-6.53272957e-01 7.51851482e-01 -8.91840399e-02 -4.39354715e+01] [-1.33678227e-01 1.40338200e-03 9.91023795e-01 -1.11552414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14591999999999 meters 0.029934712536239604 Centerline is valid? [True, True] Translation: X:97.67, Y:-43.95, Z:-11.16 [[ 7.43065148e-01 6.61918997e-01 9.85770091e-02 9.76729513e+01] [-6.56002408e-01 7.49574768e-01 -8.83091612e-02 -4.39547955e+01] [-1.32344350e-01 9.52704643e-04 9.91203342e-01 -1.11580271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17591999999999 meters 0.030050570539571796 Centerline is valid? [True, True] Translation: X:97.70, Y:-43.98, Z:-11.16 [[ 7.41477117e-01 6.63698325e-01 9.85708817e-02 9.76986187e+01] [-6.57790712e-01 7.48000050e-01 -8.83589541e-02 -4.39759103e+01] [-1.32374714e-01 6.77132130e-04 9.91199514e-01 -1.11608963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20591999999999 meters 0.029818775482482456 Centerline is valid? [True, True] Translation: X:97.72, Y:-44.00, Z:-11.16 [[ 7.40472347e-01 6.64815348e-01 9.85964386e-02 9.77243917e+01] [-6.58903830e-01 7.47007540e-01 -8.84617322e-02 -4.39974346e+01] [-1.32463000e-01 5.37895423e-04 9.91187805e-01 -1.11622538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23592 meters 0.03029991651362805 Centerline is valid? [True, True] Translation: X:97.75, Y:-44.02, Z:-11.16 [[ 7.38066370e-01 6.67359280e-01 9.94465951e-02 9.77506658e+01] [-6.61360210e-01 7.44735910e-01 -8.92809967e-02 -4.40158123e+01] [-1.33643952e-01 1.25280090e-04 9.91029403e-01 -1.11643369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26592 meters 0.030373065933670437 Centerline is valid? [True, True] Translation: X:97.78, Y:-44.04, Z:-11.17 [[ 7.37340307e-01 6.68025400e-01 1.00356049e-01 9.77754005e+01] [-6.61910547e-01 7.44138469e-01 -9.01796412e-02 -4.40353754e+01] [-1.34921088e-01 6.63569736e-05 9.90856345e-01 -1.11685743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29592 meters 0.030213727123841135 Centerline is valid? [True, True] Translation: X:97.80, Y:-44.06, Z:-11.17 [[ 7.37417790e-01 6.68054311e-01 9.95913635e-02 9.77997380e+01] [-6.62022662e-01 7.44112507e-01 -8.95688130e-02 -4.40559151e+01] [-1.33944011e-01 1.17896627e-04 9.90988894e-01 -1.11719534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32592 meters 0.030454399119411682 Centerline is valid? [True, True] Translation: X:97.83, Y:-44.08, Z:-11.17 [[ 7.37865303e-01 6.67557556e-01 9.96077521e-02 9.78257220e+01] [-6.61508039e-01 7.44558148e-01 -8.96675963e-02 -4.40765035e+01] [-1.34022045e-01 2.71279329e-04 9.90978314e-01 -1.11749549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35592 meters 0.030293255129962886 Centerline is valid? [True, True] Translation: X:97.85, Y:-44.09, Z:-11.18 [[ 7.37465326e-01 6.68087146e-01 9.90174603e-02 9.78541399e+01] [-6.62102301e-01 7.44082997e-01 -8.92246401e-02 -4.40935205e+01] [-1.33287044e-01 2.40390048e-04 9.91077447e-01 -1.11775156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38592 meters 0.030247022929300885 Centerline is valid? [True, True] Translation: X:97.88, Y:-44.11, Z:-11.18 [[ 7.36472426e-01 6.69213897e-01 9.87984105e-02 9.78792676e+01] [-6.63254529e-01 7.43069815e-01 -8.91104907e-02 -4.41143492e+01] [-1.33048095e-01 9.89261343e-05 9.91109577e-01 -1.11808289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41592 meters 0.03045678122316384 Centerline is valid? [True, True] Translation: X:97.90, Y:-44.14, Z:-11.18 [[ 7.33912372e-01 6.71637364e-01 1.01370022e-01 9.79025523e+01] [-6.65372393e-01 7.40879999e-01 -9.15227018e-02 -4.41361371e+01] [-1.36573088e-01 -2.79170813e-04 9.90629958e-01 -1.11843849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44592 meters 0.030711997398939192 Centerline is valid? [True, True] Translation: X:97.93, Y:-44.16, Z:-11.19 [[ 7.32855714e-01 6.72637241e-01 1.02379905e-01 9.79274510e+01] [-6.66244201e-01 7.39972281e-01 -9.25185829e-02 -4.41565341e+01] [-1.37989736e-01 -4.07245624e-04 9.90433575e-01 -1.11889072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47592 meters 0.030313779052420952 Centerline is valid? [True, True] Translation: X:97.95, Y:-44.17, Z:-11.19 [[ 7.32708408e-01 6.72930585e-01 1.01502791e-01 9.79537762e+01] [-6.66638542e-01 7.39705530e-01 -9.18084100e-02 -4.41747824e+01] [-1.36862863e-01 -3.96878804e-04 9.90589925e-01 -1.11937411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50591999999999 meters 0.03033788900872907 Centerline is valid? [True, True] Translation: X:97.98, Y:-44.20, Z:-11.20 [[ 7.33758840e-01 6.71932017e-01 1.00525264e-01 9.79783558e+01] [-6.65740576e-01 7.40612816e-01 -9.10062769e-02 -4.41957521e+01] [-1.35600330e-01 -1.47087131e-04 9.90763609e-01 -1.11973503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53591999999999 meters 0.030291585226950715 Centerline is valid? [True, True] Translation: X:98.00, Y:-44.22, Z:-11.20 [[ 7.37572086e-01 6.67823627e-01 9.99951015e-02 9.80037542e+01] [-6.61650111e-01 7.44319264e-01 -9.05978131e-02 -4.42163212e+01] [-1.34931641e-01 6.60647937e-04 9.90854690e-01 -1.11994914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56591999999999 meters 0.030291585226950715 Centerline is valid? [True, True] Translation: X:98.03, Y:-44.24, Z:-11.20 [[ 7.37232905e-01 6.68202320e-01 9.99665132e-02 9.80280195e+01] [-6.62027993e-01 7.43979339e-01 -9.06293485e-02 -4.42378384e+01] [-1.34931761e-01 6.34307749e-04 9.90854690e-01 -1.12027164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59591999999999 meters 0.03055623769667972 Centerline is valid? [True, True] Translation: X:98.05, Y:-44.26, Z:-11.21 [[ 7.39021058e-01 6.66162517e-01 1.00376173e-01 9.80538488e+01] [-6.59906082e-01 7.45805829e-01 -9.10913158e-02 -4.42571566e+01] [-1.35542756e-01 1.07955332e-03 9.90770910e-01 -1.12062218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62592 meters 0.030568589519290857 Centerline is valid? [True, True] Translation: X:98.08, Y:-44.28, Z:-11.21 [[ 7.40595863e-01 6.64559974e-01 9.93871633e-02 9.80791825e+01] [-6.58401612e-01 7.47233582e-01 -9.02734295e-02 -4.42766000e+01] [-1.34257534e-01 1.41945988e-03 9.90945457e-01 -1.12076724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65592 meters 0.03117832107110512 Centerline is valid? [True, True] Translation: X:98.10, Y:-44.30, Z:-11.21 [[ 7.44030882e-01 6.60457988e-01 1.01060834e-01 9.81047833e+01] [-6.54042549e-01 7.50859635e-01 -9.18594185e-02 -4.42958239e+01] [-1.36551788e-01 2.24815870e-03 9.90630383e-01 -1.12108645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68592 meters 0.03141526195573267 Centerline is valid? [True, True] Translation: X:98.13, Y:-44.31, Z:-11.21 [[ 7.47000599e-01 6.57080974e-01 1.01166691e-01 9.81311375e+01] [-6.50615756e-01 7.53814426e-01 -9.19942916e-02 -4.43138864e+01] [-1.36708610e-01 2.89914784e-03 9.90607062e-01 -1.12147008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71592 meters 0.031705927027050454 Centerline is valid? [True, True] Translation: X:98.16, Y:-44.33, Z:-11.22 [[ 7.48034034e-01 6.55958240e-01 1.00816025e-01 9.81563889e+01] [-6.49516981e-01 7.54790595e-01 -9.17542864e-02 -4.43341143e+01] [-1.36281968e-01 3.15360892e-03 9.90665070e-01 -1.12195252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74592 meters 0.03239170975351541 Centerline is valid? [True, True] Translation: X:98.18, Y:-44.36, Z:-11.22 [[ 7.50131431e-01 6.53474296e-01 1.01361631e-01 9.81798364e+01] [-6.46929328e-01 7.56939736e-01 -9.23292034e-02 -4.43560475e+01] [-1.37059407e-01 3.68522573e-03 9.90555974e-01 -1.12234228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77592 meters 0.032582688053925474 Centerline is valid? [True, True] Translation: X:98.20, Y:-44.38, Z:-11.22 [[ 7.50652876e-01 6.52860408e-01 1.01457120e-01 9.82038501e+01] [-6.46286816e-01 7.57468408e-01 -9.24930351e-02 -4.43781413e+01] [-1.37235604e-01 3.85976347e-03 9.90530914e-01 -1.12233724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80592 meters 0.03311583390260691 Centerline is valid? [True, True] Translation: X:98.23, Y:-44.40, Z:-11.23 [[ 7.51193156e-01 6.52039543e-01 1.02729146e-01 9.82290391e+01] [-6.45280463e-01 7.58173758e-01 -9.37319432e-02 -4.43985235e+01] [-1.39003476e-01 4.12168335e-03 9.90283316e-01 -1.12263177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83592 meters 0.033035581016180225 Centerline is valid? [True, True] Translation: X:98.25, Y:-44.42, Z:-11.23 [[ 7.51862392e-01 6.51621669e-01 1.00459664e-01 9.82530390e+01] [-6.45145297e-01 7.58532711e-01 -9.17369679e-02 -4.44193598e+01] [-1.35979738e-01 4.16249612e-03 9.90702874e-01 -1.12286291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86591999999999 meters 0.03262538617295748 Centerline is valid? [True, True] Translation: X:98.27, Y:-44.44, Z:-11.23 [[ 7.51674576e-01 6.52036492e-01 9.91652424e-02 9.82748295e+01] [-6.45720172e-01 7.58176546e-01 -9.06299327e-02 -4.44428468e+01] [-1.34278784e-01 4.09121893e-03 9.90935149e-01 -1.12323894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89591999999999 meters 0.032329558178995584 Centerline is valid? [True, True] Translation: X:98.30, Y:-44.46, Z:-11.24 [[ 7.51465002e-01 6.52430010e-01 9.81602419e-02 9.82994667e+01] [-6.46234996e-01 7.57838234e-01 -8.97860884e-02 -4.44638972e+01] [-1.32968723e-01 4.03651957e-03 9.91112014e-01 -1.12355575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92591999999999 meters 0.03246378343430532 Centerline is valid? [True, True] Translation: X:98.33, Y:-44.48, Z:-11.24 [[ 7.50449590e-01 6.53501462e-01 9.87990482e-02 9.83256164e+01] [-6.47223671e-01 7.56915036e-01 -9.04496966e-02 -4.44842392e+01] [-1.33891494e-01 3.93285497e-03 9.90988194e-01 -1.12399159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95591999999999 meters 0.03267507619951016 Centerline is valid? [True, True] Translation: X:98.35, Y:-44.51, Z:-11.24 [[ 7.50463334e-01 6.53491463e-01 9.87607845e-02 9.83492229e+01] [-6.47206701e-01 7.56923319e-01 -9.05018024e-02 -4.45065654e+01] [-1.33896496e-01 3.99964282e-03 9.90987251e-01 -1.12441968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98592 meters 0.03281146691665282 Centerline is valid? [True, True] Translation: X:98.37, Y:-44.53, Z:-11.25 [[ 7.50516431e-01 6.53227104e-01 1.00097136e-01 9.83704521e+01] [-6.46756233e-01 7.57150566e-01 -9.18117393e-02 -4.45306609e+01] [-1.35762520e-01 4.16777216e-03 9.90732642e-01 -1.12473918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01592 meters 0.033499605945675616 Centerline is valid? [True, True] Translation: X:98.39, Y:-44.55, Z:-11.25 [[ 7.52559304e-01 6.50915924e-01 9.98146007e-02 9.83926271e+01] [-6.44451037e-01 7.59135705e-01 -9.16288290e-02 -4.45539534e+01] [-1.35415491e-01 4.63050493e-03 9.90778080e-01 -1.12488245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04592 meters 0.03380262720902812 Centerline is valid? [True, True] Translation: X:98.42, Y:-44.58, Z:-11.25 [[ 7.54611122e-01 6.48898895e-01 9.74283251e-02 9.84159928e+01] [-6.42713975e-01 7.60858672e-01 -8.95144006e-02 -4.45766181e+01] [-1.32214982e-01 4.93001614e-03 9.91208804e-01 -1.12515276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07592 meters 0.03417234183040392 Centerline is valid? [True, True] Translation: X:98.44, Y:-44.60, Z:-11.26 [[ 7.55101199e-01 6.48256037e-01 9.79096050e-02 9.84380891e+01] [-6.41993243e-01 7.61405140e-01 -9.00382680e-02 -4.45992094e+01] [-1.32916727e-01 5.13069933e-03 9.91113929e-01 -1.12552666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10592 meters 0.034577868376109676 Centerline is valid? [True, True] Translation: X:98.46, Y:-44.62, Z:-11.26 [[ 7.55760592e-01 6.47472443e-01 9.80069562e-02 9.84601654e+01] [-6.41181309e-01 7.62070246e-01 -9.01968360e-02 -4.46217471e+01] [-1.33088151e-01 5.32698566e-03 9.91089889e-01 -1.12586166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13592 meters 0.0349083780848612 Centerline is valid? [True, True] Translation: X:98.48, Y:-44.65, Z:-11.26 [[ 7.56218543e-01 6.46598420e-01 1.00219750e-01 9.84815805e+01] [-6.40002908e-01 7.62809637e-01 -9.22915787e-02 -4.46456252e+01] [-1.36124180e-01 5.65167181e-03 9.90675661e-01 -1.12632083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16592 meters 0.03511943133163991 Centerline is valid? [True, True] Translation: X:98.50, Y:-44.67, Z:-11.27 [[ 7.56310430e-01 6.46520799e-01 1.00026949e-01 9.85041880e+01] [-6.39944696e-01 7.62875179e-01 -9.21533885e-02 -4.46692558e+01] [-1.35887159e-01 5.68485321e-03 9.90708011e-01 -1.12658344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.19592 meters 0.035337453791399506 Centerline is valid? [True, True] Translation: X:98.52, Y:-44.70, Z:-11.27 [[ 7.56967238e-01 6.45626609e-01 1.00830961e-01 9.85218080e+01] [-6.38924198e-01 7.63629999e-01 -9.29789974e-02 -4.46968562e+01] [-1.37027262e-01 5.95871376e-03 9.90549354e-01 -1.12701694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22592 meters 0.03521050109910054 Centerline is valid? [True, True] Translation: X:98.54, Y:-44.72, Z:-11.27 [[ 7.56908136e-01 6.45764328e-01 1.00391768e-01 9.85436222e+01] [-6.39110880e-01 7.63513469e-01 -9.26523891e-02 -4.47215452e+01] [-1.36482075e-01 5.96787598e-03 9.90624564e-01 -1.12730587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25591999999999 meters 0.03520270086079747 Centerline is valid? [True, True] Translation: X:98.57, Y:-44.74, Z:-11.28 [[ 7.56283579e-01 6.46484654e-01 1.00462634e-01 9.85653500e+01] [-6.39816477e-01 7.62904123e-01 -9.28017988e-02 -4.47447885e+01] [-1.36638297e-01 5.90682767e-03 9.90603395e-01 -1.12762354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28591999999999 meters 0.03488016369188184 Centerline is valid? [True, True] Translation: X:98.59, Y:-44.77, Z:-11.28 [[ 7.55555763e-01 6.47309098e-01 1.00630117e-01 9.85872286e+01] [-6.40615283e-01 7.62205344e-01 -9.30326392e-02 -4.47677986e+01] [-1.36921687e-01 5.82615580e-03 9.90564742e-01 -1.12789963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31591999999999 meters 0.035002473214622035 Centerline is valid? [True, True] Translation: X:98.61, Y:-44.79, Z:-11.28 [[ 7.55090079e-01 6.47694054e-01 1.01643427e-01 9.86081453e+01] [-6.40856659e-01 7.61877875e-01 -9.40470459e-02 -4.47918184e+01] [-1.38353590e-01 5.87512458e-03 9.90365471e-01 -1.12831478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34591999999999 meters 0.035208161478514216 Centerline is valid? [True, True] Translation: X:98.63, Y:-44.82, Z:-11.29 [[ 7.55213544e-01 6.47390346e-01 1.02655946e-01 9.86266375e+01] [-6.40401429e-01 7.62134581e-01 -9.50625612e-02 -4.48191063e+01] [-1.39780231e-01 6.05151910e-03 9.90164060e-01 -1.12868803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37592 meters 0.0347708061293092 Centerline is valid? [True, True] Translation: X:98.65, Y:-44.84, Z:-11.29 [[ 7.55421950e-01 6.47345227e-01 1.01399385e-01 9.86472740e+01] [-6.40516182e-01 7.62172971e-01 -9.39754354e-02 -4.48443052e+01] [-1.38118420e-01 6.04315955e-03 9.90397285e-01 -1.12903928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40592 meters 0.03466762269278918 Centerline is valid? [True, True] Translation: X:98.67, Y:-44.87, Z:-11.30 [[ 7.55035026e-01 6.47854002e-01 1.01031187e-01 9.86693843e+01] [-6.41068516e-01 7.61740994e-01 -9.37113382e-02 -4.48679647e+01] [-1.37670862e-01 5.98742974e-03 9.90459936e-01 -1.12950334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43592 meters 0.03450725322305859 Centerline is valid? [True, True] Translation: X:98.69, Y:-44.89, Z:-11.30 [[ 7.54967775e-01 6.48069564e-01 1.00147386e-01 9.86882149e+01] [-6.41394224e-01 7.61557871e-01 -9.29680481e-02 -4.48947418e+01] [-1.36517793e-01 5.95392543e-03 9.90619727e-01 -1.12984109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46592 meters 0.03440293117720619 Centerline is valid? [True, True] Translation: X:98.71, Y:-44.92, Z:-11.30 [[ 7.53522854e-01 6.49562116e-01 1.01352679e-01 9.87106179e+01] [-6.42726252e-01 7.60286281e-01 -9.41686591e-02 -4.49190635e+01] [-1.38225445e-01 5.81620958e-03 9.90383713e-01 -1.13021282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49592 meters 0.03418332319961747 Centerline is valid? [True, True] Translation: X:98.73, Y:-44.94, Z:-11.30 [[ 7.51641348e-01 6.51500556e-01 1.02870353e-01 9.87318979e+01] [-6.44462322e-01 7.58627387e-01 -9.56702827e-02 -4.49438398e+01] [-1.40369509e-01 5.61367390e-03 9.90083273e-01 -1.13048812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52592 meters 0.03418622692725237 Centerline is valid? [True, True] Translation: X:98.75, Y:-44.97, Z:-11.31 [[ 7.51382710e-01 6.51749801e-01 1.03180522e-01 9.87536319e+01] [-6.44658912e-01 7.58412996e-01 -9.60448560e-02 -4.49669233e+01] [-1.40850665e-01 5.65020085e-03 9.90014730e-01 -1.13071596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55592 meters 0.033814376233854096 Centerline is valid? [True, True] Translation: X:98.77, Y:-44.99, Z:-11.31 [[ 7.50489576e-01 6.53036098e-01 1.01534486e-01 9.87728290e+01] [-6.46174462e-01 7.57307780e-01 -9.45700343e-02 -4.49928788e+01] [-1.38650502e-01 5.36483291e-03 9.90326843e-01 -1.13115161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58592 meters 0.033494563831078024 Centerline is valid? [True, True] Translation: X:98.79, Y:-45.02, Z:-11.32 [[ 7.50179060e-01 6.53410031e-01 1.01423415e-01 9.87947909e+01] [-6.46561113e-01 7.56985479e-01 -9.45077325e-02 -4.50169635e+01] [-1.38528353e-01 5.32128593e-03 9.90344172e-01 -1.13151475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61591999999999 meters 0.032699015729122066 Centerline is valid? [True, True] Translation: X:98.81, Y:-45.04, Z:-11.32 [[ 7.49204933e-01 6.54844892e-01 9.93485556e-02 9.88142945e+01] [-6.48277581e-01 7.55746732e-01 -9.26447792e-02 -4.50425493e+01] [-1.35750307e-01 5.00448429e-03 9.90730442e-01 -1.13186642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64591999999999 meters 0.03277054509993491 Centerline is valid? [True, True] Translation: X:98.84, Y:-45.07, Z:-11.32 [[ 7.48426262e-01 6.55839311e-01 9.86556042e-02 9.88360920e+01] [-6.49366803e-01 7.54885129e-01 -9.20391097e-02 -4.50654353e+01] [-1.34836515e-01 4.82081260e-03 9.90856132e-01 -1.13227198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67591999999999 meters 0.03284157152458808 Centerline is valid? [True, True] Translation: X:98.86, Y:-45.09, Z:-11.33 [[ 7.47513472e-01 6.56691235e-01 9.99011084e-02 9.88574748e+01] [-6.50049972e-01 7.54144348e-01 -9.32809567e-02 -4.50888730e+01] [-1.36596643e-01 4.78805913e-03 9.90615178e-01 -1.13269742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70591999999999 meters 0.03213445767391486 Centerline is valid? [True, True] Translation: X:98.88, Y:-45.11, Z:-11.33 [[ 7.44915800e-01 6.59755269e-01 9.91132490e-02 9.88775073e+01] [-6.53235137e-01 7.51468501e-01 -9.26226108e-02 -4.51144271e+01] [-1.35588740e-01 4.25178950e-03 9.90756083e-01 -1.13290635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73592 meters 0.031034489347701723 Centerline is valid? [True, True] Translation: X:98.90, Y:-45.14, Z:-11.33 [[ 7.42340031e-01 6.63156430e-01 9.56808706e-02 9.88983145e+01] [-6.57100766e-01 7.48472377e-01 -8.94856696e-02 -4.51383351e+01] [-1.30957486e-01 3.55682136e-03 9.91381605e-01 -1.13301984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76592 meters 0.030835693713846358 Centerline is valid? [True, True] Translation: X:98.92, Y:-45.16, Z:-11.33 [[ 7.41185755e-01 6.64555676e-01 9.49180146e-02 9.89197828e+01] [-6.58598698e-01 7.47231303e-01 -8.88433100e-02 -4.51623722e+01] [-1.29967038e-01 3.33651492e-03 9.91512701e-01 -1.13335180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79592 meters 0.03069843005960277 Centerline is valid? [True, True] Translation: X:98.94, Y:-45.19, Z:-11.34 [[ 7.39628331e-01 6.66191398e-01 9.55978684e-02 9.89414037e+01] [-6.60151268e-01 7.45774234e-01 -8.95605668e-02 -4.51875243e+01] [-1.30958906e-01 3.13247858e-03 9.91382849e-01 -1.13375133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82592 meters 0.030410170184770064 Centerline is valid? [True, True] Translation: X:98.96, Y:-45.21, Z:-11.34 [[ 7.36241660e-01 6.69918904e-01 9.56915870e-02 9.89618470e+01] [-6.63888156e-01 7.42429972e-01 -8.97232042e-02 -4.52132652e+01] [-1.31151573e-01 2.52944953e-03 9.91359101e-01 -1.13405466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85592 meters 0.03033110438159195 Centerline is valid? [True, True] Translation: X:98.99, Y:-45.23, Z:-11.34 [[ 7.34332140e-01 6.72000291e-01 9.57701224e-02 9.89858308e+01] [-6.65971739e-01 7.40547642e-01 -8.98378162e-02 -4.52348715e+01] [-1.31293377e-01 2.19060083e-03 9.91341137e-01 -1.13430512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88592 meters 0.030094480648594976 Centerline is valid? [True, True] Translation: X:99.01, Y:-45.26, Z:-11.34 [[ 7.31351111e-01 6.75384469e-01 9.47700998e-02 9.90084191e+01] [-6.69499627e-01 7.37464017e-01 -8.89779350e-02 -4.52576723e+01] [-1.29983854e-01 1.62556509e-03 9.91514778e-01 -1.13440252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91592 meters 0.02993841247171232 Centerline is valid? [True, True] Translation: X:99.03, Y:-45.28, Z:-11.35 [[ 7.30204725e-01 6.76618517e-01 9.48073985e-02 9.90315948e+01] [-6.70728610e-01 7.36332282e-01 -8.90949054e-02 -4.52811259e+01] [-1.30093011e-01 1.46748621e-03 9.91500709e-01 -1.13471087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94592 meters 0.029836459660779337 Centerline is valid? [True, True] Translation: X:99.06, Y:-45.30, Z:-11.35 [[ 7.29260016e-01 6.77800016e-01 9.36320838e-02 9.90556420e+01] [-6.72055321e-01 7.35245163e-01 -8.80692715e-02 -4.53028116e+01] [-1.28535890e-01 1.29945826e-03 9.91704006e-01 -1.13510147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97592 meters 0.02975746819031936 Centerline is valid? [True, True] Translation: X:99.08, Y:-45.32, Z:-11.35 [[ 7.28398819e-01 6.78562329e-01 9.48067866e-02 9.90800260e+01] [-6.72671393e-01 7.34541816e-01 -8.92273409e-02 -4.53233551e+01] [-1.30185861e-01 1.21927648e-03 9.91488858e-01 -1.13542520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00591999999999 meters 0.030085727058509964 Centerline is valid? [True, True] Translation: X:99.10, Y:-45.34, Z:-11.36 [[ 7.27834764e-01 6.78771059e-01 9.76033103e-02 9.91045373e+01] [-6.72516189e-01 7.34348834e-01 -9.19443601e-02 -4.53444313e+01] [-1.34084048e-01 1.28049533e-03 9.90969136e-01 -1.13580222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03591999999999 meters 0.030276109138970733 Centerline is valid? [True, True] Translation: X:99.13, Y:-45.37, Z:-11.36 [[ 7.28529703e-01 6.78001556e-01 9.77668768e-02 9.91292160e+01] [-6.71707312e-01 7.35058963e-01 -9.21824689e-02 -4.53655091e+01] [-1.34364276e-01 1.48694072e-03 9.90930891e-01 -1.13615291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06591999999999 meters 0.03042920729435362 Centerline is valid? [True, True] Translation: X:99.16, Y:-45.39, Z:-11.36 [[ 7.30486561e-01 6.76067798e-01 9.65490372e-02 9.91553699e+01] [-6.69901973e-01 7.36837017e-01 -9.11183719e-02 -4.53858159e+01] [-1.32743102e-01 1.88235564e-03 9.91148690e-01 -1.13643120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09591999999999 meters 0.03066842684985595 Centerline is valid? [True, True] Translation: X:99.18, Y:-45.41, Z:-11.37 [[ 7.31661216e-01 6.74883635e-01 9.59371884e-02 9.91805171e+01] [-6.68773608e-01 7.37921029e-01 -9.06334126e-02 -4.54077042e+01] [-1.31961076e-01 2.15269321e-03 9.91252561e-01 -1.13670825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12592 meters 0.03129952007597234 Centerline is valid? [True, True] Translation: X:99.21, Y:-45.43, Z:-11.37 [[ 7.34559925e-01 6.71463312e-01 9.77687985e-02 9.92050417e+01] [-6.65073827e-01 7.41032160e-01 -9.24561645e-02 -4.54284248e+01] [-1.34530746e-01 2.89112426e-03 9.90905202e-01 -1.13685323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15592 meters 0.03157666679847996 Centerline is valid? [True, True] Translation: X:99.23, Y:-45.45, Z:-11.37 [[ 7.35998624e-01 6.69890369e-01 9.77390375e-02 9.92288219e+01] [-6.63481272e-01 7.42452996e-01 -9.24994573e-02 -4.54492019e+01] [-1.34531137e-01 3.23145236e-03 9.90904098e-01 -1.13709826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18592 meters 0.03236166445339141 Centerline is valid? [True, True] Translation: X:99.25, Y:-45.47, Z:-11.38 [[ 7.38629864e-01 6.67021770e-01 9.75083755e-02 9.92543334e+01] [-6.60610897e-01 7.45028608e-01 -9.23342627e-02 -4.54688159e+01] [-1.34235493e-01 3.78574852e-03 9.90942229e-01 -1.13765105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21592 meters 0.032448967356856574 Centerline is valid? [True, True] Translation: X:99.28, Y:-45.49, Z:-11.38 [[ 7.39244085e-01 6.66428021e-01 9.69116865e-02 9.92787683e+01] [-6.60079631e-01 7.45559011e-01 -9.18511943e-02 -4.54913511e+01] [-1.33465591e-01 3.93102189e-03 9.91045651e-01 -1.13794688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24592 meters 0.0327495033155511 Centerline is valid? [True, True] Translation: X:99.30, Y:-45.51, Z:-11.38 [[ 7.39020825e-01 6.66365747e-01 9.90197507e-02 9.93017620e+01] [-6.59724028e-01 7.45613782e-01 -9.39377184e-02 -4.55128052e+01] [-1.36427369e-01 4.09622136e-03 9.90641607e-01 -1.13844861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27592 meters 0.032753778139573295 Centerline is valid? [True, True] Translation: X:99.33, Y:-45.53, Z:-11.39 [[ 7.38682632e-01 6.66605755e-01 9.99236550e-02 9.93258248e+01] [-6.59832965e-01 7.45398927e-01 -9.48730603e-02 -4.55345278e+01] [-1.37725913e-01 4.14816032e-03 9.90461693e-01 -1.13880653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30592 meters 0.03245661375387195 Centerline is valid? [True, True] Translation: X:99.35, Y:-45.56, Z:-11.39 [[ 7.38416159e-01 6.67086199e-01 9.86791744e-02 9.93497560e+01] [-6.60475237e-01 7.44969438e-01 -9.37709849e-02 -4.55558140e+01] [-1.36066299e-01 4.06685931e-03 9.90691386e-01 -1.13913021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33592 meters 0.032438252935161366 Centerline is valid? [True, True] Translation: X:99.37, Y:-45.58, Z:-11.40 [[ 7.37694779e-01 6.67804614e-01 9.92139667e-02 9.93738991e+01] [-6.61116244e-01 7.44325763e-01 -9.43635012e-02 -4.55776646e+01] [-1.36863893e-01 4.01949708e-03 9.90581707e-01 -1.13955427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36591999999999 meters 0.03230527994465027 Centerline is valid? [True, True] Translation: X:99.40, Y:-45.60, Z:-11.40 [[ 7.37310760e-01 6.68369681e-01 9.82589006e-02 9.93977281e+01] [-6.61803010e-01 7.43818813e-01 -9.35433045e-02 -4.55986410e+01] [-1.35608327e-01 3.94244875e-03 9.90754681e-01 -1.13982298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39591999999999 meters 0.03260912852691231 Centerline is valid? [True, True] Translation: X:99.42, Y:-45.62, Z:-11.40 [[ 7.38018501e-01 6.67572958e-01 9.83617750e-02 9.94215374e+01] [-6.60974370e-01 7.44532801e-01 -9.37218817e-02 -4.56201823e+01] [-1.35799762e-01 4.15387039e-03 9.90727596e-01 -1.14015482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42591999999999 meters 0.03257276999021391 Centerline is valid? [True, True] Translation: X:99.44, Y:-45.64, Z:-11.40 [[ 7.38100587e-01 6.67626160e-01 9.73798456e-02 9.94446866e+01] [-6.61148997e-01 7.44485052e-01 -9.28655579e-02 -4.56430304e+01] [-1.34497315e-01 4.16153554e-03 9.90905219e-01 -1.14042258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45591999999999 meters 0.03274866407650401 Centerline is valid? [True, True] Translation: X:99.47, Y:-45.66, Z:-11.41 [[ 7.38325784e-01 6.67513513e-01 9.64403792e-02 9.94682811e+01] [-6.61149832e-01 7.44585838e-01 -9.20479742e-02 -4.56641121e+01] [-1.33251407e-01 4.19985222e-03 9.91073369e-01 -1.14080867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48592 meters 0.03274866407650401 Centerline is valid? [True, True] Translation: X:99.49, Y:-45.69, Z:-11.41 [[ 7.38002904e-01 6.67876369e-01 9.63995328e-02 9.94919572e+01] [-6.61510189e-01 7.44260416e-01 -9.20907367e-02 -4.56862340e+01] [-1.33251583e-01 4.19395794e-03 9.91073371e-01 -1.14113106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51592 meters 0.032542528070407244 Centerline is valid? [True, True] Translation: X:99.52, Y:-45.71, Z:-11.42 [[ 7.37416163e-01 6.68315174e-01 9.78377741e-02 9.95169488e+01] [-6.61748320e-01 7.43866127e-01 -9.35539784e-02 -4.57065534e+01] [-1.35301749e-01 4.24423321e-03 9.90795349e-01 -1.14159910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54592 meters 0.032575910834993484 Centerline is valid? [True, True] Translation: X:99.54, Y:-45.73, Z:-11.42 [[ 7.36683126e-01 6.69092155e-01 9.80492732e-02 9.95405830e+01] [-6.62492149e-01 7.43167728e-01 -9.38396568e-02 -4.57291534e+01] [-1.35654434e-01 4.17321796e-03 9.90747424e-01 -1.14184295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57592 meters 0.03266414143273037 Centerline is valid? [True, True] Translation: X:99.56, Y:-45.75, Z:-11.42 [[ 7.35416706e-01 6.70407682e-01 9.85688020e-02 9.95646312e+01] [-6.63736096e-01 7.41982052e-01 -9.44300256e-02 -4.57520974e+01] [-1.36442897e-01 4.02174657e-03 9.90639774e-01 -1.14219548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60592 meters 0.03258438996454415 Centerline is valid? [True, True] Translation: X:99.59, Y:-45.78, Z:-11.43 [[ 7.34341457e-01 6.71536013e-01 9.89040328e-02 9.95871995e+01] [-6.64815918e-01 7.40961677e-01 -9.48450749e-02 -4.57761072e+01] [-1.36975981e-01 3.89569515e-03 9.90566709e-01 -1.14254598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63592 meters 0.032239592317414446 Centerline is valid? [True, True] Translation: X:99.61, Y:-45.80, Z:-11.43 [[ 7.32949603e-01 6.73132234e-01 9.83761895e-02 9.96084359e+01] [-6.66485992e-01 7.39513157e-01 -9.44283447e-02 -4.57998198e+01] [-1.36313249e-01 3.64486547e-03 9.90659080e-01 -1.14289771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66592 meters 0.03218007165950111 Centerline is valid? [True, True] Translation: X:99.63, Y:-45.82, Z:-11.43 [[ 7.32513373e-01 6.73657130e-01 9.80317787e-02 9.96315230e+01] [-6.67051171e-01 7.39035283e-01 -9.41784775e-02 -4.58219168e+01] [-1.35892946e-01 3.59478147e-03 9.90717005e-01 -1.14314488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.69592 meters 0.03184970218928545 Centerline is valid? [True, True] Translation: X:99.65, Y:-45.84, Z:-11.43 [[ 7.31574882e-01 6.74844475e-01 9.68665403e-02 9.96544822e+01] [-6.68394945e-01 7.37952183e-01 -9.31384583e-02 -4.58439677e+01] [-1.34336849e-01 3.39265071e-03 9.90929917e-01 -1.14340398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72592 meters 0.03131056505072577 Centerline is valid? [True, True] Translation: X:99.68, Y:-45.87, Z:-11.44 [[ 7.30353877e-01 6.76453346e-01 9.48371517e-02 9.96771844e+01] [-6.70276580e-01 7.36479032e-01 -9.12575604e-02 -4.58673601e+01] [-1.31577056e-01 3.08319138e-03 9.91301151e-01 -1.14359514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75591999999999 meters 0.03121250223169781 Centerline is valid? [True, True] Translation: X:99.70, Y:-45.89, Z:-11.44 [[ 7.29388294e-01 6.77621328e-01 9.39257827e-02 9.96999760e+01] [-6.71565441e-01 7.35405334e-01 -9.04370165e-02 -4.58903939e+01] [-1.30355573e-01 2.88639155e-03 9.91463107e-01 -1.14385649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78591999999999 meters 0.030942623183025302 Centerline is valid? [True, True] Translation: X:99.72, Y:-45.91, Z:-11.44 [[ 7.27130235e-01 6.80041759e-01 9.39405521e-02 9.97234069e+01] [-6.73993590e-01 7.33169077e-01 -9.05303569e-02 -4.59123605e+01] [-1.30438731e-01 2.51202968e-03 9.91453190e-01 -1.14413593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81591999999999 meters 0.03046278919170841 Centerline is valid? [True, True] Translation: X:99.75, Y:-45.93, Z:-11.44 [[ 7.26157008e-01 6.81299380e-01 9.23425932e-02 9.97475415e+01] [-6.75456202e-01 7.32001261e-01 -8.90677988e-02 -4.59339518e+01] [-1.28276731e-01 2.30382906e-03 9.91735737e-01 -1.14417610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84591999999999 meters 0.02997513420655362 Centerline is valid? [True, True] Translation: X:99.77, Y:-45.96, Z:-11.44 [[ 7.23481264e-01 6.84488831e-01 8.97212383e-02 9.97711179e+01] [-6.78988954e-01 7.29021261e-01 -8.66140931e-02 -4.59554594e+01] [-1.24695070e-01 1.74394377e-03 9.92193579e-01 -1.14445481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87592 meters 0.030080791248589183 Centerline is valid? [True, True] Translation: X:99.80, Y:-45.98, Z:-11.45 [[ 7.22679090e-01 6.85320541e-01 8.98370127e-02 9.97950986e+01] [-6.79802868e-01 7.28239657e-01 -8.68047362e-02 -4.59782495e+01] [-1.24911944e-01 1.66050883e-03 9.92166442e-01 -1.14493246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90592 meters 0.03008602126120486 Centerline is valid? [True, True] Translation: X:99.82, Y:-46.00, Z:-11.45 [[ 7.21567165e-01 6.86454397e-01 9.01176318e-02 9.98200075e+01] [-6.80899552e-01 7.27171236e-01 -8.71653289e-02 -4.60001841e+01] [-1.25365973e-01 1.53458415e-03 9.92109378e-01 -1.14527978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93592 meters 0.03015074905133127 Centerline is valid? [True, True] Translation: X:99.84, Y:-46.02, Z:-11.45 [[ 7.21697705e-01 6.86315739e-01 9.01284090e-02 9.98446708e+01] [-6.80747158e-01 7.27301910e-01 -8.72653347e-02 -4.60216056e+01] [-1.25442137e-01 1.62453348e-03 9.92099608e-01 -1.14548691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96592 meters 0.030222579436233056 Centerline is valid? [True, True] Translation: X:99.87, Y:-46.04, Z:-11.46 [[ 7.20892603e-01 6.86937062e-01 9.18222579e-02 9.98682889e+01] [-6.81149689e-01 7.26715127e-01 -8.89956513e-02 -4.60427444e+01] [-1.27863035e-01 1.61160435e-03 9.91790526e-01 -1.14587382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99592 meters 0.03038676788141326 Centerline is valid? [True, True] Translation: X:99.89, Y:-46.06, Z:-11.46 [[ 7.21163906e-01 6.86611701e-01 9.21248684e-02 9.98936866e+01] [-6.80772879e-01 7.27022259e-01 -8.93695859e-02 -4.60622209e+01] [-1.28339033e-01 1.73400787e-03 9.91728837e-01 -1.14615643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02592 meters 0.030487313913844745 Centerline is valid? [True, True] Translation: X:99.92, Y:-46.08, Z:-11.47 [[ 7.21527245e-01 6.86128919e-01 9.28737889e-02 9.99181205e+01] [-6.80179732e-01 7.27477502e-01 -9.01776939e-02 -4.60829788e+01] [-1.29437116e-01 1.89479424e-03 9.91585822e-01 -1.14652995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05592 meters 0.030396282073131522 Centerline is valid? [True, True] Translation: X:99.94, Y:-46.11, Z:-11.47 [[ 7.21692254e-01 6.86070826e-01 9.20169115e-02 9.99410898e+01] [-6.80220658e-01 7.27532155e-01 -8.94249430e-02 -4.61053424e+01] [-1.28297106e-01 1.94548457e-03 9.91733869e-01 -1.14677770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08592 meters 0.030238308031533056 Centerline is valid? [True, True] Translation: X:99.96, Y:-46.13, Z:-11.47 [[ 7.21537834e-01 6.86326222e-01 9.13207046e-02 9.99644557e+01] [-6.80556589e-01 7.27291236e-01 -8.88267236e-02 -4.61280040e+01] [-1.27380858e-01 1.94293458e-03 9.91851976e-01 -1.14699710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11591999999999 meters 0.03000694190509754 Centerline is valid? [True, True] Translation: X:99.99, Y:-46.15, Z:-11.47 [[ 7.20373045e-01 6.87628655e-01 9.07166429e-02 9.99878298e+01] [-6.81935703e-01 7.26060425e-01 -8.83173560e-02 -4.61495894e+01] [-1.26595309e-01 1.75852498e-03 9.91952890e-01 -1.14724037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14591999999999 meters 0.030084433291771216 Centerline is valid? [True, True] Translation: X:100.01, Y:-46.17, Z:-11.47 [[ 7.17526226e-01 6.90418499e-01 9.20782863e-02 1.00011806e+02] [-6.84564572e-01 7.23408930e-01 -8.97266190e-02 -4.61718447e+01] [-1.28559172e-01 1.34766964e-03 9.91700924e-01 -1.14741581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17591999999999 meters 0.030147695361565117 Centerline is valid? [True, True] Translation: X:100.04, Y:-46.19, Z:-11.48 [[ 7.16554521e-01 6.91431776e-01 9.20419326e-02 1.00036032e+02] [-6.85578777e-01 7.22440709e-01 -8.97839770e-02 -4.61945972e+01] [-1.28574334e-01 1.23311903e-03 9.91699108e-01 -1.14770547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20591999999999 meters 0.029986583027213985 Centerline is valid? [True, True] Translation: X:100.06, Y:-46.22, Z:-11.48 [[ 7.15968356e-01 6.92225436e-01 9.06270309e-02 1.00059798e+02] [-6.86546807e-01 7.21680436e-01 -8.84919780e-02 -4.62158125e+01] [-1.26660153e-01 1.13775730e-03 9.91945518e-01 -1.14786587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23592 meters 0.029932582399341986 Centerline is valid? [True, True] Translation: X:100.08, Y:-46.24, Z:-11.48 [[ 7.15380454e-01 6.92775671e-01 9.10641272e-02 1.00083931e+02] [-6.87035688e-01 7.21152305e-01 -8.90017765e-02 -4.62386673e+01] [-1.27329371e-01 1.10582603e-03 9.91859873e-01 -1.14813310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26592 meters 0.030210560578022096 Centerline is valid? [True, True] Translation: X:100.11, Y:-46.26, Z:-11.48 [[ 7.16851963e-01 6.91218202e-01 9.13272116e-02 1.00108292e+02] [-6.85420661e-01 7.22644648e-01 -8.93489231e-02 -4.62601368e+01] [-1.27756723e-01 1.45239314e-03 9.91804472e-01 -1.14841333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29592 meters 0.030610646994936697 Centerline is valid? [True, True] Translation: X:100.13, Y:-46.28, Z:-11.49 [[ 7.19850233e-01 6.88107770e-01 9.12323408e-02 1.00132451e+02] [-6.82286990e-01 7.25605571e-01 -8.93365506e-02 -4.62814763e+01] [-1.27671869e-01 2.06229756e-03 9.91814318e-01 -1.14859490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32592 meters 0.030884321171904892 Centerline is valid? [True, True] Translation: X:100.16, Y:-46.30, Z:-11.49 [[ 7.20804925e-01 6.86941812e-01 9.24727308e-02 1.00155905e+02] [-6.80940758e-01 7.26708591e-01 -9.06328199e-02 -4.63030304e+01] [-1.29460202e-01 2.36013157e-03 9.91581810e-01 -1.14901116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35592 meters 0.03110876091310349 Centerline is valid? [True, True] Translation: X:100.18, Y:-46.32, Z:-11.50 [[ 7.21695785e-01 6.85700866e-01 9.47075315e-02 1.00179294e+02] [-6.79383317e-01 7.27878423e-01 -9.29048427e-02 -4.63242488e+01] [-1.32640500e-01 2.70631642e-03 9.91160519e-01 -1.14963257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38592 meters 0.030834810127538678 Centerline is valid? [True, True] Translation: X:100.20, Y:-46.35, Z:-11.50 [[ 7.21204441e-01 6.86243609e-01 9.45191181e-02 1.00203349e+02] [-6.79945388e-01 7.27366921e-01 -9.27988746e-02 -4.63472460e+01] [-1.32432715e-01 2.65912200e-03 9.91188431e-01 -1.14996806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41592 meters 0.030524131904484896 Centerline is valid? [True, True] Translation: X:100.23, Y:-46.37, Z:-11.50 [[ 7.19579221e-01 6.87907625e-01 9.48095163e-02 1.00225450e+02] [-6.81572684e-01 7.25794193e-01 -9.31743866e-02 -4.63705681e+01] [-1.32907567e-01 2.42677598e-03 9.91125466e-01 -1.15027349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44592 meters 0.030509843219722176 Centerline is valid? [True, True] Translation: X:100.25, Y:-46.39, Z:-11.51 [[ 7.18503955e-01 6.89091644e-01 9.43651049e-02 1.00248111e+02] [-6.82815537e-01 7.24670693e-01 -9.28187944e-02 -4.63936002e+01] [-1.32344282e-01 2.25671107e-03 9.91201240e-01 -1.15058023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47592 meters 0.03047371890990679 Centerline is valid? [True, True] Translation: X:100.27, Y:-46.42, Z:-11.51 [[ 7.16442719e-01 6.91031409e-01 9.58406074e-02 1.00270914e+02] [-6.84562385e-01 7.22821991e-01 -9.43541752e-02 -4.64155131e+01] [-1.34477397e-01 1.99048710e-03 9.90914662e-01 -1.15086486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50591999999999 meters 0.030342022571028936 Centerline is valid? [True, True] Translation: X:100.30, Y:-46.44, Z:-11.51 [[ 7.15154709e-01 6.92343828e-01 9.59883685e-02 1.00295744e+02] [-6.85854657e-01 7.21565484e-01 -9.45866901e-02 -4.64365802e+01] [-1.34748405e-01 1.81004726e-03 9.90878192e-01 -1.15131557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53591999999999 meters 0.03026229990380203 Centerline is valid? [True, True] Translation: X:100.32, Y:-46.46, Z:-11.52 [[ 7.14968871e-01 6.92736538e-01 9.45283135e-02 1.00319548e+02] [-6.86435450e-01 7.21188559e-01 -9.32385976e-02 -4.64582894e+01] [-1.32762522e-01 1.77510947e-03 9.91146287e-01 -1.15175064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56591999999999 meters 0.03021649125654866 Centerline is valid? [True, True] Translation: X:100.34, Y:-46.48, Z:-11.52 [[ 7.14659070e-01 6.92959422e-01 9.52347259e-02 1.00343246e+02] [-6.86554024e-01 7.20974321e-01 -9.40191473e-02 -4.64803022e+01] [-1.33813246e-01 1.80785205e-03 9.91004918e-01 -1.15223643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59591999999999 meters 0.030385604758798885 Centerline is valid? [True, True] Translation: X:100.37, Y:-46.50, Z:-11.53 [[ 7.15319052e-01 6.92123166e-01 9.63544315e-02 1.00368465e+02] [-6.85546382e-01 7.21776504e-01 -9.52094342e-02 -4.65004777e+01] [-1.35443020e-01 2.04969032e-03 9.90783017e-01 -1.15264418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62592 meters 0.030940398865211362 Centerline is valid? [True, True] Translation: X:100.39, Y:-46.52, Z:-11.53 [[ 7.16357718e-01 6.90810032e-01 9.80465215e-02 1.00392821e+02] [-6.83974737e-01 7.23032315e-01 -9.69681936e-02 -4.65213167e+01] [-1.37877404e-01 2.40257007e-03 9.90446389e-01 -1.15311512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65592 meters 0.031706952207537505 Centerline is valid? [True, True] Translation: X:100.42, Y:-46.54, Z:-11.53 [[ 7.19668800e-01 6.87363375e-01 9.80224859e-02 1.00418234e+02] [-6.80487702e-01 7.26306973e-01 -9.70292115e-02 -4.65419906e+01] [-1.37888741e-01 3.12580008e-03 9.90442792e-01 -1.15319525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68592 meters 0.032149387167724815 Centerline is valid? [True, True] Translation: X:100.44, Y:-46.56, Z:-11.54 [[ 7.22846913e-01 6.84136357e-01 9.72100090e-02 1.00443364e+02] [-6.77334216e-01 7.29344376e-01 -9.63075407e-02 -4.65614881e+01] [-1.36787063e-01 3.77194335e-03 9.90593293e-01 -1.15360512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71592 meters 0.032442433611684765 Centerline is valid? [True, True] Translation: X:100.47, Y:-46.58, Z:-11.54 [[ 7.23127209e-01 6.83624140e-01 9.87171449e-02 1.00466167e+02] [-6.76591726e-01 7.29823332e-01 -9.78853429e-02 -4.65842461e+01] [-1.38962859e-01 3.99235142e-03 9.90289546e-01 -1.15411362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74592 meters 0.03226608783023137 Centerline is valid? [True, True] Translation: X:100.49, Y:-46.61, Z:-11.54 [[ 7.23662436e-01 6.83274232e-01 9.72059798e-02 1.00488675e+02] [-6.76442147e-01 7.30150580e-01 -9.64683949e-02 -4.66067845e+01] [-1.36889371e-01 4.05633198e-03 9.90578036e-01 -1.15442727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77592 meters 0.032140406294565604 Centerline is valid? [True, True] Translation: X:100.51, Y:-46.63, Z:-11.55 [[ 7.22317233e-01 6.84686099e-01 9.72767282e-02 1.00512465e+02] [-6.77845316e-01 7.28827898e-01 -9.66210233e-02 -4.66284585e+01] [-1.37053065e-01 3.85245558e-03 9.90556215e-01 -1.15479649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80592 meters 0.03188489883185801 Centerline is valid? [True, True] Translation: X:100.54, Y:-46.65, Z:-11.55 [[ 7.21520747e-01 6.85654794e-01 9.63603438e-02 1.00536078e+02] [-6.78940362e-01 7.27917485e-01 -9.57920640e-02 -4.66505459e+01] [-1.35822667e-01 3.69303488e-03 9.90726281e-01 -1.15512249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83592 meters 0.03144770282151328 Centerline is valid? [True, True] Translation: X:100.56, Y:-46.68, Z:-11.55 [[ 7.18929329e-01 6.88515744e-01 9.53241322e-02 1.00555565e+02] [-6.81961609e-01 7.25214478e-01 -9.48278674e-02 -4.66765434e+01] [-1.34420920e-01 3.16713648e-03 9.90919263e-01 -1.15547258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86591999999999 meters 0.03107958252146157 Centerline is valid? [True, True] Translation: X:100.58, Y:-46.70, Z:-11.56 [[ 7.17672885e-01 6.89982902e-01 9.41765638e-02 1.00576541e+02] [-6.83593609e-01 7.23819913e-01 -9.37257243e-02 -4.67006302e+01] [-1.32836020e-01 2.88591383e-03 9.91133827e-01 -1.15569326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89591999999999 meters 0.030739502483922154 Centerline is valid? [True, True] Translation: X:100.60, Y:-46.72, Z:-11.56 [[ 7.16272486e-01 6.91772555e-01 9.16758295e-02 1.00598969e+02] [-6.85724067e-01 7.22110985e-01 -9.13139083e-02 -4.67229339e+01] [-1.29368579e-01 2.54131745e-03 9.91593320e-01 -1.15583997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92591999999999 meters 0.030600627291481365 Centerline is valid? [True, True] Translation: X:100.62, Y:-46.75, Z:-11.56 [[ 7.15925575e-01 6.92224628e-01 9.09705195e-02 1.00621933e+02] [-6.86263032e-01 7.21677792e-01 -9.06874597e-02 -4.67454823e+01] [-1.28427497e-01 2.49576720e-03 9.91715760e-01 -1.15611567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95591999999999 meters 0.03048002643793091 Centerline is valid? [True, True] Translation: X:100.64, Y:-46.77, Z:-11.56 [[ 7.13808591e-01 6.94340407e-01 9.14805648e-02 1.00642784e+02] [-6.88318253e-01 7.19643398e-01 -9.12762996e-02 -4.67694206e+01] [-1.29210207e-01 2.18606431e-03 9.91614816e-01 -1.15644379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98592 meters 0.03033155955927132 Centerline is valid? [True, True] Translation: X:100.67, Y:-46.79, Z:-11.57 [[ 7.12353027e-01 6.95779302e-01 9.18930280e-02 1.00666188e+02] [-6.89703378e-01 7.18252869e-01 -9.17718195e-02 -4.67928528e+01] [-1.29855363e-01 1.99500154e-03 9.91530940e-01 -1.15668467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01592 meters 0.030212425326748865 Centerline is valid? [True, True] Translation: X:100.69, Y:-46.81, Z:-11.57 [[ 7.10131095e-01 6.98132301e-01 9.12420899e-02 1.00689736e+02] [-6.92150197e-01 7.15966948e-01 -9.12109323e-02 -4.68146976e+01] [-1.29003619e-01 1.61848873e-03 9.91642802e-01 -1.15697456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04592 meters 0.030179425270621917 Centerline is valid? [True, True] Translation: X:100.82, Y:-47.03, Z:-9.61 [[ 7.49350885e-01 -6.60523305e-01 -4.67141844e-02 1.00819118e+02] [-6.58658951e-01 -7.50775339e-01 5.00477464e-02 -4.70296066e+01] [-6.81295604e-02 -6.73460739e-03 -9.97653752e-01 -9.61150673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07592 meters 0.03025928967971993 Centerline is valid? [True, True] Translation: X:100.74, Y:-46.88, Z:-11.58 [[ 7.59066108e-01 6.43555805e-01 9.82576744e-02 1.00737021e+02] [-6.38011512e-01 7.65398086e-01 -8.43035020e-02 -4.68788121e+01] [-1.29460244e-01 1.30240377e-03 9.91583758e-01 -1.15768356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10592 meters 0.030201860080063408 Centerline is valid? [True, True] Translation: X:100.76, Y:-46.90, Z:-11.58 [[ 7.58306584e-01 6.44597720e-01 9.72877441e-02 1.00762638e+02] [-6.39159455e-01 7.64521012e-01 -8.35632334e-02 -4.68984156e+01] [-1.28243194e-01 1.18416859e-03 9.91742044e-01 -1.15788193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13592 meters 0.030102816463449294 Centerline is valid? [True, True] Translation: X:100.79, Y:-46.92, Z:-11.58 [[ 7.58013197e-01 6.44681452e-01 9.90041331e-02 1.00787187e+02] [-6.39039126e-01 7.64450299e-01 -8.51160170e-02 -4.69188577e+01] [-1.30556457e-01 1.25154948e-03 9.91440087e-01 -1.15842056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16592 meters 0.030158332050618436 Centerline is valid? [True, True] Translation: X:100.81, Y:-46.94, Z:-11.59 [[ 7.58439487e-01 6.43991343e-01 1.00223223e-01 1.00811240e+02] [-6.38191979e-01 7.65031405e-01 -8.62435327e-02 -4.69400867e+01] [-1.32214002e-01 1.44884343e-03 9.91220136e-01 -1.15887684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.19592 meters 0.030813956246627822 Centerline is valid? [True, True] Translation: X:100.84, Y:-46.96, Z:-11.59 [[ 7.61603288e-01 6.39808253e-01 1.02984614e-01 1.00836190e+02] [-6.33636057e-01 7.68531171e-01 -8.86858815e-02 -4.69601241e+01] [-1.35888845e-01 2.28869384e-03 9.90721446e-01 -1.15923657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22592 meters 0.030832788254366413 Centerline is valid? [True, True] Translation: X:100.86, Y:-46.98, Z:-11.59 [[ 7.63309689e-01 6.38014173e-01 1.01470353e-01 1.00861711e+02] [-6.32002275e-01 7.70020238e-01 -8.74182962e-02 -4.69802411e+01] [-1.33908338e-01 2.59773832e-03 9.90990317e-01 -1.15928835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25591999999999 meters 0.030933018116389707 Centerline is valid? [True, True] Translation: X:100.89, Y:-47.00, Z:-11.60 [[ 7.63227709e-01 6.38321953e-01 1.00142643e-01 1.00885398e+02] [-6.32459631e-01 7.69765216e-01 -8.63500332e-02 -4.70019346e+01] [-1.32205445e-01 2.56855917e-03 9.91219009e-01 -1.15952660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28591999999999 meters 0.030879946331758574 Centerline is valid? [True, True] Translation: X:100.91, Y:-47.02, Z:-11.60 [[ 7.62772462e-01 6.38926658e-01 9.97541839e-02 1.00909742e+02] [-6.33104984e-01 7.69263551e-01 -8.60910494e-02 -4.70229836e+01] [-1.31743124e-01 2.51301065e-03 9.91280704e-01 -1.15990180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31591999999999 meters 0.030217279805207883 Centerline is valid? [True, True] Translation: X:100.93, Y:-47.04, Z:-11.60 [[ 7.60210267e-01 6.42301261e-01 9.76188560e-02 1.00933574e+02] [-6.36745412e-01 7.66449812e-01 -8.43206089e-02 -4.70437890e+01] [-1.28979187e-01 1.94303386e-03 9.91645397e-01 -1.16018974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34591999999999 meters 0.030113499147666947 Centerline is valid? [True, True] Translation: X:100.96, Y:-47.07, Z:-11.60 [[ 7.59694942e-01 6.43170792e-01 9.58901802e-02 1.00957574e+02] [-6.37808788e-01 7.65720596e-01 -8.28970394e-02 -4.70653263e+01] [-1.26742040e-01 1.81686194e-03 9.91934047e-01 -1.16044094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37592 meters 0.030113499147666947 Centerline is valid? [True, True] Translation: X:100.98, Y:-47.09, Z:-11.61 [[ 7.59369566e-01 6.43560577e-01 9.58522087e-02 1.00982306e+02] [-6.38196127e-01 7.65393040e-01 -8.29409265e-02 -4.70862464e+01] [-1.26742124e-01 1.81030701e-03 9.91934049e-01 -1.16076222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40592 meters 0.029889175865332355 Centerline is valid? [True, True] Translation: X:101.01, Y:-47.11, Z:-11.61 [[ 7.58235542e-01 6.45166988e-01 9.40128711e-02 1.01005583e+02] [-6.40009463e-01 7.64039973e-01 -8.14297684e-02 -4.71088785e+01] [-1.24365390e-01 1.57381745e-03 9.92235241e-01 -1.16105328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43592 meters 0.02989600407283471 Centerline is valid? [True, True] Translation: X:101.03, Y:-47.13, Z:-11.61 [[ 7.57789525e-01 6.45461095e-01 9.55772529e-02 1.01027595e+02] [-6.40122460e-01 7.63791453e-01 -8.28604383e-02 -4.71322916e+01] [-1.26484278e-01 1.60962595e-03 9.91967306e-01 -1.16129175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46592 meters 0.03030138082956808 Centerline is valid? [True, True] Translation: X:101.05, Y:-47.15, Z:-11.61 [[ 7.58150553e-01 6.44839770e-01 9.68989699e-02 1.01052715e+02] [-6.39336989e-01 7.64315673e-01 -8.40819112e-02 -4.71517155e+01] [-1.28280762e-01 1.79565184e-03 9.91736266e-01 -1.16149363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49592 meters 0.030164889050303047 Centerline is valid? [True, True] Translation: X:101.08, Y:-47.17, Z:-11.62 [[ 7.57842016e-01 6.45269384e-01 9.64515477e-02 1.01078040e+02] [-6.39811511e-01 7.63953064e-01 -8.37672183e-02 -4.71727503e+01] [-1.27736877e-01 1.77150717e-03 9.91806509e-01 -1.16176029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52592 meters 0.030116446321353393 Centerline is valid? [True, True] Translation: X:101.10, Y:-47.20, Z:-11.62 [[ 7.58083597e-01 6.44993681e-01 9.63971509e-02 1.01101854e+02] [-6.39528714e-01 7.64185583e-01 -8.38058446e-02 -4.71955103e+01] [-1.27719553e-01 1.88309026e-03 9.91808535e-01 -1.16225277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55592 meters 0.03014572478761116 Centerline is valid? [True, True] Translation: X:101.13, Y:-47.22, Z:-11.63 [[ 7.58164801e-01 6.44966185e-01 9.59414147e-02 1.01126550e+02] [-6.39541809e-01 7.64208636e-01 -8.34951249e-02 -4.72167280e+01] [-1.27170790e-01 1.94451880e-03 9.91878929e-01 -1.16257993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58592 meters 0.030007173436886334 Centerline is valid? [True, True] Translation: X:101.15, Y:-47.24, Z:-11.63 [[ 7.58225129e-01 6.44882555e-01 9.60267871e-02 1.01151771e+02] [-6.39436792e-01 7.64278996e-01 -8.36552775e-02 -4.72379588e+01] [-1.27339086e-01 2.02647290e-03 9.91857173e-01 -1.16291418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61591999999999 meters 0.03041960436589941 Centerline is valid? [True, True] Translation: X:101.18, Y:-47.26, Z:-11.63 [[ 7.59611262e-01 6.43023412e-01 9.75275439e-02 1.01176609e+02] [-6.37378905e-01 7.65842627e-01 -8.50482329e-02 -4.72585349e+01] [-1.29378755e-01 2.44159642e-03 9.91592243e-01 -1.16324857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64591999999999 meters 0.030637290144130427 Centerline is valid? [True, True] Translation: X:101.20, Y:-47.28, Z:-11.63 [[ 7.61776492e-01 6.40724742e-01 9.57516618e-02 1.01200431e+02] [-6.35256987e-01 7.67765424e-01 -8.35752017e-02 -4.72814735e+01] [-1.27063515e-01 2.83871187e-03 9.91890521e-01 -1.16345457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67591999999999 meters 0.030696253426353636 Centerline is valid? [True, True] Translation: X:101.22, Y:-47.30, Z:-11.64 [[ 7.62615258e-01 6.39701048e-01 9.59194304e-02 1.01223626e+02] [-6.34195554e-01 7.68617654e-01 -8.38027527e-02 -4.73028551e+01] [-1.27334076e-01 3.07758163e-03 9.91855111e-01 -1.16375017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70591999999999 meters 0.030779400570898202 Centerline is valid? [True, True] Translation: X:101.25, Y:-47.33, Z:-11.64 [[ 7.62941204e-01 6.39355453e-01 9.56311902e-02 1.01245816e+02] [-6.33871366e-01 7.68904733e-01 -8.36217868e-02 -4.73264809e+01] [-1.26995320e-01 3.18063350e-03 9.91898217e-01 -1.16420130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73592 meters 0.03066198654500498 Centerline is valid? [True, True] Translation: X:101.27, Y:-47.35, Z:-11.64 [[ 7.62574265e-01 6.39892096e-01 9.49662884e-02 1.01268809e+02] [-6.34478662e-01 7.68458401e-01 -8.31174724e-02 -4.73485543e+01] [-1.26163856e-01 3.12916187e-03 9.92004481e-01 -1.16444694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76592 meters 0.03056812769704007 Centerline is valid? [True, True] Translation: X:101.29, Y:-47.37, Z:-11.65 [[ 7.62125907e-01 6.40436018e-01 9.48989426e-02 1.01292744e+02] [-6.35024911e-01 7.68005290e-01 -8.31338487e-02 -4.73705631e+01] [-1.26124801e-01 3.09526728e-03 9.92009553e-01 -1.16483136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79592 meters 0.030130715342964264 Centerline is valid? [True, True] Translation: X:101.31, Y:-47.39, Z:-11.65 [[ 7.60235386e-01 6.42781419e-01 9.42029964e-02 1.01314515e+02] [-6.37457412e-01 7.66044706e-01 -8.26048200e-02 -4.73940795e+01] [-1.25260550e-01 2.74870893e-03 9.92120073e-01 -1.16518985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82592 meters 0.03023493676090731 Centerline is valid? [True, True] Translation: X:101.34, Y:-47.42, Z:-11.66 [[ 7.58777954e-01 6.44346069e-01 9.52583875e-02 1.01336076e+02] [-6.38904018e-01 7.64729688e-01 -8.36071787e-02 -4.74190985e+01] [-1.26718874e-01 2.57831748e-03 9.91935320e-01 -1.16560019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85592 meters 0.030224009214580683 Centerline is valid? [True, True] Translation: X:101.36, Y:-47.44, Z:-11.66 [[ 7.58613360e-01 6.44529851e-01 9.53259758e-02 1.01360197e+02] [-6.39070616e-01 7.64574674e-01 -8.37515067e-02 -4.74414880e+01] [-1.26864173e-01 2.61498180e-03 9.91916651e-01 -1.16577787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88592 meters 0.030085462469981436 Centerline is valid? [True, True] Translation: X:101.38, Y:-47.46, Z:-11.66 [[ 7.57957776e-01 6.45339724e-01 9.50612934e-02 1.01383423e+02] [-6.39906765e-01 7.63891491e-01 -8.36009630e-02 -4.74636867e+01] [-1.26567536e-01 2.53563529e-03 9.91954752e-01 -1.16602968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91592 meters 0.030196692493163715 Centerline is valid? [True, True] Translation: X:101.41, Y:-47.49, Z:-11.66 [[ 7.58164930e-01 6.45153266e-01 9.46741890e-02 1.01405740e+02] [-6.39753523e-01 7.64048707e-01 -8.33366902e-02 -4.74877026e+01] [-1.26100630e-01 2.61480998e-03 9.92014009e-01 -1.16628141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94592 meters 0.02994299699819339 Centerline is valid? [True, True] Translation: X:101.43, Y:-47.51, Z:-11.67 [[ 7.58659275e-01 6.44675100e-01 9.39687203e-02 1.01427938e+02] [-6.39341643e-01 7.64451775e-01 -8.27994375e-02 -4.75119188e+01] [-1.25213291e-01 2.73844514e-03 9.92126067e-01 -1.16664151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97592 meters 0.029955662768476436 Centerline is valid? [True, True] Translation: X:101.45, Y:-47.53, Z:-11.67 [[ 7.58701229e-01 6.44685652e-01 9.35566930e-02 1.01451582e+02] [-6.39388640e-01 7.64442694e-01 -8.25199045e-02 -4.75346313e+01] [-1.24718129e-01 2.78886627e-03 9.92188294e-01 -1.16700316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00591999999999 meters 0.029825153302932478 Centerline is valid? [True, True] Translation: X:101.47, Y:-47.56, Z:-11.67 [[ 7.58661497e-01 6.44533807e-01 9.49152505e-02 1.01472047e+02] [-6.39069324e-01 7.64570236e-01 -8.38018698e-02 -4.75600120e+01] [-1.26582514e-01 2.91982707e-03 9.91951784e-01 -1.16734489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03591999999999 meters 0.02976962163363228 Centerline is valid? [True, True] Translation: X:101.49, Y:-47.58, Z:-11.68 [[ 7.57729609e-01 6.45672529e-01 9.46193659e-02 1.01494579e+02] [-6.40241666e-01 7.63609370e-01 -8.36142359e-02 -4.75836014e+01] [-1.26239649e-01 2.77772192e-03 9.91995885e-01 -1.16754566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06591999999999 meters 0.02964452689145264 Centerline is valid? [True, True] Translation: X:101.52, Y:-47.61, Z:-11.68 [[ 7.56824883e-01 6.46692390e-01 9.48949425e-02 1.01517609e+02] [-6.41227816e-01 7.62746221e-01 -8.39350331e-02 -4.76073486e+01] [-1.26660906e-01 2.67484485e-03 9.91942468e-01 -1.16775105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09591999999999 meters 0.029052411592990664 Centerline is valid? [True, True] Translation: X:101.54, Y:-47.63, Z:-11.68 [[ 7.55033728e-01 6.49072854e-01 9.28897225e-02 1.01539997e+02] [-6.43846779e-01 7.60722832e-01 -8.22319736e-02 -4.76312014e+01] [-1.24037875e-01 2.28116489e-03 9.92274862e-01 -1.16798555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12592 meters 0.028768218200088635 Centerline is valid? [True, True] Translation: X:101.56, Y:-47.65, Z:-11.68 [[ 7.53258835e-01 6.51138653e-01 9.28416994e-02 1.01563646e+02] [-6.45929057e-01 7.58956244e-01 -8.22257433e-02 -4.76532000e+01] [-1.24003147e-01 1.96811631e-03 9.92279873e-01 -1.16841809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15592 meters 0.028414642121418993 Centerline is valid? [True, True] Translation: X:101.59, Y:-47.68, Z:-11.69 [[ 7.50122112e-01 6.54737485e-01 9.29281600e-02 1.01586736e+02] [-6.49536188e-01 7.55854995e-01 -8.23769808e-02 -4.76752111e+01] [-1.24175511e-01 1.43259202e-03 9.92259235e-01 -1.16884013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18592 meters 0.02827774976491389 Centerline is valid? [True, True] Translation: X:101.61, Y:-47.70, Z:-11.69 [[ 7.48593694e-01 6.56418252e-01 9.33946470e-02 1.01610638e+02] [-6.51167595e-01 7.54396177e-01 -8.28683960e-02 -4.76974165e+01] [-1.24852892e-01 1.21919100e-03 9.92174515e-01 -1.16898207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21592 meters 0.028391105568049534 Centerline is valid? [True, True] Translation: X:101.64, Y:-47.72, Z:-11.69 [[ 7.47982234e-01 6.57082463e-01 9.36227265e-02 1.01635003e+02] [-6.51800186e-01 7.53817784e-01 -8.31580855e-02 -4.77198022e+01] [-1.25216196e-01 1.17746009e-03 9.92128781e-01 -1.16909669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24592 meters 0.02862265473370673 Centerline is valid? [True, True] Translation: X:101.66, Y:-47.74, Z:-11.69 [[ 7.48136500e-01 6.57013291e-01 9.28725683e-02 1.01659534e+02] [-6.51804568e-01 7.53877968e-01 -8.25761195e-02 -4.77409116e+01] [-1.24268191e-01 1.24344474e-03 9.92247888e-01 -1.16934733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27592 meters 0.028457731737837354 Centerline is valid? [True, True] Translation: X:101.68, Y:-47.76, Z:-11.70 [[ 7.50536299e-01 6.54623758e-01 9.03493203e-02 1.01683685e+02] [-6.49669181e-01 7.55953051e-01 -8.04048550e-02 -4.77619098e+01] [-1.20934773e-01 1.64959341e-03 9.92659085e-01 -1.16968697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30592 meters 0.028567824301269085 Centerline is valid? [True, True] Translation: X:101.71, Y:-47.78, Z:-11.70 [[ 7.51707430e-01 6.53279905e-01 9.03399457e-02 1.01708046e+02] [-6.48307736e-01 7.57114042e-01 -8.04699141e-02 -4.77829909e+01] [-1.20967019e-01 1.92174662e-03 9.92654667e-01 -1.16996124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33592 meters 0.02905072058165956 Centerline is valid? [True, True] Translation: X:101.73, Y:-47.80, Z:-11.70 [[ 7.53740999e-01 6.50844020e-01 9.09756502e-02 1.01733194e+02] [-6.45774555e-01 7.59207724e-01 -8.11101486e-02 -4.78030397e+01] [-1.21859471e-01 2.38628436e-03 9.92544495e-01 -1.17023000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36591999999999 meters 0.029157547232036743 Centerline is valid? [True, True] Translation: X:101.76, Y:-47.82, Z:-11.70 [[ 7.54248755e-01 6.50221734e-01 9.12168435e-02 1.01757258e+02] [-6.45111651e-01 7.59740216e-01 -8.13987835e-02 -4.78249042e+01] [-1.22228362e-01 2.54988258e-03 9.92498728e-01 -1.17047805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39591999999999 meters 0.0294930982437013 Centerline is valid? [True, True] Translation: X:101.78, Y:-47.85, Z:-11.71 [[ 7.54596272e-01 6.49899822e-01 9.06349119e-02 1.01779283e+02] [-6.44843617e-01 7.60015291e-01 -8.09534895e-02 -4.78495224e+01] [-1.21495577e-01 2.64185696e-03 9.92588457e-01 -1.17070660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42591999999999 meters 0.029399041537486615 Centerline is valid? [True, True] Translation: X:101.80, Y:-47.87, Z:-11.71 [[ 7.53589984e-01 6.50921456e-01 9.16700321e-02 1.01802382e+02] [-6.45745641e-01 7.59140731e-01 -8.19629103e-02 -4.78734626e+01] [-1.22941872e-01 2.57090466e-03 9.92410543e-01 -1.17103450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45591999999999 meters 0.02912517727897425 Centerline is valid? [True, True] Translation: X:101.83, Y:-47.90, Z:-11.71 [[ 7.53453345e-01 6.51290371e-01 9.01604677e-02 1.01825794e+02] [-6.46277181e-01 7.58824389e-01 -8.06929442e-02 -4.78954178e+01] [-1.20970499e-01 2.52971580e-03 9.92652879e-01 -1.17134963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48592 meters 0.028914023944990295 Centerline is valid? [True, True] Translation: X:101.85, Y:-47.92, Z:-11.72 [[ 7.53174475e-01 6.51793091e-01 8.88480558e-02 1.01850006e+02] [-6.46921249e-01 7.58392847e-01 -7.95813246e-02 -4.79170982e+01] [-1.19252287e-01 2.46092709e-03 9.92860935e-01 -1.17164362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51592 meters 0.028748944900954122 Centerline is valid? [True, True] Translation: X:101.87, Y:-47.94, Z:-11.72 [[ 7.51854081e-01 6.53374676e-01 8.84136498e-02 1.01872740e+02] [-6.48557424e-01 7.57031429e-01 -7.92255275e-02 -4.79403919e+01] [-1.18695865e-01 2.22470730e-03 9.92928166e-01 -1.17186693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54592 meters 0.028888922804052045 Centerline is valid? [True, True] Translation: X:101.90, Y:-47.96, Z:-11.72 [[ 7.51776432e-01 6.53436134e-01 8.86194947e-02 1.01896787e+02] [-6.48587896e-01 7.56978227e-01 -7.94839956e-02 -4.79624522e+01] [-1.19020743e-01 2.27666308e-03 9.92889158e-01 -1.17230317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57592 meters 0.029251126129556094 Centerline is valid? [True, True] Translation: X:101.92, Y:-47.98, Z:-11.73 [[ 7.51447184e-01 6.53533479e-01 9.06703990e-02 1.01920715e+02] [-6.48447756e-01 7.56893873e-01 -8.14074484e-02 -4.79838503e+01] [-1.21830363e-01 2.37838108e-03 9.92548088e-01 -1.17259909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60592 meters 0.02923884026441562 Centerline is valid? [True, True] Translation: X:101.94, Y:-48.00, Z:-11.73 [[ 7.51523633e-01 6.53301616e-01 9.17018382e-02 1.01944754e+02] [-6.48088061e-01 7.57093617e-01 -8.24082597e-02 -4.80048505e+01] [-1.23264326e-01 2.50088830e-03 9.92370723e-01 -1.17292713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63592 meters 0.02912597922310957 Centerline is valid? [True, True] Translation: X:101.97, Y:-48.03, Z:-11.73 [[ 7.52545604e-01 6.51973560e-01 9.27663228e-02 1.01969271e+02] [-6.46618205e-01 7.58236500e-01 -8.34404350e-02 -4.80250822e+01] [-1.24739769e-01 2.80833938e-03 9.92185519e-01 -1.17325828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66592 meters 0.029376760297649844 Centerline is valid? [True, True] Translation: X:101.99, Y:-48.05, Z:-11.74 [[ 7.53471233e-01 6.50943344e-01 9.24870994e-02 1.01993504e+02] [-6.45603295e-01 7.59120282e-01 -8.32633321e-02 -4.80457634e+01] [-1.24408545e-01 3.02654934e-03 9.92226463e-01 -1.17362355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.69592 meters 0.03001701819736631 Centerline is valid? [True, True] Translation: X:102.01, Y:-48.07, Z:-11.74 [[ 7.56460193e-01 6.47750094e-01 9.04864216e-02 1.02014916e+02] [-6.42607907e-01 7.61844707e-01 -8.15335529e-02 -4.80692852e+01] [-1.21749968e-01 3.52959713e-03 9.92554526e-01 -1.17410937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72592 meters 0.030487222211786524 Centerline is valid? [True, True] Translation: X:102.04, Y:-48.09, Z:-11.74 [[ 7.57634565e-01 6.46203374e-01 9.17118565e-02 1.02037751e+02] [-6.40899904e-01 7.63155351e-01 -8.27116862e-02 -4.80923184e+01] [-1.23438965e-01 3.88711239e-03 9.92344553e-01 -1.17440644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75591999999999 meters 0.03067020254554474 Centerline is valid? [True, True] Translation: X:102.06, Y:-48.12, Z:-11.75 [[ 7.58086262e-01 6.45516138e-01 9.28123635e-02 1.02060363e+02] [-6.40069661e-01 7.63735601e-01 -8.37780495e-02 -4.81152124e+01] [-1.24964189e-01 4.10461037e-03 9.92152762e-01 -1.17459226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78591999999999 meters 0.03043454466207318 Centerline is valid? [True, True] Translation: X:102.08, Y:-48.14, Z:-11.75 [[ 7.57560469e-01 6.46092750e-01 9.30929290e-02 1.02084247e+02] [-6.40607932e-01 7.63248002e-01 -8.41068673e-02 -4.81375630e+01] [-1.25393829e-01 4.07996909e-03 9.92098655e-01 -1.17499101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81591999999999 meters 0.0301185807102974 Centerline is valid? [True, True] Translation: X:102.10, Y:-48.16, Z:-11.75 [[ 7.56794707e-01 6.47009131e-01 9.29567367e-02 1.02104010e+02] [-6.41537904e-01 7.62471867e-01 -8.40581363e-02 -4.81639064e+01] [-1.25263278e-01 3.97948269e-03 9.92115555e-01 -1.17546965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84591999999999 meters 0.03015062335507091 Centerline is valid? [True, True] Translation: X:102.13, Y:-48.19, Z:-11.76 [[ 7.56480374e-01 6.47408746e-01 9.27327320e-02 1.02126940e+02] [-6.41960751e-01 7.62132784e-01 -8.39047944e-02 -4.81880993e+01] [-1.24995353e-01 3.94155597e-03 9.92149498e-01 -1.17578364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87592 meters 0.03004712992143304 Centerline is valid? [True, True] Translation: X:102.15, Y:-48.21, Z:-11.76 [[ 7.55506173e-01 6.48582550e-01 9.24721486e-02 1.02150014e+02] [-6.43163689e-01 7.61134836e-01 -8.37510080e-02 -4.82108320e+01] [-1.24703216e-01 3.79967540e-03 9.92186812e-01 -1.17613959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90592 meters 0.029645259396778808 Centerline is valid? [True, True] Translation: X:102.17, Y:-48.24, Z:-11.76 [[ 7.55637347e-01 6.48638675e-01 9.09948861e-02 1.02171330e+02] [-6.43384499e-01 7.61087107e-01 -8.24791037e-02 -4.82354079e+01] [-1.22754171e-01 3.77959195e-03 9.92429911e-01 -1.17645152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93592 meters 0.029855558757585745 Centerline is valid? [True, True] Translation: X:102.19, Y:-48.26, Z:-11.77 [[ 7.56568337e-01 6.47765796e-01 8.94640999e-02 1.02191995e+02] [-6.42675525e-01 7.61829590e-01 -8.11408970e-02 -4.82618849e+01] [-1.20716696e-01 3.89224612e-03 9.92679369e-01 -1.17672300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96592 meters 0.030003911716835644 Centerline is valid? [True, True] Translation: X:102.22, Y:-48.28, Z:-11.77 [[ 7.56994276e-01 6.47326587e-01 8.90390660e-02 1.02215511e+02] [-6.42271986e-01 7.62202236e-01 -8.08359297e-02 -4.82841250e+01] [-1.20193022e-01 4.00503834e-03 9.92742463e-01 -1.17703115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99592 meters 0.029669182430340446 Centerline is valid? [True, True] Translation: X:102.24, Y:-48.31, Z:-11.77 [[ 7.57283155e-01 6.47182773e-01 8.76166790e-02 1.02239159e+02] [-6.42279202e-01 7.62324277e-01 -7.96186164e-02 -4.83066824e+01] [-1.18320118e-01 4.01946630e-03 9.92967368e-01 -1.17734942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02592 meters 0.029498349583969657 Centerline is valid? [True, True] Translation: X:102.26, Y:-48.33, Z:-11.78 [[ 7.56346664e-01 6.48273427e-01 8.76429542e-02 1.02261622e+02] [-6.43365450e-01 7.61397600e-01 -7.97156976e-02 -4.83302743e+01] [-1.18408703e-01 3.90625325e-03 9.92957260e-01 -1.17767388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05592 meters 0.02946099104350907 Centerline is valid? [True, True] Translation: X:102.28, Y:-48.36, Z:-11.78 [[ 7.55236712e-01 6.49347329e-01 8.92499581e-02 1.02281527e+02] [-6.44258660e-01 7.60482261e-01 -8.12250557e-02 -4.83564238e+01] [-1.20616283e-01 3.84408568e-03 9.92691762e-01 -1.17801362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08592 meters 0.029396034057600606 Centerline is valid? [True, True] Translation: X:102.30, Y:-48.38, Z:-11.78 [[ 7.54612441e-01 6.50129784e-01 8.88331468e-02 1.02304453e+02] [-6.45084945e-01 7.59813879e-01 -8.09214647e-02 -4.83787583e+01] [-1.20106112e-01 3.75941845e-03 9.92753942e-01 -1.17826692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11591999999999 meters 0.028979569671824863 Centerline is valid? [True, True] Translation: X:102.33, Y:-48.40, Z:-11.79 [[ 7.53208387e-01 6.51892188e-01 8.78276817e-02 1.02326014e+02] [-6.46964851e-01 7.58303620e-01 -8.00756004e-02 -4.84032343e+01] [-1.18800707e-01 3.49219075e-03 9.92911978e-01 -1.17853951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14591999999999 meters 0.028557095260800372 Centerline is valid? [True, True] Translation: X:102.35, Y:-48.43, Z:-11.79 [[ 7.51934969e-01 6.53375184e-01 8.77192730e-02 1.02348341e+02] [-6.48461635e-01 7.57027032e-01 -8.00473695e-02 -4.84258946e+01] [-1.18706826e-01 3.30783310e-03 9.92923838e-01 -1.17875647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17591999999999 meters 0.028320159764519 Centerline is valid? [True, True] Translation: X:102.37, Y:-48.45, Z:-11.79 [[ 7.50811821e-01 6.54802215e-01 8.66929610e-02 1.02370772e+02] [-6.50004583e-01 7.55793924e-01 -7.91807180e-02 -4.84482204e+01] [-1.17369723e-01 3.09899712e-03 9.93083453e-01 -1.17902107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20591999999999 meters 0.028068817668753607 Centerline is valid? [True, True] Translation: X:102.39, Y:-48.47, Z:-11.79 [[ 7.47890259e-01 6.58039717e-01 8.74293511e-02 1.02391954e+02] [-6.53173271e-01 7.52978491e-01 -7.99254111e-02 -4.84718119e+01] [-1.18426516e-01 2.66892113e-03 9.92959232e-01 -1.17940621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23592 meters 0.027799306135850778 Centerline is valid? [True, True] Translation: X:102.42, Y:-48.50, Z:-11.80 [[ 7.46718320e-01 6.59391466e-01 8.72619412e-02 1.02415124e+02] [-6.54544126e-01 7.51795595e-01 -7.98459115e-02 -4.84953908e+01] [-1.18252856e-01 2.50561376e-03 9.92980354e-01 -1.17969373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26592 meters 0.02731878970472608 Centerline is valid? [True, True] Translation: X:102.44, Y:-48.52, Z:-11.80 [[ 7.42939876e-01 6.63663168e-01 8.71294483e-02 1.02437190e+02] [-6.58850363e-01 7.48029178e-01 -7.98031777e-02 -4.85190213e+01] [-1.18137799e-01 1.88369423e-03 9.92995424e-01 -1.17988928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29592 meters 0.02731878970472608 Centerline is valid? [True, True] Translation: X:102.46, Y:-48.54, Z:-11.80 [[ 7.42593902e-01 6.64055161e-01 8.70921334e-02 1.02461253e+02] [-6.59240271e-01 7.47681229e-01 -7.98438834e-02 -4.85406033e+01] [-1.18137896e-01 1.87693938e-03 9.92995425e-01 -1.18021042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32592 meters 0.02685778725454861 Centerline is valid? [True, True] Translation: X:102.49, Y:-48.56, Z:-11.80 [[ 7.37657349e-01 6.69553939e-01 8.69434207e-02 1.02485087e+02] [-6.64783562e-01 7.42762682e-01 -7.97898101e-02 -4.85616098e+01] [-1.18001910e-01 1.05898289e-03 9.93012803e-01 -1.18047345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35592 meters 0.026656068654814753 Centerline is valid? [True, True] Translation: X:102.51, Y:-48.58, Z:-11.81 [[ 7.34814299e-01 6.72737150e-01 8.64446187e-02 1.02510120e+02] [-6.68034605e-01 7.39881319e-01 -7.94065560e-02 -4.85824545e+01] [-1.17378499e-01 6.01076155e-04 9.93087069e-01 -1.18077822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38592 meters 0.026385604202441872 Centerline is valid? [True, True] Translation: X:102.54, Y:-48.60, Z:-11.81 [[ 7.33429543e-01 6.74444256e-01 8.48884550e-02 1.02535962e+02] [-6.69912268e-01 7.38325673e-01 -7.80560917e-02 -4.86026767e+01] [-1.15319808e-01 3.80826247e-04 9.93328343e-01 -1.18103488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41592 meters 0.026567695731809834 Centerline is valid? [True, True] Translation: X:102.56, Y:-48.62, Z:-11.82 [[ 7.30486340e-01 6.77510608e-01 8.58433673e-02 1.02562695e+02] [-6.72887354e-01 7.35513001e-01 -7.90141369e-02 -4.86220881e+01] [-1.16671829e-01 -4.41686567e-05 9.93170520e-01 -1.18153881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44592 meters 0.026556317169904618 Centerline is valid? [True, True] Translation: X:102.59, Y:-48.64, Z:-11.82 [[ 7.29053399e-01 6.79021359e-01 8.60879458e-02 1.02587890e+02] [-6.74371820e-01 7.34118481e-01 -7.93265620e-02 -4.86436081e+01] [-1.17063182e-01 -2.21984987e-04 9.93124444e-01 -1.18177164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47592 meters 0.026603878387678297 Centerline is valid? [True, True] Translation: X:102.62, Y:-48.66, Z:-11.82 [[ 7.27974221e-01 6.80133583e-01 8.64398222e-02 1.02615342e+02] [-6.75443373e-01 7.33088122e-01 -7.97374118e-02 -4.86616817e+01] [-1.17600099e-01 -3.38424803e-04 9.93060976e-01 -1.18201368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50591999999999 meters 0.026586962600639488 Centerline is valid? [True, True] Translation: X:102.64, Y:-48.68, Z:-11.83 [[ 7.25888351e-01 6.82395722e-01 8.61520799e-02 1.02642886e+02] [-6.77742497e-01 7.30982674e-01 -7.95577601e-02 -4.86802198e+01] [-1.17265553e-01 -6.38874547e-04 9.93100389e-01 -1.18250366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53591999999999 meters 0.02661277396273087 Centerline is valid? [True, True] Translation: X:102.67, Y:-48.70, Z:-11.83 [[ 7.24425042e-01 6.83812052e-01 8.72320872e-02 1.02667296e+02] [-6.79040856e-01 7.29657737e-01 -8.06418186e-02 -4.87011841e+01] [-1.18793415e-01 -8.15198330e-04 9.92918657e-01 -1.18285727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56591999999999 meters 0.02667116426534147 Centerline is valid? [True, True] Translation: X:102.69, Y:-48.72, Z:-11.83 [[ 7.22954348e-01 6.85278235e-01 8.79246882e-02 1.02691987e+02] [-6.80431662e-01 7.28280668e-01 -8.13635226e-02 -4.87222420e+01] [-1.19790502e-01 -1.00462926e-03 9.92798684e-01 -1.18313286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59591999999999 meters 0.02689692533793306 Centerline is valid? [True, True] Translation: X:102.72, Y:-48.74, Z:-11.83 [[ 7.20678835e-01 6.87684585e-01 8.78175839e-02 1.02720051e+02] [-6.82857407e-01 7.26008343e-01 -8.13489200e-02 -4.87391586e+01] [-1.19698697e-01 -1.34044278e-03 9.92809360e-01 -1.18344318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62592 meters 0.026697654787262163 Centerline is valid? [True, True] Translation: X:102.75, Y:-48.76, Z:-11.84 [[ 7.19424799e-01 6.89115421e-01 8.68786201e-02 1.02747273e+02] [-6.84392166e-01 7.24650038e-01 -8.05585880e-02 -4.87572915e+01] [-1.18470761e-01 -1.50320100e-03 9.92956404e-01 -1.18387626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65592 meters 0.02686400358817258 Centerline is valid? [True, True] Translation: X:102.77, Y:-48.78, Z:-11.84 [[ 7.18855347e-01 6.89640820e-01 8.74215564e-02 1.02772137e+02] [-6.84851665e-01 7.24149968e-01 -8.11481363e-02 -4.87781018e+01] [-1.19269385e-01 -1.53702674e-03 9.92860741e-01 -1.18421797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68592 meters 0.02679096160153925 Centerline is valid? [True, True] Translation: X:102.80, Y:-48.80, Z:-11.85 [[ 7.19730337e-01 6.88554927e-01 8.87713543e-02 1.02799318e+02] [-6.83597199e-01 7.25183002e-01 -8.24892907e-02 -4.87973254e+01] [-1.21173885e-01 -1.31380420e-03 9.92630426e-01 -1.18451500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71592 meters 0.02670990910773853 Centerline is valid? [True, True] Translation: X:102.83, Y:-48.82, Z:-11.85 [[ 7.20613056e-01 6.87626466e-01 8.88069017e-02 1.02825285e+02] [-6.82647034e-01 7.26063803e-01 -8.26098134e-02 -4.88180431e+01] [-1.21284171e-01 -1.09405787e-03 9.92617224e-01 -1.18486323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74592 meters 0.026579812999220267 Centerline is valid? [True, True] Translation: X:102.85, Y:-48.84, Z:-11.85 [[ 7.22002340e-01 6.86222783e-01 8.83793718e-02 1.02850524e+02] [-6.81270460e-01 7.27391000e-01 -8.22975892e-02 -4.88381222e+01] [-1.20760840e-01 -7.91203296e-04 9.92681315e-01 -1.18522745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77592 meters 0.02628678456777717 Centerline is valid? [True, True] Translation: X:102.88, Y:-48.85, Z:-11.86 [[ 7.25667656e-01 6.82455306e-01 8.75283317e-02 1.02878677e+02] [-6.77561675e-01 7.30927318e-01 -8.15808351e-02 -4.88544142e+01] [-1.19652123e-01 -1.05269611e-04 9.92815873e-01 -1.18560868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80592 meters 0.02632511100896355 Centerline is valid? [True, True] Translation: X:102.90, Y:-48.87, Z:-11.86 [[ 7.26761044e-01 6.81253980e-01 8.78145754e-02 1.02904611e+02] [-6.76309828e-01 7.32047124e-01 -8.19269470e-02 -4.88741979e+01] [-1.20097466e-01 1.51453148e-04 9.92762094e-01 -1.18591937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83592 meters 0.026861822331769307 Centerline is valid? [True, True] Translation: X:102.93, Y:-48.89, Z:-11.87 [[ 7.29592910e-01 6.77992166e-01 8.95589668e-02 1.02929233e+02] [-6.72813271e-01 7.35068725e-01 -8.36437242e-02 -4.88941953e+01] [-1.22541785e-01 7.69406765e-04 9.92463057e-01 -1.18651449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86591999999999 meters 0.027158707154291778 Centerline is valid? [True, True] Translation: X:102.95, Y:-48.92, Z:-11.87 [[ 7.30625233e-01 6.76732190e-01 9.06659302e-02 1.02952882e+02] [-6.71404251e-01 7.36228520e-01 -8.47578726e-02 -4.89155509e+01] [-1.24109224e-01 1.05274944e-03 9.92268004e-01 -1.18688513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89591999999999 meters 0.027480941429999867 Centerline is valid? [True, True] Translation: X:102.98, Y:-48.94, Z:-11.87 [[ 7.32892590e-01 6.74300130e-01 9.04863880e-02 1.02978200e+02] [-6.68965105e-01 7.38455838e-01 -8.46679664e-02 -4.89354600e+01] [-1.23911822e-01 1.52028915e-03 9.92292068e-01 -1.18733739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92591999999999 meters 0.027694043526672894 Centerline is valid? [True, True] Translation: X:103.00, Y:-48.96, Z:-11.88 [[ 7.33427141e-01 6.73756821e-01 9.02018556e-02 1.03003487e+02] [-6.68441477e-01 7.38951264e-01 -8.44808892e-02 -4.89570683e+01] [-1.23574351e-01 1.66591549e-03 9.92333918e-01 -1.18770784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95591999999999 meters 0.028138305009894084 Centerline is valid? [True, True] Translation: X:103.03, Y:-48.98, Z:-11.88 [[ 7.34859541e-01 6.72011106e-01 9.15561485e-02 1.03026376e+02] [-6.66509685e-01 7.40538216e-01 -8.58369997e-02 -4.89789360e+01] [-1.25484244e-01 2.05507849e-03 9.92093484e-01 -1.18811564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98592 meters 0.027973751361941204 Centerline is valid? [True, True] Translation: X:103.05, Y:-49.00, Z:-11.88 [[ 7.34586181e-01 6.72376217e-01 9.10679209e-02 1.03049874e+02] [-6.66926405e-01 7.40206767e-01 -8.54582527e-02 -4.90016282e+01] [-1.24869188e-01 2.04085041e-03 9.92171115e-01 -1.18837595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01592 meters 0.027871393207079126 Centerline is valid? [True, True] Translation: X:103.07, Y:-49.02, Z:-11.89 [[ 7.33199892e-01 6.74027849e-01 9.00243165e-02 1.03073133e+02] [-6.68705302e-01 7.38703747e-01 -8.45576303e-02 -4.90242099e+01] [-1.23495498e-01 1.79790760e-03 9.92343504e-01 -1.18876847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04592 meters 0.02781769733444087 Centerline is valid? [True, True] Translation: X:103.10, Y:-49.05, Z:-11.89 [[ 7.32154853e-01 6.75205469e-01 8.97042131e-02 1.03096085e+02] [-6.69923227e-01 7.37627895e-01 -8.43087126e-02 -4.90465550e+01] [-1.23094034e-01 1.63209722e-03 9.92393669e-01 -1.18919277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07592 meters 0.027685095584608917 Centerline is valid? [True, True] Translation: X:103.12, Y:-49.07, Z:-11.89 [[ 7.31399162e-01 6.76225418e-01 8.81728430e-02 1.03119145e+02] [-6.71121625e-01 7.36693271e-01 -8.29384710e-02 -4.90695394e+01] [-1.21041442e-01 1.48642652e-03 9.92646342e-01 -1.18948350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10592 meters 0.02776706815316492 Centerline is valid? [True, True] Translation: X:103.14, Y:-49.09, Z:-11.90 [[ 7.30540549e-01 6.77203083e-01 8.77866159e-02 1.03141214e+02] [-6.72144846e-01 7.35794906e-01 -8.26266449e-02 -4.90935512e+01] [-1.20547963e-01 1.35679307e-03 9.92706577e-01 -1.18972382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13592 meters 0.02814380041367652 Centerline is valid? [True, True] Translation: X:103.16, Y:-49.12, Z:-11.90 [[ 7.30762166e-01 6.76629801e-01 9.03259031e-02 1.03164702e+02] [-6.71259231e-01 7.36321737e-01 -8.50960919e-02 -4.91154369e+01] [-1.24087478e-01 1.55290821e-03 9.92270067e-01 -1.19009498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16592 meters 0.028112326741466676 Centerline is valid? [True, True] Translation: X:103.19, Y:-49.14, Z:-11.90 [[ 7.30493457e-01 6.76910258e-01 9.03980778e-02 1.03188767e+02] [-6.71524103e-01 7.36063902e-01 -8.52367976e-02 -4.91378502e+01] [-1.24236424e-01 1.56043486e-03 9.92251418e-01 -1.19046582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19592 meters 0.028148772995734154 Centerline is valid? [True, True] Translation: X:103.21, Y:-49.16, Z:-11.91 [[ 7.30292396e-01 6.77044290e-01 9.10167320e-02 1.03212230e+02] [-6.71577623e-01 7.35940553e-01 -8.58778090e-02 -4.91592710e+01] [-1.25125984e-01 1.59111035e-03 9.92139585e-01 -1.19092031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22592 meters 0.028044571858082675 Centerline is valid? [True, True] Translation: X:103.24, Y:-49.18, Z:-11.91 [[ 7.30148273e-01 6.77490890e-01 8.88233792e-02 1.03236173e+02] [-6.72279403e-01 7.35529564e-01 -8.38848312e-02 -4.91801573e+01] [-1.22163430e-01 1.53423637e-03 9.92508812e-01 -1.19125965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25591999999999 meters 0.028103788302895498 Centerline is valid? [True, True] Translation: X:103.26, Y:-49.20, Z:-11.92 [[ 7.29798554e-01 6.77856885e-01 8.89050799e-02 1.03261174e+02] [-6.72628774e-01 7.35192284e-01 -8.40406920e-02 -4.92011553e+01] [-1.22329890e-01 1.53266059e-03 9.92488312e-01 -1.19153881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28591999999999 meters 0.028081145540685575 Centerline is valid? [True, True] Translation: X:103.29, Y:-49.22, Z:-11.92 [[ 7.28689324e-01 6.79045012e-01 8.89367211e-02 1.03287326e+02] [-6.73811103e-01 7.34095303e-01 -8.41586760e-02 -4.92216938e+01] [-1.22435558e-01 1.39897853e-03 9.92475479e-01 -1.19190405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31591999999999 meters 0.02790889104847278 Centerline is valid? [True, True] Translation: X:103.31, Y:-49.24, Z:-11.92 [[ 7.28134407e-01 6.79552245e-01 8.96048677e-02 1.03311307e+02] [-6.74231866e-01 7.33625801e-01 -8.48797632e-02 -4.92443953e+01] [-1.23416676e-01 1.38941880e-03 9.92353966e-01 -1.19218707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34591999999999 meters 0.028151563448166717 Centerline is valid? [True, True] Translation: X:103.34, Y:-49.27, Z:-11.93 [[ 7.28110446e-01 6.79589699e-01 8.95154771e-02 1.03335313e+02] [-6.74269239e-01 7.33590994e-01 -8.48837228e-02 -4.92663381e+01] [-1.23353851e-01 1.44719266e-03 9.92361695e-01 -1.19254686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37592 meters 0.028295848600801643 Centerline is valid? [True, True] Translation: X:103.36, Y:-49.29, Z:-11.93 [[ 7.28356315e-01 6.79281597e-01 8.98531600e-02 1.03360373e+02] [-6.73907379e-01 7.33876042e-01 -8.52924337e-02 -4.92869940e+01] [-1.23878662e-01 1.57057508e-03 9.92296130e-01 -1.19292785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40592 meters 0.028269251353774165 Centerline is valid? [True, True] Translation: X:103.39, Y:-49.31, Z:-11.93 [[ 7.28713214e-01 6.78977585e-01 8.92552013e-02 1.03385800e+02] [-6.73662373e-01 7.34157095e-01 -8.48078191e-02 -4.93074133e+01] [-1.23109948e-01 1.67270763e-03 9.92391628e-01 -1.19320819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43592 meters 0.028334902318514186 Centerline is valid? [True, True] Translation: X:103.41, Y:-49.33, Z:-11.93 [[ 7.29374370e-01 6.78414898e-01 8.81263566e-02 1.03410806e+02] [-6.73219386e-01 7.34676772e-01 -8.38194412e-02 -4.93275379e+01] [-1.21608745e-01 1.80738042e-03 9.92576469e-01 -1.19345815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46592 meters 0.02861402504426353 Centerline is valid? [True, True] Translation: X:103.43, Y:-49.35, Z:-11.94 [[ 7.28991372e-01 6.78558626e-01 9.01652400e-02 1.03433577e+02] [-6.73110117e-01 7.34543833e-01 -8.58377994e-02 -4.93498873e+01] [-1.24476300e-01 1.88387988e-03 9.92220793e-01 -1.19367195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49592 meters 0.028749433249396064 Centerline is valid? [True, True] Translation: X:103.46, Y:-49.37, Z:-11.94 [[ 7.28802273e-01 6.78711994e-01 9.05388047e-02 1.03457565e+02] [-6.73209083e-01 7.34402017e-01 -8.62740321e-02 -4.93723857e+01] [-1.25047101e-01 1.92516501e-03 9.92148939e-01 -1.19408199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52592 meters 0.028681237952211374 Centerline is valid? [True, True] Translation: X:103.48, Y:-49.39, Z:-11.94 [[ 7.28996056e-01 6.78477253e-01 9.07379105e-02 1.03481555e+02] [-6.72936846e-01 7.34618589e-01 -8.65536248e-02 -4.93946493e+01] [-1.25382421e-01 2.03636778e-03 9.92106396e-01 -1.19428678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55592 meters 0.028633218156594857 Centerline is valid? [True, True] Translation: X:103.50, Y:-49.42, Z:-11.95 [[ 7.29313820e-01 6.78417214e-01 8.86083319e-02 1.03504226e+02] [-6.73124080e-01 7.34673969e-01 -8.46057395e-02 -4.94178027e+01] [-1.22496225e-01 2.05973316e-03 9.92466842e-01 -1.19459316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58592 meters 0.028527834258438214 Centerline is valid? [True, True] Translation: X:103.53, Y:-49.44, Z:-11.95 [[ 7.28809774e-01 6.79113378e-01 8.74147156e-02 1.03526475e+02] [-6.73958292e-01 7.34030744e-01 -8.35409362e-02 -4.94403441e+01] [-1.20898856e-01 1.97157844e-03 9.92662873e-01 -1.19488906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61591999999999 meters 0.02832553375565578 Centerline is valid? [True, True] Translation: X:103.55, Y:-49.46, Z:-11.95 [[ 7.27061275e-01 6.80965116e-01 8.75694790e-02 1.03549584e+02] [-6.75795834e-01 7.32313829e-01 -8.37642357e-02 -4.94622200e+01] [-1.21168863e-01 1.72264290e-03 9.92630414e-01 -1.19527384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64591999999999 meters 0.02824565468403901 Centerline is valid? [True, True] Translation: X:103.57, Y:-49.49, Z:-11.96 [[ 7.25455349e-01 6.82633556e-01 8.78974671e-02 1.03573061e+02] [-6.77427883e-01 7.30759301e-01 -8.41564459e-02 -4.94851434e+01] [-1.21679906e-01 1.50754886e-03 9.92568248e-01 -1.19554318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67591999999999 meters 0.0281318657705042 Centerline is valid? [True, True] Translation: X:103.59, Y:-49.51, Z:-11.96 [[ 7.21261165e-01 6.87038839e-01 8.80906704e-02 1.03593108e+02] [-6.81832113e-01 7.26620219e-01 -8.44276478e-02 -4.95099977e+01] [-1.22013535e-01 8.31335630e-04 9.92528088e-01 -1.19583153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70591999999999 meters 0.027956715404621836 Centerline is valid? [True, True] Translation: X:103.62, Y:-49.53, Z:-11.96 [[ 7.19337069e-01 6.89225732e-01 8.67298751e-02 1.03615061e+02] [-6.84185883e-01 7.24546500e-01 -8.31988381e-02 -4.95333783e+01] [-1.20182608e-01 5.08652146e-04 9.92751672e-01 -1.19603651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73592 meters 0.02796354563530943 Centerline is valid? [True, True] Translation: X:103.64, Y:-49.56, Z:-11.96 [[ 7.15376907e-01 6.93554049e-01 8.49627126e-02 1.03635779e+02] [-6.88739641e-01 7.20404578e-01 -8.15778808e-02 -4.95576959e+01] [-1.17786197e-01 -1.58256156e-04 9.93038965e-01 -1.19643431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76592 meters 0.02800962825538188 Centerline is valid? [True, True] Translation: X:103.66, Y:-49.58, Z:-11.97 [[ 7.12133782e-01 6.96900922e-01 8.48208779e-02 1.03659136e+02] [-6.92116925e-01 7.17167120e-01 -8.15198394e-02 -4.95815655e+01] [-1.17641996e-01 -6.52933580e-04 9.93055857e-01 -1.19669473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79592 meters 0.02809044632043405 Centerline is valid? [True, True] Translation: X:103.68, Y:-49.60, Z:-11.97 [[ 7.08471533e-01 7.00632829e-01 8.47450633e-02 1.03682567e+02] [-6.95873713e-01 7.13520973e-01 -8.15327957e-02 -4.96028213e+01] [-1.17591933e-01 -1.20819706e-03 9.93061266e-01 -1.19701155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82592 meters 0.028227116565053396 Centerline is valid? [True, True] Translation: X:103.71, Y:-49.62, Z:-11.97 [[ 7.06675878e-01 7.02423616e-01 8.49132933e-02 1.03707024e+02] [-6.97649316e-01 7.11757647e-01 -8.17709164e-02 -4.96241295e+01] [-1.17875509e-01 -1.45416695e-03 9.93027316e-01 -1.19730235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85592 meters 0.02868563996519937 Centerline is valid? [True, True] Translation: X:103.73, Y:-49.65, Z:-11.98 [[ 7.03872357e-01 7.05114060e-01 8.58945107e-02 1.03730383e+02] [-7.00239120e-01 7.09091432e-01 -8.27920092e-02 -4.96452461e+01] [-1.19284871e-01 -1.87168990e-03 9.92858306e-01 -1.19766600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88592 meters 0.028691418442339932 Centerline is valid? [True, True] Translation: X:103.76, Y:-49.67, Z:-11.98 [[ 7.02664613e-01 7.06416407e-01 8.50782084e-02 1.03755084e+02] [-7.01634877e-01 7.07793597e-01 -8.20775445e-02 -4.96675909e+01] [-1.18198735e-01 -2.02085229e-03 9.92987903e-01 -1.19791655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91592 meters 0.02883405725985836 Centerline is valid? [True, True] Translation: X:103.78, Y:-49.69, Z:-11.98 [[ 7.00884368e-01 7.08355069e-01 8.36313250e-02 1.03782928e+02] [-7.03739238e-01 7.05852707e-01 -8.07653399e-02 -4.96859643e+01] [-1.16241935e-01 -2.24748077e-03 9.93218386e-01 -1.19826683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94592 meters 0.028652409751784024 Centerline is valid? [True, True] Translation: X:103.81, Y:-49.71, Z:-11.99 [[ 6.99564926e-01 7.09805078e-01 8.23751563e-02 1.03809126e+02] [-7.05327810e-01 7.04394087e-01 -7.96344822e-02 -4.97055525e+01] [-1.14549533e-01 -2.39199798e-03 9.93414658e-01 -1.19850624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97592 meters 0.029014385170116903 Centerline is valid? [True, True] Translation: X:103.84, Y:-49.72, Z:-11.99 [[ 6.96657877e-01 7.12695000e-01 8.20587557e-02 1.03837259e+02] [-7.08262716e-01 7.01468467e-01 -7.94097941e-02 -4.97229471e+01] [-1.14156593e-01 -2.79769865e-03 9.93458829e-01 -1.19871323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00591999999999 meters 0.028913105268714764 Centerline is valid? [True, True] Translation: X:103.86, Y:-49.74, Z:-11.99 [[ 6.95136303e-01 7.14070181e-01 8.30017935e-02 1.03863224e+02] [-7.09536408e-01 7.00067663e-01 -8.03949788e-02 -4.97415105e+01] [-1.15514529e-01 -3.00732610e-03 9.93301238e-01 -1.19901452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03591999999999 meters 0.029250540402210933 Centerline is valid? [True, True] Translation: X:103.89, Y:-49.76, Z:-11.99 [[ 6.94063269e-01 7.15260805e-01 8.17200124e-02 1.03893125e+02] [-7.10866888e-01 6.98850716e-01 -7.92208586e-02 -4.97577566e+01] [-1.13773664e-01 -3.10776285e-03 9.93501834e-01 -1.19921193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06591999999999 meters 0.02918614184624468 Centerline is valid? [True, True] Translation: X:103.92, Y:-49.78, Z:-12.00 [[ 6.93810456e-01 7.15340984e-01 8.31524297e-02 1.03919650e+02] [-7.10782056e-01 6.98768599e-01 -8.06927070e-02 -4.97769653e+01] [-1.15827107e-01 -3.11781114e-03 9.93264497e-01 -1.19961863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09591999999999 meters 0.028805420413589442 Centerline is valid? [True, True] Translation: X:103.95, Y:-49.80, Z:-12.00 [[ 6.95405288e-01 7.13774831e-01 8.32885079e-02 1.03946394e+02] [-7.09181930e-01 7.00369595e-01 -8.08914151e-02 -4.97962782e+01] [-1.16070995e-01 -2.81438694e-03 9.93236932e-01 -1.19984411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12592 meters 0.028030674198926697 Centerline is valid? [True, True] Translation: X:103.98, Y:-49.81, Z:-12.00 [[ 6.98740559e-01 7.10302077e-01 8.50446409e-02 1.03977807e+02] [-7.05482785e-01 7.03893357e-01 -8.26328123e-02 -4.98104068e+01] [-1.18556616e-01 -2.25863265e-03 9.92944725e-01 -1.20017947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15592 meters 0.027605091435591107 Centerline is valid? [True, True] Translation: X:104.01, Y:-49.83, Z:-12.00 [[ 6.99953778e-01 7.09175675e-01 8.44663870e-02 1.04005255e+02] [-7.04404876e-01 7.05028978e-01 -8.21456685e-02 -4.98286049e+01] [-1.17806960e-01 -2.00036385e-03 9.93034500e-01 -1.20044904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18592 meters 0.027605091435591107 Centerline is valid? [True, True] Translation: X:104.03, Y:-49.85, Z:-12.01 [[ 6.99577774e-01 7.09551226e-01 8.44274545e-02 1.04028695e+02] [-7.04778326e-01 7.04650997e-01 -8.21856663e-02 -4.98509391e+01] [-1.17806830e-01 -2.00737451e-03 9.93034502e-01 -1.20077024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21592 meters 0.027241945851777763 Centerline is valid? [True, True] Translation: X:104.06, Y:-49.87, Z:-12.01 [[ 7.02280672e-01 7.06745559e-01 8.55135810e-02 1.04057121e+02] [-7.01818303e-01 7.07466231e-01 -8.33222811e-02 -4.98682170e+01] [-1.19385623e-01 -1.49936870e-03 9.92846829e-01 -1.20119002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24592 meters 0.026941989182302603 Centerline is valid? [True, True] Translation: X:104.08, Y:-49.89, Z:-12.01 [[ 7.03442640e-01 7.05592454e-01 8.54853267e-02 1.04081850e+02] [-7.00655581e-01 7.08616721e-01 -8.33312666e-02 -4.98888054e+01] [-1.19374245e-01 -1.27700508e-03 9.92848508e-01 -1.20146968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27592 meters 0.026752897876374502 Centerline is valid? [True, True] Translation: X:104.11, Y:-49.91, Z:-12.02 [[ 7.04040181e-01 7.04967049e-01 8.57256302e-02 1.04109710e+02] [-6.99988021e-01 7.09239178e-01 -8.36454346e-02 -4.99075046e+01] [-1.19767251e-01 -1.11716730e-03 9.92801369e-01 -1.20173624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30592 meters 0.026590126404148012 Centerline is valid? [True, True] Translation: X:104.14, Y:-49.93, Z:-12.02 [[ 7.04698332e-01 7.04425531e-01 8.47639842e-02 1.04135600e+02] [-6.99543823e-01 7.09777265e-01 -8.27929575e-02 -4.99266384e+01] [-1.18485022e-01 -9.52062560e-04 9.92955383e-01 -1.20199386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33592 meters 0.026545079858374468 Centerline is valid? [True, True] Translation: X:104.16, Y:-49.95, Z:-12.02 [[ 7.04770715e-01 7.04288181e-01 8.53018026e-02 1.04161645e+02] [-6.99333504e-01 7.09913648e-01 -8.33982166e-02 -4.99467526e+01] [-1.19293292e-01 -8.77787789e-04 9.92858671e-01 -1.20240878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36591999999999 meters 0.026314096038046644 Centerline is valid? [True, True] Translation: X:104.19, Y:-49.97, Z:-12.03 [[ 7.06183477e-01 7.02763393e-01 8.61888048e-02 1.04187475e+02] [-6.97682440e-01 7.11423431e-01 -8.43558790e-02 -4.99666555e+01] [-1.20598959e-01 -5.61687626e-04 9.92701151e-01 -1.20284234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39591999999999 meters 0.026414435565320856 Centerline is valid? [True, True] Translation: X:104.21, Y:-49.99, Z:-12.03 [[ 7.06525399e-01 7.02370070e-01 8.65918326e-02 1.04212966e+02] [-6.97227365e-01 7.11811842e-01 -8.48404629e-02 -4.99877828e+01] [-1.21226494e-01 -4.32253367e-04 9.92624778e-01 -1.20326941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42591999999999 meters 0.02612077866241572 Centerline is valid? [True, True] Translation: X:104.24, Y:-50.01, Z:-12.04 [[ 7.07084264e-01 7.01856771e-01 8.61911685e-02 1.04237775e+02] [-6.96747130e-01 7.12318044e-01 -8.45366239e-02 -5.00100012e+01] [-1.20728126e-01 -2.78932876e-04 9.92685570e-01 -1.20351577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45591999999999 meters 0.02621035196057159 Centerline is valid? [True, True] Translation: X:104.26, Y:-50.03, Z:-12.04 [[ 7.08394845e-01 7.00582580e-01 8.57950551e-02 1.04262764e+02] [-6.95499889e-01 7.13571334e-01 -8.42369024e-02 -5.00317144e+01] [-1.20235798e-01 2.53615819e-06 9.92745362e-01 -1.20389623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48592 meters 0.026094215869883967 Centerline is valid? [True, True] Translation: X:104.29, Y:-50.05, Z:-12.04 [[ 7.10027093e-01 6.98892560e-01 8.60855276e-02 1.04289186e+02] [-6.93751994e-01 7.15226583e-01 -8.46115025e-02 -5.00520814e+01] [-1.20705007e-01 3.54452719e-04 9.92688358e-01 -1.20416426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51592 meters 0.026144761167645896 Centerline is valid? [True, True] Translation: X:104.31, Y:-50.07, Z:-12.04 [[ 7.09875189e-01 6.99010036e-01 8.63839445e-02 1.04314559e+02] [-6.93823613e-01 7.15111747e-01 -8.49940224e-02 -5.00736057e+01] [-1.21185848e-01 3.99927260e-04 9.92629755e-01 -1.20449015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54592 meters 0.02605815078153345 Centerline is valid? [True, True] Translation: X:104.34, Y:-50.09, Z:-12.05 [[ 7.09550840e-01 6.99264206e-01 8.69895151e-02 1.04339863e+02] [-6.93996407e-01 7.14863201e-01 -8.56714185e-02 -5.00927405e+01] [-1.22092560e-01 4.17816042e-04 9.92518631e-01 -1.20489153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57592 meters 0.02610979851267475 Centerline is valid? [True, True] Translation: X:104.36, Y:-50.11, Z:-12.05 [[ 7.08976845e-01 6.99921531e-01 8.63810412e-02 1.04363909e+02] [-6.94726275e-01 7.14219669e-01 -8.51214810e-02 -5.01133878e+01] [-1.21273396e-01 3.37980020e-04 9.92619086e-01 -1.20525066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60592 meters 0.026177033095457266 Centerline is valid? [True, True] Translation: X:104.39, Y:-50.13, Z:-12.06 [[ 7.07139072e-01 7.01680320e-01 8.71725923e-02 1.04391893e+02] [-6.96392308e-01 7.12491908e-01 -8.59827523e-02 -5.01324534e+01] [-1.22442172e-01 9.54408960e-05 9.92475645e-01 -1.20555769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63592 meters 0.026067263393762453 Centerline is valid? [True, True] Translation: X:104.42, Y:-50.15, Z:-12.06 [[ 7.06083826e-01 7.02753426e-01 8.70818726e-02 1.04418488e+02] [-6.97473468e-01 7.11433498e-01 -8.59833658e-02 -5.01523146e+01] [-1.22378066e-01 -2.58318129e-05 9.92483556e-01 -1.20581449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66592 meters 0.026140612876611524 Centerline is valid? [True, True] Translation: X:104.44, Y:-50.17, Z:-12.06 [[ 7.05551905e-01 7.03179945e-01 8.79458577e-02 1.04444722e+02] [-6.97786380e-01 7.11011929e-01 -8.69264360e-02 -5.01715137e+01] [-1.23655480e-01 -3.63091195e-05 9.92325209e-01 -1.20626574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69592 meters 0.025999570606184304 Centerline is valid? [True, True] Translation: X:104.47, Y:-50.19, Z:-12.06 [[ 7.05369793e-01 7.03645671e-01 8.56517631e-02 1.04473001e+02] [-6.98525019e-01 7.10551030e-01 -8.47350696e-02 -5.01884941e+01] [-1.20483413e-01 -6.03409221e-05 9.92715339e-01 -1.20638299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72592 meters 0.025950332103908107 Centerline is valid? [True, True] Translation: X:104.50, Y:-50.21, Z:-12.07 [[ 7.05898934e-01 7.02977697e-01 8.67701157e-02 1.04500933e+02] [-6.97707123e-01 7.11211885e-01 -8.59210445e-02 -5.02056793e+01] [-1.22112516e-01 1.11445997e-04 9.92516257e-01 -1.20674584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75591999999999 meters 0.02623359053421437 Centerline is valid? [True, True] Translation: X:104.53, Y:-50.23, Z:-12.07 [[ 7.06786629e-01 7.02038047e-01 8.71506850e-02 1.04526261e+02] [-6.96703762e-01 7.12139361e-01 -8.63793896e-02 -5.02260150e+01] [-1.22705051e-01 3.33587473e-04 9.92443126e-01 -1.20721338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78591999999999 meters 0.026480633338244117 Centerline is valid? [True, True] Translation: X:104.55, Y:-50.25, Z:-12.08 [[ 7.08463470e-01 7.00265390e-01 8.77946200e-02 1.04551502e+02] [-6.94827057e-01 7.13882259e-01 -8.71061497e-02 -5.02461649e+01] [-1.23672444e-01 7.09447631e-04 9.92322842e-01 -1.20753796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81591999999999 meters 0.026793706339894585 Centerline is valid? [True, True] Translation: X:104.58, Y:-50.26, Z:-12.08 [[ 7.12013467e-01 6.96624198e-01 8.80428876e-02 1.04578934e+02] [-6.91117224e-01 7.17434843e-01 -8.74312786e-02 -5.02644572e+01] [-1.24071780e-01 1.40429173e-03 9.92272252e-01 -1.20785334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84591999999999 meters 0.026993869530197688 Centerline is valid? [True, True] Translation: X:104.60, Y:-50.28, Z:-12.08 [[ 7.13652384e-01 6.94953341e-01 8.79780030e-02 1.04604623e+02] [-6.89432124e-01 7.19052704e-01 -8.74445873e-02 -5.02845929e+01] [-1.24030729e-01 1.75017671e-03 9.92276834e-01 -1.20814953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87592 meters 0.027299937263686846 Centerline is valid? [True, True] Translation: X:104.63, Y:-50.30, Z:-12.08 [[ 7.16270739e-01 6.92301904e-01 8.76030944e-02 1.04632578e+02] [-6.86798435e-01 7.21604450e-01 -8.71488847e-02 -5.03019503e+01] [-1.23548122e-01 2.25652784e-03 9.92336017e-01 -1.20840329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90592 meters 0.027590256244444118 Centerline is valid? [True, True] Translation: X:104.66, Y:-50.32, Z:-12.09 [[ 7.16937647e-01 6.91578696e-01 8.78596492e-02 1.04657393e+02] [-6.86027770e-01 7.22296983e-01 -8.74812374e-02 -5.03218215e+01] [-1.23960920e-01 2.44443328e-03 9.92284090e-01 -1.20880265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93592 meters 0.0282745078640329 Centerline is valid? [True, True] Translation: X:104.68, Y:-50.34, Z:-12.09 [[ 7.20438626e-01 6.87954349e-01 8.76755380e-02 1.04683752e+02] [-6.82390519e-01 7.25747264e-01 -8.73732686e-02 -5.03408456e+01] [-1.23739102e-01 3.11812173e-03 9.92309887e-01 -1.20917947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96592 meters 0.028701976076832055 Centerline is valid? [True, True] Translation: X:104.71, Y:-50.36, Z:-12.09 [[ 7.22287356e-01 6.86209570e-01 8.61243312e-02 1.04708598e+02] [-6.80820372e-01 7.27395905e-01 -8.59000527e-02 -5.03613792e+01] [-1.21591924e-01 3.40932276e-03 9.92574320e-01 -1.20940727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99592 meters 0.03057706852218331 Centerline is valid? [True, True] Translation: X:104.74, Y:-50.38, Z:-12.10 [[ 7.27098500e-01 6.81045851e-01 8.66274850e-02 1.04735532e+02] [-6.75548899e-01 7.32227871e-01 -8.64640385e-02 -5.03783072e+01] [-1.22317034e-01 4.34677056e-03 9.92481561e-01 -1.20971380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02592 meters 0.030694493182297604 Centerline is valid? [True, True] Translation: X:104.76, Y:-50.40, Z:-12.10 [[ 7.28803532e-01 6.79262153e-01 8.63037577e-02 1.04760121e+02] [-6.73791232e-01 7.33881020e-01 -8.61627779e-02 -5.03994806e+01] [-1.21863804e-01 4.64502162e-03 9.92535963e-01 -1.20998170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05592 meters 0.032200008940715195 Centerline is valid? [True, True] Translation: X:104.79, Y:-50.42, Z:-12.10 [[ 7.31880780e-01 6.75937924e-01 8.63622974e-02 1.04785757e+02] [-6.70428931e-01 7.36939871e-01 -8.62825324e-02 -5.04192615e+01] [-1.21965456e-01 5.24874434e-03 9.92520467e-01 -1.21037044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08592 meters 0.032222185734846816 Centerline is valid? [True, True] Translation: X:104.81, Y:-50.44, Z:-12.11 [[ 7.33001043e-01 6.74776064e-01 8.59461121e-02 1.04809391e+02] [-6.69308714e-01 7.38002505e-01 -8.58961499e-02 -5.04413701e+01] [-1.21389112e-01 5.43748570e-03 9.92590105e-01 -1.21075736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11591999999999 meters 0.033301073331041355 Centerline is valid? [True, True] Translation: X:104.79, Y:-50.80, Z:-10.16 [[ 7.21680084e-01 -6.90195208e-01 -5.29946233e-02 1.04786308e+02] [-6.87986717e-01 -7.23615087e-01 5.52764314e-02 -5.07957576e+01] [-7.64992370e-02 -3.43230276e-03 -9.97063732e-01 -1.01612159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14591999999999 meters 0.03310240348033307 Centerline is valid? [True, True] Translation: X:104.84, Y:-50.49, Z:-12.11 [[ 7.81320814e-01 6.17499998e-01 9.07278260e-02 1.04837049e+02] [-6.12523206e-01 7.86550075e-01 -7.84493564e-02 -5.04909575e+01] [-1.19804456e-01 5.72121618e-03 9.92781023e-01 -1.21140460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17591999999999 meters 0.03330532679138541 Centerline is valid? [True, True] Translation: X:104.86, Y:-50.52, Z:-12.12 [[ 7.81475339e-01 6.17159889e-01 9.17058632e-02 1.04858252e+02] [-6.12064508e-01 7.86815735e-01 -7.93601703e-02 -5.05150374e+01] [-1.21133530e-01 5.88811197e-03 9.92618758e-01 -1.21176289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20591999999999 meters 0.03303833845014378 Centerline is valid? [True, True] Translation: X:104.88, Y:-50.54, Z:-12.12 [[ 7.81133262e-01 6.17663133e-01 9.12309208e-02 1.04881011e+02] [-6.12616198e-01 7.86421171e-01 -7.90135151e-02 -5.05377887e+01] [-1.20549663e-01 5.83054500e-03 9.92690175e-01 -1.21202161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23592 meters 0.03344655911783039 Centerline is valid? [True, True] Translation: X:104.90, Y:-50.56, Z:-12.12 [[ 7.80556429e-01 6.18244633e-01 9.22238241e-02 1.04904778e+02] [-6.13082485e-01 7.85963904e-01 -7.99412750e-02 -5.05605619e+01] [-1.21907861e-01 5.85786488e-03 9.92524135e-01 -1.21240712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26592 meters 0.0333626384304884 Centerline is valid? [True, True] Translation: X:104.93, Y:-50.58, Z:-12.13 [[ 7.80295627e-01 6.18599480e-01 9.20511655e-02 1.04928597e+02] [-6.13449946e-01 7.85684701e-01 -7.98668516e-02 -5.05827670e+01] [-1.21728785e-01 5.85097253e-03 9.92546155e-01 -1.21269156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29592 meters 0.033429361567517725 Centerline is valid? [True, True] Translation: X:104.95, Y:-50.61, Z:-12.13 [[ 7.79729078e-01 6.19239929e-01 9.25444487e-02 1.04952420e+02] [-6.14029938e-01 7.85180093e-01 -8.03707509e-02 -5.06052557e+01] [-1.22432837e-01 5.84234947e-03 9.92459605e-01 -1.21305337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32592 meters 0.03348986550479461 Centerline is valid? [True, True] Translation: X:104.98, Y:-50.63, Z:-12.13 [[ 7.79529095e-01 6.19485420e-01 9.25862043e-02 1.04976602e+02] [-6.14263101e-01 7.84986244e-01 -8.04825440e-02 -5.06285411e+01] [-1.22536659e-01 5.86619566e-03 9.92446651e-01 -1.21325086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35592 meters 0.033376935712305676 Centerline is valid? [True, True] Translation: X:105.00, Y:-50.65, Z:-12.14 [[ 7.79571571e-01 6.19490424e-01 9.21942522e-02 1.05000612e+02] [-6.14303269e-01 7.84982046e-01 -8.02164627e-02 -5.06504872e+01] [-1.22064163e-01 5.89924331e-03 9.92504680e-01 -1.21356856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38592 meters 0.033268367588780275 Centerline is valid? [True, True] Translation: X:105.02, Y:-50.67, Z:-12.14 [[ 7.79552370e-01 6.19747420e-01 9.06158846e-02 1.05021750e+02] [-6.14730235e-01 7.84779805e-01 -7.89138438e-02 -5.06747009e+01] [-1.20020167e-01 5.81314988e-03 9.92754434e-01 -1.21396860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41592 meters 0.03311980692747562 Centerline is valid? [True, True] Translation: X:105.04, Y:-50.70, Z:-12.14 [[ 7.78949565e-01 6.20515671e-01 9.05421293e-02 1.05044331e+02] [-6.15504032e-01 7.84173031e-01 -7.89141580e-02 -5.06975256e+01] [-1.19968168e-01 5.74110340e-03 9.92761139e-01 -1.21431392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44592 meters 0.03315239417000149 Centerline is valid? [True, True] Translation: X:105.07, Y:-50.72, Z:-12.15 [[ 7.78399064e-01 6.21056281e-01 9.15641503e-02 1.05066896e+02] [-6.15925802e-01 7.83744685e-01 -7.98728670e-02 -5.07221522e+01] [-1.21368462e-01 5.77624216e-03 9.92590717e-01 -1.21463446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47592 meters 0.03317162025209031 Centerline is valid? [True, True] Translation: X:105.09, Y:-50.74, Z:-12.15 [[ 7.77826731e-01 6.21600678e-01 9.27263349e-02 1.05090458e+02] [-6.16333133e-01 7.83312633e-01 -8.09616486e-02 -5.07446613e+01] [-1.22959525e-01 5.82382200e-03 9.92394598e-01 -1.21494055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50591999999999 meters 0.03247061534870576 Centerline is valid? [True, True] Translation: X:105.11, Y:-50.77, Z:-12.15 [[ 7.75887266e-01 6.23881208e-01 9.36546292e-02 1.05112471e+02] [-6.18516302e-01 7.81499375e-01 -8.18309935e-02 -5.07689647e+01] [-1.24243853e-01 5.56471085e-03 9.92236110e-01 -1.21523812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53591999999999 meters 0.03213432769618305 Centerline is valid? [True, True] Translation: X:105.14, Y:-50.79, Z:-12.16 [[ 7.74385433e-01 6.25820141e-01 9.31469395e-02 1.05135157e+02] [-6.20523312e-01 7.79949730e-01 -8.14201325e-02 -5.07917420e+01] [-1.23604289e-01 5.25071718e-03 9.92317696e-01 -1.21564717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56591999999999 meters 0.03108680283462031 Centerline is valid? [True, True] Translation: X:105.16, Y:-50.82, Z:-12.16 [[ 7.72276098e-01 6.28664046e-01 9.14939661e-02 1.05155421e+02] [-6.23567300e-01 7.77662475e-01 -8.00306012e-02 -5.08158272e+01] [-1.21463786e-01 4.75307494e-03 9.92584484e-01 -1.21591808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59591999999999 meters 0.030571158198909404 Centerline is valid? [True, True] Translation: X:105.18, Y:-50.84, Z:-12.16 [[ 7.70472062e-01 6.30930806e-01 9.10995023e-02 1.05179054e+02] [-6.25890867e-01 7.75826653e-01 -7.97096467e-02 -5.08376124e+01] [-1.20968694e-01 4.39570944e-03 9.92646590e-01 -1.21623968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62592 meters 0.029477418137737618 Centerline is valid? [True, True] Translation: X:105.20, Y:-50.86, Z:-12.17 [[ 7.67931550e-01 6.34098492e-01 9.05551613e-02 1.05200378e+02] [-6.29133628e-01 7.73242358e-01 -7.92914546e-02 -5.08612776e+01] [-1.20299678e-01 3.91911248e-03 9.92729887e-01 -1.21654399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65592 meters 0.0290985089005793 Centerline is valid? [True, True] Translation: X:105.22, Y:-50.88, Z:-12.17 [[ 7.66305193e-01 6.36213251e-01 8.94932948e-02 1.05222915e+02] [-6.31375514e-01 7.71505008e-01 -7.83899438e-02 -5.08837459e+01] [-1.18917246e-01 3.56674601e-03 9.92897763e-01 -1.21683473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68592 meters 0.028532966994097207 Centerline is valid? [True, True] Translation: X:105.24, Y:-50.91, Z:-12.17 [[ 7.63664996e-01 6.39141786e-01 9.11786754e-02 1.05244431e+02] [-6.34131578e-01 7.69082165e-01 -7.99360135e-02 -5.09076475e+01] [-1.21214340e-01 3.22505813e-03 9.92621117e-01 -1.21708792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71592 meters 0.028665596631822932 Centerline is valid? [True, True] Translation: X:105.27, Y:-50.93, Z:-12.17 [[ 7.62683825e-01 6.40140591e-01 9.23764388e-02 1.05268441e+02] [-6.34995653e-01 7.68251271e-01 -8.10586519e-02 -5.09295905e+01] [-1.22857250e-01 3.16348560e-03 9.92419311e-01 -1.21748135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74592 meters 0.028612164851958343 Centerline is valid? [True, True] Translation: X:105.29, Y:-50.95, Z:-12.18 [[ 7.62378265e-01 6.40462684e-01 9.26656982e-02 1.05293272e+02] [-6.35277593e-01 7.67982688e-01 -8.13939232e-02 -5.09517798e+01] [-1.23295423e-01 3.18451630e-03 9.92364901e-01 -1.21775793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77592 meters 0.028622793187779758 Centerline is valid? [True, True] Translation: X:105.32, Y:-50.97, Z:-12.18 [[ 7.62455786e-01 6.40551600e-01 9.14047156e-02 1.05315591e+02] [-6.35498393e-01 7.67908521e-01 -8.03635238e-02 -5.09746565e+01] [-1.21667444e-01 3.18608384e-03 9.92565807e-01 -1.21803535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80592 meters 0.028825872648664656 Centerline is valid? [True, True] Translation: X:105.34, Y:-51.00, Z:-12.19 [[ 7.62639482e-01 6.40347325e-01 9.13034777e-02 1.05340187e+02] [-6.35295140e-01 7.68078517e-01 -8.03459782e-02 -5.09967849e+01] [-1.21577572e-01 3.27035948e-03 9.92576546e-01 -1.21850382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83592 meters 0.02886187414645717 Centerline is valid? [True, True] Translation: X:105.36, Y:-51.02, Z:-12.19 [[ 7.63158810e-01 6.39683183e-01 9.16190793e-02 1.05364608e+02] [-6.34581472e-01 7.68630946e-01 -8.07020726e-02 -5.10176990e+01] [-1.22045018e-01 3.44872750e-03 9.92518574e-01 -1.21886518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86591999999999 meters 0.029143583533595165 Centerline is valid? [True, True] Translation: X:105.39, Y:-51.04, Z:-12.19 [[ 7.63603940e-01 6.39046779e-01 9.23484561e-02 1.05388295e+02] [-6.33849790e-01 7.69159287e-01 -8.14152008e-02 -5.10388407e+01] [-1.23058794e-01 3.63391858e-03 9.92392729e-01 -1.21916642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89591999999999 meters 0.028837741701045215 Centerline is valid? [True, True] Translation: X:105.41, Y:-51.06, Z:-12.19 [[ 7.64184207e-01 6.38774278e-01 8.93863483e-02 1.05411525e+02] [-6.33896797e-01 7.69385725e-01 -7.88698697e-02 -5.10611646e+01] [-1.19152625e-01 3.60938899e-03 9.92869389e-01 -1.21927013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92591999999999 meters 0.02911570181063692 Centerline is valid? [True, True] Translation: X:105.44, Y:-51.08, Z:-12.20 [[ 7.64035673e-01 6.38954206e-01 8.93700897e-02 1.05436621e+02] [-6.34071315e-01 7.69236186e-01 -7.89256451e-02 -5.10827235e+01] [-1.19176580e-01 3.63499808e-03 9.92866421e-01 -1.21961958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95591999999999 meters 0.02918877679156089 Centerline is valid? [True, True] Translation: X:105.46, Y:-51.10, Z:-12.20 [[ 7.63512209e-01 6.39454753e-01 9.02592108e-02 1.05462157e+02] [-6.34467573e-01 7.68820043e-01 -7.97912217e-02 -5.11034507e+01] [-1.20415966e-01 3.65502952e-03 9.92716795e-01 -1.22006206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98592 meters 0.028992063258447352 Centerline is valid? [True, True] Translation: X:105.49, Y:-51.12, Z:-12.20 [[ 7.62798072e-01 6.40273631e-01 9.04918660e-02 1.05487035e+02] [-6.35256679e-01 7.68138492e-01 -8.00762734e-02 -5.11246325e+01] [-1.20781012e-01 3.59646472e-03 9.92672661e-01 -1.22042227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01592 meters 0.028863078782886954 Centerline is valid? [True, True] Translation: X:105.51, Y:-51.15, Z:-12.21 [[ 7.61917478e-01 6.41275085e-01 9.08186222e-02 1.05512329e+02] [-6.36219042e-01 7.67303025e-01 -8.04449971e-02 -5.11463042e+01] [-1.21272776e-01 3.51191248e-03 9.92613006e-01 -1.22065888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04592 meters 0.02844572121865706 Centerline is valid? [True, True] Translation: X:105.54, Y:-51.17, Z:-12.21 [[ 7.59500911e-01 6.44080542e-01 9.12064821e-02 1.05536784e+02] [-6.38991483e-01 7.64951244e-01 -8.08670397e-02 -5.11665797e+01] [-1.21853399e-01 3.13842500e-03 9.92543147e-01 -1.22101024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07592 meters 0.028287073145619592 Centerline is valid? [True, True] Translation: X:105.56, Y:-51.19, Z:-12.21 [[ 7.58576205e-01 6.45136857e-01 9.14361926e-02 1.05562393e+02] [-6.40020704e-01 7.64061019e-01 -8.11434395e-02 -5.11866068e+01] [-1.22211454e-01 3.03242594e-03 9.92499453e-01 -1.22135307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10592 meters 0.028287073145619592 Centerline is valid? [True, True] Translation: X:105.59, Y:-51.21, Z:-12.22 [[ 7.58260281e-01 6.45513850e-01 9.13959292e-02 1.05586871e+02] [-6.40394966e-01 7.63742543e-01 -8.11887695e-02 -5.12078613e+01] [-1.22211435e-01 3.03272619e-03 9.92499455e-01 -1.22167351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13592 meters 0.027870016126136918 Centerline is valid? [True, True] Translation: X:105.61, Y:-51.23, Z:-12.22 [[ 7.56693597e-01 6.47650587e-01 8.92385417e-02 1.05612018e+02] [-6.42777088e-01 7.61932757e-01 -7.93479019e-02 -5.12273899e+01] [-1.19383483e-01 2.68155928e-03 9.92844597e-01 -1.22203015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16592 meters 0.027774543688752488 Centerline is valid? [True, True] Translation: X:105.64, Y:-51.25, Z:-12.22 [[ 7.55237841e-01 6.49248780e-01 8.99545741e-02 1.05637634e+02] [-6.44298981e-01 7.60571989e-01 -8.00566768e-02 -5.12484498e+01] [-1.20393629e-01 2.50419124e-03 9.92723075e-01 -1.22238686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19592 meters 0.0275013858857817 Centerline is valid? [True, True] Translation: X:105.66, Y:-51.27, Z:-12.22 [[ 7.53065569e-01 6.51574716e-01 9.13380444e-02 1.05664179e+02] [-6.46477651e-01 7.58581187e-01 -8.13709370e-02 -5.12680684e+01] [-1.22306567e-01 2.22964661e-03 9.92489865e-01 -1.22246121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22591999999999 meters 0.027493207654835806 Centerline is valid? [True, True] Translation: X:105.69, Y:-51.29, Z:-12.23 [[ 7.52097239e-01 6.52645338e-01 9.16722757e-02 1.05690190e+02] [-6.47508493e-01 7.57660572e-01 -8.17508986e-02 -5.12879559e+01] [-1.22810812e-01 2.12604807e-03 9.92427823e-01 -1.22280973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25591999999999 meters 0.027253181048524328 Centerline is valid? [True, True] Translation: X:105.72, Y:-51.31, Z:-12.23 [[ 7.51119206e-01 6.53890244e-01 9.08156742e-02 1.05715472e+02] [-6.48848672e-01 7.56586868e-01 -8.10661011e-02 -5.13078591e+01] [-1.21718279e-01 1.96467589e-03 9.92562744e-01 -1.22315113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28591999999999 meters 0.02698285012990288 Centerline is valid? [True, True] Translation: X:105.74, Y:-51.33, Z:-12.23 [[ 7.49242946e-01 6.56158205e-01 8.99523074e-02 1.05741710e+02] [-6.51220781e-01 7.54621595e-01 -8.03600773e-02 -5.13265981e+01] [-1.20608878e-01 1.63040921e-03 9.92698766e-01 -1.22347649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31591999999999 meters 0.026852698742711702 Centerline is valid? [True, True] Translation: X:105.77, Y:-51.35, Z:-12.24 [[ 7.47570321e-01 6.57987681e-01 9.05031822e-02 1.05768227e+02] [-6.52996755e-01 7.53027426e-01 -8.09007582e-02 -5.13458602e+01] [-1.21383081e-01 1.38072145e-03 9.92604776e-01 -1.22387823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34591999999999 meters 0.027049097937506966 Centerline is valid? [True, True] Translation: X:105.80, Y:-51.36, Z:-12.24 [[ 7.46658430e-01 6.58867476e-01 9.16233445e-02 1.05796934e+02] [-6.53747891e-01 7.52257877e-01 -8.19864768e-02 -5.13613480e+01] [-1.22942606e-01 1.31732592e-03 9.92412908e-01 -1.22422418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37592 meters 0.02714926420551979 Centerline is valid? [True, True] Translation: X:105.82, Y:-51.38, Z:-12.25 [[ 7.45867646e-01 6.59741665e-01 9.17735766e-02 1.05823506e+02] [-6.54602376e-01 7.51491461e-01 -8.21967961e-02 -5.13811177e+01] [-1.23195710e-01 1.23272950e-03 9.92381629e-01 -1.22454432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40592 meters 0.027189670195626507 Centerline is valid? [True, True] Translation: X:105.85, Y:-51.40, Z:-12.25 [[ 7.46666901e-01 6.58985091e-01 9.07038510e-02 1.05851904e+02] [-6.53949752e-01 7.52154691e-01 -8.13206129e-02 -5.13985297e+01] [-1.21812399e-01 1.40364906e-03 9.92552149e-01 -1.22486522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43592 meters 0.02749363929093593 Centerline is valid? [True, True] Translation: X:105.88, Y:-51.42, Z:-12.25 [[ 7.46633039e-01 6.58932337e-01 9.13634513e-02 1.05877877e+02] [-6.53812694e-01 7.52200752e-01 -8.19938414e-02 -5.14170921e+01] [-1.22752050e-01 1.48472676e-03 9.92436260e-01 -1.22528882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46592 meters 0.027582488872533485 Centerline is valid? [True, True] Translation: X:105.90, Y:-51.44, Z:-12.26 [[ 7.47243754e-01 6.58327560e-01 9.07281493e-02 1.05904745e+02] [-6.53265590e-01 7.52729812e-01 -8.14978477e-02 -5.14360805e+01] [-1.21946062e-01 1.62917968e-03 9.92535392e-01 -1.22567444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49592 meters 0.02781831627924231 Centerline is valid? [True, True] Translation: X:105.93, Y:-51.45, Z:-12.26 [[ 7.48199464e-01 6.57191284e-01 9.10888512e-02 1.05932163e+02] [-6.52070329e-01 7.53721478e-01 -8.19037200e-02 -5.14531014e+01] [-1.22482034e-01 1.88398225e-03 9.92468943e-01 -1.22608272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52592 meters 0.027743337511887914 Centerline is valid? [True, True] Translation: X:105.96, Y:-51.47, Z:-12.26 [[ 7.48674683e-01 6.56740678e-01 9.04317483e-02 1.05961399e+02] [-6.51681404e-01 7.54113842e-01 -8.13858821e-02 -5.14699384e+01] [-1.21645253e-01 1.99886079e-03 9.92571628e-01 -1.22623625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55592 meters 0.027654765403199787 Centerline is valid? [True, True] Translation: X:105.99, Y:-51.49, Z:-12.27 [[ 7.48259819e-01 6.57190497e-01 9.05974276e-02 1.05988865e+02] [-6.52105837e-01 7.53721888e-01 -8.16167382e-02 -5.14883040e+01] [-1.21923009e-01 1.99141438e-03 9.92537563e-01 -1.22659603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58592 meters 0.02779519300428239 Centerline is valid? [True, True] Translation: X:106.02, Y:-51.51, Z:-12.27 [[ 7.47644649e-01 6.57974689e-01 8.99821476e-02 1.06015689e+02] [-6.52955111e-01 7.53037620e-01 -8.11416409e-02 -5.15064524e+01] [-1.21149088e-01 1.91081044e-03 9.92632483e-01 -1.22694857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61591999999999 meters 0.027925506083811433 Centerline is valid? [True, True] Translation: X:106.04, Y:-51.52, Z:-12.27 [[ 7.46208314e-01 6.59333766e-01 9.19355026e-02 1.06043445e+02] [-6.54094022e-01 7.51848258e-01 -8.29771499e-02 -5.15229666e+01] [-1.23831184e-01 1.78377655e-03 9.92301696e-01 -1.22727751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64591999999999 meters 0.02796804871410192 Centerline is valid? [True, True] Translation: X:106.07, Y:-51.54, Z:-12.28 [[ 7.46172652e-01 6.59415644e-01 9.16372294e-02 1.06069630e+02] [-6.54201344e-01 7.51776359e-01 -8.27822883e-02 -5.15426336e+01] [-1.23478639e-01 1.82068101e-03 9.92345560e-01 -1.22765628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67591999999999 meters 0.027912761167688743 Centerline is valid? [True, True] Translation: X:106.10, Y:-51.56, Z:-12.28 [[ 7.47968894e-01 6.57827321e-01 8.83501490e-02 1.06097291e+02] [-6.52962313e-01 7.53165965e-01 -7.98827129e-02 -5.15606718e+01] [-1.19091356e-01 2.06046684e-03 9.92881163e-01 -1.22787331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70591999999999 meters 0.02792186647445819 Centerline is valid? [True, True] Translation: X:106.12, Y:-51.58, Z:-12.28 [[ 7.49156263e-01 6.56629992e-01 8.71891416e-02 1.06123609e+02] [-6.51879242e-01 7.54209502e-01 -7.88763613e-02 -5.15799449e+01] [-1.17551464e-01 2.25392854e-03 9.93064234e-01 -1.22826330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73592 meters 0.02833752952420904 Centerline is valid? [True, True] Translation: X:106.15, Y:-51.60, Z:-12.29 [[ 7.50041819e-01 6.55630690e-01 8.70957428e-02 1.06149423e+02] [-6.50874366e-01 7.55077689e-01 -7.88685236e-02 -5.15992598e+01] [-1.17472677e-01 2.46630450e-03 9.93073052e-01 -1.22857454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76592 meters 0.029047643691466597 Centerline is valid? [True, True] Translation: X:106.18, Y:-51.62, Z:-12.29 [[ 7.51978341e-01 6.53054328e-01 8.97140918e-02 1.06176231e+02] [-6.47980342e-01 7.57305094e-01 -8.13048009e-02 -5.16169909e+01] [-1.21037391e-01 3.00648142e-03 9.92643396e-01 -1.22878940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79592 meters 0.029696282738004686 Centerline is valid? [True, True] Translation: X:106.20, Y:-51.63, Z:-12.29 [[ 7.53623492e-01 6.50872543e-01 9.17418453e-02 1.06203323e+02] [-6.45545485e-01 7.59179141e-01 -8.31748686e-02 -5.16346324e+01] [-1.23784734e-01 3.45900089e-03 9.92303066e-01 -1.22916234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82592 meters 0.030176410538315847 Centerline is valid? [True, True] Translation: X:106.23, Y:-51.65, Z:-12.30 [[ 7.54635378e-01 6.49729887e-01 9.15233279e-02 1.06228379e+02] [-6.44416130e-01 7.60156346e-01 -8.30071094e-02 -5.16546172e+01] [-1.23504238e-01 3.66099261e-03 9.92337292e-01 -1.22955054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85592 meters 0.03035782817378167 Centerline is valid? [True, True] Translation: X:106.25, Y:-51.68, Z:-12.30 [[ 7.55800464e-01 6.48463118e-01 9.08913828e-02 1.06252627e+02] [-6.43205074e-01 7.61236112e-01 -8.25034207e-02 -5.16760671e+01] [-1.22690228e-01 3.89432503e-03 9.92437374e-01 -1.22987815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88592 meters 0.0315659716066865 Centerline is valid? [True, True] Translation: X:106.28, Y:-51.70, Z:-12.30 [[ 7.58628959e-01 6.45251341e-01 9.01820931e-02 1.06277818e+02] [-6.40044468e-01 7.63957504e-01 -8.19268576e-02 -5.16952725e+01] [-1.21758702e-01 4.43153688e-03 9.92549838e-01 -1.23022469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91592 meters 0.0320336856425698 Centerline is valid? [True, True] Translation: X:106.30, Y:-51.71, Z:-12.31 [[ 7.59784820e-01 6.43863444e-01 9.03708615e-02 1.06303527e+02] [-6.38616924e-01 7.65125901e-01 -8.21631285e-02 -5.17146778e+01] [-1.22046922e-01 4.71393619e-03 9.92513137e-01 -1.23050807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94592 meters 0.03279563083253191 Centerline is valid? [True, True] Translation: X:106.33, Y:-51.73, Z:-12.31 [[ 7.62344025e-01 6.40918441e-01 8.97504226e-02 1.06328508e+02] [-6.35715615e-01 7.67591363e-01 -8.16648979e-02 -5.17344914e+01] [-1.21232188e-01 5.20100189e-03 9.92610551e-01 -1.23072010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97591999999999 meters 0.033019692827961244 Centerline is valid? [True, True] Translation: X:106.35, Y:-51.76, Z:-12.31 [[ 7.62595976e-01 6.40652433e-01 8.95088699e-02 1.06351716e+02] [-6.35468240e-01 7.67812874e-01 -8.15077095e-02 -5.17569880e+01] [-1.20944175e-01 5.27740724e-03 9.92645282e-01 -1.23102867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00591999999999 meters 0.03300390328986817 Centerline is valid? [True, True] Translation: X:106.38, Y:-51.78, Z:-12.31 [[ 7.62059204e-01 6.41211507e-01 9.00753775e-02 1.06376055e+02] [-6.35956623e-01 7.67346058e-01 -8.20926358e-02 -5.17799644e+01] [-1.21757729e-01 5.27541579e-03 9.92545830e-01 -1.23131117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03591999999999 meters 0.033115725970012715 Centerline is valid? [True, True] Translation: X:106.40, Y:-51.80, Z:-12.32 [[ 7.61314585e-01 6.42096609e-01 9.00669061e-02 1.06400809e+02] [-6.36839699e-01 7.66606155e-01 -8.21596074e-02 -5.18002841e+01] [-1.21800250e-01 5.19112607e-03 9.92541058e-01 -1.23167573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06591999999999 meters 0.032780511570040465 Centerline is valid? [True, True] Translation: X:106.43, Y:-51.82, Z:-12.32 [[ 7.60398705e-01 6.43152973e-01 9.02666183e-02 1.06425366e+02] [-6.37871762e-01 7.65720834e-01 -8.24088574e-02 -5.18215796e+01] [-1.22120532e-01 5.08506162e-03 9.92502251e-01 -1.23203368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09591999999999 meters 0.03169529459074789 Centerline is valid? [True, True] Translation: X:106.45, Y:-51.84, Z:-12.32 [[ 7.58484276e-01 6.45551200e-01 8.92482602e-02 1.06447503e+02] [-6.40398614e-01 7.63702603e-01 -8.15349536e-02 -5.18438525e+01] [-1.20794116e-01 4.68851809e-03 9.92666510e-01 -1.23216631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12592 meters 0.031182480421311 Centerline is valid? [True, True] Translation: X:106.47, Y:-51.86, Z:-12.32 [[ 7.56477301e-01 6.47983928e-01 8.86505663e-02 1.06472466e+02] [-6.42914098e-01 7.61641930e-01 -8.10125448e-02 -5.18640176e+01] [-1.20014815e-01 4.28945237e-03 9.92762834e-01 -1.23241719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15592 meters 0.030947873779757308 Centerline is valid? [True, True] Translation: X:106.50, Y:-51.89, Z:-12.33 [[ 7.56306110e-01 6.48333117e-01 8.75513370e-02 1.06496954e+02] [-6.43383220e-01 7.61345039e-01 -8.00734947e-02 -5.18850507e+01] [-1.18571074e-01 4.23101218e-03 9.92936553e-01 -1.23269328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18592 meters 0.03131018622669279 Centerline is valid? [True, True] Translation: X:106.52, Y:-51.91, Z:-12.33 [[ 7.56265104e-01 6.48319019e-01 8.80087631e-02 1.06521046e+02] [-6.43308949e-01 7.61356618e-01 -8.05586529e-02 -5.19063053e+01] [-1.19233761e-01 4.30687316e-03 9.92856868e-01 -1.23313713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21592 meters 0.03190999322293057 Centerline is valid? [True, True] Translation: X:106.55, Y:-51.93, Z:-12.33 [[ 7.57422901e-01 6.47000686e-01 8.77534091e-02 1.06546225e+02] [-6.42003004e-01 7.62475829e-01 -8.03912530e-02 -5.19265849e+01] [-1.18923049e-01 4.55222382e-03 9.92893038e-01 -1.23340962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24592 meters 0.032477512080152725 Centerline is valid? [True, True] Translation: X:106.57, Y:-51.95, Z:-12.34 [[ 7.58835456e-01 6.45181828e-01 8.89334588e-02 1.06571833e+02] [-6.40028657e-01 7.64013033e-01 -8.15316105e-02 -5.19463489e+01] [-1.20549035e-01 4.94911467e-03 9.92695037e-01 -1.23372250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27592 meters 0.033594316737459384 Centerline is valid? [True, True] Translation: X:106.60, Y:-51.96, Z:-12.34 [[ 7.61482494e-01 6.42055640e-01 8.89323740e-02 1.06598202e+02] [-6.36879028e-01 7.66638604e-01 -8.15497000e-02 -5.19646542e+01] [-1.20538436e-01 5.45950498e-03 9.92693648e-01 -1.23408733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30592 meters 0.033943881484819624 Centerline is valid? [True, True] Translation: X:106.62, Y:-51.99, Z:-12.34 [[ 7.61847648e-01 6.41548716e-01 8.94617577e-02 1.06622093e+02] [-6.36303248e-01 7.67061895e-01 -8.20623329e-02 -5.19854484e+01] [-1.21269690e-01 5.59418833e-03 9.92603832e-01 -1.23440571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33592 meters 0.03424914450961178 Centerline is valid? [True, True] Translation: X:106.65, Y:-52.01, Z:-12.35 [[ 7.62530557e-01 6.40852036e-01 8.86330575e-02 1.06646122e+02] [-6.35691578e-01 7.67643271e-01 -8.13635487e-02 -5.20060927e+01] [-1.20180566e-01 5.69890392e-03 9.92735692e-01 -1.23473717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36591999999999 meters 0.03447691484841436 Centerline is valid? [True, True] Translation: X:106.67, Y:-52.03, Z:-12.35 [[ 7.62178895e-01 6.41312741e-01 8.83249683e-02 1.06671480e+02] [-6.36183471e-01 7.67258738e-01 -8.11456688e-02 -5.20260338e+01] [-1.19807855e-01 5.65663132e-03 9.92780983e-01 -1.23506904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39591999999999 meters 0.03421712916786414 Centerline is valid? [True, True] Translation: X:106.70, Y:-52.05, Z:-12.35 [[ 7.61632902e-01 6.42023369e-01 8.78710222e-02 1.06696884e+02] [-6.36943829e-01 7.66664865e-01 -8.07932127e-02 -5.20458165e+01] [-1.19238756e-01 5.56586362e-03 9.92850009e-01 -1.23536995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42591999999999 meters 0.0338429194313736 Centerline is valid? [True, True] Translation: X:106.72, Y:-52.07, Z:-12.36 [[ 7.60934258e-01 6.42772295e-01 8.84467786e-02 1.06723950e+02] [-6.37622599e-01 7.66037286e-01 -8.13897956e-02 -5.20653939e+01] [-1.20068636e-01 5.53661890e-03 9.92750154e-01 -1.23566903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45591999999999 meters 0.03418765554179411 Centerline is valid? [True, True] Translation: X:106.75, Y:-52.09, Z:-12.36 [[ 7.60680044e-01 6.43056193e-01 8.85697685e-02 1.06749390e+02] [-6.37884925e-01 7.65798830e-01 -8.15780312e-02 -5.20859951e+01] [-1.20285883e-01 5.55746031e-03 9.92723738e-01 -1.23598858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48592 meters 0.03443349389371172 Centerline is valid? [True, True] Translation: X:106.77, Y:-52.11, Z:-12.36 [[ 7.61578930e-01 6.42024831e-01 8.83269514e-02 1.06774181e+02] [-6.36866263e-01 7.66662199e-01 -8.14274878e-02 -5.21062407e+01] [-1.19995404e-01 5.76100356e-03 9.92757732e-01 -1.23624677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51592 meters 0.0353885989941373 Centerline is valid? [True, True] Translation: X:106.80, Y:-52.13, Z:-12.37 [[ 7.62543739e-01 6.40811963e-01 8.88092046e-02 1.06798980e+02] [-6.35580507e-01 7.67674147e-01 -8.19379164e-02 -5.21267822e+01] [-1.20683327e-01 6.03584575e-03 9.92672707e-01 -1.23667883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54592 meters 0.03716733289247032 Centerline is valid? [True, True] Translation: X:106.82, Y:-52.15, Z:-12.37 [[ 7.65852567e-01 6.36561114e-01 9.08834073e-02 1.06823882e+02] [-6.31044533e-01 7.71195307e-01 -8.39082545e-02 -5.21457649e+01] [-1.23501589e-01 6.90987484e-03 9.92320317e-01 -1.23701518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57592 meters 0.03783915221859458 Centerline is valid? [True, True] Translation: X:106.85, Y:-52.17, Z:-12.37 [[ 7.66868340e-01 6.35231075e-01 9.16211220e-02 1.06848334e+02] [-6.29612259e-01 7.72288588e-01 -8.46093376e-02 -5.21660988e+01] [-1.24504427e-01 7.19844071e-03 9.92192940e-01 -1.23736005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60592 meters 0.03828819668471916 Centerline is valid? [True, True] Translation: X:106.87, Y:-52.19, Z:-12.38 [[ 7.67542370e-01 6.34315812e-01 9.23155477e-02 1.06871821e+02] [-6.28596648e-01 7.73038107e-01 -8.53131837e-02 -5.21873588e+01] [-1.25478938e-01 7.45223933e-03 9.92068294e-01 -1.23773499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63592 meters 0.038746137258085164 Centerline is valid? [True, True] Translation: X:106.90, Y:-52.21, Z:-12.38 [[ 7.69288224e-01 6.32559811e-01 8.97981864e-02 1.06895203e+02] [-6.27130470e-01 7.74474509e-01 -8.30458183e-02 -5.22086798e+01] [-1.22077853e-01 7.57099115e-03 9.92491651e-01 -1.23802276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66592 meters 0.03880277537198502 Centerline is valid? [True, True] Translation: X:106.92, Y:-52.23, Z:-12.38 [[ 7.69815088e-01 6.32135016e-01 8.82612751e-02 1.06919701e+02] [-6.26880553e-01 7.74821443e-01 -8.16853915e-02 -5.22306383e+01] [-1.20022925e-01 7.55336987e-03 9.92742386e-01 -1.23831929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69592 meters 0.039336443559649534 Centerline is valid? [True, True] Translation: X:106.94, Y:-52.25, Z:-12.39 [[ 7.69775415e-01 6.32063721e-01 8.91137678e-02 1.06941814e+02] [-6.26697511e-01 7.74878208e-01 -8.25469108e-02 -5.22544645e+01] [-1.21227224e-01 7.69520602e-03 9.92594955e-01 -1.23864282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72591999999999 meters 0.03988005872735839 Centerline is valid? [True, True] Translation: X:106.96, Y:-52.28, Z:-12.39 [[ 7.69306690e-01 6.32435473e-01 9.05129262e-02 1.06963840e+02] [-6.26893028e-01 7.74573674e-01 -8.39092046e-02 -5.22773579e+01] [-1.23176087e-01 7.80999003e-03 9.92354098e-01 -1.23908928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75591999999999 meters 0.04042294071829578 Centerline is valid? [True, True] Translation: X:106.99, Y:-52.30, Z:-12.39 [[ 7.71567972e-01 6.30007327e-01 8.81682053e-02 1.06985338e+02] [-6.24727242e-01 7.76547723e-01 -8.17894025e-02 -5.23019491e+01] [-1.19994742e-01 8.02500364e-03 9.92742092e-01 -1.23932053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78591999999999 meters 0.04039512767546681 Centerline is valid? [True, True] Translation: X:107.01, Y:-52.32, Z:-12.40 [[ 7.72153938e-01 6.29449210e-01 8.70171724e-02 1.07007804e+02] [-6.24300134e-01 7.77000197e-01 -8.07467397e-02 -5.23249979e+01] [-1.18438332e-01 8.02408066e-03 9.92928988e-01 -1.23951025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81591999999999 meters 0.03957016797184146 Centerline is valid? [True, True] Translation: X:107.03, Y:-52.35, Z:-12.40 [[ 7.70166678e-01 6.31713987e-01 8.82084289e-02 1.07027862e+02] [-6.26429336e-01 7.75161977e-01 -8.19157865e-02 -5.23504300e+01] [-1.20123168e-01 7.83246159e-03 9.92728098e-01 -1.23969394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84591999999999 meters 0.038542292820884116 Centerline is valid? [True, True] Translation: X:107.05, Y:-52.37, Z:-12.40 [[ 7.68335549e-01 6.33849911e-01 8.88525499e-02 1.07048975e+02] [-6.28495012e-01 7.73418765e-01 -8.25677511e-02 -5.23734476e+01] [-1.21055791e-01 7.59635395e-03 9.92616638e-01 -1.24004459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87592 meters 0.037884151064722454 Centerline is valid? [True, True] Translation: X:107.07, Y:-52.40, Z:-12.40 [[ 7.65870278e-01 6.36469194e-01 9.13765974e-02 1.07071450e+02] [-6.30820058e-01 7.71266557e-01 -8.49349883e-02 -5.23962939e+01] [-1.24534217e-01 7.40699264e-03 9.92187666e-01 -1.24034667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90592 meters 0.03588524298095076 Centerline is valid? [True, True] Translation: X:107.09, Y:-52.42, Z:-12.40 [[ 7.61851202e-01 6.41257237e-01 9.14980988e-02 1.07091949e+02] [-6.35620287e-01 7.67296930e-01 -8.51015418e-02 -5.24191905e+01] [-1.24778190e-01 6.67666408e-03 9.92162197e-01 -1.24046726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93592 meters 0.03482810390872823 Centerline is valid? [True, True] Translation: X:107.11, Y:-52.44, Z:-12.41 [[ 7.59447105e-01 6.44047707e-01 9.18838708e-02 1.07113192e+02] [-6.38382321e-01 7.64959794e-01 -8.54665248e-02 -5.24417513e+01] [-1.25331986e-01 6.25026618e-03 9.92095171e-01 -1.24084007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96592 meters 0.03271992838897909 Centerline is valid? [True, True] Translation: X:107.13, Y:-52.47, Z:-12.41 [[ 7.54577401e-01 6.49601183e-01 9.29045146e-02 1.07131390e+02] [-6.43848881e-01 7.60255981e-01 -8.64260436e-02 -5.24671028e+01] [-1.26773673e-01 5.39867162e-03 9.91916977e-01 -1.24137383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99592 meters 0.03271992838897909 Centerline is valid? [True, True] Translation: X:107.16, Y:-52.49, Z:-12.42 [[ 7.54275863e-01 6.49953161e-01 9.28913955e-02 1.07155390e+02] [-6.44201779e-01 7.59955374e-01 -8.64401402e-02 -5.24889897e+01] [-1.26775358e-01 5.35890914e-03 9.91916978e-01 -1.24169516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02592 meters 0.03241895622910794 Centerline is valid? [True, True] Translation: X:107.18, Y:-52.51, Z:-12.42 [[ 7.52440961e-01 6.52025121e-01 9.32514989e-02 1.07177641e+02] [-6.46234457e-01 7.58180275e-01 -8.68544619e-02 -5.25118260e+01] [-1.27332738e-01 5.09052302e-03 9.91846994e-01 -1.24210565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05592 meters 0.0319365054503295 Centerline is valid? [True, True] Translation: X:107.20, Y:-52.53, Z:-12.42 [[ 7.50885209e-01 6.53802202e-01 9.33492594e-02 1.07200803e+02] [-6.48003792e-01 7.56649964e-01 -8.70167605e-02 -5.25338003e+01] [-1.27524463e-01 4.84892431e-03 9.91823573e-01 -1.24234438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08592 meters 0.03175177148753914 Centerline is valid? [True, True] Translation: X:107.23, Y:-52.55, Z:-12.43 [[ 7.50018147e-01 6.54889009e-01 9.26993258e-02 1.07225690e+02] [-6.49171610e-01 7.55710587e-01 -8.64738654e-02 -5.25548860e+01] [-1.26684646e-01 4.67919771e-03 9.91932007e-01 -1.24262086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11591999999999 meters 0.03127888496179969 Centerline is valid? [True, True] Translation: X:107.25, Y:-52.58, Z:-12.43 [[ 7.49556196e-01 6.55564828e-01 9.16529651e-02 1.07249655e+02] [-6.49976898e-01 7.55125255e-01 -8.55329267e-02 -5.25772421e+01] [-1.25281847e-01 4.53942516e-03 9.92110807e-01 -1.24274978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14591999999999 meters 0.0313957410779883 Centerline is valid? [True, True] Translation: X:107.27, Y:-52.60, Z:-12.43 [[ 7.49034747e-01 6.56114464e-01 9.19823860e-02 1.07274847e+02] [-6.50485485e-01 7.54648017e-01 -8.58778406e-02 -5.25990688e+01] [-1.25760019e-01 4.49227960e-03 9.92050521e-01 -1.24303580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17591999999999 meters 0.031445286721993794 Centerline is valid? [True, True] Translation: X:107.30, Y:-52.62, Z:-12.43 [[ 7.49090723e-01 6.56175306e-01 9.10881760e-02 1.07299736e+02] [-6.50646369e-01 7.54595086e-01 -8.51208483e-02 -5.26201890e+01] [-1.24588889e-01 4.49704687e-03 9.92198259e-01 -1.24331266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20591999999999 meters 0.031120205472976083 Centerline is valid? [True, True] Translation: X:107.32, Y:-52.64, Z:-12.44 [[ 7.49239235e-01 6.55894904e-01 9.18827694e-02 1.07323654e+02] [-6.50258464e-01 7.54838005e-01 -8.59273898e-02 -5.26414458e+01] [-1.25715943e-01 4.63262332e-03 9.92055462e-01 -1.24364157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23592 meters 0.03230741518798234 Centerline is valid? [True, True] Translation: X:107.35, Y:-52.66, Z:-12.44 [[ 7.50545736e-01 6.54307182e-01 9.25376125e-02 1.07347265e+02] [-6.48572053e-01 7.56212555e-01 -8.65844368e-02 -5.26623772e+01] [-1.26630923e-01 4.96827058e-03 9.91937461e-01 -1.24415601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26592 meters 0.03214597717401877 Centerline is valid? [True, True] Translation: X:107.37, Y:-52.68, Z:-12.45 [[ 7.50944700e-01 6.53835492e-01 9.26348084e-02 1.07370775e+02] [-6.48076046e-01 7.56619515e-01 -8.67429988e-02 -5.26844091e+01] [-1.26804955e-01 5.10479486e-03 9.91914535e-01 -1.24451524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29592 meters 0.03279053947417557 Centerline is valid? [True, True] Translation: X:107.40, Y:-52.70, Z:-12.45 [[ 7.51619240e-01 6.53126753e-01 9.21626914e-02 1.07395256e+02] [-6.47412056e-01 7.57230402e-01 -8.63698312e-02 -5.27045730e+01] [-1.26198839e-01 5.24998939e-03 9.91991074e-01 -1.24475220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32592 meters 0.03307837198909323 Centerline is valid? [True, True] Translation: X:107.42, Y:-52.73, Z:-12.45 [[ 7.52900811e-01 6.51792553e-01 9.11418449e-02 1.07420433e+02] [-6.46186347e-01 7.58377631e-01 -8.54784969e-02 -5.27250027e+01] [-1.24834184e-01 5.46221386e-03 9.92162583e-01 -1.24493227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35592 meters 0.032953504181282504 Centerline is valid? [True, True] Translation: X:107.44, Y:-52.75, Z:-12.45 [[ 7.52630969e-01 6.52133053e-01 9.09346255e-02 1.07444091e+02] [-6.46545963e-01 7.58084959e-01 -8.53552160e-02 -5.27479793e+01] [-1.24599129e-01 5.44756395e-03 9.92192210e-01 -1.24523380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38592 meters 0.03316967470035822 Centerline is valid? [True, True] Translation: X:107.47, Y:-52.77, Z:-12.46 [[ 7.53274269e-01 6.51341147e-01 9.12829975e-02 1.07465770e+02] [-6.45695432e-01 7.58763916e-01 -8.57597160e-02 -5.27720868e+01] [-1.25121076e-01 5.65957286e-03 9.92125338e-01 -1.24569655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41592 meters 0.03339365783629325 Centerline is valid? [True, True] Translation: X:107.49, Y:-52.79, Z:-12.46 [[ 7.53424658e-01 6.51227405e-01 9.08523618e-02 1.07489381e+02] [-6.45625309e-01 7.58861195e-01 -8.54262693e-02 -5.27945221e+01] [-1.24576259e-01 5.70567365e-03 9.92193631e-01 -1.24609673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44592 meters 0.033623926227602505 Centerline is valid? [True, True] Translation: X:107.51, Y:-52.82, Z:-12.47 [[ 7.53354628e-01 6.51103920e-01 9.23064998e-02 1.07510874e+02] [-6.45309219e-01 7.58965818e-01 -8.68728859e-02 -5.28176939e+01] [-1.26620755e-01 5.87985535e-03 9.91933774e-01 -1.24665287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47591999999999 meters 0.03364259039526636 Centerline is valid? [True, True] Translation: X:107.53, Y:-52.84, Z:-12.47 [[ 7.53330262e-01 6.51009267e-01 9.31689387e-02 1.07533493e+02] [-6.45095402e-01 7.59046020e-01 -8.77556943e-02 -5.28404817e+01] [-1.27849282e-01 6.00616616e-03 9.91775422e-01 -1.24696480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50591999999999 meters 0.03386302440369525 Centerline is valid? [True, True] Translation: X:107.56, Y:-52.86, Z:-12.47 [[ 7.53155380e-01 6.51419906e-01 9.17010388e-02 1.07556180e+02] [-6.45686008e-01 7.58694514e-01 -8.64419662e-02 -5.28627341e+01] [-1.25883093e-01 5.89415421e-03 9.92027573e-01 -1.24720433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53591999999999 meters 0.03330247076865773 Centerline is valid? [True, True] Translation: X:107.58, Y:-52.89, Z:-12.47 [[ 7.53160881e-01 6.51540226e-01 9.07965935e-02 1.07575918e+02] [-6.45912774e-01 7.58591450e-01 -8.56487065e-02 -5.28890087e+01] [-1.24681097e-01 5.86057566e-03 9.92179559e-01 -1.24734122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56591999999999 meters 0.03333370100160918 Centerline is valid? [True, True] Translation: X:107.60, Y:-52.91, Z:-12.48 [[ 7.52948907e-01 6.51958966e-01 8.95402142e-02 1.07597797e+02] [-6.46485694e-01 7.58232562e-01 -8.44963298e-02 -5.29132260e+01] [-1.22980446e-01 5.73495169e-03 9.92392523e-01 -1.24755839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59591999999999 meters 0.03394537987559319 Centerline is valid? [True, True] Translation: X:107.62, Y:-52.94, Z:-12.48 [[ 7.54236678e-01 6.50401568e-01 9.00268523e-02 1.07617879e+02] [-6.44850007e-01 7.59566316e-01 -8.50145903e-02 -5.29380393e+01] [-1.23674987e-01 6.06730578e-03 9.92304230e-01 -1.24797991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62592 meters 0.034164183976118714 Centerline is valid? [True, True] Translation: X:107.64, Y:-52.96, Z:-12.48 [[ 7.54881579e-01 6.49752739e-01 8.93038642e-02 1.07640004e+02] [-6.44282266e-01 7.60120787e-01 -8.43608372e-02 -5.29607332e+01] [-1.22695409e-01 6.14554597e-03 9.92425347e-01 -1.24828532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65592 meters 0.035181795888870396 Centerline is valid? [True, True] Translation: X:107.66, Y:-52.98, Z:-12.49 [[ 7.56124215e-01 6.48165596e-01 9.03190599e-02 1.07661242e+02] [-6.42550873e-01 7.61471482e-01 -8.53789097e-02 -5.29847009e+01] [-1.24115060e-01 6.52247026e-03 9.92246395e-01 -1.24861489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68592 meters 0.03483244653768851 Centerline is valid? [True, True] Translation: X:107.68, Y:-53.01, Z:-12.49 [[ 7.56581849e-01 6.47745900e-01 8.94938802e-02 1.07682906e+02] [-6.42227246e-01 7.61828271e-01 -8.46277140e-02 -5.30085093e+01] [-1.22996223e-01 6.55238410e-03 9.92385507e-01 -1.24886887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71592 meters 0.035131703572901164 Centerline is valid? [True, True] Translation: X:107.70, Y:-53.03, Z:-12.49 [[ 7.57839941e-01 6.46370781e-01 8.87887212e-02 1.07703161e+02] [-6.40921587e-01 7.62993411e-01 -8.40272220e-02 -5.30342448e+01] [-1.22057950e-01 6.77257681e-03 9.92499868e-01 -1.24910837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74592 meters 0.03579376979667177 Centerline is valid? [True, True] Translation: X:107.72, Y:-53.06, Z:-12.49 [[ 7.58938303e-01 6.45193820e-01 8.79635593e-02 1.07724869e+02] [-6.39829950e-01 7.63987350e-01 -8.33124517e-02 -5.30581009e+01] [-1.20955726e-01 6.94729095e-03 9.92633592e-01 -1.24943245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77592 meters 0.03613672574304348 Centerline is valid? [True, True] Translation: X:107.75, Y:-53.08, Z:-12.50 [[ 7.58962767e-01 6.44938223e-01 8.96114208e-02 1.07746398e+02] [-6.39360324e-01 7.64201036e-01 -8.49420496e-02 -5.30822843e+01] [-1.23263515e-01 7.17386595e-03 9.92348045e-01 -1.24989145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80592 meters 0.036633760862870866 Centerline is valid? [True, True] Translation: X:107.76, Y:-53.11, Z:-12.50 [[ 7.59746953e-01 6.43817221e-01 9.10162243e-02 1.07764580e+02] [-6.38045669e-01 7.65142307e-01 -8.63421940e-02 -5.31090920e+01] [-1.25228955e-01 7.52571114e-03 9.92099326e-01 -1.25021728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83592 meters 0.03680953862169553 Centerline is valid? [True, True] Translation: X:107.79, Y:-53.13, Z:-12.51 [[ 7.59005233e-01 6.44510246e-01 9.22908360e-02 1.07785306e+02] [-6.38571751e-01 7.64558218e-01 -8.76176357e-02 -5.31337799e+01] [-1.27032181e-01 7.56792324e-03 9.91869725e-01 -1.25060746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86591999999999 meters 0.035906322449541214 Centerline is valid? [True, True] Translation: X:107.80, Y:-53.16, Z:-12.51 [[ 7.57784360e-01 6.46013502e-01 9.18118637e-02 1.07803202e+02] [-6.40140163e-01 7.63290856e-01 -8.72217904e-02 -5.31622099e+01] [-1.26425610e-01 7.32284732e-03 9.91949062e-01 -1.25089130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89591999999999 meters 0.035163417052928185 Centerline is valid? [True, True] Translation: X:107.82, Y:-53.19, Z:-12.51 [[ 7.56910672e-01 6.47256333e-01 9.02522811e-02 1.07823169e+02] [-6.41587810e-01 7.62240196e-01 -8.57610951e-02 -5.31862416e+01] [-1.24303328e-01 7.00872474e-03 9.92219512e-01 -1.25109107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92591999999999 meters 0.03394553214369819 Centerline is valid? [True, True] Translation: X:107.84, Y:-53.21, Z:-12.51 [[ 7.53953914e-01 6.50774951e-01 8.96964845e-02 1.07840686e+02] [-6.45199710e-01 7.59243732e-01 -8.52425377e-02 -5.32127560e+01] [-1.23575202e-01 6.39679914e-03 9.92314592e-01 -1.25133312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95591999999999 meters 0.032520128196533195 Centerline is valid? [True, True] Translation: X:107.86, Y:-53.24, Z:-12.52 [[ 7.50058827e-01 6.55077180e-01 9.10255118e-02 1.07858037e+02] [-6.49364707e-01 7.55539834e-01 -8.65161097e-02 -5.32405672e+01] [-1.25448129e-01 5.78341700e-03 9.92083323e-01 -1.25169548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98592 meters 0.03164223866485445 Centerline is valid? [True, True] Translation: X:107.88, Y:-53.27, Z:-12.52 [[ 7.48110614e-01 6.57331866e-01 9.08037842e-02 1.07878568e+02] [-6.51661789e-01 7.53581855e-01 -8.63209211e-02 -5.32653069e+01] [-1.25169576e-01 5.40424085e-03 9.92120644e-01 -1.25197869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01592 meters 0.030777787599666165 Centerline is valid? [True, True] Translation: X:107.90, Y:-53.29, Z:-12.52 [[ 7.45436843e-01 6.60283745e-01 9.13744421e-02 1.07899227e+02] [-6.54561367e-01 7.50999881e-01 -8.68826553e-02 -5.32899000e+01] [-1.25989400e-01 4.95535260e-03 9.92019211e-01 -1.25231293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04592 meters 0.029306496406445674 Centerline is valid? [True, True] Translation: X:107.92, Y:-53.31, Z:-12.53 [[ 7.39554556e-01 6.66706721e-01 9.25267859e-02 1.07919204e+02] [-6.60884607e-01 7.45309777e-01 -8.80049566e-02 -5.33140072e+01] [-1.27634614e-01 3.93493810e-03 9.91813451e-01 -1.25274660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07592 meters 0.02873947730740043 Centerline is valid? [True, True] Translation: X:107.94, Y:-53.34, Z:-12.53 [[ 7.37011324e-01 6.69502928e-01 9.26290309e-02 1.07941222e+02] [-6.63684842e-01 7.42801246e-01 -8.81404553e-02 -5.33369263e+01] [-1.27815252e-01 3.48402996e-03 9.91791875e-01 -1.25305644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10592 meters 0.027973058189855047 Centerline is valid? [True, True] Translation: X:107.96, Y:-53.36, Z:-12.53 [[ 7.33208339e-01 6.73682875e-01 9.25035936e-02 1.07963132e+02] [-6.67905295e-01 7.39015249e-01 -8.80850690e-02 -5.33611469e+01] [-1.27702969e-01 2.80106723e-03 9.91808503e-01 -1.25344613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13592 meters 0.027354523354128114 Centerline is valid? [True, True] Translation: X:107.99, Y:-53.38, Z:-12.54 [[ 7.31774698e-01 6.75409927e-01 9.12536146e-02 1.07985829e+02] [-6.69797885e-01 7.37438302e-01 -8.69226340e-02 -5.33844305e+01] [-1.26002321e-01 2.48630621e-03 9.92026831e-01 -1.25370397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16592 meters 0.02718071861794534 Centerline is valid? [True, True] Translation: X:108.01, Y:-53.41, Z:-12.54 [[ 7.31222897e-01 6.76247950e-01 8.94526966e-02 1.08010240e+02] [-6.70857365e-01 7.36670419e-01 -8.52472273e-02 -5.34058759e+01] [-1.23545418e-01 2.32472420e-03 9.92336196e-01 -1.25394323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19592 meters 0.027343476881273504 Centerline is valid? [True, True] Translation: X:108.03, Y:-53.43, Z:-12.54 [[ 7.31124598e-01 6.76219937e-01 9.04622497e-02 1.08033539e+02] [-6.70696646e-01 7.36695849e-01 -8.62857717e-02 -5.34280429e+01] [-1.24991323e-01 2.41292266e-03 9.92154901e-01 -1.25421715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22591999999999 meters 0.02769300018706583 Centerline is valid? [True, True] Translation: X:108.06, Y:-53.45, Z:-12.55 [[ 7.31418578e-01 6.75708786e-01 9.18939580e-02 1.08057278e+02] [-6.69994619e-01 7.37164084e-01 -8.77286934e-02 -5.34499417e+01] [-1.27019974e-01 2.59793882e-03 9.91896757e-01 -1.25458804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25591999999999 meters 0.027747493584032137 Centerline is valid? [True, True] Translation: X:108.08, Y:-53.47, Z:-12.55 [[ 7.31092110e-01 6.75948515e-01 9.27250323e-02 1.08081303e+02] [-6.70121945e-01 7.36944129e-01 -8.85998301e-02 -5.34709778e+01] [-1.28222092e-01 2.63755776e-03 9.91741972e-01 -1.25494250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28591999999999 meters 0.027639254673586838 Centerline is valid? [True, True] Translation: X:108.11, Y:-53.49, Z:-12.55 [[ 7.30310220e-01 6.76878572e-01 9.20998450e-02 1.08106684e+02] [-6.71128206e-01 7.36090402e-01 -8.80786659e-02 -5.34907756e+01] [-1.27412373e-01 2.51394614e-03 9.91846645e-01 -1.25523237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31591999999999 meters 0.027247776903250396 Centerline is valid? [True, True] Translation: X:108.13, Y:-53.51, Z:-12.55 [[ 7.29191593e-01 6.78283238e-01 9.06171542e-02 1.08130652e+02] [-6.72718679e-01 7.34796992e-01 -8.67349918e-02 -5.35127873e+01] [-1.25416103e-01 2.28657459e-03 9.92101594e-01 -1.25540571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34591999999999 meters 0.027234864875889858 Centerline is valid? [True, True] Translation: X:108.15, Y:-53.53, Z:-12.56 [[ 7.27952030e-01 6.79684116e-01 9.00852063e-02 1.08154563e+02] [-6.74186277e-01 7.33501972e-01 -8.63001826e-02 -5.35348039e+01] [-1.24734540e-01 2.08818328e-03 9.92187953e-01 -1.25568032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37592 meters 0.02678058325717629 Centerline is valid? [True, True] Translation: X:108.18, Y:-53.56, Z:-12.56 [[ 7.25445756e-01 6.82527929e-01 8.87923477e-02 1.08178543e+02] [-6.77199416e-01 7.30857692e-01 -8.51350981e-02 -5.35556267e+01] [-1.23001653e-01 1.63076964e-03 9.92405126e-01 -1.25597963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40592 meters 0.026758281290587924 Centerline is valid? [True, True] Translation: X:108.20, Y:-53.58, Z:-12.56 [[ 7.24332320e-01 6.83602910e-01 8.96088876e-02 1.08203266e+02] [-6.78173931e-01 7.29852556e-01 -8.59963168e-02 -5.35776568e+01] [-1.24188608e-01 1.51950013e-03 9.92257467e-01 -1.25637267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43592 meters 0.026961842523344767 Centerline is valid? [True, True] Translation: X:108.23, Y:-53.60, Z:-12.57 [[ 7.24223315e-01 6.83524466e-01 9.10763136e-02 1.08226067e+02] [-6.77904703e-01 7.29925811e-01 -8.74844230e-02 -5.35992601e+01] [-1.26276696e-01 1.61719746e-03 9.91993740e-01 -1.25676931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46592 meters 0.026913689565719698 Centerline is valid? [True, True] Translation: X:108.25, Y:-53.62, Z:-12.57 [[ 7.25441074e-01 6.82438252e-01 8.95169274e-02 1.08250122e+02] [-6.76995844e-01 7.30941007e-01 -8.60341339e-02 -5.36203296e+01] [-1.24144577e-01 1.81010671e-03 9.92262489e-01 -1.25693659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49592 meters 0.027334567661355145 Centerline is valid? [True, True] Translation: X:108.28, Y:-53.64, Z:-12.57 [[ 7.27585634e-01 6.80197082e-01 8.91688032e-02 1.08275373e+02] [-6.74770918e-01 7.33025861e-01 -8.57746832e-02 -5.36406365e+01] [-1.23706728e-01 2.23991201e-03 9.92316294e-01 -1.25735715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52592 meters 0.027458887818525124 Centerline is valid? [True, True] Translation: X:108.30, Y:-53.66, Z:-12.58 [[ 7.28463148e-01 6.79376109e-01 8.82583968e-02 1.08298939e+02] [-6.74045224e-01 7.33786270e-01 -8.49749736e-02 -5.36629173e+01] [-1.22492767e-01 2.41098589e-03 9.92466478e-01 -1.25773435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55592 meters 0.02776530247397664 Centerline is valid? [True, True] Translation: X:108.32, Y:-53.69, Z:-12.58 [[ 7.29188682e-01 6.78501910e-01 8.89888999e-02 1.08321708e+02] [-6.73065122e-01 7.34593888e-01 -8.57622327e-02 -5.36851924e+01] [-1.23560541e-01 2.64152466e-03 9.92333520e-01 -1.25803017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58592 meters 0.028185403636502113 Centerline is valid? [True, True] Translation: X:108.35, Y:-53.71, Z:-12.58 [[ 7.30670456e-01 6.76731770e-01 9.03039110e-02 1.08345989e+02] [-6.71109294e-01 7.36223375e-01 -8.71060118e-02 -5.37067758e+01] [-1.25431256e-01 3.04199543e-03 9.92097650e-01 -1.25819208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61591999999999 meters 0.028309013509665564 Centerline is valid? [True, True] Translation: X:108.37, Y:-53.73, Z:-12.59 [[ 7.30572412e-01 6.76876046e-01 9.00153861e-02 1.08370492e+02] [-6.71280940e-01 7.36090637e-01 -8.69049667e-02 -5.37289262e+01] [-1.25083373e-01 3.06475814e-03 9.92141501e-01 -1.25852134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64591999999999 meters 0.028347916856007623 Centerline is valid? [True, True] Translation: X:108.39, Y:-53.75, Z:-12.59 [[ 7.30770084e-01 6.76613609e-01 9.03831210e-02 1.08390829e+02] [-6.70959930e-01 7.36331368e-01 -8.73435122e-02 -5.37532395e+01] [-1.25649736e-01 3.18457320e-03 9.92069555e-01 -1.25888446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67591999999999 meters 0.028408502998346366 Centerline is valid? [True, True] Translation: X:108.41, Y:-53.78, Z:-12.59 [[ 7.29990929e-01 6.77508063e-01 8.99781554e-02 1.08412509e+02] [-6.71903038e-01 7.35508944e-01 -8.70224194e-02 -5.37768330e+01] [-1.25138129e-01 3.06898084e-03 9.92134583e-01 -1.25930010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70591999999999 meters 0.02806382004717972 Centerline is valid? [True, True] Translation: X:108.43, Y:-53.80, Z:-12.59 [[ 7.27373585e-01 6.80372293e-01 8.95612115e-02 1.08434988e+02] [-6.74831499e-01 7.32861979e-01 -8.66935313e-02 -5.37996391e+01] [-1.24619883e-01 2.61985805e-03 9.92201099e-01 -1.25946853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73592 meters 0.02788273661917907 Centerline is valid? [True, True] Translation: X:108.46, Y:-53.82, Z:-12.60 [[ 7.26251897e-01 6.81669761e-01 8.87948111e-02 1.08459136e+02] [-6.76224246e-01 7.31655949e-01 -8.60252326e-02 -5.38204134e+01] [-1.23608052e-01 2.43078417e-03 9.92328142e-01 -1.25967615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76592 meters 0.027610727928791653 Centerline is valid? [True, True] Translation: X:108.48, Y:-53.84, Z:-12.60 [[ 7.23145336e-01 6.84801211e-01 9.00451239e-02 1.08483807e+02] [-6.79214996e-01 7.28727233e-01 -8.73132830e-02 -5.38409957e+01] [-1.25410576e-01 1.98019490e-03 9.92102951e-01 -1.25996332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79592 meters 0.02740852883775008 Centerline is valid? [True, True] Translation: X:108.51, Y:-53.86, Z:-12.60 [[ 7.21803090e-01 6.86298045e-01 8.94164011e-02 1.08507381e+02] [-6.80791792e-01 7.27318282e-01 -8.67793338e-02 -5.38629931e+01] [-1.24590670e-01 1.76363938e-03 9.92206659e-01 -1.26026079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82592 meters 0.027358518223611086 Centerline is valid? [True, True] Translation: X:108.53, Y:-53.88, Z:-12.61 [[ 7.20321451e-01 6.87731232e-01 9.03479901e-02 1.08532507e+02] [-6.82110129e-01 7.25963649e-01 -8.77641803e-02 -5.38837666e+01] [-1.25947524e-01 1.59114248e-03 9.92035629e-01 -1.26062095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85592 meters 0.02723803936314951 Centerline is valid? [True, True] Translation: X:108.56, Y:-53.90, Z:-12.61 [[ 7.19765957e-01 6.88362939e-01 8.99634971e-02 1.08557209e+02] [-6.82785209e-01 7.25364823e-01 -8.74656080e-02 -5.39049545e+01] [-1.25464439e-01 1.52902193e-03 9.92096939e-01 -1.26098018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88592 meters 0.027490649479728582 Centerline is valid? [True, True] Translation: X:108.58, Y:-53.92, Z:-12.61 [[ 7.20249280e-01 6.87774702e-01 9.05921349e-02 1.08581949e+02] [-6.82108972e-01 7.25922288e-01 -8.81145952e-02 -5.39247393e+01] [-1.26365839e-01 1.67076566e-03 9.91982300e-01 -1.26135599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91592 meters 0.027490649479728582 Centerline is valid? [True, True] Translation: X:108.61, Y:-53.95, Z:-12.62 [[ 7.19906404e-01 6.88138560e-01 9.05543540e-02 1.08605435e+02] [-6.82470817e-01 7.25577398e-01 -8.81534088e-02 -5.39470939e+01] [-1.26365952e-01 1.66149963e-03 9.91982301e-01 -1.26167648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94592 meters 0.027815127156612825 Centerline is valid? [True, True] Translation: X:108.63, Y:-53.97, Z:-12.62 [[ 7.20753263e-01 6.87361650e-01 8.97145215e-02 1.08632667e+02] [-6.81781969e-01 7.26312990e-01 -8.74230391e-02 -5.39666157e+01] [-1.25252067e-01 1.84469765e-03 9.92123237e-01 -1.26199899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97591999999999 meters 0.027918992156702585 Centerline is valid? [True, True] Translation: X:108.66, Y:-53.98, Z:-12.62 [[ 7.22344287e-01 6.85767538e-01 8.91157405e-02 1.08660056e+02] [-6.80239691e-01 7.27817408e-01 -8.69240119e-02 -5.39849549e+01] [-1.24469653e-01 2.16899955e-03 9.92221044e-01 -1.26230961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00591999999999 meters 0.027828316496115623 Centerline is valid? [True, True] Translation: X:108.69, Y:-54.01, Z:-12.63 [[ 7.22344691e-01 6.85793999e-01 8.89086027e-02 1.08685122e+02] [-6.80282399e-01 7.27792333e-01 -8.67996404e-02 -5.40066910e+01] [-1.24233672e-01 2.21630176e-03 9.92250514e-01 -1.26258730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03591999999999 meters 0.027895320821305816 Centerline is valid? [True, True] Translation: X:108.71, Y:-54.03, Z:-12.63 [[ 7.22878210e-01 6.85276367e-01 8.85629354e-02 1.08710141e+02] [-6.79793175e-01 7.28279298e-01 -8.65476950e-02 -5.40289025e+01] [-1.23807642e-01 2.35896386e-03 9.92303433e-01 -1.26282877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06591999999999 meters 0.02825983710031928 Centerline is valid? [True, True] Translation: X:108.73, Y:-54.05, Z:-12.63 [[ 7.23457149e-01 6.84526888e-01 8.96252986e-02 1.08734017e+02] [-6.78894247e-01 7.28983046e-01 -8.76716617e-02 -5.40498735e+01] [-1.25348933e-01 2.58059075e-03 9.92109362e-01 -1.26316548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09591999999999 meters 0.028822448634896747 Centerline is valid? [True, True] Translation: X:108.76, Y:-54.07, Z:-12.64 [[ 7.26208987e-01 6.81671328e-01 8.91330858e-02 1.08758748e+02] [-6.76069828e-01 7.31651909e-01 -8.72643825e-02 -5.40696335e+01] [-1.24700020e-01 3.11198887e-03 9.92189609e-01 -1.26364196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12592 meters 0.02908896907615645 Centerline is valid? [True, True] Translation: X:108.78, Y:-54.09, Z:-12.64 [[ 7.27575237e-01 6.80336839e-01 8.81819693e-02 1.08781513e+02] [-6.74836329e-01 7.32891890e-01 -8.64025862e-02 -5.40920108e+01] [-1.23410713e-01 3.35598566e-03 9.92350005e-01 -1.26389548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15592 meters 0.02960893486515937 Centerline is valid? [True, True] Translation: X:108.80, Y:-54.11, Z:-12.64 [[ 7.29095167e-01 6.78558098e-01 8.93260655e-02 1.08804098e+02] [-6.72890602e-01 7.34537109e-01 -8.75983677e-02 -5.41146713e+01] [-1.25053892e-01 3.76087658e-03 9.92142822e-01 -1.26424886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18592 meters 0.0304549638556383 Centerline is valid? [True, True] Translation: X:108.83, Y:-54.14, Z:-12.64 [[ 7.31791850e-01 6.75554580e-01 9.00372037e-02 1.08826538e+02] [-6.69764096e-01 7.37297067e-01 -8.83690563e-02 -5.41369131e+01] [-1.26082287e-01 4.36406885e-03 9.92010187e-01 -1.26441150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21592 meters 0.030470596650619436 Centerline is valid? [True, True] Translation: X:108.85, Y:-54.16, Z:-12.65 [[ 7.32597305e-01 6.74716123e-01 8.97738383e-02 1.08849327e+02] [-6.68944485e-01 7.38063329e-01 -8.81804870e-02 -5.41594866e+01] [-1.25755574e-01 4.54707308e-03 9.92050835e-01 -1.26463267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24592 meters 0.03058141089311787 Centerline is valid? [True, True] Translation: X:108.87, Y:-54.18, Z:-12.65 [[ 7.32597380e-01 6.74782303e-01 8.92744150e-02 1.08871577e+02] [-6.69066025e-01 7.38002708e-01 -8.77647844e-02 -5.41837917e+01] [-1.25106883e-01 4.56577316e-03 9.92132764e-01 -1.26509550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27592 meters 0.03073050517994735 Centerline is valid? [True, True] Translation: X:108.89, Y:-54.21, Z:-12.65 [[ 7.32049797e-01 6.75262681e-01 9.01299394e-02 1.08893562e+02] [-6.69428857e-01 7.37563048e-01 -8.86890955e-02 -5.42066438e+01] [-1.26364949e-01 4.58925209e-03 9.91973204e-01 -1.26545274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30592 meters 0.030331714266531383 Centerline is valid? [True, True] Translation: X:108.91, Y:-54.23, Z:-12.66 [[ 7.31178565e-01 6.76237442e-01 8.98934302e-02 1.08913896e+02] [-6.70432277e-01 7.36670209e-01 -8.85300268e-02 -5.42314719e+01] [-1.26089131e-01 4.46380091e-03 9.92008874e-01 -1.26567003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33592 meters 0.03016935056462007 Centerline is valid? [True, True] Translation: X:108.94, Y:-54.26, Z:-12.66 [[ 7.30742549e-01 6.76743683e-01 8.96287639e-02 1.08935968e+02] [-6.70967266e-01 7.36205454e-01 -8.83428445e-02 -5.42551527e+01] [-1.25770647e-01 4.41790867e-03 9.92049508e-01 -1.26593231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36591999999999 meters 0.030034661309580254 Centerline is valid? [True, True] Translation: X:108.96, Y:-54.28, Z:-12.66 [[ 7.30098109e-01 6.77542144e-01 8.88447743e-02 1.08959014e+02] [-6.71863433e-01 7.35471401e-01 -8.76432836e-02 -5.42778754e+01] [-1.24724809e-01 4.29664057e-03 9.92182070e-01 -1.26625780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39591999999999 meters 0.03017654402955333 Centerline is valid? [True, True] Translation: X:108.98, Y:-54.30, Z:-12.66 [[ 7.30324231e-01 6.77344560e-01 8.84921690e-02 1.08983300e+02] [-6.71700109e-01 7.35652947e-01 -8.73710785e-02 -5.42997309e+01] [-1.24279850e-01 4.36901620e-03 9.92237588e-01 -1.26648888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42591999999999 meters 0.03023724663257128 Centerline is valid? [True, True] Translation: X:109.01, Y:-54.32, Z:-12.67 [[ 7.30674167e-01 6.76961860e-01 8.85319301e-02 1.09006434e+02] [-6.71299265e-01 7.36004361e-01 -8.74921619e-02 -5.43221968e+01] [-1.24388743e-01 4.49684295e-03 9.92223372e-01 -1.26683856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45591999999999 meters 0.030536050116793202 Centerline is valid? [True, True] Translation: X:109.03, Y:-54.35, Z:-12.67 [[ 7.29460228e-01 6.77917414e-01 9.11907603e-02 1.09026373e+02] [-6.71905509e-01 7.35124151e-01 -9.01968308e-02 -5.43473731e+01] [-1.28182533e-01 4.52342649e-03 9.91740277e-01 -1.26719794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48592 meters 0.03043436660033399 Centerline is valid? [True, True] Translation: X:109.05, Y:-54.37, Z:-12.68 [[ 7.28973039e-01 6.78226452e-01 9.27749395e-02 1.09047524e+02] [-6.71995158e-01 7.34838533e-01 -9.18413803e-02 -5.43708528e+01] [-1.30463854e-01 4.60557992e-03 9.91442369e-01 -1.26765193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51592 meters 0.029917701925139213 Centerline is valid? [True, True] Translation: X:109.07, Y:-54.39, Z:-12.68 [[ 7.26726378e-01 6.80636131e-01 9.27535913e-02 1.09069949e+02] [-6.74417094e-01 7.32609426e-01 -9.18967506e-02 -5.43934279e+01] [-1.30500404e-01 4.22918525e-03 9.91439236e-01 -1.26802554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54592 meters 0.029397944961488977 Centerline is valid? [True, True] Translation: X:109.09, Y:-54.42, Z:-12.68 [[ 7.25892702e-01 6.81813756e-01 9.06078738e-02 1.09093155e+02] [-6.75881573e-01 7.31515040e-01 -8.98323241e-02 -5.44155672e+01] [-1.27529937e-01 3.96843621e-03 9.91826783e-01 -1.26830153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57592 meters 0.028515381324081032 Centerline is valid? [True, True] Translation: X:109.11, Y:-54.44, Z:-12.69 [[ 7.23351365e-01 6.84801115e-01 8.83755413e-02 1.09113557e+02] [-6.79178666e-01 7.28722223e-01 -8.76371002e-02 -5.44397085e+01] [-1.24415205e-01 3.36963377e-03 9.92224522e-01 -1.26851865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60592 meters 0.02804953292152191 Centerline is valid? [True, True] Translation: X:109.14, Y:-54.46, Z:-12.69 [[ 7.21015788e-01 6.87253123e-01 8.84272508e-02 1.09135668e+02] [-6.81638891e-01 7.26411955e-01 -8.77159819e-02 -5.44635231e+01] [-1.24517695e-01 2.96915466e-03 9.92212945e-01 -1.26876193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63592 meters 0.027872954823109457 Centerline is valid? [True, True] Translation: X:109.16, Y:-54.49, Z:-12.69 [[ 7.19033645e-01 6.89366117e-01 8.81190924e-02 1.09157830e+02] [-6.83797482e-01 7.24408268e-01 -8.74852289e-02 -5.44864584e+01] [-1.24143552e-01 2.64920957e-03 9.92260732e-01 -1.26903671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66592 meters 0.02740613193105344 Centerline is valid? [True, True] Translation: X:109.18, Y:-54.51, Z:-12.69 [[ 7.15904467e-01 6.92650960e-01 8.78375864e-02 1.09180573e+02] [-6.87134374e-01 7.21269816e-01 -8.72708661e-02 -5.45097818e+01] [-1.23802849e-01 2.12137793e-03 9.92304567e-01 -1.26921769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69592 meters 0.027405513132513604 Centerline is valid? [True, True] Translation: X:109.20, Y:-54.53, Z:-12.70 [[ 7.14991575e-01 6.93453831e-01 8.89316166e-02 1.09203431e+02] [-6.87799732e-01 7.20498190e-01 -8.83961975e-02 -5.45321865e+01] [-1.25373751e-01 2.03539439e-03 9.92107494e-01 -1.26956026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72591999999999 meters 0.02751392141600351 Centerline is valid? [True, True] Translation: X:109.23, Y:-54.55, Z:-12.70 [[ 7.15618532e-01 6.92952095e-01 8.77924248e-02 1.09226634e+02] [-6.87429333e-01 7.20980422e-01 -8.73392412e-02 -5.45539747e+01] [-1.23818530e-01 2.15049154e-03 9.92302548e-01 -1.26994545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75591999999999 meters 0.02753559742520705 Centerline is valid? [True, True] Translation: X:109.25, Y:-54.58, Z:-12.70 [[ 7.15834973e-01 6.92708929e-01 8.79467540e-02 1.09250147e+02] [-6.87155114e-01 7.21213744e-01 -8.75704515e-02 -5.45762285e+01] [-1.24089241e-01 2.25293002e-03 9.92268504e-01 -1.27032301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78591999999999 meters 0.0275128026067153 Centerline is valid? [True, True] Translation: X:109.27, Y:-54.60, Z:-12.71 [[ 7.17221021e-01 6.91373689e-01 8.71574962e-02 1.09274245e+02] [-6.85899527e-01 7.22492952e-01 -8.68664043e-02 -5.45992489e+01] [-1.23027823e-01 2.52112569e-03 9.92400019e-01 -1.27066985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81591999999999 meters 0.027882290350923874 Centerline is valid? [True, True] Translation: X:109.30, Y:-54.62, Z:-12.71 [[ 7.17748020e-01 6.90711198e-01 8.80671371e-02 1.09297205e+02] [-6.85105926e-01 7.23125585e-01 -8.78593117e-02 -5.46221648e+01] [-1.24369010e-01 2.72552949e-03 9.92232292e-01 -1.27093170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84591999999999 meters 0.02834057101130851 Centerline is valid? [True, True] Translation: X:109.32, Y:-54.65, Z:-12.71 [[ 7.19586657e-01 6.88721799e-01 8.86415584e-02 1.09319751e+02] [-6.83018027e-01 7.25018884e-01 -8.85098511e-02 -5.46451647e+01] [-1.25225468e-01 3.14672554e-03 9.92123319e-01 -1.27113292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87592 meters 0.028794356560992322 Centerline is valid? [True, True] Translation: X:109.34, Y:-54.67, Z:-12.71 [[ 7.20321645e-01 6.88009890e-01 8.81993189e-02 1.09342852e+02] [-6.82348295e-01 7.25693764e-01 -8.81439961e-02 -5.46673831e+01] [-1.24649637e-01 3.30937338e-03 9.92195301e-01 -1.27147520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90592 meters 0.029297812095626072 Centerline is valid? [True, True] Translation: X:109.39, Y:-54.96, Z:-10.78 [[ 7.36630910e-01 -6.74598195e-01 -4.78767007e-02 1.09388251e+02] [-6.72695282e-01 -7.38166129e-01 5.09099551e-02 -5.49629492e+01] [-6.96847227e-02 -5.29541587e-03 -9.97555010e-01 -1.07800215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93592 meters 0.029432282765353552 Centerline is valid? [True, True] Translation: X:109.38, Y:-54.73, Z:-12.72 [[ 7.70856900e-01 6.29637720e-01 9.66228781e-02 1.09379787e+02] [-6.24131982e-01 7.76879555e-01 -8.31710642e-02 -5.47292468e+01] [-1.27431978e-01 3.80756035e-03 9.91840004e-01 -1.27247239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96592 meters 0.030052000694409876 Centerline is valid? [True, True] Translation: X:109.40, Y:-54.75, Z:-12.73 [[ 7.72406461e-01 6.27620713e-01 9.73678564e-02 1.09404745e+02] [-6.22003265e-01 7.78507745e-01 -8.38905774e-02 -5.47488356e+01] [-1.28453094e-01 4.23449942e-03 9.91706545e-01 -1.27283286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99592 meters 0.030200907369910605 Centerline is valid? [True, True] Translation: X:109.43, Y:-54.77, Z:-12.73 [[ 7.72788606e-01 6.27170279e-01 9.72379117e-02 1.09429676e+02] [-6.21555177e-01 7.78869976e-01 -8.38494086e-02 -5.47684333e+01] [-1.28323547e-01 4.35914018e-03 9.91722776e-01 -1.27324647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02592 meters 0.030217101907807957 Centerline is valid? [True, True] Translation: X:109.45, Y:-54.79, Z:-12.74 [[ 7.72723910e-01 6.27299217e-01 9.69198175e-02 1.09454908e+02] [-6.21712519e-01 7.78766012e-01 -8.36483281e-02 -5.47896099e+01] [-1.27950390e-01 4.38079932e-03 9.91770894e-01 -1.27352949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05592 meters 0.030470803656861986 Centerline is valid? [True, True] Translation: X:109.48, Y:-54.81, Z:-12.74 [[ 7.72791948e-01 6.27248148e-01 9.67076279e-02 1.09480229e+02] [-6.21675198e-01 7.78806793e-01 -8.35459596e-02 -5.48113169e+01] [-1.27720606e-01 4.44291119e-03 9.91800236e-01 -1.27382099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08592 meters 0.030620916248627703 Centerline is valid? [True, True] Translation: X:109.51, Y:-54.83, Z:-12.74 [[ 7.73129682e-01 6.26782435e-01 9.70271788e-02 1.09506455e+02] [-6.21158547e-01 7.79180752e-01 -8.39012253e-02 -5.48304206e+01] [-1.28189524e-01 4.59726634e-03 9.91739034e-01 -1.27413108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11591999999999 meters 0.03084915294195511 Centerline is valid? [True, True] Translation: X:109.53, Y:-54.85, Z:-12.75 [[ 7.73021021e-01 6.26879114e-01 9.72680737e-02 1.09531604e+02] [-6.21218651e-01 7.79102666e-01 -8.41808966e-02 -5.48505212e+01] [-1.28553061e-01 4.64886114e-03 9.91691736e-01 -1.27452122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14591999999999 meters 0.030529383282620746 Centerline is valid? [True, True] Translation: X:109.56, Y:-54.87, Z:-12.75 [[ 7.72509430e-01 6.27521376e-01 9.71910607e-02 1.09555924e+02] [-6.21865725e-01 7.78585778e-01 -8.41855421e-02 -5.48716600e+01] [-1.28499805e-01 4.59433567e-03 9.91698892e-01 -1.27489390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17591999999999 meters 0.030154579915472015 Centerline is valid? [True, True] Translation: X:109.58, Y:-54.89, Z:-12.75 [[ 7.71146667e-01 6.29353625e-01 9.61604463e-02 1.09579098e+02] [-6.23822976e-01 7.77107163e-01 -8.33627739e-02 -5.48939278e+01] [-1.27191636e-01 4.29782951e-03 9.91868850e-01 -1.27529822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20591999999999 meters 0.029581810733487 Centerline is valid? [True, True] Translation: X:109.60, Y:-54.91, Z:-12.75 [[ 7.70010986e-01 6.30882353e-01 9.52393717e-02 1.09604621e+02] [-6.25461235e-01 7.75867908e-01 -8.26270695e-02 -5.49136097e+01] [-1.26021132e-01 4.05521621e-03 9.92019269e-01 -1.27545566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23592 meters 0.030130198792918766 Centerline is valid? [True, True] Translation: X:109.63, Y:-54.93, Z:-12.76 [[ 7.69195591e-01 6.31744242e-01 9.61111620e-02 1.09630739e+02] [-6.26223294e-01 7.75166626e-01 -8.34331369e-02 -5.49329443e+01] [-1.27210569e-01 3.98935256e-03 9.91867711e-01 -1.27581908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26592 meters 0.029555378186475106 Centerline is valid? [True, True] Translation: X:109.65, Y:-54.96, Z:-12.76 [[ 7.68581613e-01 6.32722750e-01 9.45739233e-02 1.09654419e+02] [-6.27376416e-01 7.74368993e-01 -8.21674820e-02 -5.49552647e+01] [-1.25224349e-01 3.81896677e-03 9.92121100e-01 -1.27607155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29592 meters 0.029793238963271185 Centerline is valid? [True, True] Translation: X:109.68, Y:-54.98, Z:-12.76 [[ 7.68127771e-01 6.33035868e-01 9.61525701e-02 1.09676125e+02] [-6.27506555e-01 7.74112840e-01 -8.35753232e-02 -5.49784867e+01] [-1.27339116e-01 3.86015874e-03 9.91851727e-01 -1.27648248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32592 meters 0.029703946767552843 Centerline is valid? [True, True] Translation: X:109.70, Y:-55.00, Z:-12.77 [[ 7.67453299e-01 6.33787122e-01 9.65883961e-02 1.09700792e+02] [-6.28203634e-01 7.73498132e-01 -8.40287662e-02 -5.50000884e+01] [-1.27967294e-01 3.81097237e-03 9.91771066e-01 -1.27683464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35592 meters 0.02950885267775667 Centerline is valid? [True, True] Translation: X:109.72, Y:-55.02, Z:-12.77 [[ 7.65243816e-01 6.35987125e-01 9.96106385e-02 1.09724530e+02] [-6.30054359e-01 7.71691183e-01 -8.67422843e-02 -5.50210845e+01] [-1.32035627e-01 3.61887969e-03 9.91238365e-01 -1.27736518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38592 meters 0.029507143586273443 Centerline is valid? [True, True] Translation: X:109.75, Y:-55.04, Z:-12.78 [[ 7.64427895e-01 6.37033128e-01 9.91906670e-02 1.09748672e+02] [-6.31149418e-01 7.70828564e-01 -8.64507752e-02 -5.50426416e+01] [-1.31531007e-01 3.48125227e-03 9.91305944e-01 -1.27765476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41592 meters 0.028820439319683824 Centerline is valid? [True, True] Translation: X:109.77, Y:-55.06, Z:-12.78 [[ 7.63190243e-01 6.38972833e-01 9.61996470e-02 1.09770858e+02] [-6.33447919e-01 7.69223072e-01 -8.39023233e-02 -5.50648568e+01] [-1.27610293e-01 3.09596824e-03 9.91819554e-01 -1.27779685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44592 meters 0.028842386141519783 Centerline is valid? [True, True] Translation: X:109.80, Y:-55.09, Z:-12.78 [[ 7.62819301e-01 6.39612831e-01 9.48796066e-02 1.09795989e+02] [-6.34240195e-01 7.68691486e-01 -8.27814900e-02 -5.50853056e+01] [-1.25881249e-01 2.97085819e-03 9.92040869e-01 -1.27804626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47591999999999 meters 0.02812996320388256 Centerline is valid? [True, True] Translation: X:109.82, Y:-55.10, Z:-12.78 [[ 7.61085694e-01 6.42167379e-01 9.14856500e-02 1.09821297e+02] [-6.37184920e-01 7.66560371e-01 -7.98785037e-02 -5.51041122e+01] [-1.21424643e-01 2.50110986e-03 9.92597502e-01 -1.27836851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50591999999999 meters 0.028058950182844593 Centerline is valid? [True, True] Translation: X:109.85, Y:-55.12, Z:-12.79 [[ 7.59932359e-01 6.43371589e-01 9.26056642e-02 1.09846980e+02] [-6.38270668e-01 7.65550400e-01 -8.08896828e-02 -5.51246702e+01] [-1.22936427e-01 2.36320832e-03 9.92411734e-01 -1.27885541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53591999999999 meters 0.02818413443804302 Centerline is valid? [True, True] Translation: X:109.87, Y:-55.15, Z:-12.79 [[ 7.59287620e-01 6.43981069e-01 9.36519743e-02 1.09871497e+02] [-6.38758236e-01 7.65037807e-01 -8.18844897e-02 -5.51453597e+01] [-1.24379362e-01 2.35290938e-03 9.92231948e-01 -1.27920479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56591999999999 meters 0.028536603901892207 Centerline is valid? [True, True] Translation: X:109.90, Y:-55.16, Z:-12.80 [[ 7.58820187e-01 6.44023237e-01 9.70875634e-02 1.09896496e+02] [-6.38399017e-01 7.65001871e-01 -8.49637126e-02 -5.51644929e+01] [-1.28990773e-01 2.49157518e-03 9.91642664e-01 -1.27954656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59591999999999 meters 0.028757524838867274 Centerline is valid? [True, True] Translation: X:109.92, Y:-55.18, Z:-12.80 [[ 7.59433044e-01 6.43346730e-01 9.67803566e-02 1.09924157e+02] [-6.37743253e-01 7.65570335e-01 -8.47679495e-02 -5.51825608e+01] [-1.28627353e-01 2.65456246e-03 9.91689446e-01 -1.27983948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62592 meters 0.02857861819959961 Centerline is valid? [True, True] Translation: X:109.95, Y:-55.20, Z:-12.80 [[ 7.59508757e-01 6.43286848e-01 9.65840549e-02 1.09949706e+02] [-6.37694713e-01 7.65620407e-01 -8.46808458e-02 -5.52028126e+01] [-1.28420798e-01 2.72470284e-03 9.91716025e-01 -1.28019242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65592 meters 0.0285931121583211 Centerline is valid? [True, True] Translation: X:109.98, Y:-55.22, Z:-12.81 [[ 7.59856926e-01 6.43009477e-01 9.56883731e-02 1.09975238e+02] [-6.37508122e-01 7.65853065e-01 -8.39790331e-02 -5.52242565e+01] [-1.27282548e-01 2.80993497e-03 9.91862519e-01 -1.28053379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68592 meters 0.02907943914714136 Centerline is valid? [True, True] Translation: X:110.00, Y:-55.24, Z:-12.81 [[ 7.61655510e-01 6.40991861e-01 9.49226983e-02 1.10000551e+02] [-6.35552651e-01 7.67541070e-01 -8.33878557e-02 -5.52433534e+01] [-1.26308006e-01 3.18444723e-03 9.91985961e-01 -1.28100063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71592 meters 0.02922361367494181 Centerline is valid? [True, True] Translation: X:110.03, Y:-55.26, Z:-12.81 [[ 7.62981468e-01 6.39574609e-01 9.38274929e-02 1.10026111e+02] [-6.34241104e-01 7.68721358e-01 -8.24966482e-02 -5.52631094e+01] [-1.24889959e-01 3.43416109e-03 9.92164656e-01 -1.28126581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74592 meters 0.029829434344131826 Centerline is valid? [True, True] Translation: X:110.05, Y:-55.28, Z:-12.82 [[ 7.64672447e-01 6.37312515e-01 9.54400749e-02 1.10051499e+02] [-6.31767863e-01 7.70595489e-01 -8.39759490e-02 -5.52830950e+01] [-1.27064614e-01 3.91812222e-03 9.91886703e-01 -1.28152040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77592 meters 0.029908021795872076 Centerline is valid? [True, True] Translation: X:110.08, Y:-55.30, Z:-12.82 [[ 7.64457435e-01 6.37487352e-01 9.59932586e-02 1.10075725e+02] [-6.31875091e-01 7.70450759e-01 -8.44955511e-02 -5.53043462e+01] [-1.27822924e-01 3.93750326e-03 9.91789189e-01 -1.28177577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80592 meters 0.029908021795872076 Centerline is valid? [True, True] Translation: X:110.10, Y:-55.33, Z:-12.82 [[ 7.64151410e-01 6.37859741e-01 9.59560998e-02 1.10100305e+02] [-6.32245111e-01 7.70142513e-01 -8.45377333e-02 -5.53255181e+01] [-1.27823089e-01 3.93185314e-03 9.91789191e-01 -1.28209548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83592 meters 0.029411284182431954 Centerline is valid? [True, True] Translation: X:110.12, Y:-55.35, Z:-12.82 [[ 7.63241926e-01 6.39341160e-01 9.32986762e-02 1.10123276e+02] [-6.34037494e-01 7.68914629e-01 -8.22602499e-02 -5.53464086e+01] [-1.24331081e-01 3.62961272e-03 9.92234150e-01 -1.28224321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86591999999999 meters 0.029213702059560545 Centerline is valid? [True, True] Translation: X:110.15, Y:-55.37, Z:-12.83 [[ 7.61995437e-01 6.40901993e-01 9.27770964e-02 1.10147950e+02] [-6.35667213e-01 7.67615327e-01 -8.18162772e-02 -5.53675600e+01] [-1.23653336e-01 3.36827161e-03 9.92319761e-01 -1.28265383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89591999999999 meters 0.028742492666538586 Centerline is valid? [True, True] Translation: X:110.17, Y:-55.39, Z:-12.83 [[ 7.60665551e-01 6.42709476e-01 9.11726383e-02 1.10172070e+02] [-6.37662479e-01 7.66103911e-01 -8.04447689e-02 -5.53887687e+01] [-1.21550330e-01 3.05419382e-03 9.92580571e-01 -1.28297230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92591999999999 meters 0.028107811696766717 Centerline is valid? [True, True] Translation: X:110.20, Y:-55.41, Z:-12.83 [[ 7.57400318e-01 6.46662871e-01 9.03985043e-02 1.10195312e+02] [-6.41721156e-01 7.62771995e-01 -7.98300855e-02 -5.54110059e+01] [-1.20576600e-01 2.45269952e-03 9.92700996e-01 -1.28336553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95591999999999 meters 0.027681249045242346 Centerline is valid? [True, True] Translation: X:110.22, Y:-55.43, Z:-12.84 [[ 7.52810680e-01 6.51789542e-01 9.19047012e-02 1.10219768e+02] [-6.46711263e-01 7.58397964e-01 -8.12223482e-02 -5.54322462e+01] [-1.22640215e-01 1.70924574e-03 9.92449725e-01 -1.28375602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98592 meters 0.02751049762503321 Centerline is valid? [True, True] Translation: X:110.24, Y:-55.45, Z:-12.84 [[ 7.50453418e-01 6.54438643e-01 9.23565334e-02 1.10243855e+02] [-6.49325646e-01 7.56113976e-01 -8.16569644e-02 -5.54528215e+01] [-1.23271539e-01 1.31028228e-03 9.92372113e-01 -1.28415973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01592 meters 0.027379545493723113 Centerline is valid? [True, True] Translation: X:110.27, Y:-55.47, Z:-12.84 [[ 7.48639803e-01 6.56499184e-01 9.24514246e-02 1.10267977e+02] [-6.51382199e-01 7.54326034e-01 -8.18136054e-02 -5.54732859e+01] [-1.23449082e-01 1.02770923e-03 9.92350376e-01 -1.28448830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04592 meters 0.02708900883720533 Centerline is valid? [True, True] Translation: X:110.29, Y:-55.49, Z:-12.85 [[ 7.45823266e-01 6.59930425e-01 9.07716354e-02 1.10292300e+02] [-6.55014912e-01 7.51326545e-01 -8.03983026e-02 -5.54941670e+01] [-1.21256425e-01 5.06149814e-04 9.92621087e-01 -1.28486010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07592 meters 0.027124901881342943 Centerline is valid? [True, True] Translation: X:110.32, Y:-55.52, Z:-12.85 [[ 7.44087384e-01 6.61891055e-01 9.07424702e-02 1.10317082e+02] [-6.56984084e-01 7.49600008e-01 -8.04471341e-02 -5.55155428e+01] [-1.21267795e-01 2.43338937e-04 9.92619798e-01 -1.28527586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10592 meters 0.027119877504519094 Centerline is valid? [True, True] Translation: X:110.34, Y:-55.54, Z:-12.86 [[ 7.41908552e-01 6.64233712e-01 9.14618815e-02 1.10343255e+02] [-6.59255550e-01 7.47524963e-01 -8.11698794e-02 -5.55359070e+01] [-1.22285810e-01 -7.61252730e-05 9.92494924e-01 -1.28563109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13592 meters 0.027344670831326728 Centerline is valid? [True, True] Translation: X:110.37, Y:-55.56, Z:-12.86 [[ 7.41042415e-01 6.65032475e-01 9.26711705e-02 1.10368996e+02] [-6.59916872e-01 7.46814425e-01 -8.23282219e-02 -5.55557011e+01] [-1.23959108e-01 -1.46564580e-04 9.92287316e-01 -1.28591381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16592 meters 0.027411142452557637 Centerline is valid? [True, True] Translation: X:110.39, Y:-55.58, Z:-12.86 [[ 7.40479266e-01 6.65832391e-01 9.14203664e-02 1.10394362e+02] [-6.60852560e-01 7.46101317e-01 -8.12817266e-02 -5.55761759e+01] [-1.22328862e-01 -2.27949969e-04 9.92489596e-01 -1.28619505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19592 meters 0.02745299652887363 Centerline is valid? [True, True] Translation: X:110.42, Y:-55.60, Z:-12.87 [[ 7.39024482e-01 6.67415721e-01 9.16464410e-02 1.10420387e+02] [-6.62418452e-01 7.44685197e-01 -8.15214805e-02 -5.55959852e+01] [-1.22656466e-01 -4.61923681e-04 9.92449081e-01 -1.28652976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22591999999999 meters 0.027373651652838726 Centerline is valid? [True, True] Translation: X:110.45, Y:-55.62, Z:-12.87 [[ 7.38636204e-01 6.67848379e-01 9.16247840e-02 1.10446046e+02] [-6.62846262e-01 7.44297200e-01 -8.15874433e-02 -5.56163022e+01] [-1.22684112e-01 -4.69706244e-04 9.92445660e-01 -1.28698497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25591999999999 meters 0.027103607717705078 Centerline is valid? [True, True] Translation: X:110.47, Y:-55.63, Z:-12.87 [[ 7.39686208e-01 6.66824583e-01 9.06051256e-02 1.10472579e+02] [-6.61915936e-01 7.45214680e-01 -8.07612152e-02 -5.56349974e+01] [-1.21373833e-01 -2.35019448e-04 9.92606839e-01 -1.28728954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28591999999999 meters 0.027437485677576527 Centerline is valid? [True, True] Translation: X:110.50, Y:-55.65, Z:-12.88 [[ 7.41574219e-01 6.64555332e-01 9.18362028e-02 1.10497473e+02] [-6.59485142e-01 7.47239033e-01 -8.19339656e-02 -5.56548657e+01] [-1.23073249e-01 1.95505365e-04 9.92397570e-01 -1.28767199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31591999999999 meters 0.027621844879343594 Centerline is valid? [True, True] Translation: X:110.52, Y:-55.68, Z:-12.88 [[ 7.44649568e-01 6.61179948e-01 9.13131779e-02 1.10523831e+02] [-6.56132761e-01 7.50226915e-01 -8.15437122e-02 -5.56753307e+01] [-1.22420671e-01 8.07922537e-04 9.92477973e-01 -1.28791921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34591999999999 meters 0.027623997497994258 Centerline is valid? [True, True] Translation: X:110.55, Y:-55.70, Z:-12.88 [[ 7.46189789e-01 6.59433256e-01 9.13705587e-02 1.10549221e+02] [-6.54356429e-01 7.51762223e-01 -8.16775632e-02 -5.56952785e+01] [-1.22549836e-01 1.15805115e-03 9.92461685e-01 -1.28817606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37592 meters 0.027835949679891878 Centerline is valid? [True, True] Translation: X:110.58, Y:-55.71, Z:-12.88 [[ 7.48672853e-01 6.56434113e-01 9.26456443e-02 1.10575301e+02] [-6.51181771e-01 7.54381378e-01 -8.28917153e-02 -5.57139776e+01] [-1.24303098e-01 1.72962218e-03 9.92242787e-01 -1.28847981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40592 meters 0.0278182958624649 Centerline is valid? [True, True] Translation: X:110.60, Y:-55.74, Z:-12.89 [[ 7.48740523e-01 6.56429560e-01 9.21295966e-02 1.10600382e+02] [-6.51226420e-01 7.54385229e-01 -8.25050135e-02 -5.57353564e+01] [-1.23659937e-01 1.77761961e-03 9.92323062e-01 -1.28877603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43592 meters 0.027702434870637886 Centerline is valid? [True, True] Translation: X:110.63, Y:-55.76, Z:-12.89 [[ 7.47755698e-01 6.57500916e-01 9.24876338e-02 1.10625070e+02] [-6.52254620e-01 7.53451891e-01 -8.29105438e-02 -5.57574881e+01] [-1.24198741e-01 1.67134505e-03 9.92255955e-01 -1.28924369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46592 meters 0.02728488882538334 Centerline is valid? [True, True] Translation: X:110.65, Y:-55.78, Z:-12.90 [[ 7.45818014e-01 6.59854364e-01 9.13657948e-02 1.10649710e+02] [-6.54743881e-01 7.51392362e-01 -8.19754142e-02 -5.57787054e+01] [-1.22743395e-01 1.31754562e-03 9.92437566e-01 -1.28952570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49592 meters 0.027130841852432554 Centerline is valid? [True, True] Translation: X:110.67, Y:-55.80, Z:-12.90 [[ 7.43475052e-01 6.62533201e-01 9.10747204e-02 1.10674609e+02] [-6.57472127e-01 7.49032016e-01 -8.17400831e-02 -5.57994965e+01] [-1.22373400e-01 8.92622287e-04 9.92483730e-01 -1.28968962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52592 meters 0.026949609836125064 Centerline is valid? [True, True] Translation: X:110.70, Y:-55.82, Z:-12.90 [[ 7.43243126e-01 6.62864259e-01 9.05573328e-02 1.10699829e+02] [-6.57858690e-01 7.48739095e-01 -8.13124282e-02 -5.58203828e+01] [-1.21702918e-01 8.60974963e-04 9.92566199e-01 -1.28990378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55592 meters 0.027089677842706567 Centerline is valid? [True, True] Translation: X:110.73, Y:-55.84, Z:-12.90 [[ 7.43769016e-01 6.62422132e-01 8.94682588e-02 1.10725229e+02] [-6.57523842e-01 7.49130132e-01 -8.04141954e-02 -5.58399759e+01] [-1.20291511e-01 9.82073767e-04 9.92738127e-01 -1.29012811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58592 meters 0.026928595120941794 Centerline is valid? [True, True] Translation: X:110.75, Y:-55.86, Z:-12.90 [[ 7.46170709e-01 6.59891230e-01 8.81636989e-02 1.10753189e+02] [-6.55109041e-01 7.51359791e-01 -7.93133600e-02 -5.58579238e+01] [-1.18580849e-01 1.42446986e-03 9.92943379e-01 -1.29043162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61591999999999 meters 0.027519765421481115 Centerline is valid? [True, True] Translation: X:110.78, Y:-55.88, Z:-12.91 [[ 7.47786896e-01 6.57674494e-01 9.09891059e-02 1.10779455e+02] [-6.52553133e-01 7.53299849e-01 -8.19374484e-02 -5.58761005e+01] [-1.22430250e-01 1.89652414e-03 9.92475308e-01 -1.29076245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64591999999999 meters 0.027605651441444876 Centerline is valid? [True, True] Translation: X:110.81, Y:-55.90, Z:-12.91 [[ 7.49016134e-01 6.56123635e-01 9.20684851e-02 1.10805136e+02] [-6.50859199e-01 7.54650123e-01 -8.29788841e-02 -5.58960007e+01] [-1.23923901e-01 2.22890254e-03 9.92289221e-01 -1.29105061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67591999999999 meters 0.027789347577189375 Centerline is valid? [True, True] Translation: X:110.83, Y:-55.92, Z:-12.91 [[ 7.50118825e-01 6.54895833e-01 9.18324315e-02 1.10831349e+02] [-6.49640372e-01 7.55715090e-01 -8.28377324e-02 -5.59153104e+01] [-1.23649240e-01 2.48008758e-03 9.92322888e-01 -1.29127344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70591999999999 meters 0.027939916060883592 Centerline is valid? [True, True] Translation: X:110.86, Y:-55.93, Z:-12.92 [[ 7.51333855e-01 6.53786563e-01 8.97806718e-02 1.10858505e+02] [-6.48747941e-01 7.56674357e-01 -8.10557028e-02 -5.59333667e+01] [-1.20927861e-01 2.65486770e-03 9.92657748e-01 -1.29154887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73592 meters 0.027967189832353658 Centerline is valid? [True, True] Translation: X:110.88, Y:-55.95, Z:-12.92 [[ 7.51688845e-01 6.53334861e-01 9.00968349e-02 1.10882401e+02] [-6.48248676e-01 7.57063914e-01 -8.14118252e-02 -5.59543056e+01] [-1.21398246e-01 2.79120700e-03 9.92599957e-01 -1.29198270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76592 meters 0.027798685848113798 Centerline is valid? [True, True] Translation: X:110.91, Y:-55.98, Z:-12.92 [[ 7.50414979e-01 6.54648898e-01 9.11711565e-02 1.10906709e+02] [-6.49440728e-01 7.55928378e-01 -8.24562242e-02 -5.59766336e+01] [-1.22898741e-01 2.66612354e-03 9.92415634e-01 -1.29230880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79592 meters 0.02737707506899968 Centerline is valid? [True, True] Translation: X:110.93, Y:-55.99, Z:-12.93 [[ 7.48572758e-01 6.56579334e-01 9.24251293e-02 1.10934447e+02] [-6.51230463e-01 7.54253006e-01 -8.36736988e-02 -5.59949825e+01] [-1.24650353e-01 2.44579175e-03 9.92197716e-01 -1.29260270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82592 meters 0.027467919744983995 Centerline is valid? [True, True] Translation: X:110.96, Y:-56.02, Z:-12.93 [[ 7.47274567e-01 6.58060335e-01 9.23976025e-02 1.10959554e+02] [-6.52715858e-01 7.52961813e-01 -8.37288295e-02 -5.60153497e+01] [-1.24670488e-01 2.25904443e-03 9.92195629e-01 -1.29300169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85592 meters 0.0271301799728537 Centerline is valid? [True, True] Translation: X:110.98, Y:-56.04, Z:-12.93 [[ 7.46687105e-01 6.58851896e-01 9.15016165e-02 1.10983205e+02] [-6.53609234e-01 7.52269596e-01 -8.29784582e-02 -5.60375683e+01] [-1.23504399e-01 2.15264332e-03 9.92341690e-01 -1.29342632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88592 meters 0.026983917384978087 Centerline is valid? [True, True] Translation: X:111.01, Y:-56.06, Z:-12.94 [[ 7.46004843e-01 6.59871444e-01 8.97020157e-02 1.11008264e+02] [-6.54837057e-01 7.51375937e-01 -8.13795410e-02 -5.60579381e+01] [-1.21099971e-01 1.96932766e-03 9.92638362e-01 -1.29361615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91592 meters 0.02686956305877213 Centerline is valid? [True, True] Translation: X:111.04, Y:-56.08, Z:-12.94 [[ 7.45744822e-01 6.60138889e-01 8.98960964e-02 1.11035531e+02] [-6.55075709e-01 7.51140937e-01 -8.16278586e-02 -5.60768307e+01] [-1.21410362e-01 1.98480376e-03 9.92600415e-01 -1.29381935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94592 meters 0.027081519149882168 Centerline is valid? [True, True] Translation: X:111.06, Y:-56.09, Z:-12.94 [[ 7.46519366e-01 6.59253936e-01 8.99615677e-02 1.11064405e+02] [-6.54167340e-01 7.51917185e-01 -8.17657527e-02 -5.60923861e+01] [-1.21548043e-01 2.18979839e-03 9.92583134e-01 -1.29417270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97591999999999 meters 0.027401594925053903 Centerline is valid? [True, True] Translation: X:111.09, Y:-56.11, Z:-12.95 [[ 7.47759444e-01 6.57766206e-01 9.05507179e-02 1.11089573e+02] [-6.52592976e-01 7.53218004e-01 -8.23713916e-02 -5.61113526e+01] [-1.22385549e-01 2.50122349e-03 9.92479482e-01 -1.29472764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00591999999999 meters 0.027489999601597336 Centerline is valid? [True, True] Translation: X:111.12, Y:-56.13, Z:-12.95 [[ 7.48472029e-01 6.57074459e-01 8.96815381e-02 1.11116111e+02] [-6.51987307e-01 7.53821058e-01 -8.16478105e-02 -5.61309625e+01] [-1.21252523e-01 2.63987791e-03 9.92618183e-01 -1.29493837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03591999999999 meters 0.028037951905185456 Centerline is valid? [True, True] Translation: X:111.14, Y:-56.15, Z:-12.95 [[ 7.49844570e-01 6.55508682e-01 8.96743469e-02 1.11143229e+02] [-6.50401666e-01 7.55181867e-01 -8.17191564e-02 -5.61485601e+01] [-1.21288057e-01 2.95232105e-03 9.92612961e-01 -1.29524780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06591999999999 meters 0.028385992936614375 Centerline is valid? [True, True] Translation: X:111.17, Y:-56.17, Z:-12.96 [[ 7.51379802e-01 6.53861374e-01 8.88464755e-02 1.11170551e+02] [-6.48828816e-01 7.56607430e-01 -8.10331111e-02 -5.61665974e+01] [-1.20206325e-01 3.24048957e-03 9.92743642e-01 -1.29551491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09591999999999 meters 0.028591581523070096 Centerline is valid? [True, True] Translation: X:111.19, Y:-56.19, Z:-12.96 [[ 7.51899951e-01 6.53067971e-01 9.02700872e-02 1.11194935e+02] [-6.47857881e-01 7.57291321e-01 -8.24015841e-02 -5.61876413e+01] [-1.22174589e-01 3.47555970e-03 9.92502539e-01 -1.29594939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12592 meters 0.029233396146479535 Centerline is valid? [True, True] Translation: X:111.22, Y:-56.21, Z:-12.96 [[ 7.53693872e-01 6.50990490e-01 9.03157239e-02 1.11221196e+02] [-6.45751746e-01 7.59076034e-01 -8.25121644e-02 -5.62067286e+01] [-1.22271136e-01 3.86737630e-03 9.92489200e-01 -1.29627653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15592 meters 0.029963640178386174 Centerline is valid? [True, True] Translation: X:111.25, Y:-56.23, Z:-12.97 [[ 7.54729520e-01 6.49654455e-01 9.12821991e-02 1.11246771e+02] [-6.44284032e-01 7.60218125e-01 -8.34654943e-02 -5.62265536e+01] [-1.23618113e-01 4.18220918e-03 9.92321053e-01 -1.29664117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18592 meters 0.031393983151113004 Centerline is valid? [True, True] Translation: X:111.27, Y:-56.25, Z:-12.97 [[ 7.58952088e-01 6.44658009e-01 9.16939486e-02 1.11268954e+02] [-6.39195122e-01 7.64454309e-01 -8.38999740e-02 -5.62473188e+01] [-1.24182624e-01 5.06573576e-03 9.92246448e-01 -1.29711717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21592 meters 0.03212081182320238 Centerline is valid? [True, True] Translation: X:111.29, Y:-56.27, Z:-12.98 [[ 7.60722928e-01 6.42440467e-01 9.25790128e-02 1.11290898e+02] [-6.36853016e-01 7.66315915e-01 -8.47239855e-02 -5.62704849e+01] [-1.25374888e-01 5.49225480e-03 9.92094236e-01 -1.29754414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24592 meters 0.03313059241832481 Centerline is valid? [True, True] Translation: X:111.31, Y:-56.29, Z:-12.98 [[ 7.62779426e-01 6.39964297e-01 9.28075701e-02 1.11313592e+02] [-6.34328362e-01 7.68381764e-01 -8.49528940e-02 -5.62929447e+01] [-1.25678464e-01 5.92984581e-03 9.92053305e-01 -1.29787183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27592 meters 0.03451068727236853 Centerline is valid? [True, True] Translation: X:111.33, Y:-56.32, Z:-12.98 [[ 7.66156659e-01 6.35958243e-01 9.25261408e-02 1.11334372e+02] [-6.30325274e-01 7.71695402e-01 -8.47127779e-02 -5.63165201e+01] [-1.25275787e-01 6.58169380e-03 9.92100125e-01 -1.29819707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30592 meters 0.03521592877718433 Centerline is valid? [True, True] Translation: X:111.36, Y:-56.34, Z:-12.98 [[ 7.67300330e-01 6.34754241e-01 9.13085802e-02 1.11356477e+02] [-6.29258069e-01 7.72684996e-01 -8.36192532e-02 -5.63397732e+01] [-1.23630446e-01 6.70441975e-03 9.92305681e-01 -1.29848152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33592 meters 0.035312818514126196 Centerline is valid? [True, True] Translation: X:111.38, Y:-56.37, Z:-12.99 [[ 7.67946011e-01 6.33922457e-01 9.16582971e-02 1.11375304e+02] [-6.28369808e-01 7.73365686e-01 -8.40053621e-02 -5.63659427e+01] [-1.24138267e-01 6.91627614e-03 9.92240825e-01 -1.29886981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36591999999999 meters 0.034827392663042 Centerline is valid? [True, True] Translation: X:111.40, Y:-56.39, Z:-12.99 [[ 7.66882792e-01 6.34989527e-01 9.31616047e-02 1.11396090e+02] [-6.29251708e-01 7.72489857e-01 -8.54500322e-02 -5.63914570e+01] [-1.26226270e-01 6.90806042e-03 9.91977423e-01 -1.29926215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39591999999999 meters 0.03456260074559628 Centerline is valid? [True, True] Translation: X:111.42, Y:-56.42, Z:-13.00 [[ 7.65673024e-01 6.36576902e-01 9.22749576e-02 1.11417155e+02] [-6.30950282e-01 7.71184644e-01 -8.47111962e-02 -5.64158819e+01] [-1.25086221e-01 6.64016726e-03 9.92123654e-01 -1.29951084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42591999999999 meters 0.033244604620226346 Centerline is valid? [True, True] Translation: X:111.44, Y:-56.44, Z:-13.00 [[ 7.64027110e-01 6.38770510e-01 9.07458624e-02 1.11435269e+02] [-6.33338066e-01 7.69372190e-01 -8.33626332e-02 -5.64431168e+01] [-1.23066934e-01 6.21850274e-03 9.92378889e-01 -1.29968384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45591999999999 meters 0.03328493239646371 Centerline is valid? [True, True] Translation: X:111.45, Y:-56.47, Z:-13.00 [[ 7.62213250e-01 6.40643421e-01 9.27737490e-02 1.11454318e+02] [-6.34974707e-01 7.67814524e-01 -8.52524444e-02 -5.64694805e+01] [-1.25849450e-01 6.07155868e-03 9.92030772e-01 -1.30004546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48592 meters 0.032493534502681234 Centerline is valid? [True, True] Translation: X:111.47, Y:-56.50, Z:-13.00 [[ 7.61215255e-01 6.41759532e-01 9.32525528e-02 1.11473967e+02] [-6.36032452e-01 7.66882731e-01 -8.57531196e-02 -5.64961262e+01] [-1.26546654e-01 5.96493299e-03 9.91942722e-01 -1.30035069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51592 meters 0.03258823592311216 Centerline is valid? [True, True] Translation: X:111.49, Y:-56.52, Z:-13.01 [[ 7.60580522e-01 6.42513786e-01 9.32378912e-02 1.11494452e+02] [-6.36789194e-01 7.66251653e-01 -8.57783556e-02 -5.65218815e+01] [-1.26557464e-01 5.86846491e-03 9.91941918e-01 -1.30067385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54592 meters 0.03164424349681569 Centerline is valid? [True, True] Translation: X:111.51, Y:-56.55, Z:-13.01 [[ 7.58707051e-01 6.44805431e-01 9.26799112e-02 1.11511067e+02] [-6.39159117e-01 7.64326981e-01 -8.53222646e-02 -5.65505496e+01] [-1.25854016e-01 5.49739356e-03 9.92033540e-01 -1.30103257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57592 meters 0.030456682342500766 Centerline is valid? [True, True] Translation: X:111.53, Y:-56.58, Z:-13.01 [[ 7.55724171e-01 6.48418106e-01 9.18419157e-02 1.11529346e+02] [-6.42898534e-01 7.61268886e-01 -8.45645215e-02 -5.65770997e+01] [-1.24749560e-01 4.86241997e-03 9.92176347e-01 -1.30122778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60592 meters 0.030060766767873996 Centerline is valid? [True, True] Translation: X:111.55, Y:-56.60, Z:-13.02 [[ 7.53235566e-01 6.51104186e-01 9.32712174e-02 1.11551019e+02] [-6.45428033e-01 7.58974985e-01 -8.59047509e-02 -5.66012105e+01] [-1.26723464e-01 4.50665530e-03 9.91927847e-01 -1.30163063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63592 meters 0.02927291800175929 Centerline is valid? [True, True] Translation: X:111.57, Y:-56.63, Z:-13.02 [[ 7.51068511e-01 6.53562259e-01 9.35546143e-02 1.11572806e+02] [-6.47861094e-01 7.56861327e-01 -8.62376652e-02 -5.66252545e+01] [-1.27169553e-01 4.16000005e-03 9.91872270e-01 -1.30184417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66592 meters 0.028475573422723197 Centerline is valid? [True, True] Translation: X:111.59, Y:-56.65, Z:-13.02 [[ 7.47544216e-01 6.57687808e-01 9.28676037e-02 1.11593121e+02] [-6.52094646e-01 7.53282586e-01 -8.56616499e-02 -5.66490929e+01] [-1.26294171e-01 3.47740375e-03 9.91986739e-01 -1.30218540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69592 meters 0.028053532589242425 Centerline is valid? [True, True] Translation: X:111.62, Y:-56.67, Z:-13.02 [[ 7.45972029e-01 6.59591759e-01 9.20024148e-02 1.11615997e+02] [-6.54114146e-01 7.51617476e-01 -8.48873006e-02 -5.66718028e+01] [-1.25141587e-01 3.14347083e-03 9.92133913e-01 -1.30249540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72591999999999 meters 0.028053532589242425 Centerline is valid? [True, True] Translation: X:111.64, Y:-56.69, Z:-13.03 [[ 7.45648675e-01 6.59962488e-01 9.19650371e-02 1.11640068e+02] [-6.54482694e-01 7.51292004e-01 -8.49277794e-02 -5.66935417e+01] [-1.25141746e-01 3.13676097e-03 9.92133914e-01 -1.30281505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75591999999999 meters 0.02781830788005519 Centerline is valid? [True, True] Translation: X:111.66, Y:-56.72, Z:-13.03 [[ 7.43628809e-01 6.62238957e-01 9.19551989e-02 1.11662533e+02] [-6.56767275e-01 7.49287418e-01 -8.50006528e-02 -5.67159464e+01] [-1.25191617e-01 2.81576876e-03 9.92128586e-01 -1.30320113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78591999999999 meters 0.027611439804463015 Centerline is valid? [True, True] Translation: X:111.69, Y:-56.74, Z:-13.03 [[ 7.43500019e-01 6.62456878e-01 9.14254157e-02 1.11685679e+02] [-6.57042053e-01 7.49094778e-01 -8.45739547e-02 -5.67376135e+01] [-1.24512899e-01 2.81039409e-03 9.92214009e-01 -1.30345334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81591999999999 meters 0.027415418437789853 Centerline is valid? [True, True] Translation: X:111.71, Y:-56.76, Z:-13.04 [[ 7.42700258e-01 6.63553237e-01 8.99634817e-02 1.11711661e+02] [-6.58314597e-01 7.48124514e-01 -8.32562536e-02 -5.67564327e+01] [-1.22548843e-01 2.61016790e-03 9.92459051e-01 -1.30377814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84591999999999 meters 0.02744761461869269 Centerline is valid? [True, True] Translation: X:111.74, Y:-56.78, Z:-13.04 [[ 7.42075398e-01 6.64247350e-01 8.99975655e-02 1.11737066e+02] [-6.59000541e-01 7.47508488e-01 -8.33627428e-02 -5.67780123e+01] [-1.22647425e-01 2.55299618e-03 9.92447022e-01 -1.30420379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87592 meters 0.02752753997461105 Centerline is valid? [True, True] Translation: X:111.76, Y:-56.80, Z:-13.05 [[ 7.40923610e-01 6.65561712e-01 8.97764565e-02 1.11761091e+02] [-6.60340325e-01 7.46338992e-01 -8.32391985e-02 -5.67990976e+01] [-1.22404494e-01 2.39087294e-03 9.92477417e-01 -1.30452089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90592 meters 0.027341366161104934 Centerline is valid? [True, True] Translation: X:111.79, Y:-56.82, Z:-13.05 [[ 7.40057045e-01 6.66440172e-01 9.04050189e-02 1.11785287e+02] [-6.61143347e-01 7.45554929e-01 -8.38887489e-02 -5.68209998e+01] [-1.23308740e-01 2.31178285e-03 9.92365664e-01 -1.30479046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93592 meters 0.027306150756698896 Centerline is valid? [True, True] Translation: X:111.81, Y:-56.84, Z:-13.05 [[ 7.39956314e-01 6.66708232e-01 8.92456524e-02 1.11809636e+02] [-6.61543522e-01 7.45315355e-01 -8.28564372e-02 -5.68414321e+01] [-1.21757224e-01 2.27026061e-03 9.92557315e-01 -1.30508387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96592 meters 0.027281939233893663 Centerline is valid? [True, True] Translation: X:111.83, Y:-56.86, Z:-13.05 [[ 7.39893455e-01 6.66849890e-01 8.87068159e-02 1.11833691e+02] [-6.61739487e-01 7.45188556e-01 -8.24309895e-02 -5.68637345e+01] [-1.21072400e-01 2.28934680e-03 9.92641039e-01 -1.30548643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99592 meters 0.02736585735377882 Centerline is valid? [True, True] Translation: X:111.86, Y:-56.89, Z:-13.06 [[ 7.39560046e-01 6.67208760e-01 8.87885680e-02 1.11857434e+02] [-6.62081340e-01 7.44867239e-01 -8.25899202e-02 -5.68863738e+01] [-1.21240414e-01 2.29495111e-03 9.92620519e-01 -1.30582569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02592 meters 0.027240321025011928 Centerline is valid? [True, True] Translation: X:111.88, Y:-56.91, Z:-13.06 [[ 7.39125555e-01 6.67687485e-01 8.88078599e-02 1.11881207e+02] [-6.62551119e-01 7.44438196e-01 -8.26909172e-02 -5.69093635e+01] [-1.21323654e-01 2.27922312e-03 9.92610385e-01 -1.30604764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05592 meters 0.027128866822260476 Centerline is valid? [True, True] Translation: X:111.91, Y:-56.93, Z:-13.06 [[ 7.38659785e-01 6.68154264e-01 8.91717588e-02 1.11905433e+02] [-6.62968663e-01 7.44019292e-01 -8.31134501e-02 -5.69319093e+01] [-1.21878115e-01 2.27448153e-03 9.92542469e-01 -1.30632314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08592 meters 0.026882087799445543 Centerline is valid? [True, True] Translation: X:111.93, Y:-56.96, Z:-13.07 [[ 7.36960337e-01 6.70154545e-01 8.82176181e-02 1.11928054e+02] [-6.65085272e-01 7.42218957e-01 -8.22958188e-02 -5.69554032e+01] [-1.20627706e-01 1.97651586e-03 9.92695850e-01 -1.30660129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11591999999999 meters 0.026620531665158462 Centerline is valid? [True, True] Translation: X:111.95, Y:-56.98, Z:-13.07 [[ 7.36012594e-01 6.71208861e-01 8.81142754e-02 1.11951297e+02] [-6.66154806e-01 7.41266028e-01 -8.22341181e-02 -5.69770354e+01] [-1.20512388e-01 1.82759857e-03 9.92710141e-01 -1.30687451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14591999999999 meters 0.026439474427064267 Centerline is valid? [True, True] Translation: X:111.97, Y:-57.00, Z:-13.07 [[ 7.34141022e-01 6.73326632e-01 8.75682946e-02 1.11974700e+02] [-6.68341514e-01 7.39343575e-01 -8.17966892e-02 -5.69989693e+01] [-1.19818945e-01 1.52477838e-03 9.92794589e-01 -1.30718064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17591999999999 meters 0.026543697376911826 Centerline is valid? [True, True] Translation: X:112.00, Y:-57.02, Z:-13.07 [[ 7.32301224e-01 6.75237991e-01 8.82528956e-02 1.11999140e+02] [-6.70178876e-01 7.37598821e-01 -8.25121343e-02 -5.70209978e+01] [-1.20810560e-01 1.27851053e-03 9.92674757e-01 -1.30742870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20591999999999 meters 0.026261829241131657 Centerline is valid? [True, True] Translation: X:112.02, Y:-57.04, Z:-13.08 [[ 7.30374792e-01 6.77376563e-01 8.78274151e-02 1.12023096e+02] [-6.72371742e-01 7.35635799e-01 -8.21961773e-02 -5.70423480e+01] [-1.20286755e-01 9.81343835e-04 9.92738704e-01 -1.30763763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23592 meters 0.02629653182691685 Centerline is valid? [True, True] Translation: X:112.05, Y:-57.06, Z:-13.08 [[ 7.27214538e-01 6.80722798e-01 8.81787300e-02 1.12050263e+02] [-6.75692793e-01 7.32540944e-01 -8.26015386e-02 -5.70620017e+01] [-1.20823281e-01 4.87307328e-04 9.92673913e-01 -1.30799568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26592 meters 0.02610411706838355 Centerline is valid? [True, True] Translation: X:112.08, Y:-57.08, Z:-13.08 [[ 7.25959994e-01 6.82102929e-01 8.78503304e-02 1.12076417e+02] [-6.77110189e-01 7.31256105e-01 -8.23790071e-02 -5.70820533e+01] [-1.20432053e-01 3.19509728e-04 9.92721521e-01 -1.30831976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29592 meters 0.026204896465043225 Centerline is valid? [True, True] Translation: X:112.11, Y:-57.10, Z:-13.09 [[ 7.26520105e-01 6.81523703e-01 8.77153352e-02 1.12105062e+02] [-6.76531778e-01 7.31795883e-01 -8.23379544e-02 -5.70994097e+01] [-1.20304989e-01 4.77967469e-04 9.92736864e-01 -1.30862367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32592 meters 0.026067207601843757 Centerline is valid? [True, True] Translation: X:112.13, Y:-57.12, Z:-13.09 [[ 7.27571835e-01 6.80468839e-01 8.71859122e-02 1.12131102e+02] [-6.75519416e-01 7.32776673e-01 -8.19259726e-02 -5.71199349e+01] [-1.19635874e-01 7.11253733e-04 9.92817582e-01 -1.30871380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35592 meters 0.026434885344654078 Centerline is valid? [True, True] Translation: X:112.16, Y:-57.14, Z:-13.09 [[ 7.31384946e-01 6.76480277e-01 8.63162488e-02 1.12158413e+02] [-6.71591942e-01 7.36459395e-01 -8.11900367e-02 -5.71379303e+01] [-1.18491871e-01 1.41187342e-03 9.92954019e-01 -1.30891530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38592 meters 0.02670500940897377 Centerline is valid? [True, True] Translation: X:112.18, Y:-57.16, Z:-13.09 [[ 7.32637352e-01 6.74999681e-01 8.72808193e-02 1.12184766e+02] [-6.69981644e-01 7.37816003e-01 -8.21714226e-02 -5.71572804e+01] [-1.19862869e-01 1.72530672e-03 9.92788958e-01 -1.30924773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41592 meters 0.02668124303225523 Centerline is valid? [True, True] Translation: X:112.21, Y:-57.18, Z:-13.10 [[ 7.33718210e-01 6.73878144e-01 8.68667673e-02 1.12212048e+02] [-6.68891099e-01 7.38839921e-01 -8.18551684e-02 -5.71768571e+01] [-1.19341044e-01 1.95422021e-03 9.92851397e-01 -1.30955728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44592 meters 0.026931268756716444 Centerline is valid? [True, True] Translation: X:112.24, Y:-57.19, Z:-13.10 [[ 7.34417838e-01 6.73095521e-01 8.70221739e-02 1.12239998e+02] [-6.68075347e-01 7.39552444e-01 -8.20823619e-02 -5.71937564e+01] [-1.19606732e-01 2.14538182e-03 9.92819030e-01 -1.30998088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47591999999999 meters 0.026483317058898233 Centerline is valid? [True, True] Translation: X:112.27, Y:-57.21, Z:-13.10 [[ 7.32887929e-01 6.74864510e-01 8.62158773e-02 1.12266248e+02] [-6.69941043e-01 7.37939235e-01 -8.13921663e-02 -5.72131256e+01] [-1.18550763e-01 1.89178147e-03 9.92946191e-01 -1.31031846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50591999999999 meters 0.02650338885911634 Centerline is valid? [True, True] Translation: X:112.29, Y:-57.23, Z:-13.11 [[ 7.31714916e-01 6.76020499e-01 8.71181127e-02 1.12291600e+02] [-6.70992192e-01 7.36880670e-01 -8.23186287e-02 -5.72337888e+01] [-1.19844734e-01 1.77819513e-03 9.92791054e-01 -1.31068410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53591999999999 meters 0.02644135076757914 Centerline is valid? [True, True] Translation: X:112.32, Y:-57.25, Z:-13.11 [[ 7.31719987e-01 6.76140658e-01 8.61375168e-02 1.12317093e+02] [-6.71217592e-01 7.36770385e-01 -8.14637585e-02 -5.72541767e+01] [-1.18544531e-01 1.79164371e-03 9.92947121e-01 -1.31098149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56591999999999 meters 0.026190544363054888 Centerline is valid? [True, True] Translation: X:112.34, Y:-57.27, Z:-13.11 [[ 7.31465366e-01 6.76667518e-01 8.41396932e-02 1.12344119e+02] [-6.71971582e-01 7.36286788e-01 -7.95987445e-02 -5.72729317e+01] [-1.15812829e-01 1.68424213e-03 9.93269627e-01 -1.31131196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59591999999999 meters 0.025901766514769012 Centerline is valid? [True, True] Translation: X:112.37, Y:-57.29, Z:-13.12 [[ 7.30839319e-01 6.77441310e-01 8.33496288e-02 1.12370310e+02] [-6.72834881e-01 7.35575154e-01 -7.88822920e-02 -5.72922011e+01] [-1.14748039e-01 1.56974309e-03 9.93393388e-01 -1.31176632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62592 meters 0.0260136683492556 Centerline is valid? [True, True] Translation: X:112.40, Y:-57.31, Z:-13.12 [[ 7.30715684e-01 6.77590537e-01 8.32205118e-02 1.12396836e+02] [-6.72991242e-01 7.35437636e-01 -7.88306548e-02 -5.73122933e+01] [-1.14618402e-01 1.59612021e-03 9.93408312e-01 -1.31202185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65592 meters 0.026146574516915756 Centerline is valid? [True, True] Translation: X:112.42, Y:-57.33, Z:-13.12 [[ 7.31161881e-01 6.77015715e-01 8.39763366e-02 1.12422932e+02] [-6.72319795e-01 7.35966464e-01 -7.96207062e-02 -5.73305174e+01] [-1.15708237e-01 1.75667191e-03 9.93281691e-01 -1.31240983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68592 meters 0.026316487235349843 Centerline is valid? [True, True] Translation: X:112.45, Y:-57.35, Z:-13.13 [[ 7.32676600e-01 6.75266324e-01 8.48551164e-02 1.12451670e+02] [-6.70454369e-01 7.37571037e-01 -8.04978600e-02 -5.73473621e+01] [-1.16944170e-01 2.08741492e-03 9.93136297e-01 -1.31270669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71592 meters 0.026736671603583038 Centerline is valid? [True, True] Translation: X:112.48, Y:-57.37, Z:-13.13 [[ 7.33364130e-01 6.74317055e-01 8.64497602e-02 1.12476441e+02] [-6.69307326e-01 7.38438268e-01 -8.20769611e-02 -5.73670812e+01] [-1.19183706e-01 2.33084140e-03 9.92869484e-01 -1.31309900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74592 meters 0.027027428137831298 Centerline is valid? [True, True] Translation: X:112.50, Y:-57.39, Z:-13.14 [[ 7.34828698e-01 6.72620288e-01 8.72280522e-02 1.12502763e+02] [-6.67502285e-01 7.39983010e-01 -8.28603918e-02 -5.73859086e+01] [-1.20280857e-01 2.66326966e-03 9.92736331e-01 -1.31353426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77592 meters 0.02758820126142125 Centerline is valid? [True, True] Translation: X:112.53, Y:-57.41, Z:-13.14 [[ 7.36004413e-01 6.71279589e-01 8.76425582e-02 1.12527596e+02] [-6.66094500e-01 7.41198363e-01 -8.33252849e-02 -5.74067631e+01] [-1.20895084e-01 2.94955142e-03 9.92660908e-01 -1.31390842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80592 meters 0.02761358795429094 Centerline is valid? [True, True] Translation: X:112.55, Y:-57.43, Z:-13.14 [[ 7.36331300e-01 6.71004154e-01 8.70036842e-02 1.12552219e+02] [-6.65884126e-01 7.41447414e-01 -8.27892631e-02 -5.74295709e+01] [-1.20060596e-01 3.02595344e-03 9.92761954e-01 -1.31411499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83592 meters 0.02781839993953585 Centerline is valid? [True, True] Translation: X:112.58, Y:-57.45, Z:-13.14 [[ 7.36350935e-01 6.70932402e-01 8.73899986e-02 1.12577002e+02] [-6.65756555e-01 7.41511995e-01 -8.32356310e-02 -5.74496406e+01] [-1.20646214e-01 3.11017032e-03 9.92690696e-01 -1.31436442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86591999999999 meters 0.02745481701738511 Centerline is valid? [True, True] Translation: X:112.60, Y:-57.47, Z:-13.15 [[ 7.34691564e-01 6.72611607e-01 8.84416857e-02 1.12603919e+02] [-6.67312916e-01 7.39989914e-01 -8.43113185e-02 -5.74698721e+01] [-1.22154727e-01 2.92453531e-03 9.92506761e-01 -1.31455458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89591999999999 meters 0.027471912099013403 Centerline is valid? [True, True] Translation: X:112.63, Y:-57.49, Z:-13.15 [[ 7.34116611e-01 6.73220363e-01 8.85841088e-02 1.12628387e+02] [-6.67898858e-01 7.39436271e-01 -8.45287913e-02 -5.74927187e+01] [-1.22408807e-01 2.88876464e-03 9.92475561e-01 -1.31484489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92591999999999 meters 0.027375888840860854 Centerline is valid? [True, True] Translation: X:112.65, Y:-57.52, Z:-13.15 [[ 7.33393102e-01 6.74053719e-01 8.82391112e-02 1.12651200e+02] [-6.68770025e-01 7.38677031e-01 -8.42786860e-02 -5.75152488e+01] [-1.21988566e-01 2.79773438e-03 9.92527563e-01 -1.31520392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95591999999999 meters 0.02713599730894089 Centerline is valid? [True, True] Translation: X:112.67, Y:-57.54, Z:-13.16 [[ 7.32253154e-01 6.75211825e-01 8.88499268e-02 1.12674564e+02] [-6.69853723e-01 7.37619019e-01 -8.49362835e-02 -5.75377395e+01] [-1.22887379e-01 2.67840725e-03 9.92417008e-01 -1.31561504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98592 meters 0.02701504564423475 Centerline is valid? [True, True] Translation: X:112.70, Y:-57.56, Z:-13.16 [[ 7.31257524e-01 6.76452937e-01 8.76005602e-02 1.12698464e+02] [-6.71244333e-01 7.36481643e-01 -8.38202572e-02 -5.75596448e+01] [-1.21216664e-01 2.49281417e-03 9.92622943e-01 -1.31578543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01592 meters 0.02673462926455361 Centerline is valid? [True, True] Translation: X:112.72, Y:-57.58, Z:-13.16 [[ 7.30192773e-01 6.77725527e-01 8.66407744e-02 1.12722402e+02] [-6.72631329e-01 7.35311351e-01 -8.29717576e-02 -5.75811751e+01] [-1.19940023e-01 2.30807852e-03 9.92778456e-01 -1.31603994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04592 meters 0.02669490051861857 Centerline is valid? [True, True] Translation: X:112.75, Y:-57.60, Z:-13.16 [[ 7.29742264e-01 6.78222073e-01 8.65508463e-02 1.12746719e+02] [-6.73133214e-01 7.34853477e-01 -8.29580846e-02 -5.76036433e+01] [-1.19866194e-01 2.27777108e-03 9.92787443e-01 -1.31636138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07592 meters 0.02627143231338318 Centerline is valid? [True, True] Translation: X:112.77, Y:-57.62, Z:-13.17 [[ 7.28851338e-01 6.79328791e-01 8.53704963e-02 1.12771656e+02] [-6.74377521e-01 7.33830979e-01 -8.18966036e-02 -5.76246963e+01] [-1.18282236e-01 2.11850550e-03 9.92977756e-01 -1.31664084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10592 meters 0.026256861451945505 Centerline is valid? [True, True] Translation: X:112.80, Y:-57.65, Z:-13.17 [[ 7.27730941e-01 6.80449476e-01 8.60010955e-02 1.12796090e+02] [-6.75428040e-01 7.32792331e-01 -8.25370332e-02 -5.76470278e+01] [-1.19183224e-01 1.97720144e-03 9.92870309e-01 -1.31706082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13592 meters 0.026319309432926204 Centerline is valid? [True, True] Translation: X:112.82, Y:-57.67, Z:-13.17 [[ 7.27353689e-01 6.80830422e-01 8.61774220e-02 1.12820204e+02] [-6.75781110e-01 7.32438407e-01 -8.27881156e-02 -5.76694189e+01] [-1.19484321e-01 1.97916740e-03 9.92834115e-01 -1.31726895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16592 meters 0.02639552729957341 Centerline is valid? [True, True] Translation: X:112.84, Y:-57.69, Z:-13.18 [[ 7.27757391e-01 6.80281636e-01 8.70980820e-02 1.12843436e+02] [-6.75109783e-01 7.32947658e-01 -8.37526833e-02 -5.76907261e+01] [-1.20813748e-01 2.15086710e-03 9.92672863e-01 -1.31763867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19592 meters 0.026609236418449006 Centerline is valid? [True, True] Translation: X:112.87, Y:-57.71, Z:-13.18 [[ 7.28038568e-01 6.80099982e-01 8.61618073e-02 1.12868189e+02] [-6.75029628e-01 7.33116048e-01 -8.29208161e-02 -5.77122345e+01] [-1.19561049e-01 2.20777954e-03 9.92824396e-01 -1.31790999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22591999999999 meters 0.02674858868766818 Centerline is valid? [True, True] Translation: X:112.89, Y:-57.73, Z:-13.18 [[ 7.28300028e-01 6.79720816e-01 8.69406744e-02 1.12892085e+02] [-6.74545449e-01 7.33467167e-01 -8.37517319e-02 -5.77333990e+01] [-1.20695926e-01 2.35095245e-03 9.92686741e-01 -1.31825398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25591999999999 meters 0.026831636133942807 Centerline is valid? [True, True] Translation: X:112.91, Y:-57.76, Z:-13.19 [[ 7.28695515e-01 6.79255270e-01 8.72646815e-02 1.12914864e+02] [-6.74029002e-01 7.33897865e-01 -8.41357720e-02 -5.77555194e+01] [-1.21193030e-01 2.49043352e-03 9.92625834e-01 -1.31867435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28591999999999 meters 0.027077250512078325 Centerline is valid? [True, True] Translation: X:112.94, Y:-57.78, Z:-13.19 [[ 7.29139868e-01 6.78881686e-01 8.64564047e-02 1.12938536e+02] [-6.73740734e-01 7.34243139e-01 -8.34292221e-02 -5.77784481e+01] [-1.20118593e-01 2.58237035e-03 9.92756191e-01 -1.31904866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31591999999999 meters 0.027372271813625795 Centerline is valid? [True, True] Translation: X:112.96, Y:-57.80, Z:-13.19 [[ 7.31101033e-01 6.77027047e-01 8.44136061e-02 1.12962327e+02] [-6.72105504e-01 7.35952516e-01 -8.15357953e-02 -5.78014305e+01] [-1.17326345e-01 2.87605490e-03 9.93089249e-01 -1.31927168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34591999999999 meters 0.027798335403671603 Centerline is valid? [True, True] Translation: X:112.99, Y:-57.82, Z:-13.20 [[ 7.31781334e-01 6.76296243e-01 8.43769636e-02 1.12985403e+02] [-6.71365028e-01 7.36623441e-01 -8.15776035e-02 -5.78235554e+01] [-1.17324676e-01 3.04922494e-03 9.93088930e-01 -1.31979414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37592 meters 0.027954359004766286 Centerline is valid? [True, True] Translation: X:113.01, Y:-57.85, Z:-13.20 [[ 7.32706803e-01 6.75052423e-01 8.62842189e-02 1.13005874e+02] [-6.69877621e-01 7.37762039e-01 -8.34933949e-02 -5.78488573e+01] [-1.20019640e-01 3.37631117e-03 9.92765776e-01 -1.32005575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40592 meters 0.028201723513535934 Centerline is valid? [True, True] Translation: X:113.03, Y:-57.87, Z:-13.20 [[ 7.32641292e-01 6.75137510e-01 8.61747091e-02 1.13028698e+02] [-6.69967831e-01 7.37684015e-01 -8.34589666e-02 -5.78721386e+01] [-1.19915984e-01 3.41120215e-03 9.92778183e-01 -1.32034936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43592 meters 0.027767299817220557 Centerline is valid? [True, True] Translation: X:113.05, Y:-57.90, Z:-13.21 [[ 7.31490975e-01 6.76636973e-01 8.41627017e-02 1.13050160e+02] [-6.71707676e-01 7.36310060e-01 -8.15861074e-02 -5.78961094e+01] [-1.17174021e-01 3.14676848e-03 9.93106413e-01 -1.32061455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46592 meters 0.02751518563583169 Centerline is valid? [True, True] Translation: X:113.07, Y:-57.92, Z:-13.21 [[ 7.30598230e-01 6.77647290e-01 8.37876896e-02 1.13072395e+02] [-6.72760582e-01 7.35380866e-01 -8.12907210e-02 -5.79186691e+01] [-1.16702301e-01 3.02180204e-03 9.93162344e-01 -1.32102115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49592 meters 0.02735424134530769 Centerline is valid? [True, True] Translation: X:113.09, Y:-57.94, Z:-13.21 [[ 7.28879357e-01 6.79484016e-01 8.38829856e-02 1.13094332e+02] [-6.74590128e-01 7.33685037e-01 -8.14519854e-02 -5.79415562e+01] [-1.16889013e-01 2.78203671e-03 9.93141087e-01 -1.32135347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52592 meters 0.027259295914189928 Centerline is valid? [True, True] Translation: X:113.12, Y:-57.96, Z:-13.22 [[ 7.27314999e-01 6.81127071e-01 8.41356369e-02 1.13117387e+02] [-6.76206298e-01 7.32160688e-01 -8.17665592e-02 -5.79642602e+01] [-1.17294223e-01 2.57699740e-03 9.93093865e-01 -1.32159088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55592 meters 0.027154957766172435 Centerline is valid? [True, True] Translation: X:113.14, Y:-57.99, Z:-13.22 [[ 7.26851501e-01 6.81483837e-01 8.52447959e-02 1.13140301e+02] [-6.76425869e-01 7.31828525e-01 -8.29159463e-02 -5.79870274e+01] [-1.18890450e-01 2.60579490e-03 9.92903958e-01 -1.32185355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58592 meters 0.027502185752659433 Centerline is valid? [True, True] Translation: X:113.16, Y:-58.01, Z:-13.22 [[ 7.27146060e-01 6.81300963e-01 8.41879198e-02 1.13164513e+02] [-6.76358507e-01 7.31998600e-01 -8.19586435e-02 -5.80099868e+01] [-1.17463942e-01 2.65468894e-03 9.93073600e-01 -1.32215081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61591999999999 meters 0.027502185752659433 Centerline is valid? [True, True] Translation: X:113.19, Y:-58.03, Z:-13.22 [[ 7.26816986e-01 6.81656948e-01 8.41479301e-02 1.13188020e+02] [-6.76712121e-01 7.31667108e-01 -8.19996844e-02 -5.80323732e+01] [-1.17463927e-01 2.65483914e-03 9.93073601e-01 -1.32247031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64591999999999 meters 0.02722319675688586 Centerline is valid? [True, True] Translation: X:113.21, Y:-58.06, Z:-13.23 [[ 7.26789346e-01 6.81737910e-01 8.37297352e-02 1.13211844e+02] [-6.76833967e-01 7.31591566e-01 -8.16673833e-02 -5.80557870e+01] [-1.16931719e-01 2.68385528e-03 9.93136330e-01 -1.32280586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67591999999999 meters 0.02748162310964016 Centerline is valid? [True, True] Translation: X:113.24, Y:-58.08, Z:-13.23 [[ 7.26123898e-01 6.82259889e-01 8.52380669e-02 1.13235998e+02] [-6.77173442e-01 7.31104781e-01 -8.31981282e-02 -5.80762334e+01] [-1.19080704e-01 2.69119401e-03 9.92880931e-01 -1.32326072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70591999999999 meters 0.027633970409499806 Centerline is valid? [True, True] Translation: X:113.26, Y:-58.10, Z:-13.24 [[ 7.25982074e-01 6.82271904e-01 8.63427874e-02 1.13260414e+02] [-6.77043497e-01 7.31093244e-01 -8.43491055e-02 -5.80975244e+01] [-1.20673653e-01 2.77811581e-03 9.92688346e-01 -1.32357327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73592 meters 0.02748990135238933 Centerline is valid? [True, True] Translation: X:113.28, Y:-58.12, Z:-13.24 [[ 7.24393837e-01 6.83902458e-01 8.67813202e-02 1.13284717e+02] [-6.78623457e-01 7.29568921e-01 -8.48492342e-02 -5.81191992e+01] [-1.21341554e-01 2.57242280e-03 9.92607480e-01 -1.32376260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76592 meters 0.0273845922642568 Centerline is valid? [True, True] Translation: X:113.31, Y:-58.14, Z:-13.24 [[ 7.23580512e-01 6.84835890e-01 8.62035213e-02 1.13308066e+02] [-6.79625196e-01 7.28693209e-01 -8.43551987e-02 -5.81409331e+01] [-1.20585388e-01 2.45169275e-03 9.92699931e-01 -1.32405757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79592 meters 0.027572984362720553 Centerline is valid? [True, True] Translation: X:113.33, Y:-58.16, Z:-13.24 [[ 7.24110897e-01 6.84166846e-01 8.70582294e-02 1.13332884e+02] [-6.78838109e-01 7.29320741e-01 -8.52647568e-02 -5.81609539e+01] [-1.21828692e-01 2.64269571e-03 9.92547624e-01 -1.32448060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82592 meters 0.027786583162066763 Centerline is valid? [True, True] Translation: X:113.36, Y:-58.18, Z:-13.25 [[ 7.25199750e-01 6.83088487e-01 8.64606362e-02 1.13357369e+02] [-6.77816550e-01 7.30330032e-01 -8.47512177e-02 -5.81818353e+01] [-1.21037380e-01 2.85711168e-03 9.92643838e-01 -1.32475509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85592 meters 0.02891976224677095 Centerline is valid? [True, True] Translation: X:113.38, Y:-58.20, Z:-13.25 [[ 7.28665681e-01 6.79252327e-01 8.75362872e-02 1.13381650e+02] [-6.73811202e-01 7.33896015e-01 -8.58784203e-02 -5.82021592e+01] [-1.22575649e-01 3.59372670e-03 9.92452667e-01 -1.32521993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88592 meters 0.02962266515988788 Centerline is valid? [True, True] Translation: X:113.40, Y:-58.22, Z:-13.26 [[ 7.30383417e-01 6.77452323e-01 8.71688774e-02 1.13404385e+02] [-6.72035769e-01 7.35556186e-01 -8.55863433e-02 -5.82244464e+01] [-1.22098274e-01 3.93024234e-03 9.92510234e-01 -1.32550670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91592 meters 0.030315678032829706 Centerline is valid? [True, True] Translation: X:113.43, Y:-58.25, Z:-13.26 [[ 7.34221665e-01 6.73674598e-01 8.41491661e-02 1.13427172e+02] [-6.68595497e-01 7.39014707e-01 -8.26881174e-02 -5.82472126e+01] [-1.17892356e-01 4.44965369e-03 9.93016411e-01 -1.32573373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94592 meters 0.03138256544793214 Centerline is valid? [True, True] Translation: X:113.45, Y:-58.27, Z:-13.26 [[ 7.35961810e-01 6.71854932e-01 8.34935074e-02 1.13450753e+02] [-6.66835423e-01 7.40667504e-01 -8.21107008e-02 -5.82684242e+01] [-1.17007407e-01 4.75391159e-03 9.93119664e-01 -1.32611748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97591999999999 meters 0.03138421261856165 Centerline is valid? [True, True] Translation: X:113.47, Y:-58.29, Z:-13.26 [[ 7.36806986e-01 6.71045100e-01 8.25465864e-02 1.13473320e+02] [-6.66126485e-01 7.41400500e-01 -8.12453380e-02 -5.82913338e+01] [-1.15719366e-01 4.87566517e-03 9.93269981e-01 -1.32647448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00591999999999 meters 0.031830226806736514 Centerline is valid? [True, True] Translation: X:113.49, Y:-58.32, Z:-13.27 [[ 7.36381820e-01 6.71117102e-01 8.56950999e-02 1.13492956e+02] [-6.65806561e-01 7.41333780e-01 -8.44147527e-02 -5.83174105e+01] [-1.20180857e-01 5.10512951e-03 9.92738888e-01 -1.32683875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03591999999999 meters 0.03070876707464429 Centerline is valid? [True, True] Translation: X:113.51, Y:-58.34, Z:-13.27 [[ 7.33453991e-01 6.74273174e-01 8.60286572e-02 1.13510555e+02] [-6.68935457e-01 7.38467373e-01 -8.48014957e-02 -5.83438562e+01] [-1.20708730e-01 4.65037633e-03 9.92677076e-01 -1.32699910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06591999999999 meters 0.029736253369116852 Centerline is valid? [True, True] Translation: X:113.53, Y:-58.37, Z:-13.27 [[ 7.30724088e-01 6.77283190e-01 8.56141842e-02 1.13531165e+02] [-6.72016242e-01 7.35710767e-01 -8.44028269e-02 -5.83673581e+01] [-1.20151893e-01 4.14105637e-03 9.92746883e-01 -1.32729764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09591999999999 meters 0.029065849975550853 Centerline is valid? [True, True] Translation: X:113.55, Y:-58.39, Z:-13.28 [[ 7.28034339e-01 6.80259888e-01 8.49263530e-02 1.13552629e+02] [-6.75095164e-01 7.32961980e-01 -8.37451833e-02 -5.83912176e+01] [-1.19216277e-01 3.63599896e-03 9.92861651e-01 -1.32769202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12592 meters 0.02829079162621278 Centerline is valid? [True, True] Translation: X:113.57, Y:-58.42, Z:-13.28 [[ 7.23849653e-01 6.84552980e-01 8.61910551e-02 1.13572272e+02] [-6.79254047e-01 7.28956823e-01 -8.50640378e-02 -5.84164964e+01] [-1.21060398e-01 3.02795127e-03 9.92640525e-01 -1.32814584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15592 meters 0.028051853410291688 Centerline is valid? [True, True] Translation: X:113.59, Y:-58.44, Z:-13.28 [[ 7.22306407e-01 6.86160801e-01 8.63528241e-02 1.13594327e+02] [-6.80844520e-01 7.27444446e-01 -8.52954677e-02 -5.84393347e+01] [-1.21343289e-01 2.81661572e-03 9.92606605e-01 -1.32839993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18592 meters 0.0277156176974679 Centerline is valid? [True, True] Translation: X:113.62, Y:-58.46, Z:-13.29 [[ 7.20691908e-01 6.87886212e-01 8.61146493e-02 1.13618528e+02] [-6.82602783e-01 7.25813987e-01 -8.51322249e-02 -5.84607017e+01] [-1.21064501e-01 2.57200627e-03 9.92641311e-01 -1.32858937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21592 meters 0.027693721103796497 Centerline is valid? [True, True] Translation: X:113.64, Y:-58.48, Z:-13.29 [[ 7.20650347e-01 6.87974016e-01 8.57603083e-02 1.13643030e+02] [-6.82725773e-01 7.25730659e-01 -8.48559355e-02 -5.84833247e+01] [-1.20617564e-01 2.60068662e-03 9.92695643e-01 -1.32885588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24592 meters 0.027477459713655037 Centerline is valid? [True, True] Translation: X:113.67, Y:-58.51, Z:-13.29 [[ 7.20364957e-01 6.88432452e-01 8.44694517e-02 1.13665820e+02] [-6.83336273e-01 7.25296025e-01 -8.36493523e-02 -5.85066452e+01] [-1.18852286e-01 2.53702172e-03 9.92908706e-01 -1.32912743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27592 meters 0.02780524675846793 Centerline is valid? [True, True] Translation: X:113.69, Y:-58.53, Z:-13.29 [[ 7.21814898e-01 6.86989747e-01 8.38351980e-02 1.13688811e+02] [-6.81956593e-01 7.26661802e-01 -8.30531774e-02 -5.85284818e+01] [-1.17976517e-01 2.77705477e-03 9.93012502e-01 -1.32936610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30592 meters 0.028044873471001746 Centerline is valid? [True, True] Translation: X:113.71, Y:-58.55, Z:-13.30 [[ 7.22165246e-01 6.86483252e-01 8.49594141e-02 1.13712066e+02] [-6.81301984e-01 7.27139636e-01 -8.42351216e-02 -5.85507850e+01] [-1.19603358e-01 2.94865994e-03 9.92817376e-01 -1.32965950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33592 meters 0.027957934893122094 Centerline is valid? [True, True] Translation: X:113.73, Y:-58.57, Z:-13.30 [[ 7.21959262e-01 6.86441226e-01 8.70245230e-02 1.13733775e+02] [-6.80995645e-01 7.27178781e-01 -8.63478529e-02 -5.85743819e+01] [-1.22555113e-01 3.07631094e-03 9.92456941e-01 -1.32994801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36591999999999 meters 0.02809399013967459 Centerline is valid? [True, True] Translation: X:113.76, Y:-58.60, Z:-13.30 [[ 7.21683240e-01 6.86924954e-01 8.54833862e-02 1.13756565e+02] [-6.81670487e-01 7.26722309e-01 -8.48530067e-02 -5.85974533e+01] [-1.20410331e-01 2.96549132e-03 9.92719778e-01 -1.33017037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39591999999999 meters 0.027968429839826548 Centerline is valid? [True, True] Translation: X:113.78, Y:-58.62, Z:-13.30 [[ 7.21215492e-01 6.87587441e-01 8.40935484e-02 1.13780094e+02] [-6.82499079e-01 7.26095953e-01 -8.35444435e-02 -5.86190038e+01] [-1.18504095e-01 2.85977760e-03 9.92949445e-01 -1.33044993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42591999999999 meters 0.027711901407024443 Centerline is valid? [True, True] Translation: X:113.80, Y:-58.64, Z:-13.31 [[ 7.20550306e-01 6.88275477e-01 8.41672415e-02 1.13804602e+02] [-6.83175301e-01 7.25444040e-01 -8.36806604e-02 -5.86404343e+01] [-1.18653970e-01 2.79514484e-03 9.92931731e-01 -1.33080372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45591999999999 meters 0.02797921309583428 Centerline is valid? [True, True] Translation: X:113.83, Y:-58.66, Z:-13.31 [[ 7.20558792e-01 6.88247079e-01 8.43266630e-02 1.13828877e+02] [-6.83123044e-01 7.25470842e-01 -8.38746930e-02 -5.86634553e+01] [-1.18903048e-01 2.83116071e-03 9.92901833e-01 -1.33110292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48592 meters 0.028238965460950262 Centerline is valid? [True, True] Translation: X:113.85, Y:-58.69, Z:-13.31 [[ 7.21049237e-01 6.87675873e-01 8.47932307e-02 1.13850121e+02] [-6.82481108e-01 7.26011632e-01 -8.44194809e-02 -5.86877538e+01] [-1.19614112e-01 3.00082427e-03 9.92815924e-01 -1.33148313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51592 meters 0.02836806811300267 Centerline is valid? [True, True] Translation: X:113.87, Y:-58.71, Z:-13.32 [[ 7.22010786e-01 6.86782013e-01 8.38504126e-02 1.13872149e+02] [-6.81688036e-01 7.26856550e-01 -8.35522406e-02 -5.87119547e+01] [-1.18329398e-01 3.16579581e-03 9.92969351e-01 -1.33181542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54592 meters 0.029309663452128997 Centerline is valid? [True, True] Translation: X:113.90, Y:-58.73, Z:-13.32 [[ 7.25534331e-01 6.83155770e-01 8.30549719e-02 1.13896262e+02] [-6.78126370e-01 7.30262935e-01 -8.28291817e-02 -5.87336069e+01] [-1.17237201e-01 3.77364835e-03 9.93096772e-01 -1.33207008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57592 meters 0.029955070460293012 Centerline is valid? [True, True] Translation: X:113.92, Y:-58.75, Z:-13.32 [[ 7.27288984e-01 6.81277152e-01 8.31394997e-02 1.13920481e+02] [-6.76221915e-01 7.32014083e-01 -8.29415706e-02 -5.87545643e+01] [-1.17365482e-01 4.10173889e-03 9.93080319e-01 -1.33234643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60592 meters 0.03158293445717858 Centerline is valid? [True, True] Translation: X:113.94, Y:-58.78, Z:-13.33 [[ 7.31751407e-01 6.76355799e-01 8.41588460e-02 1.13941569e+02] [-6.71135570e-01 7.36558105e-01 -8.40190781e-02 -5.87774074e+01] [-1.18814671e-01 4.99908349e-03 9.92903864e-01 -1.33262213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63592 meters 0.03240615651882023 Centerline is valid? [True, True] Translation: X:113.96, Y:-58.80, Z:-13.33 [[ 7.33439692e-01 6.74594850e-01 8.35942960e-02 1.13963511e+02] [-6.69430766e-01 7.38169406e-01 -8.34768104e-02 -5.88005663e+01] [-1.18019778e-01 5.26461252e-03 9.92997289e-01 -1.33292254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66592 meters 0.03306210559797137 Centerline is valid? [True, True] Translation: X:113.99, Y:-58.82, Z:-13.33 [[ 7.36173414e-01 6.71686003e-01 8.29856492e-02 1.13986427e+02] [-6.66570888e-01 7.40813727e-01 -8.29353586e-02 -5.88222016e+01] [-1.17183428e-01 5.73898827e-03 9.93093706e-01 -1.33326635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69592 meters 0.03392375298428691 Centerline is valid? [True, True] Translation: X:114.02, Y:-58.82, Z:-13.33 [[ 6.90073231e-01 7.19589066e-01 7.73983944e-02 1.14015245e+02] [-7.14160098e-01 6.94376465e-01 -8.84119800e-02 -5.88245289e+01] [-1.17363918e-01 5.73589577e-03 9.93072409e-01 -1.33348664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72591999999999 meters 0.03341854485031475 Centerline is valid? [True, True] Translation: X:113.92, Y:-59.20, Z:-11.39 [[ 6.69880002e-01 -7.40742194e-01 -5.06140732e-02 1.13919372e+02] [-7.38302306e-01 -6.71783055e-01 6.01434333e-02 -5.92030583e+01] [-7.85524555e-02 -2.92039627e-03 -9.96905704e-01 -1.13920033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75591999999999 meters 0.03410728866493552 Centerline is valid? [True, True] Translation: X:114.02, Y:-58.87, Z:-13.34 [[ 7.41350219e-01 6.65948147e-01 8.31439594e-02 1.14022647e+02] [-6.60848131e-01 7.45972173e-01 -8.24940320e-02 -5.88719809e+01] [-1.16959828e-01 6.21143853e-03 9.93117222e-01 -1.33399973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78591999999999 meters 0.034574312012707546 Centerline is valid? [True, True] Translation: X:114.04, Y:-58.90, Z:-13.34 [[ 7.42089435e-01 6.65275730e-01 8.19235898e-02 1.14044288e+02] [-6.60313237e-01 7.46571402e-01 -8.13484541e-02 -5.88951911e+01] [-1.15280961e-01 6.27259753e-03 9.93313120e-01 -1.33429739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81591999999999 meters 0.03526376501347541 Centerline is valid? [True, True] Translation: X:114.06, Y:-58.92, Z:-13.35 [[ 7.42990506e-01 6.64176670e-01 8.26707878e-02 1.14064182e+02] [-6.59108948e-01 7.47546963e-01 -8.21518905e-02 -5.89199544e+01] [-1.16363665e-01 6.54901878e-03 9.93185082e-01 -1.33470119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84591999999999 meters 0.035850036188696026 Centerline is valid? [True, True] Translation: X:114.08, Y:-58.95, Z:-13.35 [[ 7.43762522e-01 6.63173376e-01 8.37757999e-02 1.14083925e+02] [-6.57958356e-01 7.48434716e-01 -8.32843195e-02 -5.89450374e+01] [-1.17932660e-01 6.82276791e-03 9.92998156e-01 -1.33492714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87592 meters 0.03606133775474127 Centerline is valid? [True, True] Translation: X:114.11, Y:-58.97, Z:-13.35 [[ 7.43789857e-01 6.63018207e-01 8.47555698e-02 1.14105819e+02] [-6.57674263e-01 7.48570932e-01 -8.42978342e-02 -5.89678329e+01] [-1.19336555e-01 6.95831714e-03 9.92829476e-01 -1.33519450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90592 meters 0.03557742331069928 Centerline is valid? [True, True] Translation: X:114.13, Y:-58.99, Z:-13.36 [[ 7.42493753e-01 6.64551558e-01 8.41085777e-02 1.14125922e+02] [-6.59292586e-01 7.47212376e-01 -8.37075348e-02 -5.89923577e+01] [-1.18474943e-01 6.70015997e-03 9.92934437e-01 -1.33552188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93592 meters 0.03478165641695925 Centerline is valid? [True, True] Translation: X:114.15, Y:-59.02, Z:-13.36 [[ 7.41657633e-01 6.65645796e-01 8.28228814e-02 1.14145702e+02] [-6.60551126e-01 7.46240034e-01 -8.24501147e-02 -5.90178842e+01] [-1.16688322e-01 6.44100932e-03 9.93147697e-01 -1.33584173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96592 meters 0.03459216568623801 Centerline is valid? [True, True] Translation: X:114.17, Y:-59.04, Z:-13.36 [[ 7.41021262e-01 6.66463492e-01 8.19384188e-02 1.14166522e+02] [-6.61475677e-01 7.45511155e-01 -8.16274829e-02 -5.90430698e+01] [-1.15487743e-01 6.28742936e-03 9.93289006e-01 -1.33611412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99592 meters 0.03382903148829583 Centerline is valid? [True, True] Translation: X:114.19, Y:-59.07, Z:-13.36 [[ 7.38896346e-01 6.68654057e-01 8.32702950e-02 1.14185690e+02] [-6.63512214e-01 7.43548886e-01 -8.29855227e-02 -5.90690584e+01] [-1.17404142e-01 6.06684169e-03 9.93065688e-01 -1.33631468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02592 meters 0.03358983996020611 Centerline is valid? [True, True] Translation: X:114.21, Y:-59.09, Z:-13.37 [[ 7.37938265e-01 6.69701603e-01 8.33479417e-02 1.14208261e+02] [-6.64548839e-01 7.42606417e-01 -8.31297191e-02 -5.90921592e+01] [-1.17566823e-01 5.95582279e-03 9.93047114e-01 -1.33661805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05592 meters 0.032276514617926334 Centerline is valid? [True, True] Translation: X:114.23, Y:-59.12, Z:-13.37 [[ 7.35333636e-01 6.72549835e-01 8.34335865e-02 1.14226234e+02] [-6.67397729e-01 7.40031025e-01 -8.32727662e-02 -5.91180879e+01] [-1.17748528e-01 5.54987980e-03 9.93027937e-01 -1.33691019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08592 meters 0.032035060251611645 Centerline is valid? [True, True] Translation: X:114.25, Y:-59.14, Z:-13.37 [[ 7.33784279e-01 6.74157011e-01 8.41008651e-02 1.14247108e+02] [-6.68929893e-01 7.38568683e-01 -8.39589057e-02 -5.91429000e+01] [-1.18715750e-01 5.35014237e-03 9.92913867e-01 -1.33734985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11591999999999 meters 0.031928667605601195 Centerline is valid? [True, True] Translation: X:114.27, Y:-59.17, Z:-13.38 [[ 7.31958879e-01 6.75950700e-01 8.55970237e-02 1.14266906e+02] [-6.70538685e-01 7.36928472e-01 -8.55236785e-02 -5.91682197e+01] [-1.20888674e-01 5.20370019e-03 9.92652432e-01 -1.33783121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14591999999999 meters 0.031653768096500494 Centerline is valid? [True, True] Translation: X:114.29, Y:-59.19, Z:-13.38 [[ 7.31410952e-01 6.76474595e-01 8.61402442e-02 1.14288431e+02] [-6.70988053e-01 7.36447580e-01 -8.61393896e-02 -5.91930313e+01] [-1.21708883e-01 5.20421816e-03 9.92552197e-01 -1.33823641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17591999999999 meters 0.03177846264489539 Centerline is valid? [True, True] Translation: X:114.31, Y:-59.52, Z:-11.44 [[ 7.25697258e-01 -6.85981265e-01 -5.28506788e-02 1.14306357e+02] [-6.83769364e-01 -7.27608710e-01 5.51817105e-02 -5.95175351e+01] [-7.63082338e-02 -3.90754089e-03 -9.97076619e-01 -1.14383760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20591999999999 meters 0.03195676266336669 Centerline is valid? [True, True] Translation: X:114.32, Y:-59.26, Z:-13.39 [[ 7.79657040e-01 6.19620485e-01 9.05834097e-02 1.14320803e+02] [-6.14700700e-01 7.84884264e-01 -7.81008386e-02 -5.92578291e+01] [-1.19490372e-01 5.21018325e-03 9.92821688e-01 -1.33891989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23592 meters 0.031863919693653896 Centerline is valid? [True, True] Translation: X:114.34, Y:-59.28, Z:-13.39 [[ 7.79780077e-01 6.19537694e-01 9.00892799e-02 1.14343014e+02] [-6.14662264e-01 7.84949335e-01 -7.77485853e-02 -5.92824572e+01] [-1.18883700e-01 5.25231712e-03 9.92894294e-01 -1.33926686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26592 meters 0.03174935451982084 Centerline is valid? [True, True] Translation: X:114.37, Y:-59.31, Z:-13.40 [[ 7.79050297e-01 6.20291247e-01 9.12107681e-02 1.14366322e+02] [-6.15289142e-01 7.84353926e-01 -7.87920738e-02 -5.93061548e+01] [-1.20415558e-01 5.26199321e-03 9.92709628e-01 -1.33962127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29592 meters 0.03152673857805761 Centerline is valid? [True, True] Translation: X:114.39, Y:-59.33, Z:-13.40 [[ 7.77732836e-01 6.21737382e-01 9.25973172e-02 1.14389137e+02] [-6.16582033e-01 7.83208672e-01 -8.00672989e-02 -5.93307334e+01] [-1.22303855e-01 5.17712543e-03 9.92479201e-01 -1.33996409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32592 meters 0.031283996134414724 Centerline is valid? [True, True] Translation: X:114.41, Y:-59.36, Z:-13.40 [[ 7.76017013e-01 6.23687325e-01 9.38707428e-02 1.14410194e+02] [-6.18393185e-01 7.81657941e-01 -8.12448890e-02 -5.93559726e+01] [-1.24046219e-01 4.99838843e-03 9.92263852e-01 -1.34035038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35592 meters 0.030545244179185235 Centerline is valid? [True, True] Translation: X:114.43, Y:-59.38, Z:-13.41 [[ 7.74714805e-01 6.25595019e-01 9.19121468e-02 1.14432022e+02] [-6.20525903e-01 7.80134160e-01 -7.96134149e-02 -5.93783610e+01] [-1.21509561e-01 4.64382334e-03 9.92579398e-01 -1.34057535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38592 meters 0.029083281619666373 Centerline is valid? [True, True] Translation: X:114.45, Y:-59.40, Z:-13.41 [[ 7.70520837e-01 6.30928258e-01 9.07037648e-02 1.14451965e+02] [-6.26022551e-01 7.75831905e-01 -7.86169267e-02 -5.94026511e+01] [-1.19972515e-01 3.79337789e-03 9.92769966e-01 -1.34091549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41592 meters 0.027942155206365567 Centerline is valid? [True, True] Translation: X:114.47, Y:-59.43, Z:-13.41 [[ 7.65306750e-01 6.36976476e-01 9.25556466e-02 1.14473787e+02] [-6.31908223e-01 7.70877683e-01 -8.02470920e-02 -5.94256637e+01] [-1.22464592e-01 2.92696701e-03 9.92468567e-01 -1.34119365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44592 meters 0.027721061801978853 Centerline is valid? [True, True] Translation: X:114.50, Y:-59.45, Z:-13.41 [[ 7.63167017e-01 6.39429231e-01 9.33078959e-02 1.14498503e+02] [-6.34292783e-01 7.68845644e-01 -8.09261452e-02 -5.94463563e+01] [-1.23485912e-01 2.57563988e-03 9.92342983e-01 -1.34142703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47591999999999 meters 0.027327536465840935 Centerline is valid? [True, True] Translation: X:114.52, Y:-59.47, Z:-13.42 [[ 7.61362319e-01 6.41605653e-01 9.31107177e-02 1.14522820e+02] [-6.36498339e-01 7.67031303e-01 -8.08260226e-02 -5.94666225e+01] [-1.23277268e-01 2.27307089e-03 9.92369663e-01 -1.34171729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50591999999999 meters 0.027325387872183766 Centerline is valid? [True, True] Translation: X:114.55, Y:-59.49, Z:-13.42 [[ 7.60414370e-01 6.42927022e-01 9.17323824e-02 1.14547447e+02] [-6.37971456e-01 7.65924612e-01 -7.96988715e-02 -5.94865733e+01] [-1.21500648e-01 2.08152560e-03 9.92589170e-01 -1.34225158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53591999999999 meters 0.027325387872183766 Centerline is valid? [True, True] Translation: X:114.57, Y:-59.51, Z:-13.43 [[ 7.60094388e-01 6.43310408e-01 9.16964575e-02 1.14572144e+02] [-6.38352639e-01 7.65602646e-01 -7.97401868e-02 -5.95075679e+01] [-1.21500743e-01 2.07539279e-03 9.92589171e-01 -1.34257013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56591999999999 meters 0.02735358224336582 Centerline is valid? [True, True] Translation: X:114.60, Y:-59.53, Z:-13.43 [[ 7.60100455e-01 6.43395145e-01 9.10493627e-02 1.14599052e+02] [-6.38498277e-01 7.65531346e-01 -7.92572339e-02 -5.95269173e+01] [-1.20694861e-01 2.10859837e-03 9.92687415e-01 -1.34296623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59591999999999 meters 0.027412699138659694 Centerline is valid? [True, True] Translation: X:114.62, Y:-59.55, Z:-13.43 [[ 7.60621328e-01 6.42870022e-01 9.04064687e-02 1.14624799e+02] [-6.38029046e-01 7.65972016e-01 -7.87769515e-02 -5.95472977e+01] [-1.19892166e-01 2.23747655e-03 9.92784399e-01 -1.34323211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62592 meters 0.02763923403468751 Centerline is valid? [True, True] Translation: X:114.65, Y:-59.57, Z:-13.44 [[ 7.60706122e-01 6.42571348e-01 9.18055470e-02 1.14649255e+02] [-6.37566793e-01 7.66222153e-01 -8.00761923e-02 -5.95683934e+01] [-1.21798111e-01 2.38228148e-03 9.92552036e-01 -1.34358808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65592 meters 0.028117987028249965 Centerline is valid? [True, True] Translation: X:114.67, Y:-59.59, Z:-13.44 [[ 7.62199776e-01 6.40564369e-01 9.34279938e-02 1.14672291e+02] [-6.35356498e-01 7.67899345e-01 -8.15641878e-02 -5.95909413e+01] [-1.23990408e-01 2.80812273e-03 9.92279443e-01 -1.34390291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68592 meters 0.02825017619347035 Centerline is valid? [True, True] Translation: X:114.70, Y:-59.61, Z:-13.44 [[ 7.62753560e-01 6.39896490e-01 9.34852286e-02 1.14696551e+02] [-6.34668239e-01 7.68455357e-01 -8.16859202e-02 -5.96118477e+01] [-1.24109758e-01 2.97412104e-03 9.92264039e-01 -1.34413036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71592 meters 0.027957591994645627 Centerline is valid? [True, True] Translation: X:114.72, Y:-59.63, Z:-13.45 [[ 7.61581556e-01 6.41474943e-01 9.22140513e-02 1.14720703e+02] [-6.36391349e-01 7.67139117e-01 -8.06450567e-02 -5.96330790e+01] [-1.22472789e-01 2.73356321e-03 9.92468107e-01 -1.34452824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74592 meters 0.027728627805015865 Centerline is valid? [True, True] Translation: X:114.74, Y:-59.66, Z:-13.45 [[ 7.61235711e-01 6.42020267e-01 9.12697598e-02 1.14743396e+02] [-6.37036059e-01 7.66683009e-01 -7.98888124e-02 -5.96556230e+01] [-1.21265211e-01 2.67208880e-03 9.92616547e-01 -1.34485486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77592 meters 0.027486726355041464 Centerline is valid? [True, True] Translation: X:114.76, Y:-59.68, Z:-13.45 [[ 7.60119812e-01 6.43511464e-01 9.00603564e-02 1.14764272e+02] [-6.38661140e-01 7.65432540e-01 -7.88985162e-02 -5.96803563e+01] [-1.19707227e-01 2.45427545e-03 9.92806203e-01 -1.34512467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80592 meters 0.027452164791657085 Centerline is valid? [True, True] Translation: X:114.79, Y:-59.70, Z:-13.45 [[ 7.59397015e-01 6.44295474e-01 9.05511765e-02 1.14788399e+02] [-6.39388700e-01 7.64772898e-01 -7.94009173e-02 -5.97030182e+01] [-1.20408737e-01 2.39942060e-03 9.92721501e-01 -1.34544124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83592 meters 0.027263309194712496 Centerline is valid? [True, True] Translation: X:114.81, Y:-59.73, Z:-13.46 [[ 7.57759654e-01 6.46061140e-01 9.16804801e-02 1.14810878e+02] [-6.41033470e-01 7.63282466e-01 -8.04733965e-02 -5.97272489e+01] [-1.21968837e-01 2.20923673e-03 9.92531472e-01 -1.34557647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86591999999999 meters 0.027043038353643117 Centerline is valid? [True, True] Translation: X:114.83, Y:-59.75, Z:-13.46 [[ 7.56752841e-01 6.47214291e-01 9.18629366e-02 1.14833798e+02] [-6.42164888e-01 7.62305248e-01 -8.07153354e-02 -5.97503623e+01] [-1.22267717e-01 2.09040697e-03 9.92494955e-01 -1.34591849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89591999999999 meters 0.026914349784889605 Centerline is valid? [True, True] Translation: X:114.86, Y:-59.77, Z:-13.46 [[ 7.54556668e-01 6.49823929e-01 9.15046265e-02 1.14856564e+02] [-6.44823300e-01 7.60082821e-01 -8.04799160e-02 -5.97731500e+01] [-1.21848870e-01 1.72234196e-03 9.92547171e-01 -1.34629409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92591999999999 meters 0.026627667733414503 Centerline is valid? [True, True] Translation: X:114.88, Y:-59.79, Z:-13.47 [[ 7.53262332e-01 6.51386913e-01 9.10546441e-02 1.14880318e+02] [-6.46438161e-01 7.58744218e-01 -8.01555707e-02 -5.97946876e+01] [-1.21299475e-01 1.51697546e-03 9.92614798e-01 -1.34657005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95591999999999 meters 0.026531921383064296 Centerline is valid? [True, True] Translation: X:114.90, Y:-59.82, Z:-13.47 [[ 7.51624752e-01 6.53426582e-01 8.99662995e-02 1.14903417e+02] [-6.48601911e-01 7.56988901e-01 -7.92676795e-02 -5.98169152e+01] [-1.19899099e-01 1.22723616e-03 9.92785324e-01 -1.34680402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98592 meters 0.026364254084319718 Centerline is valid? [True, True] Translation: X:114.93, Y:-59.84, Z:-13.47 [[ 7.47699341e-01 6.57707730e-01 9.14671340e-02 1.14925282e+02] [-6.52742554e-01 7.53272972e-01 -8.06659079e-02 -5.98425207e+01] [-1.21954311e-01 6.09355546e-04 9.92535528e-01 -1.34703581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01592 meters 0.026370553007810434 Centerline is valid? [True, True] Translation: X:114.95, Y:-59.86, Z:-13.47 [[ 7.46220856e-01 6.59458463e-01 9.09338782e-02 1.14949212e+02] [-6.54554202e-01 7.51740906e-01 -8.02770691e-02 -5.98641444e+01] [-1.21298108e-01 3.83271199e-04 9.92616050e-01 -1.34719757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04592 meters 0.026614159326179797 Centerline is valid? [True, True] Translation: X:114.98, Y:-59.88, Z:-13.47 [[ 7.45064923e-01 6.60789359e-01 9.07506689e-02 1.14975086e+02] [-6.55905538e-01 7.50571365e-01 -8.01907220e-02 -5.98846937e+01] [-1.21104029e-01 2.23427802e-04 9.92639796e-01 -1.34738898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07592 meters 0.026673648636348295 Centerline is valid? [True, True] Translation: X:115.00, Y:-59.91, Z:-13.48 [[ 7.44717774e-01 6.61229018e-01 9.03970307e-02 1.15000402e+02] [-6.56376306e-01 7.50184071e-01 -7.99625253e-02 -5.99057934e+01] [-1.20687954e-01 2.15044788e-04 9.92690471e-01 -1.34777757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10592 meters 0.02678430073838939 Centerline is valid? [True, True] Translation: X:115.02, Y:-59.93, Z:-13.48 [[ 7.43814067e-01 6.62317917e-01 8.98644060e-02 1.15024850e+02] [-6.57520175e-01 7.49222909e-01 -7.95754537e-02 -5.99274417e+01] [-1.20032720e-01 1.01681872e-04 9.92769931e-01 -1.34814081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13592 meters 0.026674252364773374 Centerline is valid? [True, True] Translation: X:115.05, Y:-59.95, Z:-13.49 [[ 7.43158794e-01 6.62900586e-01 9.09825290e-02 1.15048976e+02] [-6.57976320e-01 7.48707425e-01 -8.06495743e-02 -5.99481664e+01] [-1.21581945e-01 7.10907108e-05 9.92581395e-01 -1.34856294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16592 meters 0.02666896786793831 Centerline is valid? [True, True] Translation: X:115.07, Y:-59.97, Z:-13.49 [[ 7.41169959e-01 6.64978599e-01 9.20356177e-02 1.15073748e+02] [-6.59945683e-01 7.46862381e-01 -8.16595364e-02 -5.99689013e+01] [-1.23039785e-01 -2.14913357e-04 9.92401716e-01 -1.34886302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19592 meters 0.02666946820389276 Centerline is valid? [True, True] Translation: X:115.10, Y:-59.99, Z:-13.49 [[ 7.40282704e-01 6.65975026e-01 9.19716437e-02 1.15099275e+02] [-6.60947230e-01 7.45973968e-01 -8.16798558e-02 -5.99898032e+01] [-1.23005196e-01 -3.22218618e-04 9.92405974e-01 -1.34910062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22591999999999 meters 0.02679104047096951 Centerline is valid? [True, True] Translation: X:115.13, Y:-60.01, Z:-13.50 [[ 7.37631194e-01 6.68911736e-01 9.19636430e-02 1.15125857e+02] [-6.63896788e-01 7.43341464e-01 -8.17589268e-02 -6.00097398e+01] [-1.23049895e-01 -7.46432456e-04 9.92400205e-01 -1.34950581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25591999999999 meters 0.02705553062273594 Centerline is valid? [True, True] Translation: X:115.15, Y:-60.03, Z:-13.50 [[ 7.35764967e-01 6.70794547e-01 9.31911446e-02 1.15150945e+02] [-6.65648430e-01 7.41642538e-01 -8.29367998e-02 -6.00300762e+01] [-1.24748070e-01 -1.01054733e-03 9.92187935e-01 -1.35000795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28591999999999 meters 0.027020840490242667 Centerline is valid? [True, True] Translation: X:115.18, Y:-60.05, Z:-13.50 [[ 7.33374602e-01 6.73533009e-01 9.22766458e-02 1.15177297e+02] [-6.68499632e-01 7.39155814e-01 -8.22005139e-02 -6.00502341e+01] [-1.23571579e-01 -1.40313463e-03 9.92334669e-01 -1.35041460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31591999999999 meters 0.02697732143121973 Centerline is valid? [True, True] Translation: X:115.20, Y:-60.07, Z:-13.51 [[ 7.31649649e-01 6.75586518e-01 9.09486003e-02 1.15203594e+02] [-6.70702926e-01 7.37278846e-01 -8.11017122e-02 -6.00706765e+01] [-1.21845702e-01 -1.66145313e-03 9.92547664e-01 -1.35061817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34591999999999 meters 0.026997364368487937 Centerline is valid? [True, True] Translation: X:115.23, Y:-60.09, Z:-13.51 [[ 7.30306776e-01 6.77210679e-01 8.96532731e-02 1.15230095e+02] [-6.72467769e-01 7.35786858e-01 -8.00299852e-02 -6.00898292e+01] [-1.20162861e-01 -1.84249613e-03 9.92752483e-01 -1.35094053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37592 meters 0.02711131795672669 Centerline is valid? [True, True] Translation: X:115.26, Y:-60.10, Z:-13.51 [[ 7.29615952e-01 6.77740266e-01 9.12616817e-02 1.15260113e+02] [-6.72818585e-01 7.35298930e-01 -8.15514262e-02 -6.01048468e+01] [-1.22375302e-01 -1.90133408e-03 9.92482076e-01 -1.35120303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40592 meters 0.027307037384534622 Centerline is valid? [True, True] Translation: X:115.29, Y:-60.12, Z:-13.52 [[ 7.29901501e-01 6.77117094e-01 9.35747851e-02 1.15287744e+02] [-6.71926665e-01 7.35873126e-01 -8.36976677e-02 -6.01215511e+01] [-1.25532291e-01 -1.78434009e-03 9.92087930e-01 -1.35162197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43592 meters 0.02737184346888973 Centerline is valid? [True, True] Translation: X:115.31, Y:-60.14, Z:-13.52 [[ 7.29836900e-01 6.77129288e-01 9.39895022e-02 1.15313635e+02] [-6.71882407e-01 7.35862024e-01 -8.41493487e-02 -6.01413999e+01] [-1.26143294e-01 -1.73459317e-03 9.92010514e-01 -1.35196663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46592 meters 0.027180570265670962 Centerline is valid? [True, True] Translation: X:115.34, Y:-60.16, Z:-13.52 [[ 7.29856891e-01 6.76996818e-01 9.47851613e-02 1.15339734e+02] [-6.71647979e-01 7.35984068e-01 -8.49496556e-02 -6.01607306e+01] [-1.27271015e-01 -1.66117046e-03 9.91866588e-01 -1.35238460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49592 meters 0.027135401136986335 Centerline is valid? [True, True] Translation: X:115.37, Y:-60.18, Z:-13.53 [[ 7.30320190e-01 6.76502440e-01 9.47463429e-02 1.15368337e+02] [-6.71143495e-01 7.36438834e-01 -8.49956108e-02 -6.01775416e+01] [-1.27274624e-01 -1.51438110e-03 9.91866360e-01 -1.35279970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52592 meters 0.027179333233142502 Centerline is valid? [True, True] Translation: X:115.39, Y:-60.20, Z:-13.53 [[ 7.29363349e-01 6.77583491e-01 9.43913001e-02 1.15394451e+02] [-6.72262434e-01 7.35444052e-01 -8.47659496e-02 -6.01981672e+01] [-1.26855528e-01 -1.63054820e-03 9.91919864e-01 -1.35312083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55592 meters 0.027124892149264928 Centerline is valid? [True, True] Translation: X:115.42, Y:-60.22, Z:-13.53 [[ 7.29135879e-01 6.78045315e-01 9.28192961e-02 1.15420390e+02] [-6.72893853e-01 7.35018318e-01 -8.34382083e-02 -6.02167051e+01] [-1.24798769e-01 -1.61974252e-03 9.92180752e-01 -1.35340220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58592 meters 0.02726348182798269 Centerline is valid? [True, True] Translation: X:115.45, Y:-60.24, Z:-13.54 [[ 7.28046556e-01 6.79296906e-01 9.22167292e-02 1.15446669e+02] [-6.74212564e-01 7.33861432e-01 -8.29747993e-02 -6.02368751e+01] [-1.24038825e-01 -1.76416055e-03 9.92275797e-01 -1.35364591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61591999999999 meters 0.02715272396518888 Centerline is valid? [True, True] Translation: X:115.47, Y:-60.26, Z:-13.54 [[ 7.25628541e-01 6.82120877e-01 9.04119958e-02 1.15474517e+02] [-6.77245721e-01 7.31236304e-01 -8.14352610e-02 -6.02555840e+01] [-1.21661225e-01 -2.13938758e-03 9.92569378e-01 -1.35387123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64591999999999 meters 0.02719746832431532 Centerline is valid? [True, True] Translation: X:115.50, Y:-60.28, Z:-13.54 [[ 7.25041615e-01 6.83020462e-01 8.83046143e-02 1.15499786e+02] [-6.78368452e-01 7.30395981e-01 -7.96112645e-02 -6.02759428e+01] [-1.18873458e-01 -2.18158473e-03 9.92907016e-01 -1.35428220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67591999999999 meters 0.027006132174748017 Centerline is valid? [True, True] Translation: X:115.53, Y:-60.29, Z:-13.55 [[ 7.24222696e-01 6.83982534e-01 8.75749920e-02 1.15527841e+02] [-6.79408788e-01 7.29494805e-01 -7.90001829e-02 -6.02934317e+01] [-1.17920247e-01 -2.28549368e-03 9.93020439e-01 -1.35477812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70591999999999 meters 0.026979126417904262 Centerline is valid? [True, True] Translation: X:115.56, Y:-60.31, Z:-13.55 [[ 7.24024852e-01 6.84320964e-01 8.65611453e-02 1.15555026e+02] [-6.79845898e-01 7.29177437e-01 -7.81653416e-02 -6.03120557e+01] [-1.16608616e-01 -2.25458964e-03 9.93175386e-01 -1.35494821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73592 meters 0.027230961277572345 Centerline is valid? [True, True] Translation: X:115.58, Y:-60.33, Z:-13.55 [[ 7.23122156e-01 6.85178621e-01 8.73189808e-02 1.15584275e+02] [-6.80622124e-01 7.28371256e-01 -7.89229894e-02 -6.03268927e+01] [-1.17676981e-01 -2.36026786e-03 9.93049121e-01 -1.35530290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76592 meters 0.027296610979418733 Centerline is valid? [True, True] Translation: X:115.61, Y:-60.35, Z:-13.56 [[ 7.22479481e-01 6.85869929e-01 8.72114637e-02 1.15612305e+02] [-6.81320876e-01 7.27720144e-01 -7.89002919e-02 -6.03455513e+01] [-1.17580876e-01 -2.41514893e-03 9.93060373e-01 -1.35568576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79592 meters 0.027447238576984553 Centerline is valid? [True, True] Translation: X:115.64, Y:-60.36, Z:-13.56 [[ 7.21751815e-01 6.86640618e-01 8.71721173e-02 1.15640226e+02] [-6.82091526e-01 7.26992789e-01 -7.89470378e-02 -6.03632206e+01] [-1.17581744e-01 -2.47919475e-03 9.93060113e-01 -1.35604530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82592 meters 0.02770632751536712 Centerline is valid? [True, True] Translation: X:115.67, Y:-60.38, Z:-13.57 [[ 7.20304949e-01 6.88095166e-01 8.76688224e-02 1.15670764e+02] [-6.83494856e-01 7.25615533e-01 -7.94788050e-02 -6.03764057e+01] [-1.18302841e-01 -2.67221258e-03 9.92973966e-01 -1.35656310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85592 meters 0.027667719131123317 Centerline is valid? [True, True] Translation: X:115.70, Y:-60.39, Z:-13.57 [[ 7.20226068e-01 6.88029636e-01 8.88235972e-02 1.15699114e+02] [-6.83297205e-01 7.25677783e-01 -8.06020166e-02 -6.03942196e+01] [-1.19913887e-01 -2.64124221e-03 9.92780783e-01 -1.35698661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88592 meters 0.027232029767652523 Centerline is valid? [True, True] Translation: X:115.73, Y:-60.41, Z:-13.57 [[ 7.22264880e-01 6.85944167e-01 8.83970772e-02 1.15731807e+02] [-6.81231775e-01 7.27650780e-01 -8.02970227e-02 -6.04059628e+01] [-1.19401477e-01 -2.22317835e-03 9.92843565e-01 -1.35706667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91592 meters 0.027294774286299353 Centerline is valid? [True, True] Translation: X:115.76, Y:-60.42, Z:-13.57 [[ 7.23307267e-01 6.84818504e-01 8.86014330e-02 1.15760163e+02] [-6.80067950e-01 7.28710944e-01 -8.05477742e-02 -6.04231261e+01] [-1.19725440e-01 -1.99420442e-03 9.92805037e-01 -1.35739309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94592 meters 0.027009080768466538 Centerline is valid? [True, True] Translation: X:115.79, Y:-60.44, Z:-13.58 [[ 7.26976159e-01 6.80977352e-01 8.81788471e-02 1.15790072e+02] [-6.76239757e-01 7.32303272e-01 -8.01979420e-02 -6.04376494e+01] [-1.19186640e-01 -1.32805023e-03 9.92870979e-01 -1.35782657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97591999999999 meters 0.02698866811844879 Centerline is valid? [True, True] Translation: X:115.82, Y:-60.46, Z:-13.58 [[ 7.28973997e-01 6.78806466e-01 8.84233755e-02 1.15817473e+02] [-6.74017717e-01 7.34316644e-01 -8.04933835e-02 -6.04552067e+01] [-1.19570186e-01 -9.21338105e-04 9.92825323e-01 -1.35821334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00592 meters 0.026915300530817962 Centerline is valid? [True, True] Translation: X:115.85, Y:-60.47, Z:-13.59 [[ 7.30568282e-01 6.76991476e-01 8.91769435e-02 1.15845917e+02] [-6.72097808e-01 7.35990633e-01 -8.12546909e-02 -6.04724260e+01] [-1.20642128e-01 -5.73528297e-04 9.92695899e-01 -1.35850299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03592 meters 0.0267528225314585 Centerline is valid? [True, True] Translation: X:115.88, Y:-60.49, Z:-13.59 [[ 7.33545727e-01 6.73872869e-01 8.83517035e-02 1.15876793e+02] [-6.69037402e-01 7.38847316e-01 -8.05828692e-02 -6.04863344e+01] [-1.19581028e-01 6.25178095e-07 9.92824445e-01 -1.35880523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06592 meters 0.026816651220584357 Centerline is valid? [True, True] Translation: X:115.90, Y:-60.51, Z:-13.59 [[ 7.34928057e-01 6.72319992e-01 8.86937373e-02 1.15902718e+02] [-6.67426586e-01 7.40260584e-01 -8.09692574e-02 -6.05065590e+01] [-1.20093728e-01 3.10020710e-04 9.92762510e-01 -1.35915573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09592 meters 0.027131852255392885 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.52, Z:-13.60 [[ 7.37890430e-01 6.69112276e-01 8.83542641e-02 1.15930963e+02] [-6.64223556e-01 7.43160796e-01 -8.07409366e-02 -6.05241669e+01] [-1.19686177e-01 8.90980943e-04 9.92811374e-01 -1.35954556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12592 meters 0.027142185847033255 Centerline is valid? [True, True] Translation: X:115.96, Y:-60.54, Z:-13.60 [[ 7.38816939e-01 6.68050051e-01 8.86490793e-02 1.15957273e+02] [-6.63111246e-01 7.44115488e-01 -8.10901682e-02 -6.05428070e+01] [-1.20137444e-01 1.12658838e-03 9.92756629e-01 -1.35986290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15592 meters 0.02737908581153251 Centerline is valid? [True, True] Translation: X:115.98, Y:-60.56, Z:-13.60 [[ 7.41008842e-01 6.65740345e-01 8.77250755e-02 1.15983643e+02] [-6.60879672e-01 7.46181898e-01 -8.03158422e-02 -6.05626436e+01] [-1.18928360e-01 1.53903005e-03 9.92901645e-01 -1.36027540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18592 meters 0.027622012881209503 Centerline is valid? [True, True] Translation: X:116.01, Y:-60.58, Z:-13.61 [[ 7.41415502e-01 6.65353911e-01 8.72194157e-02 1.16008247e+02] [-6.60537268e-01 7.46526254e-01 -7.99316573e-02 -6.05849250e+01] [-1.18294424e-01 1.65089533e-03 9.92977192e-01 -1.36056023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.21592 meters 0.027923029299391503 Centerline is valid? [True, True] Translation: X:116.03, Y:-60.60, Z:-13.61 [[ 7.43093998e-01 6.63438962e-01 8.75217380e-02 1.16034499e+02] [-6.58566286e-01 7.48227679e-01 -8.02856599e-02 -6.06032218e+01] [-1.18750822e-01 2.02092609e-03 9.92922030e-01 -1.36078835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24592 meters 0.028112329932739294 Centerline is valid? [True, True] Translation: X:116.06, Y:-60.62, Z:-13.61 [[ 7.44072197e-01 6.62361601e-01 8.73709021e-02 1.16059754e+02] [-6.57490672e-01 7.49180954e-01 -8.02116887e-02 -6.06229305e+01] [-1.18585758e-01 2.23773431e-03 9.92941293e-01 -1.36115005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.27592 meters 0.028402930470717364 Centerline is valid? [True, True] Translation: X:116.08, Y:-60.64, Z:-13.62 [[ 7.44565539e-01 6.61813178e-01 8.73239693e-02 1.16082913e+02] [-6.56935570e-01 7.49665042e-01 -8.02370339e-02 -6.06444480e+01] [-1.18565653e-01 2.37550883e-03 9.92943373e-01 -1.36157339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30592000000001 meters 0.02868322400682157 Centerline is valid? [True, True] Translation: X:116.10, Y:-60.67, Z:-13.62 [[ 7.45113156e-01 6.61208015e-01 8.72372992e-02 1.16104626e+02] [-6.56327851e-01 7.50198378e-01 -8.02255912e-02 -6.06683289e+01] [-1.18491084e-01 2.52087433e-03 9.92951916e-01 -1.36214754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.33592000000002 meters 0.028549256246501398 Centerline is valid? [True, True] Translation: X:116.13, Y:-60.69, Z:-13.62 [[ 7.45499354e-01 6.61003086e-01 8.54729985e-02 1.16128672e+02] [-6.56310030e-01 7.50378848e-01 -7.86684829e-02 -6.06896233e+01] [-1.16137240e-01 2.55051701e-03 9.93229901e-01 -1.36239234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36592000000002 meters 0.028331719702732926 Centerline is valid? [True, True] Translation: X:116.15, Y:-60.71, Z:-13.63 [[ 7.44401475e-01 6.62356984e-01 8.45557147e-02 1.16153638e+02] [-6.57765638e-01 7.49184651e-01 -7.78891768e-02 -6.07103103e+01] [-1.14938284e-01 2.36297446e-03 9.93369824e-01 -1.36266809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39592000000002 meters 0.02797985920077617 Centerline is valid? [True, True] Translation: X:116.18, Y:-60.73, Z:-13.63 [[ 7.43419657e-01 6.63494725e-01 8.42731470e-02 1.16176670e+02] [-6.58933801e-01 7.48177639e-01 -7.76946954e-02 -6.07323929e+01] [-1.14601305e-01 2.22933873e-03 9.93409065e-01 -1.36300399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42592000000002 meters 0.028017949837227725 Centerline is valid? [True, True] Translation: X:116.20, Y:-60.75, Z:-13.63 [[ 7.42303420e-01 6.64630030e-01 8.51619468e-02 1.16200677e+02] [-6.59971462e-01 7.47169590e-01 -7.85829076e-02 -6.07549714e+01] [-1.15858977e-01 2.12790651e-03 9.93263394e-01 -1.36325412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45592000000002 meters 0.028017949837227725 Centerline is valid? [True, True] Translation: X:116.22, Y:-60.78, Z:-13.64 [[ 7.41983336e-01 6.64992254e-01 8.51236219e-02 1.16224789e+02] [-6.60331303e-01 7.46847222e-01 -7.86244039e-02 -6.07767284e+01] [-1.15858960e-01 2.12820536e-03 9.93263395e-01 -1.36357259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48592000000002 meters 0.027808860916670602 Centerline is valid? [True, True] Translation: X:116.25, Y:-60.80, Z:-13.64 [[ 7.39632422e-01 6.67484957e-01 8.60680669e-02 1.16249069e+02] [-6.62727364e-01 7.44621069e-01 -7.95732630e-02 -6.07974949e+01] [-1.17202052e-01 1.81530204e-03 9.93106431e-01 -1.36384756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51592000000002 meters 0.02766447480767217 Centerline is valid? [True, True] Translation: X:116.27, Y:-60.82, Z:-13.64 [[ 7.38243702e-01 6.69013698e-01 8.61214723e-02 1.16273493e+02] [-6.64252503e-01 7.43248298e-01 -7.96905324e-02 -6.08180934e+01] [-1.17323695e-01 1.62463016e-03 9.93092398e-01 -1.36414259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54592 meters 0.02762131428930761 Centerline is valid? [True, True] Translation: X:116.30, Y:-60.84, Z:-13.64 [[ 7.37034674e-01 6.70404407e-01 8.56610834e-02 1.16298765e+02] [-6.65695573e-01 7.41994501e-01 -7.93319869e-02 -6.08381446e+01] [-1.16744566e-01 1.44622103e-03 9.93160921e-01 -1.36436585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57592 meters 0.027416440840059467 Centerline is valid? [True, True] Translation: X:116.32, Y:-60.86, Z:-13.65 [[ 7.36475944e-01 6.70989009e-01 8.58890850e-02 1.16324246e+02] [-6.66250662e-01 7.41465956e-01 -7.96133960e-02 -6.08591382e+01] [-1.17103546e-01 1.40969126e-03 9.93118710e-01 -1.36461930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60592 meters 0.02754296627360098 Centerline is valid? [True, True] Translation: X:116.35, Y:-60.88, Z:-13.65 [[ 7.36837498e-01 6.70728376e-01 8.48171398e-02 1.16351658e+02] [-6.66097257e-01 7.41701574e-01 -7.86970162e-02 -6.08785556e+01] [-1.15693328e-01 1.49044840e-03 9.93283863e-01 -1.36478847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63592 meters 0.027835437378862904 Centerline is valid? [True, True] Translation: X:116.38, Y:-60.90, Z:-13.65 [[ 7.36690743e-01 6.70767269e-01 8.57788958e-02 1.16376804e+02] [-6.66021201e-01 7.41666257e-01 -7.96675733e-02 -6.08981192e+01] [-1.17057713e-01 1.55980062e-03 9.93123889e-01 -1.36518572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66592 meters 0.027941211753575845 Centerline is valid? [True, True] Translation: X:116.40, Y:-60.92, Z:-13.65 [[ 7.37589318e-01 6.69925355e-01 8.46286957e-02 1.16403579e+02] [-6.65292603e-01 7.42426463e-01 -7.86682884e-02 -6.09184879e+01] [-1.15532464e-01 1.72204400e-03 9.93302212e-01 -1.36543215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69592 meters 0.028643594773817574 Centerline is valid? [True, True] Translation: X:116.43, Y:-60.94, Z:-13.66 [[ 7.39334591e-01 6.67583631e-01 8.78433720e-02 1.16429511e+02] [-6.62564720e-01 7.44531482e-01 -8.17365500e-02 -6.09371126e+01] [-1.19968139e-01 2.22873960e-03 9.92775241e-01 -1.36583408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72592 meters 0.029500959669826823 Centerline is valid? [True, True] Translation: X:116.46, Y:-60.95, Z:-13.66 [[ 7.41874529e-01 6.64763961e-01 8.78126384e-02 1.16457194e+02] [-6.59720882e-01 7.47048460e-01 -8.17738155e-02 -6.09544623e+01] [-1.19960582e-01 2.73407960e-03 9.92774891e-01 -1.36614993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75592 meters 0.02959776500402983 Centerline is valid? [True, True] Translation: X:116.48, Y:-60.97, Z:-13.66 [[ 7.43104991e-01 6.63284316e-01 8.85939546e-02 1.16483247e+02] [-6.58131625e-01 7.48361272e-01 -8.25722183e-02 -6.09732932e+01] [-1.21069142e-01 3.05334421e-03 9.92639381e-01 -1.36648500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78592 meters 0.030362445270640363 Centerline is valid? [True, True] Translation: X:116.51, Y:-60.99, Z:-13.67 [[ 7.44617538e-01 6.61579799e-01 8.86391074e-02 1.16508961e+02] [-6.56402525e-01 7.49867163e-01 -8.26738322e-02 -6.09927756e+01] [-1.21162893e-01 3.37745152e-03 9.92626892e-01 -1.36689110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81592 meters 0.03132574372510645 Centerline is valid? [True, True] Translation: X:116.53, Y:-61.01, Z:-13.67 [[ 7.48166541e-01 6.57582592e-01 8.84983783e-02 1.16534270e+02] [-6.52391450e-01 7.53371658e-01 -8.25623375e-02 -6.10124258e+01] [-1.20963726e-01 4.03479304e-03 9.92648728e-01 -1.36726826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84592 meters 0.03257249446525122 Centerline is valid? [True, True] Translation: X:116.56, Y:-61.03, Z:-13.68 [[ 7.51193520e-01 6.54216026e-01 8.78048184e-02 1.16558764e+02] [-6.49080662e-01 7.56294000e-01 -8.19370466e-02 -6.10325042e+01] [-1.20010786e-01 4.55816883e-03 9.92762124e-01 -1.36766951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87592 meters 0.03311686269699049 Centerline is valid? [True, True] Translation: X:116.58, Y:-61.05, Z:-13.68 [[ 7.52829254e-01 6.52332554e-01 8.78086205e-02 1.16582855e+02] [-6.47179394e-01 7.57917111e-01 -8.19785638e-02 -6.10532256e+01] [-1.20028942e-01 4.88793130e-03 9.92758360e-01 -1.36795905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90592 meters 0.033686375013346675 Centerline is valid? [True, True] Translation: X:116.61, Y:-61.07, Z:-13.68 [[ 7.54140932e-01 6.50812841e-01 8.78299508e-02 1.16606808e+02] [-6.45640099e-01 7.59220568e-01 -8.20548047e-02 -6.10736526e+01] [-1.20084626e-01 5.17434878e-03 9.92750174e-01 -1.36837304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.93592 meters 0.03521502846658296 Centerline is valid? [True, True] Translation: X:116.63, Y:-61.09, Z:-13.69 [[ 7.58079753e-01 6.46393305e-01 8.65493146e-02 1.16630348e+02] [-6.41338757e-01 7.62982257e-01 -8.08867927e-02 -6.10932809e+01] [-1.18320273e-01 5.81120988e-03 9.92958480e-01 -1.36866826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96592 meters 0.035395839759744675 Centerline is valid? [True, True] Translation: X:116.65, Y:-61.12, Z:-13.69 [[ 7.59055764e-01 6.45254067e-01 8.64958701e-02 1.16653211e+02] [-6.40197604e-01 7.63944568e-01 -8.08438363e-02 -6.11156404e+01] [-1.18242864e-01 5.99053116e-03 9.92966635e-01 -1.36897306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.99592 meters 0.03620933143451467 Centerline is valid? [True, True] Translation: X:116.67, Y:-61.14, Z:-13.69 [[ 7.60345425e-01 6.43661892e-01 8.70298989e-02 1.16674191e+02] [-6.38529958e-01 7.65284119e-01 -8.13616009e-02 -6.11398170e+01] [-1.18971962e-01 6.29172336e-03 9.92877680e-01 -1.36921791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02592 meters 0.037100588602510226 Centerline is valid? [True, True] Translation: X:116.70, Y:-61.16, Z:-13.70 [[ 7.61071317e-01 6.42793437e-01 8.71036587e-02 1.16696519e+02] [-6.37644001e-01 7.66012372e-01 -8.14565782e-02 -6.11621238e+01] [-1.19082234e-01 6.45313981e-03 9.92863424e-01 -1.36954278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.05592000000001 meters 0.03751298017330021 Centerline is valid? [True, True] Translation: X:116.72, Y:-61.19, Z:-13.70 [[ 7.61625691e-01 6.41977641e-01 8.82667334e-02 1.16718977e+02] [-6.36676269e-01 7.66693931e-01 -8.26059548e-02 -6.11850397e+01] [-1.20704745e-01 6.71748288e-03 9.92665724e-01 -1.36984200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08592000000002 meters 0.038064093086480226 Centerline is valid? [True, True] Translation: X:116.74, Y:-61.21, Z:-13.70 [[ 7.62662789e-01 6.40875489e-01 8.73159663e-02 1.16740388e+02] [-6.35673556e-01 7.67614151e-01 -8.17780222e-02 -6.12096520e+01] [-1.19434501e-01 6.86460360e-03 9.92818351e-01 -1.36995687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11592000000002 meters 0.0372063575380136 Centerline is valid? [True, True] Translation: X:116.76, Y:-61.24, Z:-13.70 [[ 7.61996830e-01 6.41591787e-01 8.78681424e-02 1.16758388e+02] [-6.36321412e-01 7.67015775e-01 -8.23520579e-02 -6.12377462e+01] [-1.20232655e-01 6.83962663e-03 9.92722181e-01 -1.37037009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14592000000002 meters 0.03675273237246155 Centerline is valid? [True, True] Translation: X:116.78, Y:-61.26, Z:-13.71 [[ 7.60624859e-01 6.43287049e-01 8.73590155e-02 1.16780210e+02] [-6.38085211e-01 7.65597010e-01 -8.19053147e-02 -6.12620563e+01] [-1.19570429e-01 6.55672250e-03 9.92804070e-01 -1.37059266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17592000000002 meters 0.03644519670517335 Centerline is valid? [True, True] Translation: X:116.80, Y:-61.29, Z:-13.71 [[ 7.59461921e-01 6.44783194e-01 8.64420192e-02 1.16802175e+02] [-6.39692428e-01 7.64339522e-01 -8.11091383e-02 -6.12851809e+01] [-1.18368861e-01 6.30299681e-03 9.92949689e-01 -1.37087171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20592000000002 meters 0.03468119823133734 Centerline is valid? [True, True] Translation: X:116.82, Y:-61.31, Z:-13.71 [[ 7.56185262e-01 6.48654464e-01 8.62046095e-02 1.16820491e+02] [-6.43610121e-01 7.61061510e-01 -8.09406552e-02 -6.13105908e+01] [-1.18109528e-01 5.72397142e-03 9.92984076e-01 -1.37121223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23592000000002 meters 0.03431677295035795 Centerline is valid? [True, True] Translation: X:116.84, Y:-61.33, Z:-13.72 [[ 7.54139502e-01 6.51037755e-01 8.61594626e-02 1.16842016e+02] [-6.46011882e-01 7.59026405e-01 -8.09170270e-02 -6.13349733e+01] [-1.18077347e-01 5.36268991e-03 9.92989920e-01 -1.37154311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26592000000002 meters 0.0332063716578422 Centerline is valid? [True, True] Translation: X:116.86, Y:-61.36, Z:-13.72 [[ 7.52149742e-01 6.53323486e-01 8.62507300e-02 1.16861422e+02] [-6.48294899e-01 7.57062006e-01 -8.10607407e-02 -6.13619663e+01] [-1.18256036e-01 5.05390691e-03 9.92970275e-01 -1.37164370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29592 meters 0.03301293632295699 Centerline is valid? [True, True] Translation: X:116.88, Y:-61.38, Z:-13.72 [[ 7.50853129e-01 6.54693257e-01 8.71568561e-02 1.16883703e+02] [-6.49563410e-01 7.55878689e-01 -8.19437847e-02 -6.13849233e+01] [-1.19528053e-01 4.91384253e-03 9.92818664e-01 -1.37203452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32592 meters 0.03312697327506021 Centerline is valid? [True, True] Translation: X:116.90, Y:-61.41, Z:-13.73 [[ 7.49958039e-01 6.55481443e-01 8.89214113e-02 1.16904755e+02] [-6.50137977e-01 7.55195130e-01 -8.36715379e-02 -6.14093477e+01] [-1.21998157e-01 4.93895609e-03 9.92518038e-01 -1.37265635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35592 meters 0.032802351199960965 Centerline is valid? [True, True] Translation: X:116.93, Y:-61.43, Z:-13.73 [[ 7.49283702e-01 6.56165155e-01 8.95612792e-02 1.16926883e+02] [-6.50740337e-01 7.54601298e-01 -8.43439150e-02 -6.14333552e+01] [-1.22926596e-01 4.91638390e-03 9.92403588e-01 -1.37308028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38592 meters 0.03301080048589988 Centerline is valid? [True, True] Translation: X:116.95, Y:-61.46, Z:-13.73 [[ 7.49595392e-01 6.55915680e-01 8.87770726e-02 1.16950450e+02] [-6.50574644e-01 7.54817794e-01 -8.36823182e-02 -6.14567715e+01] [-1.21899059e-01 4.97176769e-03 9.92530050e-01 -1.37335185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41592 meters 0.03264081049555647 Centerline is valid? [True, True] Translation: X:116.97, Y:-61.48, Z:-13.74 [[ 7.48863900e-01 6.56739333e-01 8.88611691e-02 1.16972985e+02] [-6.51384532e-01 7.54101742e-01 -8.38376681e-02 -6.14795004e+01] [-1.22069857e-01 4.90021209e-03 9.92509415e-01 -1.37352111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44592 meters 0.03291713508580433 Centerline is valid? [True, True] Translation: X:117.00, Y:-61.50, Z:-13.74 [[ 7.48302588e-01 6.57366789e-01 8.89502201e-02 1.16996768e+02] [-6.51996975e-01 7.53555124e-01 -8.39917881e-02 -6.15018305e+01] [-1.22242306e-01 4.85599803e-03 9.92488407e-01 -1.37391703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47592 meters 0.03243487593365118 Centerline is valid? [True, True] Translation: X:117.02, Y:-61.53, Z:-13.74 [[ 7.46957081e-01 6.58836379e-01 8.93853704e-02 1.17018697e+02] [-6.53414586e-01 7.52271603e-01 -8.44796670e-02 -6.15260555e+01] [-1.22900354e-01 4.69698074e-03 9.92407901e-01 -1.37414987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50592 meters 0.03250667577691203 Centerline is valid? [True, True] Translation: X:117.04, Y:-61.55, Z:-13.75 [[ 7.46341521e-01 6.59506596e-01 8.95845023e-02 1.17042294e+02] [-6.54056523e-01 7.51684389e-01 -8.47386799e-02 -6.15493858e+01] [-1.23224990e-01 4.65066718e-03 9.92367862e-01 -1.37457597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53592 meters 0.03221251878734337 Centerline is valid? [True, True] Translation: X:117.06, Y:-61.57, Z:-13.75 [[ 7.46071223e-01 6.59950539e-01 8.85608072e-02 1.17064285e+02] [-6.54618673e-01 7.51295081e-01 -8.38456624e-02 -6.15731564e+01] [-1.21869289e-01 4.58127787e-03 9.92535585e-01 -1.37482245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56592 meters 0.032301443795621325 Centerline is valid? [True, True] Translation: X:117.09, Y:-61.60, Z:-13.75 [[ 7.45754625e-01 6.60477372e-01 8.72907742e-02 1.17087163e+02] [-6.55293481e-01 7.50832585e-01 -8.27096360e-02 -6.15954067e+01] [-1.20168601e-01 4.48001829e-03 9.92743389e-01 -1.37511501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59592 meters 0.03220213270717143 Centerline is valid? [True, True] Translation: X:117.11, Y:-61.62, Z:-13.75 [[ 7.44917981e-01 6.61304956e-01 8.81643736e-02 1.17111011e+02] [-6.56013449e-01 7.50103995e-01 -8.36083234e-02 -6.16184322e+01] [-1.21423047e-01 4.44432873e-03 9.92590898e-01 -1.37534994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62592 meters 0.031934585386887905 Centerline is valid? [True, True] Translation: X:117.14, Y:-61.64, Z:-13.75 [[ 7.43571080e-01 6.62844443e-01 8.79732527e-02 1.17135421e+02] [-6.57577376e-01 7.48745122e-01 -8.35029176e-02 -6.16401545e+01] [-1.21218989e-01 4.24113403e-03 9.92616728e-01 -1.37546659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65592 meters 0.03143696178488482 Centerline is valid? [True, True] Translation: X:117.16, Y:-61.66, Z:-13.76 [[ 7.42010778e-01 6.64537649e-01 8.83726149e-02 1.17158313e+02] [-6.59225898e-01 7.47243890e-01 -8.39510852e-02 -6.16623953e+01] [-1.21824553e-01 4.03509367e-03 9.92543448e-01 -1.37578237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68592 meters 0.03099346997843767 Centerline is valid? [True, True] Translation: X:117.18, Y:-61.69, Z:-13.76 [[ 7.40514163e-01 6.66292962e-01 8.77066886e-02 1.17181381e+02] [-6.61065194e-01 7.45680550e-01 -8.33866107e-02 -6.16850353e+01] [-1.20961084e-01 3.76912705e-03 9.92650094e-01 -1.37610760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.71592 meters 0.03097215383416171 Centerline is valid? [True, True] Translation: X:117.20, Y:-61.71, Z:-13.76 [[ 7.39411330e-01 6.67632010e-01 8.68238659e-02 1.17204383e+02] [-6.62510362e-01 7.44482902e-01 -8.26149396e-02 -6.17073631e+01] [-1.19795262e-01 3.56471161e-03 9.92792218e-01 -1.37643119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74592 meters 0.030530980282339578 Centerline is valid? [True, True] Translation: X:117.23, Y:-61.73, Z:-13.77 [[ 7.37510230e-01 6.69579598e-01 8.79876273e-02 1.17226778e+02] [-6.64324374e-01 7.42732772e-01 -8.37923319e-02 -6.17307869e+01] [-1.21456930e-01 3.34537648e-03 9.92591065e-01 -1.37678697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.77592 meters 0.03028815953836222 Centerline is valid? [True, True] Translation: X:117.25, Y:-61.75, Z:-13.77 [[ 7.36050939e-01 6.71103362e-01 8.85962379e-02 1.17250307e+02] [-6.65777194e-01 7.41357025e-01 -8.44422204e-02 -6.17528784e+01] [-1.22350901e-01 3.16842088e-03 9.92481848e-01 -1.37702422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80592000000001 meters 0.030093412622477222 Centerline is valid? [True, True] Translation: X:117.27, Y:-61.77, Z:-13.77 [[ 7.35470624e-01 6.72006639e-01 8.65450107e-02 1.17274871e+02] [-6.66923211e-01 7.40539053e-01 -8.25550778e-02 -6.17736166e+01] [-1.19567521e-01 2.99795810e-03 9.92821545e-01 -1.37740417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.83592000000002 meters 0.030337513840736373 Centerline is valid? [True, True] Translation: X:117.30, Y:-61.80, Z:-13.78 [[ 7.34869535e-01 6.72486880e-01 8.79099689e-02 1.17298280e+02] [-6.67235863e-01 7.40102882e-01 -8.39287026e-02 -6.17951586e+01] [-1.21503373e-01 3.01996262e-03 9.92586425e-01 -1.37795250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86592000000002 meters 0.030115591951213858 Centerline is valid? [True, True] Translation: X:117.32, Y:-61.82, Z:-13.78 [[ 7.35230194e-01 6.72351470e-01 8.59072901e-02 1.17320361e+02] [-6.67328845e-01 7.40225888e-01 -8.20843959e-02 -6.18180066e+01] [-1.18780364e-01 3.02251372e-03 9.92915953e-01 -1.37820195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89592000000002 meters 0.030593681608388757 Centerline is valid? [True, True] Translation: X:117.34, Y:-61.84, Z:-13.78 [[ 7.35620732e-01 6.71773212e-01 8.70797961e-02 1.17343824e+02] [-6.66599469e-01 7.40749917e-01 -8.32748982e-02 -6.18397640e+01] [-1.20446198e-01 3.21139568e-03 9.92714662e-01 -1.37846104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92592000000002 meters 0.032128690352818706 Centerline is valid? [True, True] Translation: X:117.37, Y:-61.86, Z:-13.79 [[ 7.38636821e-01 6.67885995e-01 9.13451937e-02 1.17367306e+02] [-6.62153199e-01 7.44252389e-01 -8.74158042e-02 -6.18601724e+01] [-1.26367670e-01 4.08401954e-03 9.91975067e-01 -1.37889766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95592000000002 meters 0.03253079576511157 Centerline is valid? [True, True] Translation: X:117.39, Y:-61.88, Z:-13.79 [[ 7.39878217e-01 6.66478075e-01 9.15816526e-02 1.17390377e+02] [-6.60701578e-01 7.45511914e-01 -8.76664696e-02 -6.18823717e+01] [-1.26702993e-01 4.35436878e-03 9.91931142e-01 -1.37918015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98592000000002 meters 0.03344839439902407 Centerline is valid? [True, True] Translation: X:117.41, Y:-61.90, Z:-13.80 [[ 7.42834285e-01 6.63380353e-01 9.01317464e-02 1.17412600e+02] [-6.57754718e-01 7.48266608e-01 -8.63470526e-02 -6.19049678e+01] [-1.24723514e-01 4.85696964e-03 9.92179648e-01 -1.37951777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01592000000002 meters 0.033716368929027477 Centerline is valid? [True, True] Translation: X:117.44, Y:-61.93, Z:-13.80 [[ 7.43662326e-01 6.62551224e-01 8.93992217e-02 1.17436002e+02] [-6.57002952e-01 7.48999889e-01 -8.57104825e-02 -6.19273532e+01] [-1.23747592e-01 5.00410421e-03 9.92301110e-01 -1.37982406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04592 meters 0.033961661422508345 Centerline is valid? [True, True] Translation: X:117.46, Y:-61.95, Z:-13.80 [[ 7.43971303e-01 6.62291540e-01 8.87503071e-02 1.17459816e+02] [-6.56813244e-01 7.49229121e-01 -8.51591801e-02 -6.19494140e+01] [-1.22894519e-01 5.06360902e-03 9.92406820e-01 -1.38016899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07592 meters 0.033956825670091985 Centerline is valid? [True, True] Translation: X:117.48, Y:-61.97, Z:-13.80 [[ 7.43310408e-01 6.62987274e-01 8.90927124e-02 1.17481377e+02] [-6.57461441e-01 7.48613778e-01 -8.55678930e-02 -6.19740666e+01] [-1.23426456e-01 5.02848237e-03 9.92340982e-01 -1.38036322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10592 meters 0.03387867656002699 Centerline is valid? [True, True] Translation: X:117.50, Y:-62.00, Z:-13.81 [[ 7.42054186e-01 6.64196325e-01 9.05473776e-02 1.17503594e+02] [-6.58486394e-01 7.47541671e-01 -8.70466475e-02 -6.19982033e+01] [-1.25504001e-01 4.96911291e-03 9.92080669e-01 -1.38067417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13592 meters 0.03357996296604457 Centerline is valid? [True, True] Translation: X:117.53, Y:-62.02, Z:-13.81 [[ 7.40332554e-01 6.65991003e-01 9.14532275e-02 1.17525837e+02] [-6.60170084e-01 7.45944542e-01 -8.79897781e-02 -6.20219153e+01] [-1.26819436e-01 4.76701232e-03 9.91914364e-01 -1.38103890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16592 meters 0.03316449520129003 Centerline is valid? [True, True] Translation: X:117.55, Y:-62.04, Z:-13.81 [[ 7.39491885e-01 6.67044702e-01 9.05710591e-02 1.17549148e+02] [-6.61338103e-01 7.45003644e-01 -8.71864918e-02 -6.20437708e+01] [-1.25633056e-01 4.57561077e-03 9.92066227e-01 -1.38134555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19592 meters 0.03313863652358003 Centerline is valid? [True, True] Translation: X:117.57, Y:-62.07, Z:-13.82 [[ 7.38144186e-01 6.68600933e-01 9.00885867e-02 1.17570942e+02] [-6.62957829e-01 7.43608736e-01 -8.67926509e-02 -6.20671230e+01] [-1.25020307e-01 4.34055672e-03 9.92144688e-01 -1.38191638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22592 meters 0.03275409446534397 Centerline is valid? [True, True] Translation: X:117.59, Y:-62.09, Z:-13.82 [[ 7.37712954e-01 6.69233459e-01 8.89166756e-02 1.17592708e+02] [-6.63732714e-01 7.43040166e-01 -8.57332868e-02 -6.20911582e+01] [-1.23444245e-01 4.22964990e-03 9.92342495e-01 -1.38218367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25592 meters 0.0326213431299293 Centerline is valid? [True, True] Translation: X:117.61, Y:-62.12, Z:-13.83 [[ 7.36673125e-01 6.70446773e-01 8.83958847e-02 1.17614448e+02] [-6.65011753e-01 7.41946590e-01 -8.52914185e-02 -6.21154430e+01] [-1.22768382e-01 4.04759347e-03 9.92427096e-01 -1.38254869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28592 meters 0.032263384578964355 Centerline is valid? [True, True] Translation: X:117.64, Y:-62.14, Z:-13.83 [[ 7.34908155e-01 6.72281944e-01 8.91458986e-02 1.17636652e+02] [-6.66762945e-01 7.40285451e-01 -8.60501320e-02 -6.21385963e+01] [-1.23843362e-01 3.79976185e-03 9.92294504e-01 -1.38282368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31592 meters 0.032144712883942585 Centerline is valid? [True, True] Translation: X:117.66, Y:-62.16, Z:-13.83 [[ 7.33742437e-01 6.73466785e-01 8.98027044e-02 1.17660380e+02] [-6.67865294e-01 7.39208314e-01 -8.67583848e-02 -6.21616445e+01] [-1.24811796e-01 3.68219913e-03 9.92173602e-01 -1.38321802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34592 meters 0.03154581156812726 Centerline is valid? [True, True] Translation: X:117.68, Y:-62.18, Z:-13.84 [[ 7.31294831e-01 6.76010199e-01 9.06536305e-02 1.17683659e+02] [-6.70310623e-01 7.36884693e-01 -8.76619528e-02 -6.21842756e+01] [-1.26061647e-01 3.34064139e-03 9.92016785e-01 -1.38354994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37592 meters 0.03154581156812726 Centerline is valid? [True, True] Translation: X:117.71, Y:-62.21, Z:-13.84 [[ 7.30973031e-01 6.76363199e-01 9.06159595e-02 1.17707245e+02] [-6.70661502e-01 7.36560728e-01 -8.77008798e-02 -6.22065906e+01] [-1.26061805e-01 3.33434241e-03 9.92016786e-01 -1.38386865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40592 meters 0.0315670456877465 Centerline is valid? [True, True] Translation: X:117.73, Y:-62.23, Z:-13.84 [[ 7.29598992e-01 6.77910291e-01 9.01273976e-02 1.17730659e+02] [-6.72271637e-01 7.35138056e-01 -8.73091350e-02 -6.22280156e+01] [-1.25443841e-01 3.11056388e-03 9.92095846e-01 -1.38420241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.43592 meters 0.030918863179682676 Centerline is valid? [True, True] Translation: X:117.75, Y:-62.25, Z:-13.85 [[ 7.28387467e-01 6.79334873e-01 8.91954489e-02 1.17753086e+02] [-6.73815021e-01 7.33822738e-01 -8.64725803e-02 -6.22514720e+01] [-1.24197488e-01 2.88431051e-03 9.92253327e-01 -1.38457807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46592 meters 0.031138077602304616 Centerline is valid? [True, True] Translation: X:117.78, Y:-62.27, Z:-13.85 [[ 7.28097628e-01 6.79723049e-01 8.86025975e-02 1.17776957e+02] [-6.74273113e-01 7.33463379e-01 -8.59490568e-02 -6.22732767e+01] [-1.23408316e-01 2.83695515e-03 9.92351923e-01 -1.38486746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.49592 meters 0.0313951743023251 Centerline is valid? [True, True] Translation: X:117.80, Y:-62.29, Z:-13.85 [[ 7.28879562e-01 6.78894372e-01 8.85269261e-02 1.17804371e+02] [-6.73438668e-01 7.34229706e-01 -8.59482392e-02 -6.22907951e+01] [-1.23348875e-01 3.02845975e-03 9.92358747e-01 -1.38503254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52592 meters 0.03174287897580502 Centerline is valid? [True, True] Translation: X:117.83, Y:-62.31, Z:-13.85 [[ 7.29636260e-01 6.78012000e-01 8.90542335e-02 1.17830590e+02] [-6.72475204e-01 7.35043645e-01 -8.65328851e-02 -6.23096127e+01] [-1.24129083e-01 3.25076683e-03 9.92260754e-01 -1.38531084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.55592000000001 meters 0.03197929626850682 Centerline is valid? [True, True] Translation: X:117.86, Y:-62.33, Z:-13.86 [[ 7.30166357e-01 6.77454392e-01 8.89530056e-02 1.17855821e+02] [-6.71917065e-01 7.35556944e-01 -8.65068747e-02 -6.23292434e+01] [-1.24034463e-01 3.39536712e-03 9.92272102e-01 -1.38562099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58592000000002 meters 0.03242385576878997 Centerline is valid? [True, True] Translation: X:117.88, Y:-62.35, Z:-13.86 [[ 7.32410517e-01 6.75008696e-01 8.90959904e-02 1.17881507e+02] [-6.69426406e-01 7.37799623e-01 -8.67179481e-02 -6.23488145e+01] [-1.24270357e-01 3.86992852e-03 9.92240849e-01 -1.38595567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61592000000002 meters 0.032880991945338285 Centerline is valid? [True, True] Translation: X:117.91, Y:-62.37, Z:-13.86 [[ 7.33011806e-01 6.74342987e-01 8.91920805e-02 1.17906804e+02] [-6.68734677e-01 7.38407210e-01 -8.68833890e-02 -6.23694697e+01] [-1.24449279e-01 4.04071269e-03 9.92217743e-01 -1.38629277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64592000000002 meters 0.034179851506024476 Centerline is valid? [True, True] Translation: X:117.93, Y:-62.39, Z:-13.86 [[ 7.37109553e-01 6.70011615e-01 8.80564731e-02 1.17933638e+02] [-6.64506320e-01 7.42335327e-01 -8.58464446e-02 -6.23872685e+01] [-1.22885546e-01 4.76415143e-03 9.92409414e-01 -1.38647480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67592000000002 meters 0.03538598211492141 Centerline is valid? [True, True] Translation: X:117.96, Y:-62.41, Z:-13.87 [[ 7.39861984e-01 6.67104381e-01 8.70401619e-02 1.17958465e+02] [-6.61699166e-01 7.44945915e-01 -8.49105231e-02 -6.24076795e+01] [-1.21484395e-01 5.22766553e-03 9.92579575e-01 -1.38685192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70592000000002 meters 0.036597028815287314 Centerline is valid? [True, True] Translation: X:117.98, Y:-62.43, Z:-13.87 [[ 7.44854212e-01 6.61605262e-01 8.64331010e-02 1.17981020e+02] [-6.56236472e-01 7.49827519e-01 -8.43349597e-02 -6.24282142e+01] [-1.20606371e-01 6.09669671e-03 9.92681688e-01 -1.38730459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73592000000002 meters 0.03775435946923819 Centerline is valid? [True, True] Translation: X:118.00, Y:-62.45, Z:-13.88 [[ 7.46339697e-01 6.60016492e-01 8.57629765e-02 1.18004069e+02] [-6.54718701e-01 7.51224566e-01 -8.36963199e-02 -6.24500666e+01] [-1.19668206e-01 6.31526146e-03 9.92793855e-01 -1.38752986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76592000000002 meters 0.038573634264053386 Centerline is valid? [True, True] Translation: X:118.02, Y:-62.47, Z:-13.88 [[ 7.49204848e-01 6.56833136e-01 8.52192854e-02 1.18023890e+02] [-6.51575948e-01 7.54005121e-01 -8.32169502e-02 -6.24733490e+01] [-1.18915428e-01 6.81970582e-03 9.92880966e-01 -1.38789815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79592 meters 0.038948002900600125 Centerline is valid? [True, True] Translation: X:118.05, Y:-62.50, Z:-13.88 [[ 7.49649899e-01 6.56337237e-01 8.51261432e-02 1.18046240e+02] [-6.51086666e-01 7.54436078e-01 -8.31405873e-02 -6.24956876e+01] [-1.18790497e-01 6.90183620e-03 9.92895353e-01 -1.38820044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82592 meters 0.039159895813453714 Centerline is valid? [True, True] Translation: X:118.07, Y:-62.52, Z:-13.89 [[ 7.50004034e-01 6.55815333e-01 8.60244060e-02 1.18067050e+02] [-6.50441934e-01 7.54887900e-01 -8.40806114e-02 -6.25199882e+01] [-1.20080137e-01 7.10691672e-03 9.92738763e-01 -1.38852491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85592 meters 0.039838281810128336 Centerline is valid? [True, True] Translation: X:118.09, Y:-62.54, Z:-13.89 [[ 7.49262009e-01 6.56424663e-01 8.78242730e-02 1.18088976e+02] [-6.50818792e-01 7.54357128e-01 -8.59082276e-02 -6.25428892e+01] [-1.22643146e-01 7.21008398e-03 9.92424644e-01 -1.38893127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88592 meters 0.0391360128863181 Centerline is valid? [True, True] Translation: X:118.11, Y:-62.57, Z:-13.89 [[ 7.49064214e-01 6.56774766e-01 8.68890725e-02 1.18109885e+02] [-6.51283396e-01 7.54053195e-01 -8.50512625e-02 -6.25673910e+01] [-1.21378506e-01 7.11944683e-03 9.92580763e-01 -1.38905744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91592 meters 0.038743344303917675 Centerline is valid? [True, True] Translation: X:118.13, Y:-62.59, Z:-13.89 [[ 7.48476174e-01 6.57450756e-01 8.68442294e-02 1.18132527e+02] [-6.51965675e-01 7.53464715e-01 -8.50392989e-02 -6.25907668e+01] [-1.21343214e-01 7.03043251e-03 9.92585713e-01 -1.38939739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94592 meters 0.03844318515928425 Centerline is valid? [True, True] Translation: X:118.15, Y:-62.62, Z:-13.90 [[ 7.46453121e-01 6.59824253e-01 8.62536601e-02 1.18152782e+02] [-6.54422521e-01 7.51390599e-01 -8.45182365e-02 -6.26154705e+01] [-1.20577372e-01 6.64256371e-03 9.92681708e-01 -1.38968328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97592 meters 0.03803441904096783 Centerline is valid? [True, True] Translation: X:118.17, Y:-62.64, Z:-13.90 [[ 7.45644996e-01 6.60722204e-01 8.63696070e-02 1.18173721e+02] [-6.55308261e-01 7.50602123e-01 -8.46613057e-02 -6.26395730e+01] [-1.20766815e-01 6.52856197e-03 9.92659435e-01 -1.38999097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00592 meters 0.03722320824682657 Centerline is valid? [True, True] Translation: X:118.20, Y:-62.66, Z:-13.90 [[ 7.43701995e-01 6.62836563e-01 8.69196926e-02 1.18195164e+02] [-6.57359205e-01 7.48737804e-01 -8.52676783e-02 -6.26633792e+01] [-1.21598595e-01 6.27628243e-03 9.92559515e-01 -1.39022164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03592 meters 0.03688993297200462 Centerline is valid? [True, True] Translation: X:118.22, Y:-62.69, Z:-13.91 [[ 7.42558407e-01 6.64262860e-01 8.58013099e-02 1.18217439e+02] [-6.58927555e-01 7.47474875e-01 -8.42365033e-02 -6.26858979e+01] [-1.20089504e-01 6.01367638e-03 9.92744855e-01 -1.39058077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06592 meters 0.03639008390941389 Centerline is valid? [True, True] Translation: X:118.24, Y:-62.71, Z:-13.91 [[ 7.41422076e-01 6.65595900e-01 8.52959687e-02 1.18239460e+02] [-6.60324269e-01 7.46289693e-01 -8.38066524e-02 -6.27091750e+01] [-1.19436866e-01 5.81310409e-03 9.92824779e-01 -1.39090612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09592 meters 0.03551160092139415 Centerline is valid? [True, True] Translation: X:118.26, Y:-62.73, Z:-13.91 [[ 7.39081909e-01 6.68090985e-01 8.60951027e-02 1.18260165e+02] [-6.62728219e-01 7.44059167e-01 -8.46596953e-02 -6.27337860e+01] [-1.20620230e-01 5.51279518e-03 9.92683418e-01 -1.39120177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12592 meters 0.03521917622257433 Centerline is valid? [True, True] Translation: X:118.28, Y:-62.76, Z:-13.91 [[ 7.37946763e-01 6.69385290e-01 8.57782529e-02 1.18282929e+02] [-6.64062574e-01 7.42896293e-01 -8.44156094e-02 -6.27568504e+01] [-1.20230913e-01 5.33209831e-03 9.92731634e-01 -1.39143615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15592 meters 0.034643112730080375 Centerline is valid? [True, True] Translation: X:118.30, Y:-62.78, Z:-13.92 [[ 7.35683067e-01 6.71900447e-01 8.55582524e-02 1.18303711e+02] [-6.66613725e-01 7.40624865e-01 -8.42671380e-02 -6.27813383e+01] [-1.19985697e-01 4.95960119e-03 9.92763232e-01 -1.39189628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18592 meters 0.03451478757450694 Centerline is valid? [True, True] Translation: X:118.33, Y:-62.81, Z:-13.92 [[ 7.35068481e-01 6.72563508e-01 8.56309284e-02 1.18325491e+02] [-6.67263673e-01 7.40023132e-01 -8.44094498e-02 -6.28054324e+01] [-1.20139583e-01 4.90831817e-03 9.92744876e-01 -1.39244555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.21592 meters 0.034818088372578146 Centerline is valid? [True, True] Translation: X:118.35, Y:-62.83, Z:-13.93 [[ 7.35131170e-01 6.72584243e-01 8.49270198e-02 1.18347214e+02] [-6.67362307e-01 7.40004195e-01 -8.37934537e-02 -6.28305970e+01] [-1.19204508e-01 4.92208787e-03 9.92857522e-01 -1.39291749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24592 meters 0.034809455734371844 Centerline is valid? [True, True] Translation: X:118.37, Y:-62.85, Z:-13.93 [[ 7.34720067e-01 6.73026999e-01 8.49769547e-02 1.18370093e+02] [-6.67792417e-01 7.39601606e-01 -8.39211063e-02 -6.28541795e+01] [-1.19330262e-01 4.91155478e-03 9.92842467e-01 -1.39317543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.27592 meters 0.03497418868805714 Centerline is valid? [True, True] Translation: X:118.39, Y:-62.88, Z:-13.93 [[ 7.34198833e-01 6.73542337e-01 8.53978534e-02 1.18394081e+02] [-6.68249482e-01 7.39132331e-01 -8.44158016e-02 -6.28772535e+01] [-1.19977931e-01 4.91091179e-03 9.92764413e-01 -1.39344539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30592000000001 meters 0.03478251526009 Centerline is valid? [True, True] Translation: X:118.42, Y:-62.90, Z:-13.94 [[ 7.32875014e-01 6.74793875e-01 8.68760055e-02 1.18416588e+02] [-6.69314162e-01 7.37990318e-01 -8.59583733e-02 -6.29015221e+01] [-1.22117835e-01 4.84940319e-03 9.92503762e-01 -1.39364564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.33592000000002 meters 0.034366495484297786 Centerline is valid? [True, True] Translation: X:118.44, Y:-62.93, Z:-13.94 [[ 7.31236357e-01 6.76539883e-01 8.71043995e-02 1.18436461e+02] [-6.71033791e-01 7.36391447e-01 -8.62629034e-02 -6.29262566e+01] [-1.22503229e-01 4.62857588e-03 9.92457322e-01 -1.39419269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36592000000002 meters 0.03452288375716138 Centerline is valid? [True, True] Translation: X:118.46, Y:-62.95, Z:-13.95 [[ 7.30471271e-01 6.77220932e-01 8.82243249e-02 1.18458225e+02] [-6.71567665e-01 7.35765181e-01 -8.74441002e-02 -6.29497434e+01] [-1.24131361e-01 4.62679915e-03 9.92255006e-01 -1.39472671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39592000000002 meters 0.03432636209798272 Centerline is valid? [True, True] Translation: X:118.48, Y:-62.97, Z:-13.95 [[ 7.29988761e-01 6.77731468e-01 8.82975988e-02 1.18481091e+02] [-6.72063202e-01 7.35295117e-01 -8.75907724e-02 -6.29731650e+01] [-1.24287816e-01 4.59871238e-03 9.92235552e-01 -1.39492665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42592000000002 meters 0.03464471215125652 Centerline is valid? [True, True] Translation: X:118.51, Y:-62.99, Z:-13.95 [[ 7.30782471e-01 6.76885576e-01 8.82207275e-02 1.18505701e+02] [-6.71211096e-01 7.36072619e-01 -8.75943237e-02 -6.29943565e+01] [-1.24228196e-01 4.79766521e-03 9.92242076e-01 -1.39507488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45592000000002 meters 0.034900840974714804 Centerline is valid? [True, True] Translation: X:118.53, Y:-63.02, Z:-13.95 [[ 7.31045026e-01 6.76590919e-01 8.83057110e-02 1.18529614e+02] [-6.70894302e-01 7.36342760e-01 -8.77506430e-02 -6.30161035e+01] [-1.24394559e-01 4.90587278e-03 9.92220704e-01 -1.39537226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48592000000002 meters 0.035735364822858336 Centerline is valid? [True, True] Translation: X:118.55, Y:-63.04, Z:-13.96 [[ 7.33675242e-01 6.73690927e-01 8.86632643e-02 1.18553027e+02] [-6.67919084e-01 7.38993001e-01 -8.81671183e-02 -6.30375851e+01] [-1.24918919e-01 5.46614553e-03 9.92151896e-01 -1.39587285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51592000000002 meters 0.036114259299084066 Centerline is valid? [True, True] Translation: X:118.58, Y:-63.06, Z:-13.96 [[ 7.34443954e-01 6.72821205e-01 8.89027790e-02 1.18575821e+02] [-6.67007670e-01 7.39783528e-01 -8.84369870e-02 -6.30598285e+01] [-1.25271092e-01 5.65317500e-03 9.92106444e-01 -1.39626620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54592 meters 0.037455536748186385 Centerline is valid? [True, True] Translation: X:118.60, Y:-63.08, Z:-13.97 [[ 7.37629633e-01 6.69159551e-01 9.01555278e-02 1.18596142e+02] [-6.63145664e-01 7.43091123e-01 -8.97408011e-02 -6.30825473e+01] [-1.27044687e-01 6.40922682e-03 9.91876287e-01 -1.39658623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57592 meters 0.037825908389168876 Centerline is valid? [True, True] Translation: X:118.62, Y:-63.11, Z:-13.97 [[ 7.39007828e-01 6.67693779e-01 8.97354334e-02 1.18617971e+02] [-6.61722768e-01 7.44406382e-01 -8.93426900e-02 -6.31065249e+01] [-1.26453188e-01 6.64496794e-03 9.91950319e-01 -1.39690886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60592 meters 0.038518245071328 Centerline is valid? [True, True] Translation: X:118.64, Y:-63.13, Z:-13.97 [[ 7.40177545e-01 6.66588880e-01 8.82976031e-02 1.18640227e+02] [-6.60792047e-01 7.45394775e-01 -8.79801134e-02 -6.31296384e+01] [-1.24463137e-01 6.77455046e-03 9.92201105e-01 -1.39718068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63592 meters 0.03969305442566695 Centerline is valid? [True, True] Translation: X:118.66, Y:-63.15, Z:-13.97 [[ 7.43545247e-01 6.62951132e-01 8.73857043e-02 1.18662319e+02] [-6.57241956e-01 7.48626593e-01 -8.71276947e-02 -6.31518170e+01] [-1.23180666e-01 7.34983206e-03 9.92357044e-01 -1.39731757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66592 meters 0.04008165079673117 Centerline is valid? [True, True] Translation: X:118.68, Y:-63.18, Z:-13.98 [[ 7.44829728e-01 6.61361784e-01 8.84831494e-02 1.18682230e+02] [-6.55495044e-01 7.50027338e-01 -8.82340062e-02 -6.31772839e+01] [-1.24719381e-01 7.71904484e-03 9.92162029e-01 -1.39772291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69592 meters 0.040829402276156626 Centerline is valid? [True, True] Translation: X:118.70, Y:-63.20, Z:-13.98 [[ 7.44982050e-01 6.61174302e-01 8.86018497e-02 1.18702097e+02] [-6.55286579e-01 7.50191942e-01 -8.83829668e-02 -6.32022943e+01] [-1.24904940e-01 7.78412086e-03 9.92138178e-01 -1.39814664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72592 meters 0.041127651430479834 Centerline is valid? [True, True] Translation: X:118.72, Y:-63.23, Z:-13.99 [[ 7.45249403e-01 6.60816721e-01 8.90201627e-02 1.18721324e+02] [-6.54861668e-01 7.50505367e-01 -8.88700710e-02 -6.32279162e+01] [-1.25536939e-01 7.93447514e-03 9.92057217e-01 -1.39852537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75592 meters 0.04060827417489521 Centerline is valid? [True, True] Translation: X:118.74, Y:-63.26, Z:-13.99 [[ 7.45361152e-01 6.60785807e-01 8.83112179e-02 1.18740167e+02] [-6.54916641e-01 7.50532649e-01 -8.82322838e-02 -6.32562344e+01] [-1.24583093e-01 7.92843052e-03 9.92177501e-01 -1.39875653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78592 meters 0.039624266336262315 Centerline is valid? [True, True] Translation: X:118.76, Y:-63.28, Z:-13.99 [[ 7.43493618e-01 6.62975202e-01 8.76420112e-02 1.18757009e+02] [-6.57202214e-01 7.48603274e-01 -8.76264121e-02 -6.32838205e+01] [-1.23703235e-01 7.55115433e-03 9.92290527e-01 -1.39894362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81592 meters 0.03870483630782302 Centerline is valid? [True, True] Translation: X:118.78, Y:-63.31, Z:-13.99 [[ 7.42137877e-01 6.64554209e-01 8.71726731e-02 1.18775784e+02] [-6.58851189e-01 7.47204739e-01 -8.71790622e-02 -6.33108234e+01] [-1.23071047e-01 7.26506479e-03 9.92371269e-01 -1.39919981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84592 meters 0.03735642731964722 Centerline is valid? [True, True] Translation: X:118.77, Y:-63.64, Z:-12.03 [[ 7.19578244e-01 -6.92678372e-01 -4.90288073e-02 1.18771925e+02] [-6.90743029e-01 -7.21238359e-01 5.18584247e-02 -6.36401583e+01] [-7.12826657e-02 -3.44988732e-03 -9.97450189e-01 -1.20253911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87592 meters 0.036799250416541 Centerline is valid? [True, True] Translation: X:118.79, Y:-63.37, Z:-14.00 [[ 7.83117014e-01 6.14500951e-01 9.54794369e-02 1.18793104e+02] [-6.08995697e-01 7.88890808e-01 -8.23136365e-02 -6.33690111e+01] [-1.25904658e-01 6.31464304e-03 9.92022249e-01 -1.40001146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90592 meters 0.03601572856545059 Centerline is valid? [True, True] Translation: X:118.81, Y:-63.39, Z:-14.00 [[ 7.80862754e-01 6.17299864e-01 9.58865879e-02 1.18814766e+02] [-6.11759593e-01 7.86705509e-01 -8.27323563e-02 -6.33924939e+01] [-1.26505179e-01 5.94307564e-03 9.91948144e-01 -1.40042257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.93592 meters 0.03457179629764756 Centerline is valid? [True, True] Translation: X:118.83, Y:-63.42, Z:-14.01 [[ 7.77167804e-01 6.21841020e-01 9.65605990e-02 1.18830991e+02] [-6.16249853e-01 7.83125663e-01 -8.33685419e-02 -6.34214946e+01] [-1.27461062e-01 5.28589170e-03 9.91829490e-01 -1.40060656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96592 meters 0.03367751760040549 Centerline is valid? [True, True] Translation: X:118.85, Y:-63.45, Z:-14.01 [[ 7.74761536e-01 6.25005631e-01 9.54595412e-02 1.18849861e+02] [-6.19564215e-01 7.80605976e-01 -8.24287179e-02 -6.34478117e+01] [-1.26034701e-01 4.71928435e-03 9.92014608e-01 -1.40076872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.99592 meters 0.033210114352285866 Centerline is valid? [True, True] Translation: X:118.87, Y:-63.47, Z:-14.01 [[ 7.72721787e-01 6.27614529e-01 9.48738298e-02 1.18872241e+02] [-6.22256099e-01 7.78512436e-01 -8.19495866e-02 -6.34705515e+01] [-1.25293208e-01 4.28841180e-03 9.92110489e-01 -1.40104708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02592 meters 0.03283383572834749 Centerline is valid? [True, True] Translation: X:118.89, Y:-63.49, Z:-14.01 [[ 7.71212313e-01 6.29377520e-01 9.54751626e-02 1.18894699e+02] [-6.23955110e-01 7.77088969e-01 -8.25394181e-02 -6.34940461e+01] [-1.26141150e-01 4.08319992e-03 9.92003900e-01 -1.40143288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.05592000000001 meters 0.03240848769765324 Centerline is valid? [True, True] Translation: X:118.91, Y:-63.52, Z:-14.02 [[ 7.68491261e-01 6.32806100e-01 9.47503108e-02 1.18913510e+02] [-6.27483376e-01 7.74302176e-01 -8.19801971e-02 -6.35196213e+01] [-1.25242941e-01 3.54682015e-03 9.92119764e-01 -1.40177387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08592000000002 meters 0.03204238108358169 Centerline is valid? [True, True] Translation: X:118.94, Y:-63.54, Z:-14.02 [[ 7.66491499e-01 6.35204823e-01 9.48979208e-02 1.18936741e+02] [-6.29875714e-01 7.72337059e-01 -8.21708731e-02 -6.35411227e+01] [-1.25488516e-01 3.20938012e-03 9.92089881e-01 -1.40212597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11592000000002 meters 0.031575656169426716 Centerline is valid? [True, True] Translation: X:118.96, Y:-63.56, Z:-14.03 [[ 7.63508869e-01 6.39023579e-01 9.32902624e-02 1.18960069e+02] [-6.33894318e-01 7.69182788e-01 -8.08444907e-02 -6.35621004e+01] [-1.23418800e-01 2.58931832e-03 9.92351296e-01 -1.40255963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14592000000002 meters 0.03127638785500575 Centerline is valid? [True, True] Translation: X:118.98, Y:-63.58, Z:-14.03 [[ 7.61376701e-01 6.41702110e-01 9.23250856e-02 1.18983401e+02] [-6.36691668e-01 7.66950892e-01 -8.00627858e-02 -6.35846337e+01] [-1.22185265e-01 2.17532696e-03 9.92504926e-01 -1.40288297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17592000000002 meters 0.031300580433924495 Centerline is valid? [True, True] Translation: X:119.01, Y:-63.61, Z:-14.03 [[ 7.59287298e-01 6.44096552e-01 9.28570461e-02 1.19007072e+02] [-6.39036867e-01 7.64941949e-01 -8.05958927e-02 -6.36066838e+01] [-1.22941786e-01 1.85636175e-03 9.92412148e-01 -1.40333393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20592000000002 meters 0.031069488807750695 Centerline is valid? [True, True] Translation: X:119.03, Y:-63.63, Z:-14.03 [[ 7.55911501e-01 6.48017124e-01 9.31214727e-02 1.19031690e+02] [-6.42949009e-01 7.61624692e-01 -8.08974740e-02 -6.36279449e+01] [-1.23346561e-01 1.27897244e-03 9.92362832e-01 -1.40345245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23592000000002 meters 0.031061447227780994 Centerline is valid? [True, True] Translation: X:119.06, Y:-63.65, Z:-14.04 [[ 7.54406378e-01 6.49597065e-01 9.43115573e-02 1.19056723e+02] [-6.44401012e-01 7.60277886e-01 -8.20053198e-02 -6.36475795e+01] [-1.24973406e-01 1.09087330e-03 9.92159492e-01 -1.40379352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26592000000002 meters 0.031061447227780994 Centerline is valid? [True, True] Translation: X:119.08, Y:-63.67, Z:-14.04 [[ 7.54077253e-01 6.49984580e-01 9.42737569e-02 1.19081413e+02] [-6.44786114e-01 7.59946622e-01 -8.20487569e-02 -6.36685774e+01] [-1.24973450e-01 1.08469187e-03 9.92159493e-01 -1.40411117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29592 meters 0.03099500197232277 Centerline is valid? [True, True] Translation: X:119.11, Y:-63.69, Z:-14.05 [[ 7.51937240e-01 6.52707940e-01 9.25350345e-02 1.19106239e+02] [-6.47711999e-01 7.57609326e-01 -8.06056850e-02 -6.36894748e+01] [-1.22717376e-01 6.74364089e-04 9.92441429e-01 -1.40451880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32592 meters 0.030826371725969016 Centerline is valid? [True, True] Translation: X:119.13, Y:-63.71, Z:-14.05 [[ 7.51270969e-01 6.53551790e-01 9.19890695e-02 1.19130444e+02] [-6.48616823e-01 7.56881592e-01 -8.01652868e-02 -6.37111557e+01] [-1.22017000e-01 5.60194645e-04 9.92527852e-01 -1.40477767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35592 meters 0.03077901262059952 Centerline is valid? [True, True] Translation: X:119.16, Y:-63.73, Z:-14.05 [[ 7.51111942e-01 6.53835323e-01 9.12700437e-02 1.19155672e+02] [-6.48970812e-01 7.56636671e-01 -7.96105127e-02 -6.37314928e+01] [-1.21110427e-01 5.64812457e-04 9.92638880e-01 -1.40494807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38592 meters 0.030868266145801668 Centerline is valid? [True, True] Translation: X:119.18, Y:-63.75, Z:-14.05 [[ 7.49964675e-01 6.55134108e-01 9.13908487e-02 1.19181118e+02] [-6.50257116e-01 7.55512495e-01 -7.97906820e-02 -6.37526244e+01] [-1.21320525e-01 4.12643108e-04 9.92613298e-01 -1.40526765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41592 meters 0.03094385283704649 Centerline is valid? [True, True] Translation: X:119.21, Y:-63.77, Z:-14.06 [[ 7.49285282e-01 6.56020191e-01 9.06039457e-02 1.19205252e+02] [-6.51223872e-01 7.54743268e-01 -7.91837572e-02 -6.37736621e+01] [-1.20328862e-01 3.27771477e-04 9.92734032e-01 -1.40552174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44592 meters 0.030894881787209755 Centerline is valid? [True, True] Translation: X:119.23, Y:-63.79, Z:-14.06 [[ 7.47025395e-01 6.58423088e-01 9.18264435e-02 1.19229458e+02] [-6.53504856e-01 7.52648017e-01 -8.03266233e-02 -6.37946771e+01] [-1.22001894e-01 -2.99916585e-06 9.92529868e-01 -1.40581765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47592 meters 0.030871309437807595 Centerline is valid? [True, True] Translation: X:119.26, Y:-63.82, Z:-14.06 [[ 7.43607348e-01 6.62244689e-01 9.20873718e-02 1.19255471e+02] [-6.57317987e-01 7.49287424e-01 -8.06313875e-02 -6.38150816e+01] [-1.22397618e-01 -5.72593640e-04 9.92480980e-01 -1.40611800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50592 meters 0.031039816450207168 Centerline is valid? [True, True] Translation: X:119.28, Y:-63.84, Z:-14.06 [[ 7.41664470e-01 6.64579130e-01 9.09307052e-02 1.19280297e+02] [-6.59783416e-01 7.47217370e-01 -7.96997248e-02 -6.38352311e+01] [-1.20911776e-01 -8.84117099e-04 9.92662864e-01 -1.40636804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53592 meters 0.03106555462295203 Centerline is valid? [True, True] Translation: X:119.30, Y:-63.86, Z:-14.07 [[ 7.39949894e-01 6.66662480e-01 8.96397948e-02 1.19304894e+02] [-6.62009021e-01 7.45358846e-01 -7.86399835e-02 -6.38559424e+01] [-1.19240140e-01 -1.15270544e-03 9.92864774e-01 -1.40674756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56592 meters 0.031168709408581897 Centerline is valid? [True, True] Translation: X:119.33, Y:-63.87, Z:-14.07 [[ 7.38604991e-01 6.68386917e-01 8.78726146e-02 1.19330660e+02] [-6.63919595e-01 7.43812549e-01 -7.71599811e-02 -6.38746201e+01] [-1.16933475e-01 -1.34960360e-03 9.93138833e-01 -1.40712564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59592 meters 0.031061854672678937 Centerline is valid? [True, True] Translation: X:119.36, Y:-63.89, Z:-14.07 [[ 7.38034714e-01 6.68949860e-01 8.83789878e-02 1.19356889e+02] [-6.64425952e-01 7.43306228e-01 -7.76788637e-02 -6.38941327e+01] [-1.17655917e-01 -1.39159520e-03 9.93053447e-01 -1.40743100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62592 meters 0.031159858166300642 Centerline is valid? [True, True] Translation: X:119.38, Y:-63.91, Z:-14.08 [[ 7.37337101e-01 6.69606564e-01 8.92247129e-02 1.19384311e+02] [-6.64990330e-01 7.42714581e-01 -7.85042248e-02 -6.39120513e+01] [-1.18835439e-01 -1.44949369e-03 9.92912905e-01 -1.40772367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65592 meters 0.031099373067258216 Centerline is valid? [True, True] Translation: X:119.41, Y:-63.93, Z:-14.08 [[ 7.36975423e-01 6.69953124e-01 8.96104766e-02 1.19411550e+02] [-6.65290200e-01 7.42401975e-01 -7.89193050e-02 -6.39311299e+01] [-1.19399230e-01 -1.45538373e-03 9.92845258e-01 -1.40800985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68592 meters 0.0312249160878616 Centerline is valid? [True, True] Translation: X:119.44, Y:-63.95, Z:-14.08 [[ 7.36353935e-01 6.70486687e-01 9.07220205e-02 1.19437847e+02] [-6.65701962e-01 7.41920033e-01 -7.99722633e-02 -6.39497189e+01] [-1.20928822e-01 -1.50593626e-03 9.92660039e-01 -1.40825354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.71592 meters 0.03126760199680795 Centerline is valid? [True, True] Translation: X:119.47, Y:-63.97, Z:-14.09 [[ 7.35591924e-01 6.71580482e-01 8.87928976e-02 1.19465724e+02] [-6.67001694e-01 7.40929834e-01 -7.83053078e-02 -6.39671346e+01] [-1.18377623e-01 -1.62426112e-03 9.92967321e-01 -1.40859958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74592 meters 0.031167888004147527 Centerline is valid? [True, True] Translation: X:119.49, Y:-63.99, Z:-14.09 [[ 7.35119805e-01 6.72078312e-01 8.89360161e-02 1.19492287e+02] [-6.67479384e-01 7.40478234e-01 -7.85064148e-02 -6.39863751e+01] [-1.18617643e-01 -1.65133694e-03 9.92938632e-01 -1.40901334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.77592 meters 0.031106233888818564 Centerline is valid? [True, True] Translation: X:119.52, Y:-64.00, Z:-14.09 [[ 7.35009495e-01 6.72326241e-01 8.79685603e-02 1.19521178e+02] [-6.67819537e-01 7.40253215e-01 -7.77318699e-02 -6.40015129e+01] [-1.17380185e-01 -1.61346082e-03 9.93085741e-01 -1.40929683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80592000000001 meters 0.031075075613466917 Centerline is valid? [True, True] Translation: X:119.55, Y:-64.02, Z:-14.10 [[ 7.35389853e-01 6.71744878e-01 8.92220955e-02 1.19548243e+02] [-6.67095035e-01 7.40781081e-01 -7.89151732e-02 -6.40202033e+01] [-1.19104904e-01 -1.48619936e-03 9.92880563e-01 -1.40962859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.83592000000002 meters 0.030797845407336603 Centerline is valid? [True, True] Translation: X:119.57, Y:-64.04, Z:-14.10 [[ 7.36598175e-01 6.70548047e-01 8.82521663e-02 1.19574365e+02] [-6.65981018e-01 7.41865104e-01 -7.81373855e-02 -6.40395776e+01] [-1.17866074e-01 -1.21841196e-03 9.93028753e-01 -1.40976799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86592000000002 meters 0.03102834168237035 Centerline is valid? [True, True] Translation: X:119.60, Y:-64.06, Z:-14.10 [[ 7.38944083e-01 6.67769654e-01 8.96957685e-02 1.19601111e+02] [-6.63021772e-01 7.44367622e-01 -7.94919740e-02 -6.40590084e+01] [-1.19848954e-01 -7.30123479e-04 9.92791869e-01 -1.41025552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89592000000002 meters 0.031108236753849838 Centerline is valid? [True, True] Translation: X:119.63, Y:-64.08, Z:-14.11 [[ 7.39207916e-01 6.67437446e-01 8.99939561e-02 1.19627163e+02] [-6.62645058e-01 7.44665615e-01 -7.98413976e-02 -6.40786821e+01] [-1.20304543e-01 -6.14657184e-04 9.92736843e-01 -1.41067361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92592000000002 meters 0.03110633487404748 Centerline is valid? [True, True] Translation: X:119.66, Y:-64.10, Z:-14.11 [[ 7.40151569e-01 6.66316931e-01 9.05395070e-02 1.19655473e+02] [-6.61447225e-01 7.45668566e-01 -8.04111801e-02 -6.40958225e+01] [-1.21091795e-01 -3.70644513e-04 9.92641244e-01 -1.41118422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95592000000002 meters 0.031177792072471896 Centerline is valid? [True, True] Translation: X:119.68, Y:-64.12, Z:-14.11 [[ 7.40297322e-01 6.66220714e-01 9.00546228e-02 1.19681175e+02] [-6.61392346e-01 7.45754569e-01 -8.00642727e-02 -6.41168121e+01] [-1.20499123e-01 -2.90071587e-04 9.92713391e-01 -1.41144356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98592000000002 meters 0.030927850158017234 Centerline is valid? [True, True] Translation: X:119.71, Y:-64.14, Z:-14.12 [[ 7.39757331e-01 6.66768096e-01 9.04400183e-02 1.19705670e+02] [-6.61891985e-01 7.45265191e-01 -8.04909581e-02 -6.41388832e+01] [-1.21070600e-01 -3.17746932e-04 9.92643848e-01 -1.41158292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01592000000002 meters 0.03093443587714353 Centerline is valid? [True, True] Translation: X:119.73, Y:-64.16, Z:-14.12 [[ 7.39671336e-01 6.66794805e-01 9.09450563e-02 1.19730625e+02] [-6.61853645e-01 7.45241317e-01 -8.10255014e-02 -6.41596692e+01] [-1.21803397e-01 -2.60076182e-04 9.92554213e-01 -1.41197315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04592 meters 0.03092773019656479 Centerline is valid? [True, True] Translation: X:119.76, Y:-64.18, Z:-14.12 [[ 7.39917372e-01 6.66727113e-01 8.94272801e-02 1.19755557e+02] [-6.61939856e-01 7.45301900e-01 -7.97540211e-02 -6.41800047e+01] [-1.19824490e-01 -1.84095266e-04 9.92795073e-01 -1.41229437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07592 meters 0.03104877647068405 Centerline is valid? [True, True] Translation: X:119.78, Y:-64.20, Z:-14.13 [[ 7.40457276e-01 6.66180281e-01 8.90328908e-02 1.19780124e+02] [-6.61422435e-01 7.45790743e-01 -7.94766067e-02 -6.42012388e+01] [-1.19345654e-01 -3.93197023e-05 9.92852765e-01 -1.41291155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10592 meters 0.031229964747469995 Centerline is valid? [True, True] Translation: X:119.80, Y:-64.22, Z:-14.13 [[ 7.41175354e-01 6.65358270e-01 8.92046326e-02 1.19804662e+02] [-6.60566058e-01 7.46524178e-01 -7.97128276e-02 -6.42234072e+01] [-1.19631004e-01 1.55630723e-04 9.92818412e-01 -1.41328397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13592 meters 0.03117043905997122 Centerline is valid? [True, True] Translation: X:119.83, Y:-64.24, Z:-14.13 [[ 7.42065687e-01 6.64438448e-01 8.86570120e-02 1.19830306e+02] [-6.59688759e-01 7.47342904e-01 -7.93052632e-02 -6.42446007e+01] [-1.18950655e-01 3.63680361e-04 9.92900100e-01 -1.41347277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16592 meters 0.03105773131969274 Centerline is valid? [True, True] Translation: X:119.86, Y:-64.27, Z:-14.14 [[ 7.41866698e-01 6.64688537e-01 8.84474448e-02 1.19855924e+02] [-6.59953354e-01 7.47120473e-01 -7.91995520e-02 -6.42658220e+01] [-1.18723931e-01 3.84322305e-04 9.92927228e-01 -1.41387724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19592 meters 0.031004653454626406 Centerline is valid? [True, True] Translation: X:119.88, Y:-64.29, Z:-14.14 [[ 7.41509118e-01 6.65038822e-01 8.88121243e-02 1.19880513e+02] [-6.60258238e-01 7.46808689e-01 -7.95979934e-02 -6.42864913e+01] [-1.19261422e-01 3.83701119e-04 9.92862813e-01 -1.41424709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22592 meters 0.030942548296718376 Centerline is valid? [True, True] Translation: X:119.91, Y:-64.31, Z:-14.14 [[ 7.40301334e-01 6.66462158e-01 8.82163611e-02 1.19905223e+02] [-6.61751756e-01 7.45538839e-01 -7.90977445e-02 -6.43079463e+01] [-1.18484377e-01 1.78833857e-04 9.92955901e-01 -1.41439452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25592 meters 0.03093660168473646 Centerline is valid? [True, True] Translation: X:119.93, Y:-64.33, Z:-14.15 [[ 7.39408376e-01 6.67266450e-01 8.96143825e-02 1.19929692e+02] [-6.62401863e-01 7.44819088e-01 -8.04257328e-02 -6.43287492e+01] [-1.20411896e-01 1.06726543e-04 9.92724012e-01 -1.41467979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28592 meters 0.031132168793349766 Centerline is valid? [True, True] Translation: X:119.96, Y:-64.35, Z:-14.15 [[ 7.38999931e-01 6.67668134e-01 8.99909155e-02 1.19956004e+02] [-6.62756220e-01 7.44459034e-01 -8.08389798e-02 -6.43487417e+01] [-1.20968161e-01 9.79614837e-05 9.92656383e-01 -1.41499717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31592 meters 0.030813221526703776 Centerline is valid? [True, True] Translation: X:119.98, Y:-64.37, Z:-14.15 [[ 7.38730415e-01 6.68131568e-01 8.87557397e-02 1.19980712e+02] [-6.63347696e-01 7.44043144e-01 -7.98099853e-02 -6.43696128e+01] [-1.19361670e-01 8.21481680e-05 9.92850837e-01 -1.41530577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34592 meters 0.03075057127867936 Centerline is valid? [True, True] Translation: X:120.01, Y:-64.39, Z:-14.16 [[ 7.39080852e-01 6.67842731e-01 8.80089864e-02 1.20006357e+02] [-6.63128704e-01 7.44302394e-01 -7.92102766e-02 -6.43884879e+01] [-1.18405307e-01 1.81513610e-04 9.92965332e-01 -1.41553530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37592 meters 0.030548053218454763 Centerline is valid? [True, True] Translation: X:120.03, Y:-64.41, Z:-14.16 [[ 7.39261133e-01 6.67735477e-01 8.73058410e-02 1.20032241e+02] [-6.63087658e-01 7.44398596e-01 -7.86478710e-02 -6.44079626e+01] [-1.17506319e-01 2.49888560e-04 9.93072103e-01 -1.41574700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40592 meters 0.030431462790728437 Centerline is valid? [True, True] Translation: X:120.06, Y:-64.43, Z:-14.16 [[ 7.38612749e-01 6.68356919e-01 8.80354235e-02 1.20058637e+02] [-6.63626399e-01 7.43840699e-01 -7.93789455e-02 -6.44275816e+01] [-1.18537798e-01 2.07670070e-04 9.92949519e-01 -1.41617118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.43592 meters 0.030207011673251256 Centerline is valid? [True, True] Translation: X:120.08, Y:-64.45, Z:-14.16 [[ 7.38083911e-01 6.69064674e-01 8.70896215e-02 1.20083017e+02] [-6.64431192e-01 7.43204170e-01 -7.86050396e-02 -6.44485284e+01] [-1.17317225e-01 1.52053944e-04 9.93094480e-01 -1.41640701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46592 meters 0.03029653392311041 Centerline is valid? [True, True] Translation: X:120.11, Y:-64.47, Z:-14.17 [[ 7.37649439e-01 6.69472605e-01 8.76341026e-02 1.20108536e+02] [-6.64774996e-01 7.42836732e-01 -7.91694022e-02 -6.44698003e+01] [-1.18099576e-01 1.42304979e-04 9.93001747e-01 -1.41680240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.49592 meters 0.02997883221065332 Centerline is valid? [True, True] Translation: X:120.14, Y:-64.49, Z:-14.17 [[ 7.37048997e-01 6.70115914e-01 8.77692337e-02 1.20136176e+02] [-6.65398536e-01 7.42256460e-01 -7.93733963e-02 -6.44885740e+01] [-1.18336657e-01 1.00562496e-04 9.92973527e-01 -1.41700266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52592 meters 0.030106085160874665 Centerline is valid? [True, True] Translation: X:120.16, Y:-64.51, Z:-14.17 [[ 7.35931602e-01 6.71328887e-01 8.78760608e-02 1.20162179e+02] [-6.66598826e-01 7.41159580e-01 -7.95517573e-02 -6.45089208e+01] [-1.18535577e-01 -3.34267012e-05 9.92949805e-01 -1.41730223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.55592000000001 meters 0.029886518558721695 Centerline is valid? [True, True] Translation: X:120.19, Y:-64.53, Z:-14.18 [[ 7.34285456e-01 6.73014134e-01 8.87515892e-02 1.20188527e+02] [-6.68191427e-01 7.39629579e-01 -8.04257644e-02 -6.45280423e+01] [-1.19770977e-01 -2.47581935e-04 9.92801517e-01 -1.41753633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58592000000002 meters 0.02976152984900532 Centerline is valid? [True, True] Translation: X:120.21, Y:-64.55, Z:-14.18 [[ 7.33779841e-01 6.73741565e-01 8.74039392e-02 1.20213496e+02] [-6.69061478e-01 7.38966988e-01 -7.92750253e-02 -6.45490529e+01] [-1.17999505e-01 -3.08193348e-04 9.93013606e-01 -1.41778758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61592000000002 meters 0.029969281740167265 Centerline is valid? [True, True] Translation: X:120.24, Y:-64.57, Z:-14.18 [[ 7.32922105e-01 6.74518188e-01 8.86024948e-02 1.20237526e+02] [-6.69705247e-01 7.38258130e-01 -8.04351648e-02 -6.45700333e+01] [-1.19666494e-01 -3.84845371e-04 9.92814072e-01 -1.41826729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64592000000002 meters 0.02997090783943058 Centerline is valid? [True, True] Translation: X:120.26, Y:-64.59, Z:-14.19 [[ 7.31834431e-01 6.75698831e-01 8.85971508e-02 1.20264223e+02] [-6.70886122e-01 7.37177602e-01 -8.05046255e-02 -6.45900032e+01] [-1.19708716e-01 -5.22542057e-04 9.92808919e-01 -1.41851326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67592000000002 meters 0.02969649047316264 Centerline is valid? [True, True] Translation: X:120.29, Y:-64.61, Z:-14.19 [[ 7.30460938e-01 6.77272477e-01 8.79136529e-02 1.20291629e+02] [-6.72535584e-01 7.35731937e-01 -7.99650276e-02 -6.46091061e+01] [-1.18838994e-01 -7.13730785e-04 9.92913281e-01 -1.41869870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70592000000002 meters 0.02974194747044129 Centerline is valid? [True, True] Translation: X:120.32, Y:-64.63, Z:-14.19 [[ 7.30057143e-01 6.77785277e-01 8.73137183e-02 1.20317459e+02] [-6.73107005e-01 7.35259535e-01 -7.95007959e-02 -6.46299817e+01] [-1.18082713e-01 -7.31351525e-04 9.93003493e-01 -1.41899937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73592000000002 meters 0.029546280063386197 Centerline is valid? [True, True] Translation: X:120.34, Y:-64.65, Z:-14.19 [[ 7.28695466e-01 6.79224851e-01 8.75015379e-02 1.20342933e+02] [-6.74526821e-01 7.33929684e-01 -7.97545352e-02 -6.46509361e+01] [-1.18391238e-01 -9.05366016e-04 9.92966613e-01 -1.41945938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76592000000002 meters 0.02981866831765806 Centerline is valid? [True, True] Translation: X:120.37, Y:-64.67, Z:-14.20 [[ 7.27088461e-01 6.80732157e-01 8.91409038e-02 1.20368011e+02] [-6.75856944e-01 7.32531567e-01 -8.13320025e-02 -6.46715433e+01] [-1.20663835e-01 -1.11093842e-03 9.92692805e-01 -1.41982698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79592 meters 0.029844643083772587 Centerline is valid? [True, True] Translation: X:120.39, Y:-64.69, Z:-14.20 [[ 7.26165390e-01 6.81751008e-01 8.88785101e-02 1.20393379e+02] [-6.76903070e-01 7.31583264e-01 -8.11674891e-02 -6.46922832e+01] [-1.20358048e-01 -1.22111501e-03 9.92729797e-01 -1.42006266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82592 meters 0.02991798507869092 Centerline is valid? [True, True] Translation: X:120.42, Y:-64.71, Z:-14.20 [[ 7.24979730e-01 6.82907073e-01 8.96789921e-02 1.20421600e+02] [-6.77969746e-01 7.30503982e-01 -8.19814401e-02 -6.47096237e+01] [-1.21496566e-01 -1.36476120e-03 9.92590914e-01 -1.42035537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85592 meters 0.029835371508986155 Centerline is valid? [True, True] Translation: X:120.45, Y:-64.73, Z:-14.21 [[ 7.24076604e-01 6.84017954e-01 8.85014727e-02 1.20447423e+02] [-6.79209486e-01 7.29463677e-01 -8.09766575e-02 -6.47294764e+01] [-1.19948097e-01 -1.47773654e-03 9.92779064e-01 -1.42056077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88592 meters 0.030100213199034206 Centerline is valid? [True, True] Translation: X:120.47, Y:-64.75, Z:-14.21 [[ 7.22652424e-01 6.85344211e-01 8.98709425e-02 1.20473251e+02] [-6.80386233e-01 7.28217361e-01 -8.23046074e-02 -6.47479828e+01] [-1.21852567e-01 -1.66932797e-03 9.92546808e-01 -1.42101792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91592 meters 0.030034267821603698 Centerline is valid? [True, True] Translation: X:120.50, Y:-64.77, Z:-14.21 [[ 7.21858497e-01 6.86223704e-01 8.95395906e-02 1.20499080e+02] [-6.81299822e-01 7.27388443e-01 -8.20768260e-02 -6.47680845e+01] [-1.21453127e-01 -1.75545281e-03 9.92595616e-01 -1.42130695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94592 meters 0.02982068874964353 Centerline is valid? [True, True] Translation: X:120.53, Y:-64.79, Z:-14.21 [[ 7.21986769e-01 6.86043541e-01 8.98852897e-02 1.20528294e+02] [-6.81069517e-01 7.27558570e-01 -8.24793298e-02 -6.47858486e+01] [-1.21981224e-01 -1.66914608e-03 9.92531004e-01 -1.42148797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97592 meters 0.029807032615388435 Centerline is valid? [True, True] Translation: X:120.55, Y:-64.81, Z:-14.22 [[ 7.22464325e-01 6.85667179e-01 8.89146725e-02 1.20553542e+02] [-6.80787654e-01 7.27913583e-01 -8.16699820e-02 -6.48059377e+01] [-1.20720624e-01 -1.52836288e-03 9.92685345e-01 -1.42188588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00592 meters 0.029732945756878907 Centerline is valid? [True, True] Translation: X:120.58, Y:-64.83, Z:-14.22 [[ 7.21855780e-01 6.86352432e-01 8.85695868e-02 1.20578918e+02] [-6.81506857e-01 7.27267378e-01 -8.14282832e-02 -6.48272102e+01] [-1.20302271e-01 -1.58130387e-03 9.92736049e-01 -1.42221495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03592 meters 0.02988966280109026 Centerline is valid? [True, True] Translation: X:120.61, Y:-64.85, Z:-14.23 [[ 7.22511924e-01 6.85645321e-01 8.86961870e-02 1.20606191e+02] [-6.80770430e-01 7.27934421e-01 -8.16278178e-02 -6.48465731e+01] [-1.20532739e-01 -1.40466965e-03 9.92708359e-01 -1.42252713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06592 meters 0.029826836550051927 Centerline is valid? [True, True] Translation: X:120.63, Y:-64.87, Z:-14.23 [[ 7.23389990e-01 6.84778755e-01 8.82325357e-02 1.20632249e+02] [-6.79938682e-01 7.28750047e-01 -8.12819604e-02 -6.48654863e+01] [-1.19959624e-01 -1.19415756e-03 9.92778053e-01 -1.42278102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09592 meters 0.029479867556170943 Centerline is valid? [True, True] Translation: X:120.66, Y:-64.89, Z:-14.23 [[ 7.26170149e-01 6.81867286e-01 8.79426974e-02 1.20657819e+02] [-6.77029020e-01 7.31475613e-01 -8.10872015e-02 -6.48854115e+01] [-1.19618649e-01 -6.56653004e-04 9.92819695e-01 -1.42312556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12592 meters 0.029580613875359082 Centerline is valid? [True, True] Translation: X:120.68, Y:-64.91, Z:-14.24 [[ 7.26917447e-01 6.80861344e-01 8.95480620e-02 1.20680999e+02] [-6.75827348e-01 7.32412201e-01 -8.26423848e-02 -6.49075842e+01] [-1.21854098e-01 -4.44837866e-04 9.92547924e-01 -1.42357854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15592 meters 0.029720487026653596 Centerline is valid? [True, True] Translation: X:120.71, Y:-64.93, Z:-14.24 [[ 7.29870597e-01 6.77743494e-01 8.91777344e-02 1.20705461e+02] [-6.72718756e-01 7.35298401e-01 -8.23755807e-02 -6.49291666e+01] [-1.21401759e-01 1.31979623e-04 9.92603443e-01 -1.42396920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18592 meters 0.029720487026653596 Centerline is valid? [True, True] Translation: X:120.73, Y:-64.95, Z:-14.24 [[ 7.29527967e-01 6.78117799e-01 8.91358293e-02 1.20729560e+02] [-6.73090306e-01 7.34953219e-01 -8.24209046e-02 -6.49509279e+01] [-1.21401747e-01 1.31892311e-04 9.92603445e-01 -1.42428677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.21592 meters 0.0296540178692886 Centerline is valid? [True, True] Translation: X:120.75, Y:-64.97, Z:-14.25 [[ 7.29211140e-01 6.78464912e-01 8.90869046e-02 1.20754447e+02] [-6.73435246e-01 7.34632796e-01 -8.24598379e-02 -6.49725953e+01] [-1.21392268e-01 1.36370888e-04 9.92604603e-01 -1.42468006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24592 meters 0.029555626205790428 Centerline is valid? [True, True] Translation: X:120.78, Y:-64.99, Z:-14.25 [[ 7.30183013e-01 6.77711102e-01 8.68356504e-02 1.20778964e+02] [-6.72918643e-01 7.35328202e-01 -8.04545577e-02 -6.49935275e+01] [-1.18377650e-01 3.13223251e-04 9.92968597e-01 -1.42482527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.27592 meters 0.029552793469364968 Centerline is valid? [True, True] Translation: X:120.80, Y:-65.02, Z:-14.25 [[ 7.30764913e-01 6.77024221e-01 8.72974648e-02 1.20802249e+02] [-6.72166726e-01 7.35960578e-01 -8.09562831e-02 -6.50169018e+01] [-1.19056857e-01 4.81560033e-04 9.92887321e-01 -1.42526611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30592000000001 meters 0.02960230140483005 Centerline is valid? [True, True] Translation: X:120.83, Y:-65.04, Z:-14.26 [[ 7.31012988e-01 6.76924331e-01 8.59852467e-02 1.20825567e+02] [-6.72202377e-01 7.36052410e-01 -7.98173826e-02 -6.50386380e+01] [-1.17319976e-01 5.48056176e-04 9.93094015e-01 -1.42553288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.33592000000002 meters 0.029675656525513308 Centerline is valid? [True, True] Translation: X:120.85, Y:-65.06, Z:-14.26 [[ 7.32030373e-01 6.75752412e-01 8.65459990e-02 1.20849215e+02] [-6.70951781e-01 7.37128243e-01 -8.04093303e-02 -6.50606112e+01] [-1.18132299e-01 7.93879872e-04 9.92997548e-01 -1.42594205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36592000000002 meters 0.02973849699649146 Centerline is valid? [True, True] Translation: X:120.87, Y:-65.08, Z:-14.26 [[ 7.32761077e-01 6.74925549e-01 8.68142107e-02 1.20873136e+02] [-6.70080491e-01 7.37885177e-01 -8.07316665e-02 -6.50834586e+01] [-1.18546784e-01 9.84513910e-04 9.92947980e-01 -1.42624608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39592000000002 meters 0.03001536054309694 Centerline is valid? [True, True] Translation: X:120.90, Y:-65.11, Z:-14.26 [[ 7.33866501e-01 6.73722039e-01 8.68249546e-02 1.20897512e+02] [-6.68857666e-01 7.38983814e-01 -8.08229272e-02 -6.51061790e+01] [-1.18614423e-01 1.23970237e-03 9.92939616e-01 -1.42648110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42592000000002 meters 0.0306206903510837 Centerline is valid? [True, True] Translation: X:120.92, Y:-65.13, Z:-14.27 [[ 7.37932860e-01 6.69307381e-01 8.65027407e-02 1.20921177e+02] [-6.64439460e-01 7.42982920e-01 -8.06013890e-02 -6.51275423e+01] [-1.18217163e-01 2.00257917e-03 9.92985746e-01 -1.42677294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45592000000002 meters 0.030757317006121023 Centerline is valid? [True, True] Translation: X:120.95, Y:-65.15, Z:-14.27 [[ 7.38849066e-01 6.68339902e-01 8.61616739e-02 1.20945086e+02] [-6.63495657e-01 7.43852763e-01 -8.03528499e-02 -6.51497379e+01] [-1.17794615e-01 2.20073157e-03 9.93035541e-01 -1.42703709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48592000000002 meters 0.031264963117367615 Centerline is valid? [True, True] Translation: X:120.97, Y:-65.17, Z:-14.28 [[ 7.41186538e-01 6.65621229e-01 8.71257449e-02 1.20966283e+02] [-6.60640375e-01 7.46284800e-01 -8.13221542e-02 -6.51741561e+01] [-1.19150371e-01 2.71610120e-03 9.92872505e-01 -1.42752680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51592000000002 meters 0.031651427734391176 Centerline is valid? [True, True] Translation: X:120.99, Y:-65.20, Z:-14.28 [[ 7.41766251e-01 6.64903405e-01 8.76714946e-02 1.20987832e+02] [-6.59846303e-01 7.46923718e-01 -8.19012556e-02 -6.51975881e+01] [-1.19940342e-01 2.90187571e-03 9.92776860e-01 -1.42786089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54592 meters 0.03187531322236815 Centerline is valid? [True, True] Translation: X:121.01, Y:-65.22, Z:-14.28 [[ 7.42805980e-01 6.63819050e-01 8.70835529e-02 1.21010591e+02] [-6.58814185e-01 7.47886764e-01 -8.14202536e-02 -6.52204715e+01] [-1.19176952e-01 3.10757133e-03 9.92868167e-01 -1.42814865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57592 meters 0.0322377272900852 Centerline is valid? [True, True] Translation: X:121.03, Y:-65.24, Z:-14.28 [[ 7.44226822e-01 6.62183809e-01 8.74016067e-02 1.21033274e+02] [-6.57122628e-01 7.49333577e-01 -8.17865636e-02 -6.52434555e+01] [-1.19650697e-01 3.43418080e-03 9.92810111e-01 -1.42839578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60592 meters 0.032716002222723556 Centerline is valid? [True, True] Translation: X:121.05, Y:-65.27, Z:-14.29 [[ 7.46492308e-01 6.59784316e-01 8.62200176e-02 1.21053449e+02] [-6.54835676e-01 7.51445330e-01 -8.07474674e-02 -6.52689804e+01] [-1.18065542e-01 3.81741973e-03 9.92998467e-01 -1.42866004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63592 meters 0.03334110217998709 Centerline is valid? [True, True] Translation: X:121.08, Y:-65.29, Z:-14.29 [[ 7.47177702e-01 6.58917350e-01 8.69103383e-02 1.21075047e+02] [-6.53874832e-01 7.52204505e-01 -8.14621759e-02 -6.52922317e+01] [-1.19051189e-01 4.03823851e-03 9.92879906e-01 -1.42907954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66592 meters 0.03370437066006542 Centerline is valid? [True, True] Translation: X:121.10, Y:-65.32, Z:-14.29 [[ 7.47726691e-01 6.58348050e-01 8.65022593e-02 1.21097016e+02] [-6.53341093e-01 7.52702156e-01 -8.11472801e-02 -6.53159832e+01] [-1.18533591e-01 4.16050653e-03 9.92941327e-01 -1.42939679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69592 meters 0.03385651309980694 Centerline is valid? [True, True] Translation: X:121.12, Y:-65.34, Z:-14.30 [[ 7.48606752e-01 6.57341959e-01 8.65417817e-02 1.21116956e+02] [-6.52315716e-01 7.53579742e-01 -8.12513343e-02 -6.53414733e+01] [-1.18626045e-01 4.37273321e-03 9.92929373e-01 -1.42960235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72592 meters 0.033982160935458354 Centerline is valid? [True, True] Translation: X:121.14, Y:-65.37, Z:-14.30 [[ 7.48566660e-01 6.57496777e-01 8.57084824e-02 1.21139963e+02] [-6.52560289e-01 7.53444761e-01 -8.05360885e-02 -6.53658152e+01] [-1.17528826e-01 4.35667864e-03 9.93059915e-01 -1.42986556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75592 meters 0.033819310993798014 Centerline is valid? [True, True] Translation: X:121.16, Y:-65.39, Z:-14.30 [[ 7.48309798e-01 6.57823757e-01 8.54420875e-02 1.21160146e+02] [-6.52911213e-01 7.53159339e-01 -8.03614206e-02 -6.53926260e+01] [-1.17215158e-01 4.34914144e-03 9.93097020e-01 -1.43030203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78592 meters 0.03373848619929309 Centerline is valid? [True, True] Translation: X:121.18, Y:-65.42, Z:-14.31 [[ 7.47109364e-01 6.59072484e-01 8.63195177e-02 1.21181055e+02] [-6.54057401e-01 7.52067394e-01 -8.12622297e-02 -6.54164216e+01] [-1.18475794e-01 4.25385334e-03 9.92947829e-01 -1.43087647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81592 meters 0.03349867200085091 Centerline is valid? [True, True] Translation: X:121.20, Y:-65.44, Z:-14.31 [[ 7.46714860e-01 6.59690007e-01 8.50059632e-02 1.21202904e+02] [-6.54823199e-01 7.51526408e-01 -8.00914217e-02 -6.54403258e+01] [-1.16719737e-01 4.14157796e-03 9.93156257e-01 -1.43116865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84592 meters 0.03330326850469942 Centerline is valid? [True, True] Translation: X:121.22, Y:-65.47, Z:-14.32 [[ 7.44803992e-01 6.61816551e-01 8.52400533e-02 1.21223954e+02] [-6.56928698e-01 7.49655838e-01 -8.03791706e-02 -6.54651192e+01] [-1.17096969e-01 3.87008984e-03 9.93112945e-01 -1.43157720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87592 meters 0.033035805680468766 Centerline is valid? [True, True] Translation: X:121.25, Y:-65.49, Z:-14.32 [[ 7.43677515e-01 6.63102013e-01 8.50851045e-02 1.21247676e+02] [-6.58233249e-01 7.48519861e-01 -8.02932598e-02 -6.54875465e+01] [-1.16930513e-01 3.70644719e-03 9.93133182e-01 -1.43178270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90592 meters 0.03258436645485457 Centerline is valid? [True, True] Translation: X:121.27, Y:-65.51, Z:-14.32 [[ 7.42372964e-01 6.64686422e-01 8.41091112e-02 1.21269737e+02] [-6.59936456e-01 7.47114558e-01 -7.93959159e-02 -6.55118408e+01] [-1.15612529e-01 3.43471266e-03 9.93288451e-01 -1.43199442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.93592 meters 0.03254762733688104 Centerline is valid? [True, True] Translation: X:121.29, Y:-65.54, Z:-14.32 [[ 7.41595644e-01 6.65583396e-01 8.38727859e-02 1.21292009e+02] [-6.60862353e-01 7.46316151e-01 -7.92032430e-02 -6.55354762e+01] [-1.15311978e-01 3.30841341e-03 9.93323815e-01 -1.43231608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96592 meters 0.03250613118798945 Centerline is valid? [True, True] Translation: X:121.31, Y:-65.56, Z:-14.33 [[ 7.40247168e-01 6.66952855e-01 8.49000582e-02 1.21314133e+02] [-6.62115750e-01 7.45093107e-01 -8.02433529e-02 -6.55591627e+01] [-1.16776981e-01 3.18624895e-03 9.93153052e-01 -1.43281546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.99592 meters 0.03235547365373203 Centerline is valid? [True, True] Translation: X:121.34, Y:-65.58, Z:-14.33 [[ 7.39315080e-01 6.68060211e-01 8.43135040e-02 1.21337259e+02] [-6.63288375e-01 7.44100984e-01 -7.97637550e-02 -6.55810956e+01] [-1.16024752e-01 3.04637987e-03 9.93241651e-01 -1.43315948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02592 meters 0.0324595447655172 Centerline is valid? [True, True] Translation: X:121.36, Y:-65.60, Z:-14.33 [[ 7.39279303e-01 6.68049510e-01 8.47110663e-02 1.21360450e+02] [-6.63224368e-01 7.44110313e-01 -8.02077268e-02 -6.56040357e+01] [-1.16617111e-01 3.11346894e-03 9.93172068e-01 -1.43337379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.05592000000001 meters 0.032380678086770545 Centerline is valid? [True, True] Translation: X:121.38, Y:-65.63, Z:-14.34 [[ 7.39389796e-01 6.68008049e-01 8.40712587e-02 1.21383314e+02] [-6.63247528e-01 7.44147391e-01 -7.96704283e-02 -6.56274484e+01] [-1.15781895e-01 3.14744723e-03 9.93269675e-01 -1.43364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08592000000002 meters 0.03260124428622519 Centerline is valid? [True, True] Translation: X:121.41, Y:-65.65, Z:-14.34 [[ 7.40313825e-01 6.67104630e-01 8.31074791e-02 1.21405795e+02] [-6.62438799e-01 7.44956698e-01 -7.88311872e-02 -6.56506318e+01] [-1.14500123e-01 3.30619914e-03 9.93417732e-01 -1.43397848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11592000000002 meters 0.03288578057358964 Centerline is valid? [True, True] Translation: X:121.43, Y:-65.67, Z:-14.34 [[ 7.40942972e-01 6.66284949e-01 8.40706756e-02 1.21427683e+02] [-6.61496709e-01 7.45688906e-01 -7.98132799e-02 -6.56737718e+01] [-1.15868957e-01 3.52461360e-03 9.93258255e-01 -1.43438399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14592000000002 meters 0.03297311330006019 Centerline is valid? [True, True] Translation: X:121.45, Y:-65.70, Z:-14.35 [[ 7.41358791e-01 6.65929659e-01 8.32155755e-02 1.21449891e+02] [-6.61228610e-01 7.46005878e-01 -7.90693022e-02 -6.56987711e+01] [-1.14733902e-01 3.59420294e-03 9.93389759e-01 -1.43463528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17592000000002 meters 0.0336653704282511 Centerline is valid? [True, True] Translation: X:121.47, Y:-65.73, Z:-14.35 [[ 7.41997798e-01 6.64808536e-01 8.64226782e-02 1.21468458e+02] [-6.59720655e-01 7.47003256e-01 -8.21875472e-02 -6.57254280e+01] [-1.19197005e-01 3.96815314e-03 9.92862693e-01 -1.43508732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20592000000002 meters 0.03372784273280758 Centerline is valid? [True, True] Translation: X:121.49, Y:-65.75, Z:-14.35 [[ 7.41844281e-01 6.64967198e-01 8.65198753e-02 1.21491156e+02] [-6.59865198e-01 7.46862010e-01 -8.23107425e-02 -6.57494080e+01] [-1.19352352e-01 3.97029889e-03 9.92844022e-01 -1.43535933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23592000000002 meters 0.034363721156239216 Centerline is valid? [True, True] Translation: X:121.51, Y:-65.77, Z:-14.36 [[ 7.42917389e-01 6.63754305e-01 8.66254944e-02 1.21512589e+02] [-6.58622257e-01 7.47938727e-01 -8.24886842e-02 -6.57733061e+01] [-1.19542781e-01 4.22879929e-03 9.92820044e-01 -1.43579398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26592000000002 meters 0.0337726123611637 Centerline is valid? [True, True] Translation: X:121.53, Y:-65.80, Z:-14.36 [[ 7.41968862e-01 6.64801864e-01 8.67219071e-02 1.21533129e+02] [-6.59658094e-01 7.47008424e-01 -8.26414775e-02 -6.57989632e+01] [-1.19722203e-01 4.11059505e-03 9.92798921e-01 -1.43610125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29592 meters 0.03360516232603469 Centerline is valid? [True, True] Translation: X:121.55, Y:-65.82, Z:-14.37 [[ 7.41304564e-01 6.65681214e-01 8.56508285e-02 1.21553472e+02] [-6.60666219e-01 7.46225820e-01 -8.16527610e-02 -6.58236063e+01] [-1.18269569e-01 3.94295543e-03 9.92973697e-01 -1.43651389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32592 meters 0.032978609091985876 Centerline is valid? [True, True] Translation: X:121.57, Y:-65.85, Z:-14.37 [[ 7.39307917e-01 6.67995436e-01 8.48875764e-02 1.21572934e+02] [-6.63077748e-01 7.44156728e-01 -8.09855808e-02 -6.58503206e+01] [-1.17267659e-01 3.58621808e-03 9.93093870e-01 -1.43683569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35592 meters 0.03238211628462877 Centerline is valid? [True, True] Translation: X:121.59, Y:-65.88, Z:-14.37 [[ 7.36131004e-01 6.71407421e-01 8.55758101e-02 1.21593707e+02] [-6.66428960e-01 7.41082000e-01 -8.16695124e-02 -6.58758935e+01] [-1.18252209e-01 3.08926198e-03 9.92978787e-01 -1.43708686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38592 meters 0.03242784168365847 Centerline is valid? [True, True] Translation: X:121.62, Y:-65.90, Z:-14.37 [[ 7.34986808e-01 6.72551514e-01 8.64225288e-02 1.21615521e+02] [-6.67475866e-01 7.40044352e-01 -8.25246929e-02 -6.59003943e+01] [-1.19458611e-01 2.96960834e-03 9.92834740e-01 -1.43741964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41592 meters 0.03238075166616485 Centerline is valid? [True, True] Translation: X:121.64, Y:-65.92, Z:-14.38 [[ 7.34098558e-01 6.73490482e-01 8.66595495e-02 1.21638641e+02] [-6.68383431e-01 7.39190261e-01 -8.28332444e-02 -6.59244887e+01] [-1.19845297e-01 2.88595824e-03 9.92788384e-01 -1.43768823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44592 meters 0.03197235229730042 Centerline is valid? [True, True] Translation: X:121.66, Y:-65.95, Z:-14.38 [[ 7.32454027e-01 6.75316384e-01 8.63648053e-02 1.21661824e+02] [-6.70247212e-01 7.37523440e-01 -8.26308068e-02 -6.59472764e+01] [-1.19498006e-01 2.63749722e-03 9.92830937e-01 -1.43798184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47592 meters 0.031993468747922464 Centerline is valid? [True, True] Translation: X:121.68, Y:-65.97, Z:-14.38 [[ 7.30706720e-01 6.77220475e-01 8.62561139e-02 1.21683963e+02] [-6.72168724e-01 7.35776312e-01 -8.25979670e-02 -6.59696700e+01] [-1.19402240e-01 2.37622753e-03 9.92843119e-01 -1.43849427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50592 meters 0.03137187903761722 Centerline is valid? [True, True] Translation: X:121.70, Y:-66.00, Z:-14.39 [[ 7.28404513e-01 6.79774438e-01 8.56363220e-02 1.21704052e+02] [-6.74804364e-01 7.33418522e-01 -8.20752161e-02 -6.59954399e+01] [-1.18599899e-01 1.99619391e-03 9.92940119e-01 -1.43879697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53592 meters 0.030938960927985527 Centerline is valid? [True, True] Translation: X:121.73, Y:-66.02, Z:-14.39 [[ 7.26901038e-01 6.81590900e-01 8.39566907e-02 1.21727021e+02] [-6.76819387e-01 7.31731451e-01 -8.05270220e-02 -6.60181431e+01] [-1.16320236e-01 1.71165994e-03 9.93210286e-01 -1.43886290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56592 meters 0.03100675763570989 Centerline is valid? [True, True] Translation: X:121.75, Y:-66.04, Z:-14.39 [[ 7.24948292e-01 6.83592024e-01 8.45690188e-02 1.21752004e+02] [-6.78759779e-01 7.29862937e-01 -8.11495858e-02 -6.60390865e+01] [-1.17197002e-01 1.42720510e-03 9.93107661e-01 -1.43913376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59592 meters 0.03051666874247623 Centerline is valid? [True, True] Translation: X:121.78, Y:-66.06, Z:-14.39 [[ 7.21913321e-01 6.86845584e-01 8.41682907e-02 1.21777686e+02] [-6.82071666e-01 7.26802746e-01 -8.08455960e-02 -6.60590458e+01] [-1.16702185e-01 9.54706406e-04 9.93166496e-01 -1.43935733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62592 meters 0.030572466095413853 Centerline is valid? [True, True] Translation: X:121.80, Y:-66.08, Z:-14.40 [[ 7.20365386e-01 6.88443159e-01 8.43784796e-02 1.21801051e+02] [-6.83647433e-01 7.25289909e-01 -8.11217342e-02 -6.60817410e+01] [-1.17046563e-01 7.52158430e-04 9.93126143e-01 -1.43970361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65592 meters 0.030695881921843273 Centerline is valid? [True, True] Translation: X:121.83, Y:-66.10, Z:-14.40 [[ 7.20363636e-01 6.88289580e-01 8.56369454e-02 1.21825780e+02] [-6.83338850e-01 7.25435551e-01 -8.24092067e-02 -6.61026971e+01] [-1.18845483e-01 8.45543987e-04 9.92912401e-01 -1.44017428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68592 meters 0.030480668627169253 Centerline is valid? [True, True] Translation: X:121.85, Y:-66.12, Z:-14.40 [[ 7.20814908e-01 6.88002053e-01 8.41370568e-02 1.21850905e+02] [-6.83217596e-01 7.25708177e-01 -8.10022089e-02 -6.61235340e+01] [-1.16788636e-01 9.03682011e-04 9.93156381e-01 -1.44048312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.71592 meters 0.031008474173351955 Centerline is valid? [True, True] Translation: X:121.88, Y:-66.14, Z:-14.41 [[ 7.23803807e-01 6.84783285e-01 8.47342961e-02 1.21876043e+02] [-6.79904354e-01 7.28745308e-01 -8.16109454e-02 -6.61429206e+01] [-1.17635532e-01 1.45909613e-03 9.93055765e-01 -1.44086437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74592 meters 0.031059437257841507 Centerline is valid? [True, True] Translation: X:121.90, Y:-66.17, Z:-14.41 [[ 7.25185243e-01 6.83243463e-01 8.53506430e-02 1.21898843e+02] [-6.78274029e-01 7.30188486e-01 -8.22746415e-02 -6.61650326e+01] [-1.18535668e-01 1.77323139e-03 9.92948212e-01 -1.44112190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.77592 meters 0.031163549310657415 Centerline is valid? [True, True] Translation: X:121.92, Y:-66.19, Z:-14.41 [[ 7.26514894e-01 6.81937990e-01 8.44789085e-02 1.21922394e+02] [-6.77052436e-01 7.31407204e-01 -8.15076802e-02 -6.61878891e+01] [-1.17371666e-01 2.01989291e-03 9.93086004e-01 -1.44124017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80592000000001 meters 0.03167426256821454 Centerline is valid? [True, True] Translation: X:121.95, Y:-66.21, Z:-14.42 [[ 7.29530639e-01 6.78754843e-01 8.41243691e-02 1.21948463e+02] [-6.73879803e-01 7.34360402e-01 -8.12453791e-02 -6.62070879e+01] [-1.16923300e-01 2.58128011e-03 9.93137593e-01 -1.44169454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.83592000000002 meters 0.03160841686890052 Centerline is valid? [True, True] Translation: X:121.97, Y:-66.23, Z:-14.42 [[ 7.30132413e-01 6.78380614e-01 8.18926247e-02 1.21972845e+02] [-6.73751543e-01 7.34705979e-01 -7.91579610e-02 -6.62278533e+01] [-1.13866227e-01 2.62051077e-03 9.93492635e-01 -1.44200000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86592000000002 meters 0.031597550647204785 Centerline is valid? [True, True] Translation: X:122.00, Y:-66.25, Z:-14.42 [[ 7.30411535e-01 6.78082551e-01 8.18721120e-02 1.21996753e+02] [-6.73445980e-01 7.34980726e-01 -7.92076043e-02 -6.62508254e+01] [-1.13883719e-01 2.71770317e-03 9.93490369e-01 -1.44236948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89592000000002 meters 0.03163816369587501 Centerline is valid? [True, True] Translation: X:122.02, Y:-66.27, Z:-14.43 [[ 7.30174309e-01 6.78078697e-01 8.39926167e-02 1.22019266e+02] [-6.73188436e-01 7.34983783e-01 -8.13398320e-02 -6.62737607e+01] [-1.16888018e-01 2.84939733e-03 9.93141013e-01 -1.44266082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92592000000002 meters 0.03167538551565135 Centerline is valid? [True, True] Translation: X:122.04, Y:-66.30, Z:-14.43 [[ 7.30022834e-01 6.78151949e-01 8.47147939e-02 1.22042528e+02] [-6.73168973e-01 7.34915939e-01 -8.21102703e-02 -6.62960719e+01] [-1.17941492e-01 2.91500138e-03 9.93016267e-01 -1.44284723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95592000000002 meters 0.031890078468654916 Centerline is valid? [True, True] Translation: X:122.07, Y:-66.32, Z:-14.43 [[ 7.30061780e-01 6.77982626e-01 8.57283848e-02 1.22066392e+02] [-6.72869538e-01 7.35071679e-01 -8.31637599e-02 -6.63167361e+01] [-1.19400092e-01 3.03066391e-03 9.92841595e-01 -1.44317750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98592000000002 meters 0.03190470230365753 Centerline is valid? [True, True] Translation: X:122.09, Y:-66.34, Z:-14.44 [[ 7.30209328e-01 6.77817653e-01 8.57762650e-02 1.22090187e+02] [-6.72689365e-01 7.35223472e-01 -8.32794346e-02 -6.63388177e+01] [-1.19512994e-01 3.11063874e-03 9.92827764e-01 -1.44370192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01592000000002 meters 0.032081298112198994 Centerline is valid? [True, True] Translation: X:122.11, Y:-66.36, Z:-14.44 [[ 7.30914881e-01 6.77167410e-01 8.48983918e-02 1.22113974e+02] [-6.72129991e-01 7.35821840e-01 -8.25075397e-02 -6.63610280e+01] [-1.18341508e-01 3.24323320e-03 9.92967658e-01 -1.44399155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04592 meters 0.032081298112198994 Centerline is valid? [True, True] Translation: X:122.14, Y:-66.38, Z:-14.44 [[ 7.30587881e-01 6.77525235e-01 8.48581381e-02 1.22137477e+02] [-6.72485419e-01 7.35492377e-01 -8.25489233e-02 -6.63833782e+01] [-1.18341492e-01 3.24338245e-03 9.92967659e-01 -1.44430923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07592 meters 0.031937001051395804 Centerline is valid? [True, True] Translation: X:122.16, Y:-66.40, Z:-14.45 [[ 7.29959502e-01 6.78227161e-01 8.46583980e-02 1.22160711e+02] [-6.73206514e-01 7.34845429e-01 -8.24329072e-02 -6.64048315e+01] [-1.18119073e-01 3.18009887e-03 9.92994346e-01 -1.44463545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10592 meters 0.03198576244494589 Centerline is valid? [True, True] Translation: X:122.19, Y:-66.43, Z:-14.45 [[ 7.28462853e-01 6.79562693e-01 8.68125400e-02 1.22185736e+02] [-6.74282742e-01 7.33610911e-01 -8.46038718e-02 -6.64255888e+01] [-1.21180262e-01 3.09458039e-03 9.92625694e-01 -1.44493871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13592 meters 0.03179047879315931 Centerline is valid? [True, True] Translation: X:122.21, Y:-66.45, Z:-14.45 [[ 7.26982373e-01 6.81067070e-01 8.74315466e-02 1.22208107e+02] [-6.75713040e-01 7.32215219e-01 -8.52804836e-02 -6.64479994e+01] [-1.22100438e-01 2.91877221e-03 9.92513458e-01 -1.44533067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16592 meters 0.03167733960201962 Centerline is valid? [True, True] Translation: X:122.23, Y:-66.47, Z:-14.46 [[ 7.24202051e-01 6.83905814e-01 8.83415347e-02 1.22231318e+02] [-6.78450949e-01 7.29565951e-01 -8.62428721e-02 -6.64698754e+01] [-1.23432977e-01 2.52186686e-03 9.92349707e-01 -1.44582524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19592 meters 0.031449734092883035 Centerline is valid? [True, True] Translation: X:122.26, Y:-66.49, Z:-14.46 [[ 7.23576584e-01 6.84564422e-01 8.83656025e-02 1.22256424e+02] [-6.79101902e-01 7.28948193e-01 -8.63431443e-02 -6.64908503e+01] [-1.23521391e-01 2.46662875e-03 9.92338844e-01 -1.44617111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22592 meters 0.031387040409121186 Centerline is valid? [True, True] Translation: X:122.28, Y:-66.51, Z:-14.47 [[ 7.22137554e-01 6.86108491e-01 8.81617326e-02 1.22281002e+02] [-6.80672480e-01 7.27495732e-01 -8.62260683e-02 -6.65117042e+01] [-1.23297722e-01 2.25781693e-03 9.92367157e-01 -1.44661322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25592 meters 0.031168264917989536 Centerline is valid? [True, True] Translation: X:122.31, Y:-66.53, Z:-14.47 [[ 7.20641007e-01 6.87641329e-01 8.84643508e-02 1.22305729e+02] [-6.82169593e-01 7.26047630e-01 -8.65995740e-02 -6.65337163e+01] [-1.23778778e-01 2.05951411e-03 9.92307700e-01 -1.44697173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28592 meters 0.031114961121694457 Centerline is valid? [True, True] Translation: X:122.33, Y:-66.56, Z:-14.47 [[ 7.19837126e-01 6.88472173e-01 8.85470446e-02 1.22328945e+02] [-6.82985573e-01 7.25260049e-01 -8.67673267e-02 -6.65569068e+01] [-1.23956524e-01 1.98198906e-03 9.92285671e-01 -1.44720453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31592 meters 0.031115408964913768 Centerline is valid? [True, True] Translation: X:122.36, Y:-66.58, Z:-14.48 [[ 7.18219380e-01 6.90044816e-01 8.94375448e-02 1.22355126e+02] [-6.84447765e-01 7.23764421e-01 -8.77286710e-02 -6.65776115e+01] [-1.25268427e-01 1.79310399e-03 9.92121266e-01 -1.44754679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34592 meters 0.031022152626100325 Centerline is valid? [True, True] Translation: X:122.38, Y:-66.60, Z:-14.48 [[ 7.17720373e-01 6.90705589e-01 8.83360381e-02 1.22380772e+02] [-6.85240681e-01 7.23134040e-01 -8.67315952e-02 -6.65972685e+01] [-1.23784794e-01 1.71758599e-03 9.92307601e-01 -1.44791055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37592 meters 0.030650644770717796 Centerline is valid? [True, True] Translation: X:122.41, Y:-66.62, Z:-14.48 [[ 7.14868930e-01 6.93654043e-01 8.83542927e-02 1.22405962e+02] [-6.88199781e-01 7.20307207e-01 -8.68250487e-02 -6.66167415e+01] [-1.23868780e-01 1.26312484e-03 9.92297803e-01 -1.44837503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40592 meters 0.030388542148868044 Centerline is valid? [True, True] Translation: X:122.43, Y:-66.64, Z:-14.49 [[ 7.13029861e-01 6.95647989e-01 8.75345306e-02 1.22428894e+02] [-6.90300467e-01 7.18382174e-01 -8.60948113e-02 -6.66396630e+01] [-1.22774929e-01 9.63043893e-04 9.92434073e-01 -1.44863318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.43592 meters 0.03040081030469204 Centerline is valid? [True, True] Translation: X:122.45, Y:-66.66, Z:-14.49 [[ 7.11943085e-01 6.96808155e-01 8.71518174e-02 1.22452381e+02] [-6.91506753e-01 7.17257089e-01 -8.57944019e-02 -6.66609864e+01] [-1.22292498e-01 8.14660869e-04 9.92493769e-01 -1.44893808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46592 meters 0.03029930206580813 Centerline is valid? [True, True] Translation: X:122.48, Y:-66.68, Z:-14.49 [[ 7.10193920e-01 6.98614748e-01 8.69599335e-02 1.22478542e+02] [-6.93340787e-01 7.15497814e-01 -8.56821542e-02 -6.66806409e+01] [-1.22078459e-01 5.58076228e-04 9.92520296e-01 -1.44933533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.49592 meters 0.030466395208516014 Centerline is valid? [True, True] Translation: X:122.50, Y:-66.70, Z:-14.50 [[ 7.09321059e-01 6.99519702e-01 8.68091063e-02 1.22504478e+02] [-6.94261159e-01 7.14613165e-01 -8.56123054e-02 -6.67016746e+01] [-1.21922425e-01 4.58420411e-04 9.92539527e-01 -1.44980297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52592 meters 0.030333047313030728 Centerline is valid? [True, True] Translation: X:122.53, Y:-66.72, Z:-14.50 [[ 7.08072898e-01 7.00852352e-01 8.62482021e-02 1.22530077e+02] [-6.95661288e-01 7.13306314e-01 -8.51438482e-02 -6.67209804e+01] [-1.21194653e-01 2.88516053e-04 9.92628718e-01 -1.44995552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.55592000000001 meters 0.0302425556874191 Centerline is valid? [True, True] Translation: X:122.55, Y:-66.74, Z:-14.50 [[ 7.07942182e-01 7.01012407e-01 8.60201771e-02 1.22554924e+02] [-6.95842005e-01 7.13149010e-01 -8.49846719e-02 -6.67423676e+01] [-1.20920514e-01 3.07781580e-04 9.92662145e-01 -1.45010314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58592000000002 meters 0.030654839295371727 Centerline is valid? [True, True] Translation: X:122.58, Y:-66.76, Z:-14.51 [[ 7.07472560e-01 7.01245869e-01 8.79591308e-02 1.22581638e+02] [-6.95835779e-01 7.12919449e-01 -8.69392214e-02 -6.67612620e+01] [-1.23673545e-01 3.02003252e-04 9.92322913e-01 -1.45051368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61592000000002 meters 0.03069204532379146 Centerline is valid? [True, True] Translation: X:122.61, Y:-66.78, Z:-14.51 [[ 7.07787403e-01 7.00827158e-01 8.87597195e-02 1.22606156e+02] [-6.95304710e-01 7.13330994e-01 -8.78080508e-02 -6.67814370e+01] [-1.24853326e-01 4.34381151e-04 9.92175115e-01 -1.45081943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64592000000002 meters 0.030384386107419857 Centerline is valid? [True, True] Translation: X:122.63, Y:-66.80, Z:-14.51 [[ 7.08191465e-01 7.00693577e-01 8.65641996e-02 1.22632266e+02] [-6.95432334e-01 7.13462167e-01 -8.57065018e-02 -6.68007706e+01] [-1.21814277e-01 4.97069594e-04 9.92552787e-01 -1.45121239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67592000000002 meters 0.030558302948504767 Centerline is valid? [True, True] Translation: X:122.66, Y:-66.82, Z:-14.52 [[ 7.07891731e-01 7.00934792e-01 8.70615535e-02 1.22658134e+02] [-6.95604772e-01 7.13225177e-01 -8.62777404e-02 -6.68218874e+01] [-1.22569562e-01 5.14866951e-04 9.92459791e-01 -1.45167420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70592000000002 meters 0.03059329391172436 Centerline is valid? [True, True] Translation: X:122.68, Y:-66.84, Z:-14.52 [[ 7.07449274e-01 7.01369696e-01 8.71554572e-02 1.22683680e+02] [-6.96020565e-01 7.12797514e-01 -8.64585251e-02 -6.68429354e+01] [-1.22763583e-01 5.03030276e-04 9.92435816e-01 -1.45192796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73592000000002 meters 0.030808610001171688 Centerline is valid? [True, True] Translation: X:122.71, Y:-66.86, Z:-14.52 [[ 7.08078135e-01 7.00814437e-01 8.65128871e-02 1.22711728e+02] [-6.95529427e-01 7.13343320e-01 -8.59076468e-02 -6.68614516e+01] [-1.21918709e-01 6.57067487e-04 9.92539872e-01 -1.45223419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76592000000002 meters 0.031095437003308347 Centerline is valid? [True, True] Translation: X:122.74, Y:-66.88, Z:-14.53 [[ 7.08315339e-01 7.00378499e-01 8.80871134e-02 1.22736460e+02] [-6.94884402e-01 7.13771186e-01 -8.75577657e-02 -6.68820647e+01] [-1.24197620e-01 8.08147340e-04 9.92257173e-01 -1.45267074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79592 meters 0.031153253862800163 Centerline is valid? [True, True] Translation: X:122.76, Y:-66.90, Z:-14.53 [[ 7.08592868e-01 7.00025251e-01 8.86611285e-02 1.22763503e+02] [-6.94446507e-01 7.14117484e-01 -8.82058318e-02 -6.69004974e+01] [-1.25060772e-01 9.31612385e-04 9.92148646e-01 -1.45310240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82592 meters 0.03126402652526146 Centerline is valid? [True, True] Translation: X:122.79, Y:-66.92, Z:-14.53 [[ 7.09240114e-01 6.99467852e-01 8.78816489e-02 1.22788732e+02] [-6.93973446e-01 7.14663255e-01 -8.75059342e-02 -6.69203615e+01] [-1.24013373e-01 1.07518799e-03 9.92279964e-01 -1.45345946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85592 meters 0.031151977520826157 Centerline is valid? [True, True] Translation: X:122.82, Y:-66.94, Z:-14.54 [[ 7.09611434e-01 6.99327035e-01 8.59843640e-02 1.22816380e+02] [-6.94058189e-01 7.14800968e-01 -8.56901767e-02 -6.69380692e+01] [-1.21387164e-01 1.12857724e-03 9.92604595e-01 -1.45361524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88592 meters 0.03098029497854608 Centerline is valid? [True, True] Translation: X:122.84, Y:-66.96, Z:-14.54 [[ 7.09309374e-01 6.99710196e-01 8.53572138e-02 1.22840842e+02] [-6.94511966e-01 7.14425932e-01 -8.51393976e-02 -6.69585184e+01] [-1.20554312e-01 1.10856647e-03 9.92706114e-01 -1.45380386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91592 meters 0.031019497595430306 Centerline is valid? [True, True] Translation: X:122.87, Y:-66.98, Z:-14.54 [[ 7.08752512e-01 7.00164389e-01 8.62537210e-02 1.22865219e+02] [-6.94850042e-01 7.13980830e-01 -8.61091945e-02 -6.69796527e+01] [-1.21874095e-01 1.09670629e-03 9.92544962e-01 -1.45413244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94592 meters 0.031211741491536146 Centerline is valid? [True, True] Translation: X:122.89, Y:-67.00, Z:-14.54 [[ 7.07818590e-01 7.01089953e-01 8.64044079e-02 1.22892379e+02] [-6.95754273e-01 7.13072148e-01 -8.63371527e-02 -6.69992754e+01] [-1.22142687e-01 9.94805641e-04 9.92512053e-01 -1.45446905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97592 meters 0.03119833410818492 Centerline is valid? [True, True] Translation: X:122.78, Y:-67.42, Z:-12.56 [[ 7.47658877e-01 -6.62055235e-01 -5.18562431e-02 1.22783709e+02] [-6.59866309e-01 -7.49428798e-01 5.41565517e-02 -6.74184028e+01] [-7.47171904e-02 -6.27243892e-03 -9.97185037e-01 -1.25565086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00592 meters 0.031164993394110947 Centerline is valid? [True, True] Translation: X:122.91, Y:-67.03, Z:-14.55 [[ 7.57206432e-01 6.46956091e-01 8.99235028e-02 1.22909771e+02] [-6.42251325e-01 7.62526271e-01 -7.78904438e-02 -6.70255695e+01] [-1.18960730e-01 1.22565628e-03 9.92898203e-01 -1.45482089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03592 meters 0.031241484726585823 Centerline is valid? [True, True] Translation: X:122.94, Y:-67.04, Z:-14.55 [[ 7.57685334e-01 6.46574762e-01 8.86228592e-02 1.22935896e+02] [-6.41994200e-01 7.62849477e-01 -7.68382871e-02 -6.70447962e+01] [-1.17287599e-01 1.32388167e-03 9.93097108e-01 -1.45504769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06592 meters 0.031592445705159296 Centerline is valid? [True, True] Translation: X:122.96, Y:-67.06, Z:-14.55 [[ 7.58952637e-01 6.44851070e-01 9.03216018e-02 1.22964463e+02] [-6.40071976e-01 7.64306412e-01 -7.83809527e-02 -6.70615016e+01] [-1.19577421e-01 1.67510456e-03 9.92823466e-01 -1.45528572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09592 meters 0.03162718813469688 Centerline is valid? [True, True] Translation: X:122.99, Y:-67.08, Z:-14.56 [[ 7.59009058e-01 6.44969927e-01 8.89890121e-02 1.22990504e+02] [-6.40324209e-01 7.64206099e-01 -7.72913028e-02 -6.70801215e+01] [-1.17856512e-01 1.68298010e-03 9.93029209e-01 -1.45558660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12592 meters 0.031821913404550095 Centerline is valid? [True, True] Translation: X:123.02, Y:-67.10, Z:-14.56 [[ 7.60418494e-01 6.43437096e-01 8.80478162e-02 1.23018771e+02] [-6.38871242e-01 7.65496500e-01 -7.65417888e-02 -6.70978457e+01] [-1.16650121e-01 1.95257410e-03 9.93171152e-01 -1.45581483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15592 meters 0.03213071085237854 Centerline is valid? [True, True] Translation: X:123.04, Y:-67.12, Z:-14.56 [[ 7.61053662e-01 6.42601351e-01 8.86613064e-02 1.23044609e+02] [-6.37956914e-01 7.66197668e-01 -7.71499137e-02 -6.71166811e+01] [-1.17508725e-01 2.15313095e-03 9.93069516e-01 -1.45617608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18592 meters 0.032291563375881994 Centerline is valid? [True, True] Translation: X:123.07, Y:-67.13, Z:-14.56 [[ 7.61820667e-01 6.41735821e-01 8.83425598e-02 1.23070805e+02] [-6.37111216e-01 7.66922231e-01 -7.69388722e-02 -6.71349526e+01] [-1.17126303e-01 2.32958718e-03 9.93114295e-01 -1.45638781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.21592 meters 0.03291966816760459 Centerline is valid? [True, True] Translation: X:123.10, Y:-67.15, Z:-14.57 [[ 7.63923997e-01 6.39051382e-01 8.96295602e-02 1.23100526e+02] [-6.34264051e-01 7.69158825e-01 -7.81269196e-02 -6.71496519e+01] [-1.18866483e-01 2.83422079e-03 9.92906202e-01 -1.45671099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24592 meters 0.03324858733271888 Centerline is valid? [True, True] Translation: X:123.13, Y:-67.17, Z:-14.57 [[ 7.64587776e-01 6.38130117e-01 9.05289259e-02 1.23126749e+02] [-6.33231361e-01 7.69922459e-01 -7.89775307e-02 -6.71686299e+01] [-1.20098194e-01 3.05949959e-03 9.92757303e-01 -1.45718721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.27592 meters 0.03380211539551318 Centerline is valid? [True, True] Translation: X:123.15, Y:-67.19, Z:-14.58 [[ 7.67068499e-01 6.35278644e-01 8.95933180e-02 1.23152951e+02] [-6.30453776e-01 7.72274983e-01 -7.82265096e-02 -6.71877942e+01] [-1.18886309e-01 3.52064563e-03 9.92901632e-01 -1.45750178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30592000000001 meters 0.03396031313951525 Centerline is valid? [True, True] Translation: X:123.18, Y:-67.21, Z:-14.58 [[ 7.67967948e-01 6.34399795e-01 8.81029540e-02 1.23179046e+02] [-6.29721280e-01 7.72996513e-01 -7.69902631e-02 -6.72085060e+01] [-1.16945883e-01 3.64574939e-03 9.93131597e-01 -1.45763603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.33592000000002 meters 0.0343436019056296 Centerline is valid? [True, True] Translation: X:123.21, Y:-67.23, Z:-14.58 [[ 7.68458501e-01 6.33751343e-01 8.84916199e-02 1.23205471e+02] [-6.29018391e-01 7.73527412e-01 -7.74028783e-02 -6.72274127e+01] [-1.17504872e-01 3.81804347e-03 9.93064966e-01 -1.45796158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36592000000002 meters 0.034452907234848354 Centerline is valid? [True, True] Translation: X:123.23, Y:-67.25, Z:-14.58 [[ 7.69620953e-01 6.32416971e-01 8.79338634e-02 1.23231135e+02] [-6.27727495e-01 7.74617585e-01 -7.69791454e-02 -6.72467151e+01] [-1.16798035e-01 4.04625943e-03 9.93147445e-01 -1.45826018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39592000000002 meters 0.034835172564351695 Centerline is valid? [True, True] Translation: X:123.26, Y:-67.27, Z:-14.59 [[ 7.70102266e-01 6.31959203e-01 8.70061224e-02 1.23256585e+02] [-6.27358213e-01 7.74990697e-01 -7.62305162e-02 -6.72682665e+01] [-1.15603512e-01 4.12128780e-03 9.93286889e-01 -1.45860710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42592000000002 meters 0.035133597185063446 Centerline is valid? [True, True] Translation: X:123.28, Y:-67.29, Z:-14.59 [[ 7.70582307e-01 6.31305313e-01 8.75014877e-02 1.23281310e+02] [-6.26639023e-01 7.75522479e-01 -7.67360397e-02 -6.72890404e+01] [-1.16303240e-01 4.29958769e-03 9.93204445e-01 -1.45910563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45592000000002 meters 0.03528264862319306 Centerline is valid? [True, True] Translation: X:123.31, Y:-67.31, Z:-14.59 [[ 7.71138309e-01 6.30531424e-01 8.81806778e-02 1.23305712e+02] [-6.25779534e-01 7.76150670e-01 -7.73958236e-02 -6.73096114e+01] [-1.17241991e-01 4.50122109e-03 9.93093175e-01 -1.45939732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48592000000002 meters 0.03571353292168819 Centerline is valid? [True, True] Translation: X:123.33, Y:-67.33, Z:-14.60 [[ 7.71804403e-01 6.29853453e-01 8.71928407e-02 1.23330255e+02] [-6.25196251e-01 7.76700368e-01 -7.65910381e-02 -6.73302226e+01] [-1.15963841e-01 4.60066334e-03 9.93242781e-01 -1.45962242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51592000000002 meters 0.036314858048456675 Centerline is valid? [True, True] Translation: X:123.35, Y:-67.35, Z:-14.60 [[ 7.73177643e-01 6.28178778e-01 8.71077209e-02 1.23354406e+02] [-6.23512777e-01 7.78053627e-01 -7.65791788e-02 -6.73513646e+01] [-1.15879893e-01 4.89653200e-03 9.93251164e-01 -1.45973505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54592 meters 0.036541680980736096 Centerline is valid? [True, True] Translation: X:123.38, Y:-67.37, Z:-14.60 [[ 7.73191890e-01 6.27922302e-01 8.88137637e-02 1.23378852e+02] [-6.23061693e-01 7.78259431e-01 -7.81433575e-02 -6.73727528e+01] [-1.18188106e-01 5.08335628e-03 9.92978213e-01 -1.46005806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57592 meters 0.03672198926831574 Centerline is valid? [True, True] Translation: X:123.40, Y:-67.39, Z:-14.60 [[ 7.73497841e-01 6.27644734e-01 8.81088972e-02 1.23403015e+02] [-6.22851952e-01 7.78482964e-01 -7.75868586e-02 -6.73946040e+01] [-1.17288259e-01 5.13446909e-03 9.93084640e-01 -1.46046200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60592 meters 0.03680142973622446 Centerline is valid? [True, True] Translation: X:123.43, Y:-67.42, Z:-14.61 [[ 7.74186703e-01 6.27048635e-01 8.62841717e-02 1.23427579e+02] [-6.22441346e-01 7.78962955e-01 -7.60492332e-02 -6.74163943e+01] [-1.14898741e-01 5.16946914e-03 9.93363758e-01 -1.46069613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63592 meters 0.03699319758671892 Centerline is valid? [True, True] Translation: X:123.45, Y:-67.44, Z:-14.61 [[ 7.73851553e-01 6.27390738e-01 8.68022777e-02 1.23450582e+02] [-6.22721577e-01 7.78687204e-01 -7.65772505e-02 -6.74396413e+01] [-1.15635681e-01 5.20577300e-03 9.93278052e-01 -1.46106295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66592 meters 0.03663526797108528 Centerline is valid? [True, True] Translation: X:123.47, Y:-67.46, Z:-14.61 [[ 7.73178243e-01 6.28165827e-01 8.71957416e-02 1.23474072e+02] [-6.23450649e-01 7.78062320e-01 -7.69955444e-02 -6.74621545e+01] [-1.16209691e-01 5.16903810e-03 9.93211251e-01 -1.46143794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69592 meters 0.035230909442948356 Centerline is valid? [True, True] Translation: X:123.50, Y:-67.48, Z:-14.62 [[ 7.70242660e-01 6.31838639e-01 8.66382076e-02 1.23496381e+02] [-6.27199682e-01 7.75086101e-01 -7.65643216e-02 -6.74849792e+01] [-1.15528367e-01 4.63365050e-03 9.93293373e-01 -1.46151126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72592 meters 0.034399839402808885 Centerline is valid? [True, True] Translation: X:123.52, Y:-67.51, Z:-14.62 [[ 7.68406618e-01 6.34088405e-01 8.65052804e-02 1.23520117e+02] [-6.29475412e-01 7.73248574e-01 -7.64679573e-02 -6.75064679e+01] [-1.15377530e-01 4.30553736e-03 9.93312382e-01 -1.46178990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75592 meters 0.03413331815708045 Centerline is valid? [True, True] Translation: X:123.55, Y:-67.53, Z:-14.62 [[ 7.66656794e-01 6.36261296e-01 8.60751015e-02 1.23545172e+02] [-6.31701117e-01 7.71463241e-01 -7.61456952e-02 -6.75272654e+01] [-1.14852335e-01 4.00387683e-03 9.93374506e-01 -1.46210616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78592 meters 0.03253976082109725 Centerline is valid? [True, True] Translation: X:123.57, Y:-67.55, Z:-14.63 [[ 7.62811150e-01 6.40878595e-01 8.59870689e-02 1.23568443e+02] [-6.36353189e-01 7.67635024e-01 -7.60992048e-02 -6.75475684e+01] [-1.14777037e-01 3.33117642e-03 9.93385693e-01 -1.46251842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81592 meters 0.03155633320781456 Centerline is valid? [True, True] Translation: X:123.59, Y:-67.57, Z:-14.63 [[ 7.59016847e-01 6.45301938e-01 8.64802569e-02 1.23594333e+02] [-6.40750182e-01 7.63922862e-01 -7.65576015e-02 -6.75669946e+01] [-1.15467014e-01 2.69626896e-03 9.93307656e-01 -1.46283173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84592 meters 0.03158164116464133 Centerline is valid? [True, True] Translation: X:123.62, Y:-67.59, Z:-14.63 [[ 7.57692516e-01 6.46634492e-01 8.81242555e-02 1.23620377e+02] [-6.41908161e-01 7.62795583e-01 -7.80820820e-02 -6.75868897e+01] [-1.17711360e-01 2.59453050e-03 9.93044462e-01 -1.46330373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87592 meters 0.03131769200680594 Centerline is valid? [True, True] Translation: X:123.65, Y:-67.61, Z:-14.64 [[ 7.56763151e-01 6.47762124e-01 8.78280421e-02 1.23645516e+02] [-6.43066448e-01 7.61838659e-01 -7.78935274e-02 -6.76072652e+01] [-1.17367275e-01 2.46768416e-03 9.93085512e-01 -1.46353275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90592 meters 0.03152683531445223 Centerline is valid? [True, True] Translation: X:123.67, Y:-67.63, Z:-14.64 [[ 7.56592035e-01 6.47909863e-01 8.82116902e-02 1.23673501e+02] [-6.43165822e-01 7.61712885e-01 -7.83020178e-02 -6.76258530e+01] [-1.17924631e-01 2.50793872e-03 9.93019381e-01 -1.46382069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93592 meters 0.031291292859567534 Centerline is valid? [True, True] Translation: X:123.70, Y:-67.64, Z:-14.64 [[ 7.56801901e-01 6.47826838e-01 8.70130468e-02 1.23699844e+02] [-6.43202270e-01 7.61783386e-01 -7.73104987e-02 -6.76446959e+01] [-1.16368909e-01 2.54174312e-03 9.93202807e-01 -1.46407477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96592 meters 0.03174275483835984 Centerline is valid? [True, True] Translation: X:123.73, Y:-67.66, Z:-14.65 [[ 7.58169900e-01 6.46130532e-01 8.77139569e-02 1.23727001e+02] [-6.41412691e-01 7.63221527e-01 -7.79914102e-02 -6.76625642e+01] [-1.17337811e-01 2.86989458e-03 9.93087912e-01 -1.46469538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.99592 meters 0.03174275483835984 Centerline is valid? [True, True] Translation: X:123.75, Y:-67.68, Z:-14.65 [[ 7.57865060e-01 6.46489970e-01 8.76998814e-02 1.23751508e+02] [-6.41772696e-01 7.62917216e-01 -7.80072339e-02 -6.76839022e+01] [-1.17338644e-01 2.83556770e-03 9.93087913e-01 -1.46501303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02592 meters 0.031888060334675374 Centerline is valid? [True, True] Translation: X:123.78, Y:-67.70, Z:-14.65 [[ 7.58191902e-01 6.46009924e-01 8.84093716e-02 1.23775213e+02] [-6.41204297e-01 7.63323168e-01 -7.87069988e-02 -6.77047392e+01] [-1.18330424e-01 2.98654020e-03 9.92969784e-01 -1.46533752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.05592000000001 meters 0.032510098553391535 Centerline is valid? [True, True] Translation: X:123.80, Y:-67.72, Z:-14.66 [[ 7.57698612e-01 6.46057001e-01 9.22126044e-02 1.23801023e+02] [-6.40822148e-01 7.63282694e-01 -8.21371032e-02 -6.77231555e+01] [-1.23449536e-01 3.14328991e-03 9.92345873e-01 -1.46565908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08592000000002 meters 0.0323243717278326 Centerline is valid? [True, True] Translation: X:123.83, Y:-67.74, Z:-14.66 [[ 7.57461565e-01 6.46364339e-01 9.20060820e-02 1.23827870e+02] [-6.41147009e-01 7.63022476e-01 -8.20195938e-02 -6.77428505e+01] [-1.23217249e-01 3.13726565e-03 9.92374761e-01 -1.46592127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11592000000002 meters 0.03197063328434904 Centerline is valid? [True, True] Translation: X:123.85, Y:-67.76, Z:-14.66 [[ 7.57407540e-01 6.46783893e-01 8.94673959e-02 1.23852137e+02] [-6.41845822e-01 7.62667270e-01 -7.98284180e-02 -6.77635651e+01] [-1.19865590e-01 3.03837145e-03 9.92785480e-01 -1.46631555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14592000000002 meters 0.03190434573694904 Centerline is valid? [True, True] Translation: X:123.88, Y:-67.79, Z:-14.67 [[ 7.57338579e-01 6.47010681e-01 8.84050585e-02 1.23875328e+02] [-6.42184412e-01 7.62474996e-01 -7.89370713e-02 -6.77861353e+01] [-1.18479775e-01 3.00973893e-03 9.92951904e-01 -1.46663503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17592000000002 meters 0.032112019642071 Centerline is valid? [True, True] Translation: X:123.90, Y:-67.81, Z:-14.67 [[ 7.57218502e-01 6.47095031e-01 8.88153186e-02 1.23898708e+02] [-6.42221987e-01 7.62403351e-01 -7.93224449e-02 -6.78076218e+01] [-1.19042256e-01 3.02527255e-03 9.92884580e-01 -1.46701655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20592000000002 meters 0.03172101810549803 Centerline is valid? [True, True] Translation: X:123.92, Y:-67.83, Z:-14.67 [[ 7.56089791e-01 6.48502086e-01 8.81661611e-02 1.23922930e+02] [-6.43707554e-01 7.61207736e-01 -7.87614544e-02 -6.78293527e+01] [-1.18189731e-01 2.79750770e-03 9.92987090e-01 -1.46711340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23592000000002 meters 0.031822738829091236 Centerline is valid? [True, True] Translation: X:123.95, Y:-67.85, Z:-14.67 [[ 7.56217846e-01 6.48250697e-01 8.89134601e-02 1.23946660e+02] [-6.43370209e-01 7.61421541e-01 -7.94481653e-02 -6.78505355e+01] [-1.19202952e-01 2.87584900e-03 9.92865744e-01 -1.46738778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26592000000002 meters 0.03173128930351874 Centerline is valid? [True, True] Translation: X:123.97, Y:-67.87, Z:-14.68 [[ 7.55377946e-01 6.49100559e-01 8.98477731e-02 1.23970011e+02] [-6.44119959e-01 7.60697505e-01 -8.03043189e-02 -6.78732046e+01] [-1.20472555e-01 2.78736750e-03 9.92712745e-01 -1.46783888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29592 meters 0.031619604155761157 Centerline is valid? [True, True] Translation: X:123.99, Y:-67.90, Z:-14.68 [[ 7.54471508e-01 6.50175135e-01 8.96941351e-02 1.23993581e+02] [-6.45214765e-01 7.59779790e-01 -8.02033558e-02 -6.78951461e+01] [-1.20294019e-01 2.63916650e-03 9.92734800e-01 -1.46815384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32592 meters 0.03182407299767407 Centerline is valid? [True, True] Translation: X:124.01, Y:-67.92, Z:-14.69 [[ 7.52975285e-01 6.51664898e-01 9.14389493e-02 1.24014966e+02] [-6.46511116e-01 7.58502866e-01 -8.18338527e-02 -6.79185075e+01] [-1.22684954e-01 2.50257142e-03 9.92442512e-01 -1.46862159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35592 meters 0.03143284104667027 Centerline is valid? [True, True] Translation: X:124.04, Y:-67.94, Z:-14.69 [[ 7.52392324e-01 6.52398541e-01 9.10051348e-02 1.24038267e+02] [-6.47290639e-01 7.57872198e-01 -8.15141769e-02 -6.79408181e+01] [-1.22149992e-01 2.42386913e-03 9.92508692e-01 -1.46876633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38592 meters 0.03135719379988482 Centerline is valid? [True, True] Translation: X:124.06, Y:-67.96, Z:-14.69 [[ 7.51791928e-01 6.53098456e-01 9.09467089e-02 1.24062996e+02] [-6.47993581e-01 7.57269322e-01 -8.15321548e-02 -6.79628605e+01] [-1.22119677e-01 2.36233220e-03 9.92512571e-01 -1.46902255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41592 meters 0.031028349046532677 Centerline is valid? [True, True] Translation: X:124.09, Y:-67.98, Z:-14.69 [[ 7.50731016e-01 6.54310528e-01 9.09982183e-02 1.24088334e+02] [-6.49199250e-01 7.56222707e-01 -8.16550695e-02 -6.79836698e+01] [-1.22242691e-01 2.22501819e-03 9.92497745e-01 -1.46905896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44592 meters 0.03091344195784975 Centerline is valid? [True, True] Translation: X:124.11, Y:-68.01, Z:-14.69 [[ 7.49611637e-01 6.55622851e-01 9.07803487e-02 1.24112236e+02] [-6.50537208e-01 7.55085716e-01 -8.15285314e-02 -6.80054818e+01] [-1.21998913e-01 2.05874125e-03 9.92528099e-01 -1.46944720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47592 meters 0.03047113540605865 Centerline is valid? [True, True] Translation: X:124.14, Y:-68.03, Z:-14.70 [[ 7.47202324e-01 6.58572762e-01 8.92782374e-02 1.24135757e+02] [-6.53667395e-01 7.52515348e-01 -8.02470362e-02 -6.80274266e+01] [-1.20031756e-01 1.60249907e-03 9.92768759e-01 -1.46975847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50592 meters 0.03032257463853194 Centerline is valid? [True, True] Translation: X:124.16, Y:-68.05, Z:-14.70 [[ 7.46661093e-01 6.59203607e-01 8.91505330e-02 1.24161160e+02] [-6.54308317e-01 7.51962895e-01 -8.02024308e-02 -6.80485140e+01] [-1.19907625e-01 1.55209939e-03 9.92783840e-01 -1.47012704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53592 meters 0.030272489726101196 Centerline is valid? [True, True] Translation: X:124.19, Y:-68.07, Z:-14.70 [[ 7.44241578e-01 6.61774141e-01 9.03297311e-02 1.24186506e+02] [-6.56756892e-01 7.49702281e-01 -8.13441715e-02 -6.80692264e+01] [-1.21551875e-01 1.21504104e-03 9.92584337e-01 -1.47048063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56592 meters 0.03017104629647439 Centerline is valid? [True, True] Translation: X:124.21, Y:-68.09, Z:-14.71 [[ 7.43597783e-01 6.62536968e-01 9.00394568e-02 1.24211860e+02] [-6.57547821e-01 7.49028337e-01 -8.11628806e-02 -6.80903068e+01] [-1.21215513e-01 1.14728951e-03 9.92625550e-01 -1.47064797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59592 meters 0.03031036334021646 Centerline is valid? [True, True] Translation: X:124.24, Y:-68.11, Z:-14.71 [[ 7.42780846e-01 6.63409890e-01 9.03544795e-02 1.24237208e+02] [-6.58382177e-01 7.48255420e-01 -8.15275112e-02 -6.81110778e+01] [-1.21694386e-01 1.06929488e-03 9.92567042e-01 -1.47097333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62592 meters 0.030173305024823967 Centerline is valid? [True, True] Translation: X:124.27, Y:-68.13, Z:-14.71 [[ 7.41766434e-01 6.64555422e-01 9.02698619e-02 1.24265004e+02] [-6.59537233e-01 7.47238397e-01 -8.15194190e-02 -6.81280069e+01] [-1.21627279e-01 9.32033765e-04 9.92575406e-01 -1.47136106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65592 meters 0.03014763927307091 Centerline is valid? [True, True] Translation: X:124.29, Y:-68.15, Z:-14.72 [[ 7.41392271e-01 6.65103954e-01 8.92985463e-02 1.24290475e+02] [-6.60195145e-01 7.46750301e-01 -8.06620028e-02 -6.81475860e+01] [-1.20332333e-01 8.47718765e-04 9.92733303e-01 -1.47166477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68592 meters 0.02999990736110037 Centerline is valid? [True, True] Translation: X:124.32, Y:-68.17, Z:-14.72 [[ 7.41006710e-01 6.65574116e-01 8.89952352e-02 1.24316494e+02] [-6.60699708e-01 7.46331349e-01 -8.04077947e-02 -6.81663225e+01] [-1.19937281e-01 7.83589509e-04 9.92781162e-01 -1.47200030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.71592 meters 0.030075125007799776 Centerline is valid? [True, True] Translation: X:124.34, Y:-68.19, Z:-14.72 [[ 7.41411009e-01 6.65184079e-01 8.85429656e-02 1.24341934e+02] [-6.60354119e-01 7.46678918e-01 -8.00189434e-02 -6.81863186e+01] [-1.19340493e-01 8.57213603e-04 9.92853016e-01 -1.47218059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74592 meters 0.03037715229403082 Centerline is valid? [True, True] Translation: X:124.37, Y:-68.20, Z:-14.72 [[ 7.42557775e-01 6.63777825e-01 8.94815622e-02 1.24370519e+02] [-6.58831881e-01 7.47928984e-01 -8.08874909e-02 -6.82021082e+01] [-1.20617177e-01 1.11032927e-03 9.92698476e-01 -1.47246304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.77592 meters 0.03051844578251329 Centerline is valid? [True, True] Translation: X:124.40, Y:-68.22, Z:-14.73 [[ 7.44026961e-01 6.62114848e-01 8.95980390e-02 1.24396505e+02] [-6.57141476e-01 7.49401078e-01 -8.10129949e-02 -6.82211959e+01] [-1.20784774e-01 1.39726486e-03 9.92677735e-01 -1.47288585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80592000000001 meters 0.03050406373994333 Centerline is valid? [True, True] Translation: X:124.42, Y:-68.24, Z:-14.73 [[ 7.45503298e-01 6.60547679e-01 8.88909203e-02 1.24421339e+02] [-6.55639298e-01 7.50782279e-01 -8.03932830e-02 -6.82410586e+01] [-1.19841324e-01 1.65307705e-03 9.92791682e-01 -1.47317344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.83592000000002 meters 0.03112829892196502 Centerline is valid? [True, True] Translation: X:124.45, Y:-68.26, Z:-14.74 [[ 7.46779723e-01 6.58984672e-01 8.97733047e-02 1.24445346e+02] [-6.53964261e-01 7.52153870e-01 -8.12114596e-02 -6.82615666e+01] [-1.21040446e-01 1.93853842e-03 9.92645683e-01 -1.47369291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86592000000002 meters 0.031727677710208756 Centerline is valid? [True, True] Translation: X:124.47, Y:-68.28, Z:-14.74 [[ 7.50120060e-01 6.55197756e-01 8.96425999e-02 1.24470194e+02] [-6.50162525e-01 7.55453065e-01 -8.11132326e-02 -6.82818108e+01] [-1.20865985e-01 2.56240378e-03 9.92665527e-01 -1.47398430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89592000000002 meters 0.032032713505531885 Centerline is valid? [True, True] Translation: X:124.49, Y:-68.30, Z:-14.74 [[ 7.51018744e-01 6.54093615e-01 9.01797625e-02 1.24493985e+02] [-6.48987263e-01 7.56408527e-01 -8.16190767e-02 -6.83030212e+01] [-1.21599258e-01 2.77193915e-03 9.92575406e-01 -1.47428840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92592000000002 meters 0.032857662683338985 Centerline is valid? [True, True] Translation: X:124.52, Y:-68.32, Z:-14.75 [[ 7.52928486e-01 6.51747609e-01 9.12345818e-02 1.24517613e+02] [-6.46500962e-01 7.58429159e-01 -8.25936833e-02 -6.83246248e+01] [-1.23025203e-01 3.20389204e-03 9.92398375e-01 -1.47472593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95592000000002 meters 0.03326729885824342 Centerline is valid? [True, True] Translation: X:124.54, Y:-68.35, Z:-14.75 [[ 7.53212575e-01 6.51318156e-01 9.19536592e-02 1.24540019e+02] [-6.45982575e-01 7.58797517e-01 -8.32636882e-02 -6.83466729e+01] [-1.24005360e-01 3.31479551e-03 9.92276011e-01 -1.47515548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98592000000002 meters 0.033197355691498766 Centerline is valid? [True, True] Translation: X:124.56, Y:-68.37, Z:-14.75 [[ 7.53081337e-01 6.51454728e-01 9.20610476e-02 1.24563613e+02] [-6.46105380e-01 7.58680289e-01 -8.33789989e-02 -6.83703253e+01] [-1.24162545e-01 3.31002986e-03 9.92256371e-01 -1.47537098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01592 meters 0.03310922820830697 Centerline is valid? [True, True] Translation: X:124.59, Y:-68.39, Z:-14.76 [[ 7.53371883e-01 6.51279245e-01 9.09183762e-02 1.24586877e+02] [-6.46057788e-01 7.58830903e-01 -8.23710832e-02 -6.83922657e+01] [-1.22638250e-01 3.31753307e-03 9.92445895e-01 -1.47568206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04592 meters 0.03342357566042814 Centerline is valid? [True, True] Translation: X:124.61, Y:-68.41, Z:-14.76 [[ 7.54110513e-01 6.50327232e-01 9.16069098e-02 1.24609905e+02] [-6.45016614e-01 7.59646063e-01 -8.30146142e-02 -6.84142756e+01] [-1.23575493e-01 3.51421451e-03 9.92328951e-01 -1.47610154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07592 meters 0.03419258666280514 Centerline is valid? [True, True] Translation: X:124.63, Y:-68.44, Z:-14.76 [[ 7.55403202e-01 6.48762433e-01 9.20505758e-02 1.24631825e+02] [-6.43386111e-01 7.60981498e-01 -8.34354351e-02 -6.84369867e+01] [-1.24178561e-01 3.80333284e-03 9.92252599e-01 -1.47649945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10592 meters 0.03447008094924485 Centerline is valid? [True, True] Translation: X:124.66, Y:-68.46, Z:-14.77 [[ 7.55634689e-01 6.48336711e-01 9.31435798e-02 1.24655498e+02] [-6.42826138e-01 7.61343579e-01 -8.44423498e-02 -6.84580364e+01] [-1.25661342e-01 3.93244107e-03 9.92065403e-01 -1.47680234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13592 meters 0.03402244383082034 Centerline is valid? [True, True] Translation: X:124.68, Y:-68.48, Z:-14.77 [[ 7.55196163e-01 6.48956927e-01 9.23778300e-02 1.24678476e+02] [-6.43538995e-01 7.60815594e-01 -8.37686900e-02 -6.84802225e+01] [-1.24644765e-01 3.81305735e-03 9.92194106e-01 -1.47705781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16592 meters 0.03443643621580596 Centerline is valid? [True, True] Translation: X:124.70, Y:-68.50, Z:-14.77 [[ 7.55542894e-01 6.48328057e-01 9.39450126e-02 1.24701679e+02] [-6.42716005e-01 7.61350581e-01 -8.52140184e-02 -6.85016675e+01] [-1.26771729e-01 4.00288291e-03 9.91923841e-01 -1.47749554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19592 meters 0.03517278190200493 Centerline is valid? [True, True] Translation: X:124.73, Y:-68.52, Z:-14.78 [[ 7.56715025e-01 6.46978755e-01 9.38129020e-02 1.24726113e+02] [-6.41368319e-01 7.62496201e-01 -8.51247421e-02 -6.85217014e+01] [-1.26605881e-01 4.24654803e-03 9.91944009e-01 -1.47786532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22592 meters 0.035546028016399354 Centerline is valid? [True, True] Translation: X:124.75, Y:-68.54, Z:-14.78 [[ 7.57861678e-01 6.45864728e-01 9.22194677e-02 1.24751282e+02] [-6.40429162e-01 7.63439203e-01 -8.37321447e-02 -6.85422530e+01] [-1.24483596e-01 4.39734736e-03 9.92211922e-01 -1.47815153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25592 meters 0.03603690637870716 Centerline is valid? [True, True] Translation: X:124.78, Y:-68.56, Z:-14.79 [[ 7.59183353e-01 6.44223927e-01 9.28233236e-02 1.24775180e+02] [-6.38701946e-01 7.64822412e-01 -8.43000700e-02 -6.85638278e+01] [-1.25301480e-01 4.71277240e-03 9.92107519e-01 -1.47858922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28592 meters 0.03624608903245264 Centerline is valid? [True, True] Translation: X:124.80, Y:-68.59, Z:-14.79 [[ 7.60128168e-01 6.43083060e-01 9.30018559e-02 1.24798083e+02] [-6.37528748e-01 7.65780592e-01 -8.44818283e-02 -6.85866583e+01] [-1.25547849e-01 4.92566067e-03 9.92075338e-01 -1.47888573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31592 meters 0.03692092643002511 Centerline is valid? [True, True] Translation: X:124.82, Y:-68.61, Z:-14.79 [[ 7.60941550e-01 6.42000131e-01 9.38285099e-02 1.24821873e+02] [-6.36335481e-01 7.66687123e-01 -8.52526244e-02 -6.86085800e+01] [-1.26669306e-01 5.16585411e-03 9.91931550e-01 -1.47924291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34592 meters 0.03747921015159224 Centerline is valid? [True, True] Translation: X:124.85, Y:-68.63, Z:-14.79 [[ 7.62883207e-01 6.39824426e-01 9.29188761e-02 1.24847080e+02] [-6.34249809e-01 7.68501465e-01 -8.44551836e-02 -6.86280708e+01] [-1.25444782e-01 5.49566186e-03 9.92085382e-01 -1.47941946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37592 meters 0.037763949342334846 Centerline is valid? [True, True] Translation: X:124.87, Y:-68.65, Z:-14.80 [[ 7.63886174e-01 6.38800508e-01 9.17159964e-02 1.24869376e+02] [-6.33356081e-01 7.69351816e-01 -8.34137761e-02 -6.86505029e+01] [-1.23846631e-01 5.62974627e-03 9.92285401e-01 -1.47978676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40592 meters 0.03763574475909145 Centerline is valid? [True, True] Translation: X:124.89, Y:-68.67, Z:-14.80 [[ 7.64918311e-01 6.37868761e-01 8.95735489e-02 1.24890868e+02] [-6.32668156e-01 7.70124296e-01 -8.14835733e-02 -6.86741402e+01] [-1.20958592e-01 5.65794521e-03 9.92641429e-01 -1.47994872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43592 meters 0.038222782155724354 Centerline is valid? [True, True] Translation: X:124.91, Y:-68.70, Z:-14.80 [[ 7.65505199e-01 6.36973217e-01 9.09225577e-02 1.24912588e+02] [-6.31605492e-01 7.70863332e-01 -8.27298392e-02 -6.86974032e+01] [-1.22785558e-01 5.90293528e-03 9.92415670e-01 -1.48033885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46592 meters 0.0383820231832919 Centerline is valid? [True, True] Translation: X:124.94, Y:-68.72, Z:-14.80 [[ 7.66566446e-01 6.35787290e-01 9.02795990e-02 1.24935129e+02] [-6.30485055e-01 7.71840496e-01 -8.21635264e-02 -6.87198993e+01] [-1.21919976e-01 6.06386451e-03 9.92521410e-01 -1.48049684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.49592 meters 0.03933938857506211 Centerline is valid? [True, True] Translation: X:124.96, Y:-68.74, Z:-14.81 [[ 7.67346022e-01 6.34650449e-01 9.16454592e-02 1.24955876e+02] [-6.29175418e-01 7.72773198e-01 -8.34258798e-02 -6.87444596e+01] [-1.23767427e-01 6.35544690e-03 9.92290901e-01 -1.48089234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52592 meters 0.039269015780088554 Centerline is valid? [True, True] Translation: X:124.98, Y:-68.77, Z:-14.81 [[ 7.68187373e-01 6.33939056e-01 8.94954305e-02 1.24975017e+02] [-6.28710629e-01 7.73357029e-01 -8.14975550e-02 -6.87720509e+01] [-1.20876403e-01 6.33866437e-03 9.92647327e-01 -1.48116593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.55592000000001 meters 0.03951193621653197 Centerline is valid? [True, True] Translation: X:125.00, Y:-68.80, Z:-14.82 [[ 7.67916617e-01 6.34107170e-01 9.06210020e-02 1.24996773e+02] [-6.28738013e-01 7.73218274e-01 -8.25954679e-02 -6.87957118e+01] [-1.22444193e-01 6.44956355e-03 9.92454444e-01 -1.48159167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58592000000002 meters 0.03932633533296062 Centerline is valid? [True, True] Translation: X:125.02, Y:-68.82, Z:-14.82 [[ 7.67398489e-01 6.34745677e-01 9.05399644e-02 1.25019470e+02] [-6.29382543e-01 7.72694675e-01 -8.25866491e-02 -6.88189383e+01] [-1.22381267e-01 6.39259666e-03 9.92462574e-01 -1.48177392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61592000000002 meters 0.03941427657797496 Centerline is valid? [True, True] Translation: X:125.04, Y:-68.84, Z:-14.82 [[ 7.66684008e-01 6.35495838e-01 9.13272765e-02 1.25042232e+02] [-6.30035436e-01 7.72077924e-01 -8.33728348e-02 -6.88428840e+01] [-1.23494864e-01 6.38119870e-03 9.92324694e-01 -1.48198311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64592000000002 meters 0.038939406589696655 Centerline is valid? [True, True] Translation: X:125.06, Y:-68.87, Z:-14.82 [[ 7.65617923e-01 6.36798653e-01 9.11957853e-02 1.25064211e+02] [-6.31355196e-01 7.71005113e-01 -8.33170536e-02 -6.88669082e+01] [-1.23368604e-01 6.21209666e-03 9.92341472e-01 -1.48234270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67592000000002 meters 0.03833299129640453 Centerline is valid? [True, True] Translation: X:125.08, Y:-68.89, Z:-14.83 [[ 7.64106424e-01 6.38712736e-01 9.04843258e-02 1.25084887e+02] [-6.33363585e-01 7.69422803e-01 -8.26989647e-02 -6.88919840e+01] [-1.22441586e-01 5.88133318e-03 9.92458295e-01 -1.48275363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70592000000002 meters 0.03818258739636731 Centerline is valid? [True, True] Translation: X:125.11, Y:-68.91, Z:-14.83 [[ 7.63245670e-01 6.39830252e-01 8.98515245e-02 1.25108502e+02] [-6.34555697e-01 7.68495038e-01 -8.21854237e-02 -6.89142689e+01] [-1.21635171e-01 5.71187200e-03 9.92558441e-01 -1.48301177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73592000000002 meters 0.03770464240561512 Centerline is valid? [True, True] Translation: X:125.13, Y:-68.94, Z:-14.83 [[ 7.62084329e-01 6.41356477e-01 8.88219831e-02 1.25131670e+02] [-6.36205776e-01 7.67223675e-01 -8.13021787e-02 -6.89370803e+01] [-1.20290007e-01 5.45005768e-03 9.92723834e-01 -1.48326208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76592 meters 0.03678640519064023 Centerline is valid? [True, True] Translation: X:125.15, Y:-68.96, Z:-14.83 [[ 7.60658422e-01 6.43245401e-01 8.73734442e-02 1.25152742e+02] [-6.38270558e-01 7.65643154e-01 -8.00078492e-02 -6.89612172e+01] [-1.18361560e-01 5.09074732e-03 9.92957514e-01 -1.48347667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79592 meters 0.03654061294260804 Centerline is valid? [True, True] Translation: X:125.18, Y:-68.98, Z:-14.84 [[ 7.60011841e-01 6.44178094e-01 8.61195984e-02 1.25175074e+02] [-6.39348445e-01 7.64859881e-01 -7.88855407e-02 -6.89841287e+01] [-1.16685763e-01 4.89351369e-03 9.93156829e-01 -1.48377645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82592 meters 0.036727737429846724 Centerline is valid? [True, True] Translation: X:125.20, Y:-69.01, Z:-14.84 [[ 7.60871071e-01 6.43366040e-01 8.45893084e-02 1.25199562e+02] [-6.38695023e-01 7.65542543e-01 -7.75453608e-02 -6.90054279e+01] [-1.14646766e-01 4.97525149e-03 9.93393862e-01 -1.48397493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85592 meters 0.036727737429846724 Centerline is valid? [True, True] Translation: X:125.22, Y:-69.03, Z:-14.84 [[ 7.60575818e-01 6.43719239e-01 8.45574702e-02 1.25223754e+02] [-6.39046545e-01 7.65245612e-01 -7.75800647e-02 -6.90271347e+01] [-1.14647013e-01 4.96936202e-03 9.93393863e-01 -1.48429208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88592 meters 0.037116456349267496 Centerline is valid? [True, True] Translation: X:125.25, Y:-69.05, Z:-14.85 [[ 7.60076281e-01 6.44102690e-01 8.61148705e-02 1.25247760e+02] [-6.39249507e-01 7.64922301e-01 -7.90818584e-02 -6.90480417e+01] [-1.16808023e-01 5.05935628e-03 9.93141626e-01 -1.48471849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91592 meters 0.03686875640605551 Centerline is valid? [True, True] Translation: X:125.27, Y:-69.07, Z:-14.85 [[ 7.60425645e-01 6.43561320e-01 8.70727571e-02 1.25269150e+02] [-6.38588493e-01 7.65376573e-01 -8.00214830e-02 -6.90715796e+01] [-1.18142180e-01 5.24672710e-03 9.92982828e-01 -1.48493880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94592 meters 0.03744913864949369 Centerline is valid? [True, True] Translation: X:125.29, Y:-69.09, Z:-14.85 [[ 7.60855563e-01 6.42888162e-01 8.82815011e-02 1.25292257e+02] [-6.37766328e-01 7.65940612e-01 -8.11732094e-02 -6.90934444e+01] [-1.19803682e-01 5.45811913e-03 9.92782598e-01 -1.48528963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97592 meters 0.0382315452330376 Centerline is valid? [True, True] Translation: X:125.32, Y:-69.12, Z:-14.86 [[ 7.62734800e-01 6.40854935e-01 8.68364957e-02 1.25315362e+02] [-6.35879369e-01 7.67640609e-01 -7.99082141e-02 -6.91153472e+01] [-1.17868794e-01 5.73123961e-03 9.93012639e-01 -1.48565312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00592 meters 0.03821107896832523 Centerline is valid? [True, True] Translation: X:125.34, Y:-69.14, Z:-14.86 [[ 7.63249843e-01 6.40377618e-01 8.58264746e-02 1.25337641e+02] [-6.35507186e-01 7.68038436e-01 -7.90416169e-02 -6.91383298e+01] [-1.16534514e-01 5.78516027e-03 9.93169794e-01 -1.48605210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03592 meters 0.03861566954909772 Centerline is valid? [True, True] Translation: X:125.36, Y:-69.16, Z:-14.86 [[ 7.64181136e-01 6.39482726e-01 8.41964037e-02 1.25360303e+02] [-6.34783812e-01 7.68783171e-01 -7.76012159e-02 -6.91609118e+01] [-1.14353415e-01 5.85487118e-03 9.93422879e-01 -1.48627302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06592 meters 0.03905887762885675 Centerline is valid? [True, True] Translation: X:125.38, Y:-69.18, Z:-14.86 [[ 7.64457952e-01 6.39126438e-01 8.43886005e-02 1.25382421e+02] [-6.34396627e-01 7.69078510e-01 -7.78406380e-02 -6.91842859e+01] [-1.14651469e-01 5.97005112e-03 9.93387839e-01 -1.48637015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09592 meters 0.03885130746986118 Centerline is valid? [True, True] Translation: X:125.41, Y:-69.21, Z:-14.87 [[ 7.63879834e-01 6.39769965e-01 8.47466298e-02 1.25406159e+02] [-6.34996303e-01 7.68543435e-01 -7.82348013e-02 -6.92071877e+01] [-1.15183742e-01 5.94819043e-03 9.93326394e-01 -1.48658429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12592 meters 0.038687885737604816 Centerline is valid? [True, True] Translation: X:125.43, Y:-69.23, Z:-14.87 [[ 7.62407478e-01 6.41257430e-01 8.67395307e-02 1.25427824e+02] [-6.36256650e-01 7.67303009e-01 -8.01471676e-02 -6.92305438e+01] [-1.17950470e-01 5.91619664e-03 9.93001856e-01 -1.48714704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15592 meters 0.03808713587704697 Centerline is valid? [True, True] Translation: X:125.45, Y:-69.25, Z:-14.87 [[ 7.61629136e-01 6.42395144e-01 8.51442233e-02 1.25450025e+02] [-6.37577153e-01 7.66352536e-01 -7.87347784e-02 -6.92536883e+01] [-1.15829331e-01 5.68068977e-03 9.93252886e-01 -1.48737701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18592 meters 0.0374005338672259 Centerline is valid? [True, True] Translation: X:125.47, Y:-69.28, Z:-14.88 [[ 7.59670594e-01 6.44653770e-01 8.55693085e-02 1.25471943e+02] [-6.39794135e-01 7.64455507e-01 -7.91911723e-02 -6.92773415e+01] [-1.16464817e-01 5.41246309e-03 9.93180070e-01 -1.48769310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.21592 meters 0.036979769996516254 Centerline is valid? [True, True] Translation: X:125.50, Y:-69.30, Z:-14.88 [[ 7.58184098e-01 6.46210998e-01 8.69955159e-02 1.25495323e+02] [-6.41189701e-01 7.63140311e-01 -8.05768764e-02 -6.92995466e+01] [-1.18459449e-01 5.31147745e-03 9.92944685e-01 -1.48790811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24592 meters 0.03654817291983766 Centerline is valid? [True, True] Translation: X:125.52, Y:-69.32, Z:-14.88 [[ 7.56719024e-01 6.48045459e-01 8.61011120e-02 1.25517768e+02] [-6.43131479e-01 7.61585103e-01 -7.98124762e-02 -6.93226879e+01] [-1.17295437e-01 5.02128357e-03 9.93084371e-01 -1.48811011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.27592 meters 0.03610417259120756 Centerline is valid? [True, True] Translation: X:125.54, Y:-69.35, Z:-14.88 [[ 7.55999388e-01 6.48987767e-01 8.53217632e-02 1.25540644e+02] [-6.44161166e-01 7.60783196e-01 -7.91537770e-02 -6.93451752e+01] [-1.16281197e-01 4.87924054e-03 9.93204348e-01 -1.48842949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30592000000001 meters 0.035873354652124774 Centerline is valid? [True, True] Translation: X:125.56, Y:-69.37, Z:-14.89 [[ 7.55322034e-01 6.49809552e-01 8.50656859e-02 1.25563691e+02] [-6.45009697e-01 7.60081988e-01 -7.89801418e-02 -6.93668312e+01] [-1.15978946e-01 4.78724905e-03 9.93240135e-01 -1.48879049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.33592000000002 meters 0.03499030411537067 Centerline is valid? [True, True] Translation: X:125.59, Y:-69.39, Z:-14.89 [[ 7.52978789e-01 6.52439708e-01 8.57051393e-02 1.25587924e+02] [-6.47576800e-01 7.57827492e-01 -7.96352916e-02 -6.93886043e+01] [-1.16906937e-01 4.46302554e-03 9.93132846e-01 -1.48900881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36592000000002 meters 0.03478254945238672 Centerline is valid? [True, True] Translation: X:125.61, Y:-69.41, Z:-14.89 [[ 7.51772809e-01 6.53856285e-01 8.54962133e-02 1.25611933e+02] [-6.49020885e-01 7.56606734e-01 -7.94867356e-02 -6.94097492e+01] [-1.16659912e-01 4.26713849e-03 9.93162754e-01 -1.48933289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39592000000002 meters 0.033885368164667654 Centerline is valid? [True, True] Translation: X:125.63, Y:-69.43, Z:-14.90 [[ 7.49462799e-01 6.56345292e-01 8.66970016e-02 1.25634499e+02] [-6.51381030e-01 7.54450105e-01 -8.06708892e-02 -6.94320475e+01] [-1.18356520e-01 3.98704823e-03 9.92963160e-01 -1.48973771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42592000000002 meters 0.034213889854536335 Centerline is valid? [True, True] Translation: X:125.66, Y:-69.45, Z:-14.90 [[ 7.49051694e-01 6.56725376e-01 8.73689913e-02 1.25659283e+02] [-6.51677775e-01 7.54119152e-01 -8.13657313e-02 -6.94535491e+01] [-1.19321570e-01 4.01070900e-03 9.92847560e-01 -1.49008563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45592000000002 meters 0.034132204845560836 Centerline is valid? [True, True] Translation: X:125.68, Y:-69.47, Z:-14.90 [[ 7.48967905e-01 6.57009057e-01 8.59428628e-02 1.25684507e+02] [-6.52118617e-01 7.53872303e-01 -8.01115563e-02 -6.94741045e+01] [-1.17423962e-01 3.95604375e-03 9.93073997e-01 -1.49026921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48592000000002 meters 0.034024675461035075 Centerline is valid? [True, True] Translation: X:125.71, Y:-69.49, Z:-14.91 [[ 7.48632826e-01 6.57475230e-01 8.52948627e-02 1.25708796e+02] [-6.52653866e-01 7.53466051e-01 -7.95728707e-02 -6.94942801e+01] [-1.16583975e-01 3.90284113e-03 9.93173170e-01 -1.49071441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51592 meters 0.03366397632645341 Centerline is valid? [True, True] Translation: X:125.73, Y:-69.52, Z:-14.91 [[ 7.48399613e-01 6.57683951e-01 8.57312070e-02 1.25731956e+02] [-6.52807372e-01 7.53283703e-01 -8.00387266e-02 -6.95168504e+01] [-1.17220107e-01 3.93498799e-03 9.93098164e-01 -1.49103773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54592 meters 0.03389575261318678 Centerline is valid? [True, True] Translation: X:125.76, Y:-69.54, Z:-14.91 [[ 7.47129075e-01 6.58921213e-01 8.72982281e-02 1.25756280e+02] [-6.53868286e-01 7.52202178e-01 -8.15361793e-02 -6.95396742e+01] [-1.19391835e-01 3.83650744e-03 9.92839801e-01 -1.49142415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57592 meters 0.033852113867435425 Centerline is valid? [True, True] Translation: X:125.78, Y:-69.56, Z:-14.92 [[ 7.46656344e-01 6.59487950e-01 8.70628941e-02 1.25780451e+02] [-6.54457054e-01 7.51705564e-01 -8.13923120e-02 -6.95606084e+01] [-1.19122911e-01 3.79316084e-03 9.92872270e-01 -1.49173946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60592 meters 0.033550796314167776 Centerline is valid? [True, True] Translation: X:125.81, Y:-69.58, Z:-14.92 [[ 7.46063196e-01 6.60162856e-01 8.70328112e-02 1.25805767e+02] [-6.55131742e-01 7.51113202e-01 -8.14331458e-02 -6.95823870e+01] [-1.19130632e-01 3.73631582e-03 9.92871559e-01 -1.49197643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63592 meters 0.0335528413927044 Centerline is valid? [True, True] Translation: X:125.83, Y:-69.60, Z:-14.92 [[ 7.45878188e-01 6.60242496e-01 8.80089511e-02 1.25830816e+02] [-6.55088675e-01 7.51042757e-01 -8.24233275e-02 -6.96019078e+01] [-1.20517869e-01 3.82409501e-03 9.92703792e-01 -1.49237292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66592 meters 0.03373693006559079 Centerline is valid? [True, True] Translation: X:125.86, Y:-69.62, Z:-14.93 [[ 7.46045647e-01 6.60036968e-01 8.81311183e-02 1.25855022e+02] [-6.54859022e-01 7.51222921e-01 -8.26061990e-02 -6.96237025e+01] [-1.20729261e-01 3.91453714e-03 9.92677753e-01 -1.49269832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69592 meters 0.03403534153830086 Centerline is valid? [True, True] Translation: X:125.88, Y:-69.65, Z:-14.93 [[ 7.47525718e-01 6.58560569e-01 8.66214658e-02 1.25878324e+02] [-6.53541411e-01 7.52516387e-01 -8.12570750e-02 -6.96454947e+01] [-1.18696778e-01 4.13103837e-03 9.92921955e-01 -1.49289967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72592 meters 0.034265298170437525 Centerline is valid? [True, True] Translation: X:125.90, Y:-69.67, Z:-14.93 [[ 7.47948917e-01 6.58154649e-01 8.60515906e-02 1.25902437e+02] [-6.53190849e-01 7.52870945e-01 -8.07901913e-02 -6.96678669e+01] [-1.17958182e-01 4.21882458e-03 9.93009602e-01 -1.49321887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75592 meters 0.03489732398763809 Centerline is valid? [True, True] Translation: X:125.93, Y:-69.69, Z:-14.94 [[ 7.49226946e-01 6.56665434e-01 8.63104314e-02 1.25925475e+02] [-6.51652848e-01 7.54168444e-01 -8.11081003e-02 -6.96899887e+01] [-1.18353490e-01 4.52393593e-03 9.92961221e-01 -1.49354172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78592 meters 0.03522867729234623 Centerline is valid? [True, True] Translation: X:125.95, Y:-69.71, Z:-14.94 [[ 7.49641901e-01 6.56053979e-01 8.73509942e-02 1.25948760e+02] [-6.50907037e-01 7.54699158e-01 -8.21535819e-02 -6.97124536e+01] [-1.19820906e-01 4.72839052e-03 9.92784263e-01 -1.49386517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81592 meters 0.035282185761122166 Centerline is valid? [True, True] Translation: X:125.97, Y:-69.73, Z:-14.94 [[ 7.49739242e-01 6.55922164e-01 8.75053333e-02 1.25971125e+02] [-6.50747945e-01 7.54813215e-01 -8.23657902e-02 -6.97349737e+01] [-1.20075729e-01 4.80894936e-03 9.92753088e-01 -1.49424356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84592 meters 0.03562146818145885 Centerline is valid? [True, True] Translation: X:125.99, Y:-69.76, Z:-14.95 [[ 7.49779520e-01 6.55961113e-01 8.68659330e-02 1.25993368e+02] [-6.50854606e-01 7.54779304e-01 -8.18320545e-02 -6.97595961e+01] [-1.19243254e-01 4.81890591e-03 9.92853375e-01 -1.49466844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87592 meters 0.035565306017927796 Centerline is valid? [True, True] Translation: X:126.02, Y:-69.78, Z:-14.95 [[ 7.49415039e-01 6.56381568e-01 8.68351155e-02 1.26015903e+02] [-6.51273489e-01 7.54413804e-01 -8.18697459e-02 -6.97831968e+01] [-1.19247402e-01 4.80101013e-03 9.92852964e-01 -1.49494783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90592 meters 0.03489952742779591 Centerline is valid? [True, True] Translation: X:126.04, Y:-69.81, Z:-14.95 [[ 7.47842519e-01 6.58179228e-01 8.67852009e-02 1.26037783e+02] [-6.53085270e-01 7.52847614e-01 -8.18541468e-02 -6.98072039e+01] [-1.19210731e-01 4.53587493e-03 9.92858614e-01 -1.49507279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93592 meters 0.034784993234396 Centerline is valid? [True, True] Translation: X:126.06, Y:-69.83, Z:-14.95 [[ 7.47220037e-01 6.58965243e-01 8.61801877e-02 1.26061130e+02] [-6.53939707e-01 7.52160351e-01 -8.13490428e-02 -6.98291345e+01] [-1.18427512e-01 4.42898816e-03 9.92952823e-01 -1.49536313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96592 meters 0.03425311149745416 Centerline is valid? [True, True] Translation: X:126.08, Y:-69.85, Z:-14.96 [[ 7.46434526e-01 6.59872386e-01 8.60461121e-02 1.26083261e+02] [-6.54861551e-01 7.51365257e-01 -8.12809931e-02 -6.98520504e+01] [-1.18287142e-01 4.32264913e-03 9.92970023e-01 -1.49564773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.99592 meters 0.033977430489122495 Centerline is valid? [True, True] Translation: X:126.11, Y:-69.88, Z:-14.96 [[ 7.45030739e-01 6.61348860e-01 8.68728010e-02 1.26105104e+02] [-6.56246979e-01 7.50066957e-01 -8.20942291e-02 -6.98753965e+01] [-1.19453342e-01 4.15271104e-03 9.92831131e-01 -1.49606636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02592 meters 0.03401188905273962 Centerline is valid? [True, True] Translation: X:126.13, Y:-69.90, Z:-14.96 [[ 7.44367594e-01 6.62199540e-01 8.60735410e-02 1.26128318e+02] [-6.57189136e-01 7.49316712e-01 -8.14058069e-02 -6.98976984e+01] [-1.18403231e-01 4.02924857e-03 9.92957421e-01 -1.49645280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.05592000000001 meters 0.033851921339023316 Centerline is valid? [True, True] Translation: X:126.15, Y:-69.92, Z:-14.97 [[ 7.44048536e-01 6.62645627e-01 8.53964184e-02 1.26152363e+02] [-6.57709108e-01 7.48922531e-01 -8.08317442e-02 -6.99195773e+01] [-1.17518104e-01 3.97673875e-03 9.93062778e-01 -1.49671263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08592000000002 meters 0.03375660740097619 Centerline is valid? [True, True] Translation: X:126.18, Y:-69.94, Z:-14.97 [[ 7.43326849e-01 6.63266409e-01 8.68496688e-02 1.26176825e+02] [-6.58155744e-01 7.48372696e-01 -8.22759076e-02 -6.99405909e+01] [-1.19566767e-01 3.99728281e-03 9.92818115e-01 -1.49700007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11592000000002 meters 0.03381709506976986 Centerline is valid? [True, True] Translation: X:126.20, Y:-69.96, Z:-14.97 [[ 7.42569757e-01 6.64190160e-01 8.62646359e-02 1.26203040e+02] [-6.59146548e-01 7.47553632e-01 -8.17887282e-02 -6.99600000e+01] [-1.18810710e-01 3.87279911e-03 9.92909370e-01 -1.49714948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14592000000002 meters 0.03360746195292329 Centerline is valid? [True, True] Translation: X:126.23, Y:-69.98, Z:-14.97 [[ 7.42262489e-01 6.64643875e-01 8.54102813e-02 1.26227259e+02] [-6.59695147e-01 7.47150579e-01 -8.10452085e-02 -6.99808384e+01] [-1.17680543e-01 3.81207009e-03 9.93044187e-01 -1.49732635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17592000000002 meters 0.033383856744603375 Centerline is valid? [True, True] Translation: X:126.25, Y:-70.00, Z:-14.98 [[ 7.41219219e-01 6.65759409e-01 8.57815763e-02 1.26251338e+02] [-6.60766781e-01 7.46157293e-01 -8.14650556e-02 -7.00021945e+01] [-1.18242676e-01 3.70184883e-03 9.92977828e-01 -1.49785932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20592000000002 meters 0.0334918385051933 Centerline is valid? [True, True] Translation: X:126.28, Y:-70.02, Z:-14.98 [[ 7.40933751e-01 6.66094940e-01 8.56429115e-02 1.26275959e+02] [-6.61112516e-01 7.45857818e-01 -8.14024403e-02 -7.00236590e+01] [-1.18099189e-01 3.69421474e-03 9.92994932e-01 -1.49820714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23592000000002 meters 0.033820980700109506 Centerline is valid? [True, True] Translation: X:126.30, Y:-70.04, Z:-14.99 [[ 7.40887710e-01 6.65989115e-01 8.68556262e-02 1.26300746e+02] [-6.60853946e-01 7.45951664e-01 -8.26327809e-02 -7.00443358e+01] [-1.19822632e-01 3.82272849e-03 9.92787955e-01 -1.49856687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26592 meters 0.034312713690899437 Centerline is valid? [True, True] Translation: X:126.33, Y:-70.06, Z:-14.99 [[ 7.42692220e-01 6.63952457e-01 8.70367868e-02 1.26327240e+02] [-6.58773517e-01 7.47762926e-01 -8.28737596e-02 -7.00634276e+01] [-1.20107119e-01 4.21216629e-03 9.92752002e-01 -1.49872635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29592 meters 0.03459499950857045 Centerline is valid? [True, True] Translation: X:126.35, Y:-70.09, Z:-14.99 [[ 7.42873398e-01 6.63562089e-01 8.84560319e-02 1.26350782e+02] [-6.58200814e-01 7.48108284e-01 -8.42952157e-02 -7.00854213e+01] [-1.22109800e-01 4.39884105e-03 9.92506850e-01 -1.49916858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32592 meters 0.034735539969227625 Centerline is valid? [True, True] Translation: X:126.37, Y:-70.11, Z:-14.99 [[ 7.44912801e-01 6.61799880e-01 8.44146727e-02 1.26373754e+02] [-6.56900305e-01 7.49666923e-01 -8.05077257e-02 -7.01085649e+01] [-1.16562891e-01 4.51921120e-03 9.93173031e-01 -1.49922609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35592 meters 0.03520688039296843 Centerline is valid? [True, True] Translation: X:126.40, Y:-70.13, Z:-15.00 [[ 7.44877988e-01 6.61589676e-01 8.63474596e-02 1.26397018e+02] [-6.56452616e-01 7.49851264e-01 -8.24199286e-02 -7.01303072e+01] [-1.19275926e-01 4.70977478e-03 9.92849974e-01 -1.49971757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38592 meters 0.035696831117659956 Centerline is valid? [True, True] Translation: X:126.42, Y:-70.15, Z:-15.00 [[ 7.46422183e-01 6.60075546e-01 8.45824954e-02 1.26421429e+02] [-6.55129743e-01 7.51183250e-01 -8.08006473e-02 -7.01513730e+01] [-1.16871485e-01 4.89888704e-03 9.93134964e-01 -1.49992613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41592 meters 0.03629320488925006 Centerline is valid? [True, True] Translation: X:126.44, Y:-70.18, Z:-15.00 [[ 7.48296768e-01 6.58161689e-01 8.29164516e-02 1.26443797e+02] [-6.53390457e-01 7.52859046e-01 -7.92727420e-02 -7.01751442e+01] [-1.14598682e-01 5.14271845e-03 9.93398558e-01 -1.50014289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44592 meters 0.036195138870279274 Centerline is valid? [True, True] Translation: X:126.46, Y:-70.20, Z:-15.01 [[ 7.48609139e-01 6.57673798e-01 8.39614890e-02 1.26464209e+02] [-6.52770429e-01 7.53283963e-01 -8.03370262e-02 -7.01993719e+01] [-1.16082400e-01 5.33345487e-03 9.93225267e-01 -1.50052854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47592 meters 0.03765768714765671 Centerline is valid? [True, True] Translation: X:126.48, Y:-70.22, Z:-15.01 [[ 7.51284901e-01 6.54726375e-01 8.30925493e-02 1.26484454e+02] [-6.49900241e-01 7.55843958e-01 -7.95587096e-02 -7.02247045e+01] [-1.14894187e-01 5.76938949e-03 9.93360982e-01 -1.50080900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50592 meters 0.038225364213975814 Centerline is valid? [True, True] Translation: X:126.51, Y:-70.25, Z:-15.01 [[ 7.52854559e-01 6.52884230e-01 8.33798286e-02 1.26505737e+02] [-6.48011157e-01 7.57433258e-01 -7.98523594e-02 -7.02492503e+01] [-1.15289001e-01 6.08615355e-03 9.93313347e-01 -1.50115735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53592 meters 0.039252414417742576 Centerline is valid? [True, True] Translation: X:126.53, Y:-70.27, Z:-15.02 [[ 7.54330049e-01 6.51160361e-01 8.35246159e-02 1.26526651e+02] [-6.46257657e-01 7.58913397e-01 -8.00093563e-02 -7.02735300e+01] [-1.15486871e-01 6.37503911e-03 9.93288549e-01 -1.50155170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56592 meters 0.04060205704707948 Centerline is valid? [True, True] Translation: X:126.54, Y:-70.30, Z:-15.02 [[ 7.57945018e-01 6.47140550e-01 8.20271811e-02 1.26544580e+02] [-6.42387464e-01 7.62339724e-01 -7.85906552e-02 -7.02992784e+01] [-1.13391778e-01 6.87416272e-03 9.93526573e-01 -1.50152923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59592 meters 0.04103394430331043 Centerline is valid? [True, True] Translation: X:126.57, Y:-70.32, Z:-15.02 [[ 7.58812683e-01 6.46215885e-01 8.12917083e-02 1.26565955e+02] [-6.41541408e-01 7.63122941e-01 -7.78973673e-02 -7.03228569e+01] [-1.12374084e-01 6.95751333e-03 9.93641615e-01 -1.50173632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62592 meters 0.0411740708446618 Centerline is valid? [True, True] Translation: X:126.58, Y:-70.35, Z:-15.02 [[ 7.58659092e-01 6.46465608e-01 8.07378488e-02 1.26584936e+02] [-6.41849781e-01 7.62911774e-01 -7.74240586e-02 -7.03505241e+01] [-1.11647847e-01 6.91689543e-03 9.93723762e-01 -1.50209413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65592 meters 0.04096899127443971 Centerline is valid? [True, True] Translation: X:126.60, Y:-70.38, Z:-15.03 [[ 7.58028877e-01 6.47203340e-01 8.07468844e-02 1.26604717e+02] [-6.42582970e-01 7.62286534e-01 -7.75007471e-02 -7.03761722e+01] [-1.11711005e-01 6.86123142e-03 9.93717050e-01 -1.50250638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68592 meters 0.04081442211833037 Centerline is valid? [True, True] Translation: X:126.62, Y:-70.40, Z:-15.03 [[ 7.56672764e-01 6.48643072e-01 8.19053896e-02 1.26621109e+02] [-6.43889945e-01 7.61062429e-01 -7.86747604e-02 -7.04049638e+01] [-1.13366953e-01 6.79299161e-03 9.93529964e-01 -1.50289105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.71592 meters 0.04012310603782066 Centerline is valid? [True, True] Translation: X:126.64, Y:-70.43, Z:-15.03 [[ 7.55889242e-01 6.49540217e-01 8.20302389e-02 1.26641194e+02] [-6.44770715e-01 7.60297574e-01 -7.88563429e-02 -7.04304437e+01] [-1.13587758e-01 6.71596543e-03 9.93505268e-01 -1.50311050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74592 meters 0.03920020979054196 Centerline is valid? [True, True] Translation: X:126.66, Y:-70.46, Z:-15.03 [[ 7.54779525e-01 6.50957684e-01 8.10059442e-02 1.26660552e+02] [-6.46308841e-01 7.59086510e-01 -7.79265890e-02 -7.04562313e+01] [-1.12217431e-01 6.46253591e-03 9.93662661e-01 -1.50338711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.77592 meters 0.038340929134084545 Centerline is valid? [True, True] Translation: X:126.68, Y:-70.48, Z:-15.04 [[ 7.52695817e-01 6.53391492e-01 8.07995396e-02 1.26677019e+02] [-6.48777817e-01 7.56995600e-01 -7.77496338e-02 -7.04849436e+01] [-1.11965845e-01 6.10087519e-03 9.93693327e-01 -1.50365371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80592000000001 meters 0.038340929134084545 Centerline is valid? [True, True] Translation: X:126.70, Y:-70.51, Z:-15.04 [[ 7.52396550e-01 6.53737702e-01 8.07864438e-02 1.26700640e+02] [-6.49124554e-01 7.56696896e-01 -7.77632382e-02 -7.05072356e+01] [-1.11967612e-01 6.06832785e-03 9.93693328e-01 -1.50397132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.83592000000002 meters 0.038010694448958986 Centerline is valid? [True, True] Translation: X:126.72, Y:-70.53, Z:-15.04 [[ 7.51440780e-01 6.54701048e-01 8.18736333e-02 1.26721306e+02] [-6.49960537e-01 7.55863652e-01 -7.88761038e-02 -7.05325522e+01] [-1.13525571e-01 6.05609035e-03 9.93516617e-01 -1.50433737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86592000000002 meters 0.037840527276063525 Centerline is valid? [True, True] Translation: X:126.74, Y:-70.56, Z:-15.05 [[ 7.50217997e-01 6.56088708e-01 8.19790503e-02 1.26740213e+02] [-6.51340844e-01 7.54660906e-01 -7.90064688e-02 -7.05589871e+01] [-1.13701636e-01 5.87577087e-03 9.93497566e-01 -1.50462723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89592000000002 meters 0.03794499442901718 Centerline is valid? [True, True] Translation: X:126.76, Y:-70.58, Z:-15.05 [[ 7.49273655e-01 6.57133715e-01 8.22451857e-02 1.26761090e+02] [-6.52353704e-01 7.53751826e-01 -7.93273562e-02 -7.05831159e+01] [-1.14121139e-01 5.78494659e-03 9.93449999e-01 -1.50490320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92592000000002 meters 0.03745941549818688 Centerline is valid? [True, True] Translation: X:126.78, Y:-70.61, Z:-15.05 [[ 7.48886713e-01 6.57604530e-01 8.20059311e-02 1.26782065e+02] [-6.52848568e-01 7.53341445e-01 -7.91543745e-02 -7.06083920e+01] [-1.13830742e-01 5.74020462e-03 9.93483574e-01 -1.50513756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95592000000002 meters 0.03771040004104937 Centerline is valid? [True, True] Translation: X:126.80, Y:-70.63, Z:-15.05 [[ 7.48269456e-01 6.58153075e-01 8.32307112e-02 1.26802608e+02] [-6.53253156e-01 7.52862059e-01 -8.03681178e-02 -7.06338950e+01] [-1.15555768e-01 5.76628305e-03 9.93284257e-01 -1.50548826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98592000000002 meters 0.0376533796464536 Centerline is valid? [True, True] Translation: X:126.82, Y:-70.66, Z:-15.06 [[ 7.48662554e-01 6.57733218e-01 8.30144209e-02 1.26820916e+02] [-6.52847827e-01 7.53228084e-01 -8.02319590e-02 -7.06614771e+01] [-1.15300018e-01 5.87087905e-03 9.93313364e-01 -1.50581965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01592 meters 0.03791237235558234 Centerline is valid? [True, True] Translation: X:126.84, Y:-70.69, Z:-15.06 [[ 7.48849918e-01 6.57429305e-01 8.37287920e-02 1.26841225e+02] [-6.52449587e-01 7.53492190e-01 -8.09879953e-02 -7.06866151e+01] [-1.16332872e-01 6.01903779e-03 9.93192043e-01 -1.50616802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04592 meters 0.037955612747070204 Centerline is valid? [True, True] Translation: X:126.86, Y:-70.71, Z:-15.06 [[ 7.48623210e-01 6.57619965e-01 8.42571766e-02 1.26862338e+02] [-6.52570347e-01 7.53325322e-01 -8.15653211e-02 -7.07113260e+01] [-1.17112048e-01 6.07795746e-03 9.93100109e-01 -1.50647555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07592 meters 0.037745269281282454 Centerline is valid? [True, True] Translation: X:126.88, Y:-70.74, Z:-15.07 [[ 7.47635367e-01 6.58515028e-01 8.60192812e-02 1.26882361e+02] [-6.53248546e-01 7.52542716e-01 -8.33414531e-02 -7.07386772e+01] [-1.19614783e-01 6.11704749e-03 9.92801534e-01 -1.50673829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10592 meters 0.03784158981042625 Centerline is valid? [True, True] Translation: X:126.90, Y:-70.76, Z:-15.07 [[ 7.47000908e-01 6.59244808e-01 8.59414088e-02 1.26903872e+02] [-6.53983626e-01 7.51904023e-01 -8.33412080e-02 -7.07631747e+01] [-1.19561950e-01 6.05168398e-03 9.92808298e-01 -1.50706220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13592 meters 0.03708036226625084 Centerline is valid? [True, True] Translation: X:126.92, Y:-70.79, Z:-15.07 [[ 7.45170470e-01 6.61411067e-01 8.51843334e-02 1.26921210e+02] [-6.56248986e-01 7.50001930e-01 -8.26702656e-02 -7.07901492e+01] [-1.18567443e-01 5.70130831e-03 9.92929633e-01 -1.50745315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16592 meters 0.036575029344358786 Centerline is valid? [True, True] Translation: X:126.94, Y:-70.81, Z:-15.08 [[ 7.43213730e-01 6.63586561e-01 8.53594037e-02 1.26942427e+02] [-6.58411076e-01 7.48079981e-01 -8.28926885e-02 -7.08142736e+01] [-1.18862135e-01 5.40540743e-03 9.92896054e-01 -1.50781893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19592 meters 0.0359738399196803 Centerline is valid? [True, True] Translation: X:126.96, Y:-70.84, Z:-15.08 [[ 7.41464636e-01 6.65477938e-01 8.58446720e-02 1.26964175e+02] [-6.60248484e-01 7.46399563e-01 -8.34244103e-02 -7.08384349e+01] [-1.19591530e-01 5.17743548e-03 9.92809680e-01 -1.50813835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22592 meters 0.03489731638540033 Centerline is valid? [True, True] Translation: X:126.98, Y:-70.86, Z:-15.09 [[ 7.37471682e-01 6.69852227e-01 8.62178142e-02 1.26983454e+02] [-6.64603694e-01 7.42480758e-01 -8.38108188e-02 -7.08630297e+01] [-1.20155932e-01 4.50742777e-03 9.92744799e-01 -1.50850073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25592 meters 0.03417251022913577 Centerline is valid? [True, True] Translation: X:127.01, Y:-70.89, Z:-15.09 [[ 7.34344230e-01 6.73121552e-01 8.74410040e-02 1.27005579e+02] [-6.67742732e-01 7.39520790e-01 -8.50214385e-02 -7.08866737e+01] [-1.21894203e-01 4.04690788e-03 9.92534849e-01 -1.50884860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28592 meters 0.033706370385227544 Centerline is valid? [True, True] Translation: X:127.03, Y:-70.91, Z:-15.09 [[ 7.32718892e-01 6.75032574e-01 8.63368339e-02 1.27028998e+02] [-6.69798297e-01 7.37778614e-01 -8.39818962e-02 -7.09083345e+01] [-1.20387985e-01 3.70685772e-03 9.92719997e-01 -1.50911345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31592 meters 0.03374698153327365 Centerline is valid? [True, True] Translation: X:127.05, Y:-70.93, Z:-15.09 [[ 7.31087286e-01 6.76565538e-01 8.81501726e-02 1.27052799e+02] [-6.71109693e-01 7.36373694e-01 -8.58228588e-02 -7.09307270e+01] [-1.22976257e-01 3.58556566e-03 9.92403136e-01 -1.50944946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34592 meters 0.03292067175742172 Centerline is valid? [True, True] Translation: X:127.07, Y:-70.95, Z:-15.10 [[ 7.27053310e-01 6.80850143e-01 8.85243932e-02 1.27074640e+02] [-6.75368781e-01 7.32416863e-01 -8.62702071e-02 -7.09540482e+01] [-1.23573841e-01 2.93642804e-03 9.92331035e-01 -1.50965902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37592 meters 0.03299454613902584 Centerline is valid? [True, True] Translation: X:127.10, Y:-70.98, Z:-15.10 [[ 7.25474256e-01 6.82489232e-01 8.88569157e-02 1.27098575e+02] [-6.76969246e-01 7.30890575e-01 -8.66695280e-02 -7.09750989e+01] [-1.24095702e-01 2.72311212e-03 9.92266517e-01 -1.51005994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40592 meters 0.032812553423417566 Centerline is valid? [True, True] Translation: X:127.12, Y:-70.99, Z:-15.11 [[ 7.22430418e-01 6.85611933e-01 8.96134449e-02 1.27124085e+02] [-6.80011292e-01 7.27963705e-01 -8.74842086e-02 -7.09942076e+01] [-1.25215553e-01 2.26309888e-03 9.92126980e-01 -1.51054099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43592 meters 0.032618491380117944 Centerline is valid? [True, True] Translation: X:127.15, Y:-71.02, Z:-15.11 [[ 7.21043071e-01 6.86956944e-01 9.04823035e-02 1.27148087e+02] [-6.81246975e-01 7.26695060e-01 -8.84129383e-02 -7.10161445e+01] [-1.26488925e-01 2.10874095e-03 9.91965778e-01 -1.51097548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46592 meters 0.032588485885472016 Centerline is valid? [True, True] Translation: X:127.17, Y:-71.04, Z:-15.11 [[ 7.19586112e-01 6.88384536e-01 9.12280548e-02 1.27172086e+02] [-6.82579449e-01 7.25343345e-01 -8.92318756e-02 -7.10387067e+01] [-1.27597506e-01 1.93962312e-03 9.91824135e-01 -1.51125393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.49592 meters 0.03231687925979241 Centerline is valid? [True, True] Translation: X:127.20, Y:-71.06, Z:-15.11 [[ 7.17166971e-01 6.90946019e-01 9.09127828e-02 1.27197307e+02] [-6.85190461e-01 7.22904709e-01 -8.90101874e-02 -7.10594018e+01] [-1.27222513e-01 1.54259494e-03 9.91873002e-01 -1.51140348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52592 meters 0.032374800955376024 Centerline is valid? [True, True] Translation: X:127.22, Y:-71.08, Z:-15.12 [[ 7.15513865e-01 6.92606536e-01 9.13022165e-02 1.27222272e+02] [-6.86804204e-01 7.21314399e-01 -8.94735887e-02 -7.10809362e+01] [-1.27827596e-01 1.31284720e-03 9.91795534e-01 -1.51178361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.55592000000001 meters 0.03199693494376463 Centerline is valid? [True, True] Translation: X:127.25, Y:-71.10, Z:-15.12 [[ 7.13375993e-01 6.94938370e-01 9.03070008e-02 1.27247683e+02] [-6.89269875e-01 7.19068677e-01 -8.85848540e-02 -7.11012983e+01] [-1.26497950e-01 9.48413066e-04 9.91966415e-01 -1.51213787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58592000000002 meters 0.03215307721020145 Centerline is valid? [True, True] Translation: X:127.27, Y:-71.12, Z:-15.13 [[ 7.12123514e-01 6.96249314e-01 9.00943532e-02 1.27271396e+02] [-6.90608004e-01 7.17799622e-01 -8.84549992e-02 -7.11227700e+01] [-1.26256425e-01 7.71003446e-04 9.91997339e-01 -1.51257809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61592000000002 meters 0.03215926456639788 Centerline is valid? [True, True] Translation: X:127.30, Y:-71.14, Z:-15.13 [[ 7.10723897e-01 6.97559558e-01 9.10066181e-02 1.27295076e+02] [-6.91803292e-01 7.16526552e-01 -8.94310074e-02 -7.11443376e+01] [-1.27592112e-01 6.02076158e-04 9.91826543e-01 -1.51289853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64592000000002 meters 0.03219642807416691 Centerline is valid? [True, True] Translation: X:127.32, Y:-71.16, Z:-15.13 [[ 7.09634752e-01 6.98706210e-01 9.07091547e-02 1.27321979e+02] [-6.92986384e-01 7.15408573e-01 -8.92213264e-02 -7.11647527e+01] [-1.27233602e-01 4.54344695e-04 9.91872675e-01 -1.51308052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67592000000002 meters 0.03198476633509557 Centerline is valid? [True, True] Translation: X:127.35, Y:-71.19, Z:-15.13 [[ 7.08851579e-01 6.99540478e-01 9.04022106e-02 1.27346180e+02] [-6.93856318e-01 7.14592885e-01 -8.89967349e-02 -7.11854682e+01] [-1.26857595e-01 3.59331081e-04 9.91920875e-01 -1.51319801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70592000000002 meters 0.03187482592169009 Centerline is valid? [True, True] Translation: X:127.37, Y:-71.21, Z:-15.14 [[ 7.08573421e-01 7.00074463e-01 8.84276718e-02 1.27372103e+02] [-6.94636110e-01 7.14069790e-01 -8.70919600e-02 -7.12050194e+01] [-1.24114386e-01 2.85994059e-04 9.92267876e-01 -1.51361731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73592000000002 meters 0.031975518897157204 Centerline is valid? [True, True] Translation: X:127.40, Y:-71.23, Z:-15.14 [[ 7.08578156e-01 6.99980940e-01 8.91273251e-02 1.27396547e+02] [-6.94444883e-01 7.14161432e-01 -8.78621307e-02 -7.12256502e+01] [-1.25153115e-01 3.63171690e-04 9.92137373e-01 -1.51397283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76592 meters 0.03202481585868615 Centerline is valid? [True, True] Translation: X:127.42, Y:-71.25, Z:-15.14 [[ 7.10104693e-01 6.98531640e-01 8.83451936e-02 1.27422505e+02] [-6.93071468e-01 7.15578855e-01 -8.71713467e-02 -7.12460388e+01] [-1.24109896e-01 6.71249391e-04 9.92268252e-01 -1.51419297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79592 meters 0.032106331296002794 Centerline is valid? [True, True] Translation: X:127.45, Y:-71.27, Z:-15.15 [[ 7.11097654e-01 6.97479741e-01 8.86686978e-02 1.27446586e+02] [-6.91960143e-01 7.16603909e-01 -8.75785258e-02 -7.12678084e+01] [-1.24624583e-01 9.21679404e-04 9.92203540e-01 -1.51450077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82592 meters 0.03225806540989884 Centerline is valid? [True, True] Translation: X:127.47, Y:-71.29, Z:-15.15 [[ 7.14513896e-01 6.94235617e-01 8.66417975e-02 1.27469779e+02] [-6.88933354e-01 7.19746228e-01 -8.56516265e-02 -7.12900497e+01] [-1.21822517e-01 1.50885316e-03 9.92550753e-01 -1.51484767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85592 meters 0.032557647433333205 Centerline is valid? [True, True] Translation: X:127.49, Y:-71.31, Z:-15.15 [[ 7.14917986e-01 6.93604401e-01 8.83470833e-02 1.27493179e+02] [-6.88075856e-01 7.20354096e-01 -8.74162035e-02 -7.13121947e+01] [-1.24273447e-01 1.70592124e-03 9.92246542e-01 -1.51525629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88592 meters 0.03261661638608612 Centerline is valid? [True, True] Translation: X:127.52, Y:-71.33, Z:-15.16 [[ 7.15759684e-01 6.92676523e-01 8.88105245e-02 1.27516023e+02] [-6.87072633e-01 7.21245793e-01 -8.79528464e-02 -7.13342415e+01] [-1.24977089e-01 1.93382064e-03 9.92157743e-01 -1.51551342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91592 meters 0.032478981799574216 Centerline is valid? [True, True] Translation: X:127.54, Y:-71.36, Z:-15.16 [[ 7.15893847e-01 6.92636592e-01 8.80372135e-02 1.27538096e+02] [-6.87120478e-01 7.21284019e-01 -8.72628936e-02 -7.13579257e+01] [-1.23941308e-01 1.97879641e-03 9.92287578e-01 -1.51594535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94592 meters 0.03252495583836334 Centerline is valid? [True, True] Translation: X:127.56, Y:-71.38, Z:-15.16 [[ 7.15263170e-01 6.93391350e-01 8.72183061e-02 1.27559999e+02] [-6.87974078e-01 7.20558729e-01 -8.65262219e-02 -7.13811953e+01] [-1.22842446e-01 1.88508606e-03 9.92424395e-01 -1.51630650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97592 meters 0.032509104155367244 Centerline is valid? [True, True] Translation: X:127.58, Y:-71.40, Z:-15.17 [[ 7.13712636e-01 6.94791959e-01 8.87603858e-02 1.27582681e+02] [-6.89181552e-01 7.19208689e-01 -8.81342669e-02 -7.14032001e+01] [-1.25072221e-01 1.73051955e-03 9.92146131e-01 -1.51673686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00592 meters 0.03228961276437188 Centerline is valid? [True, True] Translation: X:127.61, Y:-71.43, Z:-15.17 [[ 7.12811349e-01 6.95726568e-01 8.86821422e-02 1.27606962e+02] [-6.90123326e-01 7.18304886e-01 -8.81356058e-02 -7.14261158e+01] [-1.25019099e-01 1.62244517e-03 9.92153009e-01 -1.51693885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03592 meters 0.03227146131848497 Centerline is valid? [True, True] Translation: X:127.63, Y:-71.45, Z:-15.17 [[ 7.11609545e-01 6.96898979e-01 8.91272651e-02 1.27629727e+02] [-6.91236975e-01 7.17167762e-01 -8.86670526e-02 -7.14497406e+01] [-1.25711180e-01 1.48825981e-03 9.92065766e-01 -1.51725268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06592 meters 0.031811859622098496 Centerline is valid? [True, True] Translation: X:127.65, Y:-71.47, Z:-15.18 [[ 7.10041263e-01 6.98621886e-01 8.81411637e-02 1.27650142e+02] [-6.93087514e-01 7.15490003e-01 -8.77710341e-02 -7.14748988e+01] [-1.24382887e-01 1.23151596e-03 9.92233531e-01 -1.51762544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09592 meters 0.03185847859982022 Centerline is valid? [True, True] Translation: X:127.67, Y:-71.50, Z:-15.18 [[ 7.09351911e-01 6.99470119e-01 8.69564221e-02 1.27673179e+02] [-6.94081108e-01 7.14660964e-01 -8.66667332e-02 -7.14971674e+01] [-1.22765151e-01 1.12240304e-03 9.92435115e-01 -1.51791809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12592 meters 0.0318360700820665 Centerline is valid? [True, True] Translation: X:127.70, Y:-71.52, Z:-15.18 [[ 7.08293641e-01 7.00547217e-01 8.69121134e-02 1.27697921e+02] [-6.95162012e-01 7.13605362e-01 -8.67015874e-02 -7.15181317e+01] [-1.22759506e-01 9.92183433e-04 9.92435952e-01 -1.51837027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15592 meters 0.031804793021146194 Centerline is valid? [True, True] Translation: X:127.72, Y:-71.54, Z:-15.19 [[ 7.08031462e-01 7.00776235e-01 8.72015870e-02 1.27720940e+02] [-6.95345688e-01 7.13380424e-01 -8.70789649e-02 -7.15408525e+01] [-1.23230774e-01 1.01939937e-03 9.92377517e-01 -1.51878366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18592 meters 0.031920260644310666 Centerline is valid? [True, True] Translation: X:127.74, Y:-71.56, Z:-15.19 [[ 7.07380080e-01 7.01407009e-01 8.74164191e-02 1.27744316e+02] [-6.95943275e-01 7.12760308e-01 -8.73825025e-02 -7.15644234e+01] [-1.23597654e-01 9.75772602e-04 9.92331934e-01 -1.51902766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.21592 meters 0.031533459621891156 Centerline is valid? [True, True] Translation: X:127.77, Y:-71.87, Z:-13.22 [[ 7.50831260e-01 -6.58651916e-01 -4.92957553e-02 1.27769069e+02] [-6.56627391e-01 -7.52417934e-01 5.20357703e-02 -7.18670011e+01] [-7.13644703e-02 -6.70113980e-03 -9.97427795e-01 -1.32175810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24592 meters 0.03143997003440086 Centerline is valid? [True, True] Translation: X:127.78, Y:-71.62, Z:-15.20 [[ 7.56001025e-01 6.47961891e-01 9.27784349e-02 1.27775072e+02] [-6.43015913e-01 7.61672383e-01 -7.99106826e-02 -7.16154223e+01] [-1.22445849e-01 7.54547927e-04 9.92474909e-01 -1.51958015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.27592 meters 0.03123350052940014 Centerline is valid? [True, True] Translation: X:127.80, Y:-71.64, Z:-15.20 [[ 7.55594752e-01 6.48436119e-01 9.27748337e-02 1.27800273e+02] [-6.43483806e-01 7.61268710e-01 -7.99908907e-02 -7.16367026e+01] [-1.22495561e-01 7.41594177e-04 9.92468784e-01 -1.51983273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30592000000001 meters 0.031136693963344307 Centerline is valid? [True, True] Translation: X:127.83, Y:-71.66, Z:-15.20 [[ 7.54552557e-01 6.49542774e-01 9.35126860e-02 1.27825689e+02] [-6.44510574e-01 7.60324798e-01 -8.06989589e-02 -7.16565036e+01] [-1.23517440e-01 6.21690864e-04 9.92342207e-01 -1.52014141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.33592000000002 meters 0.03103853865928325 Centerline is valid? [True, True] Translation: X:127.85, Y:-71.67, Z:-15.21 [[ 7.53255666e-01 6.51186816e-01 9.25290878e-02 1.27853016e+02] [-6.46268288e-01 7.58917380e-01 -7.98856114e-02 -7.16737852e+01] [-1.22242390e-01 3.75674273e-04 9.92500205e-01 -1.52056839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36592000000002 meters 0.030903204516304888 Centerline is valid? [True, True] Translation: X:127.88, Y:-71.69, Z:-15.21 [[ 7.52650731e-01 6.52011035e-01 9.16432609e-02 1.27877967e+02] [-6.47183866e-01 7.58209420e-01 -7.91929270e-02 -7.16941090e+01] [-1.21119446e-01 2.94574538e-04 9.92637896e-01 -1.52091933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39592000000002 meters 0.030866428264360837 Centerline is valid? [True, True] Translation: X:127.90, Y:-71.72, Z:-15.21 [[ 7.51585928e-01 6.53218749e-01 9.17815770e-02 1.27902918e+02] [-6.48376816e-01 7.57169229e-01 -7.93867995e-02 -7.17154796e+01] [-1.21351132e-01 1.56954736e-04 9.92609630e-01 -1.52131890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42592000000002 meters 0.030733646653637835 Centerline is valid? [True, True] Translation: X:127.93, Y:-71.74, Z:-15.22 [[ 7.51306363e-01 6.53608101e-01 9.12973138e-02 1.27928985e+02] [-6.48810236e-01 7.56833156e-01 -7.90496828e-02 -7.17353373e+01] [-1.20764347e-01 1.55898043e-04 9.92681192e-01 -1.52160785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45592000000002 meters 0.030830609719646615 Centerline is valid? [True, True] Translation: X:127.96, Y:-71.76, Z:-15.22 [[ 7.50275150e-01 6.54693897e-01 9.19951086e-02 1.27955363e+02] [-6.49819979e-01 7.55894106e-01 -7.97376696e-02 -7.17556401e+01] [-1.21742326e-01 4.49324617e-05 9.92561738e-01 -1.52189514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48592000000002 meters 0.03090091112578736 Centerline is valid? [True, True] Translation: X:127.98, Y:-71.78, Z:-15.22 [[ 7.49721514e-01 6.55215904e-01 9.27888530e-02 1.27980917e+02] [-6.50250916e-01 7.55441672e-01 -8.05085517e-02 -7.17751484e+01] [-1.22847050e-01 2.29565838e-05 9.92425615e-01 -1.52219384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51592 meters 0.030653295427415548 Centerline is valid? [True, True] Translation: X:128.01, Y:-71.79, Z:-15.23 [[ 7.48749720e-01 6.56406571e-01 9.22185986e-02 1.28007171e+02] [-6.51502681e-01 7.54407317e-01 -8.00865586e-02 -7.17931790e+01] [-1.22139729e-01 -1.15875885e-04 9.92512908e-01 -1.52257438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54592 meters 0.030497160789003174 Centerline is valid? [True, True] Translation: X:128.03, Y:-71.81, Z:-15.23 [[ 7.48198476e-01 6.57160511e-01 9.13186877e-02 1.28033237e+02] [-6.52350175e-01 7.53750640e-01 -7.93676430e-02 -7.18127504e+01] [-1.20988800e-01 -1.89012324e-04 9.92653854e-01 -1.52289125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57592 meters 0.030686346188849852 Centerline is valid? [True, True] Translation: X:128.06, Y:-71.83, Z:-15.23 [[ 7.47013522e-01 6.58440328e-01 9.17994202e-02 1.28062604e+02] [-6.53583991e-01 7.52632844e-01 -7.98233539e-02 -7.18297974e+01] [-1.21650174e-01 -3.69506756e-04 9.92572969e-01 -1.52326083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60592 meters 0.030427610029342158 Centerline is valid? [True, True] Translation: X:128.09, Y:-71.85, Z:-15.24 [[ 7.46241525e-01 6.59289498e-01 9.19833909e-02 1.28089066e+02] [-6.54409663e-01 7.51889060e-01 -8.00676810e-02 -7.18489122e+01] [-1.21949087e-01 -4.44991501e-04 9.92536257e-01 -1.52355666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63592 meters 0.030678510331657735 Centerline is valid? [True, True] Translation: X:128.12, Y:-71.87, Z:-15.24 [[ 7.45393734e-01 6.60347624e-01 9.12644336e-02 1.28116334e+02] [-6.55542111e-01 7.50959860e-01 -7.95225076e-02 -7.18668203e+01] [-1.21048425e-01 -5.52100621e-04 9.92646450e-01 -1.52378819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66592 meters 0.030678510331657735 Centerline is valid? [True, True] Translation: X:128.14, Y:-71.89, Z:-15.24 [[ 7.45056812e-01 6.60732847e-01 9.12274725e-02 1.28141025e+02] [-6.55925022e-01 7.50620939e-01 -7.95648905e-02 -7.18878616e+01] [-1.21048388e-01 -5.58018289e-04 9.92646451e-01 -1.52410415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69592 meters 0.03058069298560655 Centerline is valid? [True, True] Translation: X:128.17, Y:-71.91, Z:-15.24 [[ 7.45111989e-01 6.60827889e-01 9.00812171e-02 1.28167856e+02] [-6.56131759e-01 7.50537304e-01 -7.86439461e-02 -7.19064648e+01] [-1.19579427e-01 -5.06600297e-04 9.92824508e-01 -1.52445285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72592 meters 0.030662532394632343 Centerline is valid? [True, True] Translation: X:128.20, Y:-71.92, Z:-15.25 [[ 7.45889260e-01 6.60073826e-01 8.91726200e-02 1.28196920e+02] [-6.55458547e-01 7.51200663e-01 -7.79208393e-02 -7.19220170e+01] [-1.18420038e-01 -3.28638787e-04 9.92963537e-01 -1.52475492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75592 meters 0.030537085368797706 Centerline is valid? [True, True] Translation: X:128.22, Y:-71.94, Z:-15.25 [[ 7.46012953e-01 6.59873142e-01 8.96220390e-02 1.28224226e+02] [-6.55200792e-01 7.51376988e-01 -7.83871422e-02 -7.19411618e+01] [-1.19065507e-01 -2.42607483e-04 9.92886371e-01 -1.52515821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78592 meters 0.03062859008680657 Centerline is valid? [True, True] Translation: X:128.25, Y:-71.96, Z:-15.25 [[ 7.45871557e-01 6.60039821e-01 8.95715096e-02 1.28251341e+02] [-6.55364238e-01 7.51230585e-01 -7.84240022e-02 -7.19603403e+01] [-1.19051822e-01 -2.07731542e-04 9.92888020e-01 -1.52549132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81592 meters 0.03059454464585982 Centerline is valid? [True, True] Translation: X:128.28, Y:-71.98, Z:-15.26 [[ 7.46663124e-01 6.59219287e-01 8.90174722e-02 1.28278670e+02] [-6.54586183e-01 7.51950751e-01 -7.80192149e-02 -7.19787047e+01] [-1.18368526e-01 -1.55365522e-05 9.92969734e-01 -1.52574126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84592 meters 0.030703390727791754 Centerline is valid? [True, True] Translation: X:128.31, Y:-71.99, Z:-15.26 [[ 7.48287141e-01 6.57360427e-01 8.91270097e-02 1.28308154e+02] [-6.52692953e-01 7.53576242e-01 -7.81969079e-02 -7.19949986e+01] [-1.18567550e-01 3.41169466e-04 9.92945930e-01 -1.52622327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87592 meters 0.030884977596291927 Centerline is valid? [True, True] Translation: X:128.34, Y:-72.01, Z:-15.26 [[ 7.51198291e-01 6.54153825e-01 8.82264183e-02 1.28336281e+02] [-6.49548915e-01 7.56361000e-01 -7.74870631e-02 -7.20127483e+01] [-1.17419481e-01 9.00775031e-04 9.93081998e-01 -1.52646491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90592 meters 0.030850135195016278 Centerline is valid? [True, True] Translation: X:128.36, Y:-72.03, Z:-15.27 [[ 7.52322882e-01 6.52998837e-01 8.71940359e-02 1.28362181e+02] [-6.48484653e-01 7.57358071e-01 -7.66577229e-02 -7.20330333e+01] [-1.16094511e-01 1.12736496e-03 9.93237531e-01 -1.52685416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93592 meters 0.03117873006305275 Centerline is valid? [True, True] Translation: X:128.39, Y:-72.05, Z:-15.27 [[ 7.53316952e-01 6.51871808e-01 8.70443312e-02 1.28388194e+02] [-6.47356681e-01 7.58327965e-01 -7.66030296e-02 -7.20526173e+01] [-1.15943506e-01 1.35763145e-03 9.93254882e-01 -1.52715254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96592 meters 0.031214039827546513 Centerline is valid? [True, True] Translation: X:128.41, Y:-72.07, Z:-15.28 [[ 7.54702253e-01 6.50327934e-01 8.65914982e-02 1.28414511e+02] [-6.45841405e-01 7.59651818e-01 -7.62757838e-02 -7.20713231e+01] [-1.15383662e-01 1.64113104e-03 9.93319645e-01 -1.52754411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.99592 meters 0.03176858645829258 Centerline is valid? [True, True] Translation: X:128.44, Y:-72.09, Z:-15.28 [[ 7.57186667e-01 6.47514688e-01 8.59830256e-02 1.28442027e+02] [-6.43065490e-01 7.62050059e-01 -7.58055611e-02 -7.20886950e+01] [-1.14608584e-01 2.10624360e-03 9.93408494e-01 -1.52780909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02592 meters 0.032017185546870094 Centerline is valid? [True, True] Translation: X:128.47, Y:-72.11, Z:-15.28 [[ 7.57927448e-01 6.46599362e-01 8.63437836e-02 1.28466654e+02] [-6.42099117e-01 7.62826294e-01 -7.61890405e-02 -7.21084738e+01] [-1.15129093e-01 2.30449783e-03 9.93347865e-01 -1.52821004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.05592000000001 meters 0.03217408917491174 Centerline is valid? [True, True] Translation: X:128.49, Y:-72.13, Z:-15.28 [[ 7.59185259e-01 6.45211025e-01 8.56765823e-02 1.28492865e+02] [-6.40764457e-01 7.64000176e-01 -7.56613626e-02 -7.21275349e+01] [-1.14274469e-01 2.54248244e-03 9.93445963e-01 -1.52841476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08592000000002 meters 0.03243595039238896 Centerline is valid? [True, True] Translation: X:128.52, Y:-72.15, Z:-15.29 [[ 7.59622385e-01 6.44653175e-01 8.60006703e-02 1.28518814e+02] [-6.40161678e-01 7.64470447e-01 -7.60129052e-02 -7.21462906e+01] [-1.14746932e-01 2.68677095e-03 9.93391123e-01 -1.52875033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11592000000002 meters 0.03261376001270425 Centerline is valid? [True, True] Translation: X:128.54, Y:-72.17, Z:-15.29 [[ 7.60339411e-01 6.43760873e-01 8.63476591e-02 1.28544196e+02] [-6.39219597e-01 7.65221291e-01 -7.63850984e-02 -7.21656253e+01] [-1.15248805e-01 2.88348483e-03 9.93332471e-01 -1.52912710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14592000000002 meters 0.033254283107400306 Centerline is valid? [True, True] Translation: X:128.57, Y:-72.18, Z:-15.30 [[ 7.62722531e-01 6.41017280e-01 8.57390634e-02 1.28570426e+02] [-6.36515336e-01 7.67519247e-01 -7.59106936e-02 -7.21844963e+01] [-1.14466448e-01 3.32456763e-03 9.93421552e-01 -1.52952477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17592000000002 meters 0.03460390603177847 Centerline is valid? [True, True] Translation: X:128.60, Y:-72.20, Z:-15.30 [[ 7.66829622e-01 6.36229642e-01 8.47595048e-02 1.28597441e+02] [-6.31794627e-01 7.71489167e-01 -7.51000333e-02 -7.22023665e+01] [-1.13171907e-01 4.03833046e-03 9.93567215e-01 -1.52978963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20592000000002 meters 0.03498553813589005 Centerline is valid? [True, True] Translation: X:128.62, Y:-72.22, Z:-15.30 [[ 7.68880156e-01 6.34011602e-01 8.27803975e-02 1.28622239e+02] [-6.29766623e-01 7.73311692e-01 -7.33691197e-02 -7.22223827e+01] [-1.10531922e-01 4.27972887e-03 9.93863360e-01 -1.52998303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23592000000002 meters 0.03605976806362357 Centerline is valid? [True, True] Translation: X:128.65, Y:-72.24, Z:-15.30 [[ 7.71671875e-01 6.30579767e-01 8.30161059e-02 1.28646299e+02] [-6.26283932e-01 7.76109398e-01 -7.36385705e-02 -7.22426800e+01] [-1.10864573e-01 4.83316055e-03 9.93823771e-01 -1.53039645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26592 meters 0.037997944571681076 Centerline is valid? [True, True] Translation: X:128.67, Y:-72.26, Z:-15.31 [[ 7.75906920e-01 6.25361049e-01 8.30181344e-02 1.28667848e+02] [-6.21029597e-01 7.80315303e-01 -7.36903491e-02 -7.22642614e+01] [-1.10863395e-01 5.62013329e-03 9.93819763e-01 -1.53067099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29592 meters 0.03861880807072505 Centerline is valid? [True, True] Translation: X:128.69, Y:-72.29, Z:-15.31 [[ 7.77674624e-01 6.23153027e-01 8.30811893e-02 1.28691274e+02] [-6.18801244e-01 7.82077313e-01 -7.37570116e-02 -7.22853426e+01] [-1.10937818e-01 5.94821299e-03 9.93809549e-01 -1.53090613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32592 meters 0.03948382745689505 Centerline is valid? [True, True] Translation: X:128.72, Y:-72.31, Z:-15.31 [[ 7.79227388e-01 6.21202310e-01 8.31406466e-02 1.28715226e+02] [-6.16827084e-01 7.83625118e-01 -7.38649018e-02 -7.23060433e+01] [-1.11036147e-01 6.27415193e-03 9.93796563e-01 -1.53120691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35592 meters 0.03997307498852357 Centerline is valid? [True, True] Translation: X:128.74, Y:-72.33, Z:-15.32 [[ 7.79363203e-01 6.20876518e-01 8.42932254e-02 1.28738698e+02] [-6.16370357e-01 7.83881810e-01 -7.49459155e-02 -7.23275178e+01] [-1.12608085e-01 6.45424327e-03 9.93618519e-01 -1.53163548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38592 meters 0.03954551960638014 Centerline is valid? [True, True] Translation: X:128.76, Y:-72.35, Z:-15.32 [[ 7.79057162e-01 6.21458934e-01 8.28174618e-02 1.28760499e+02] [-6.17106524e-01 7.83421385e-01 -7.36917349e-02 -7.23510123e+01] [-1.10677358e-01 6.30287788e-03 9.93836403e-01 -1.53187336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41592 meters 0.03920871381330213 Centerline is valid? [True, True] Translation: X:128.78, Y:-72.38, Z:-15.32 [[ 7.77764927e-01 6.22991007e-01 8.34501239e-02 1.28780769e+02] [-6.18574245e-01 7.82204625e-01 -7.43089988e-02 -7.23770968e+01] [-1.11568911e-01 6.17483561e-03 9.93737515e-01 -1.53228689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44592 meters 0.03917021305687744 Centerline is valid? [True, True] Translation: X:128.80, Y:-72.40, Z:-15.33 [[ 7.78009882e-01 6.22814624e-01 8.24776784e-02 1.28804940e+02] [-6.18496635e-01 7.82345288e-01 -7.34694687e-02 -7.23999600e+01] [-1.10283883e-01 6.14780615e-03 9.93881114e-01 -1.53255317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47592 meters 0.03877561126147227 Centerline is valid? [True, True] Translation: X:128.83, Y:-72.42, Z:-15.33 [[ 7.76772684e-01 6.24298748e-01 8.29172525e-02 1.28825506e+02] [-6.19935364e-01 7.81162474e-01 -7.39279033e-02 -7.24245289e+01] [-1.10924944e-01 6.02183876e-03 9.93810543e-01 -1.53284265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50592 meters 0.03815900677003769 Centerline is valid? [True, True] Translation: X:128.85, Y:-72.45, Z:-15.33 [[ 7.76272797e-01 6.24945663e-01 8.27252292e-02 1.28846834e+02] [-6.20599909e-01 7.80645502e-01 -7.38129572e-02 -7.24495603e+01] [-1.10708166e-01 5.95972102e-03 9.93835089e-01 -1.53313900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53592 meters 0.03874760013476636 Centerline is valid? [True, True] Translation: X:128.87, Y:-72.47, Z:-15.33 [[ 7.75948526e-01 6.25317279e-01 8.29589347e-02 1.28870435e+02] [-6.20944263e-01 7.80347884e-01 -7.40635040e-02 -7.24731685e+01] [-1.11050018e-01 5.95659225e-03 9.93796967e-01 -1.53346325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56592 meters 0.038573299296927356 Centerline is valid? [True, True] Translation: X:128.89, Y:-72.50, Z:-15.34 [[ 7.74737464e-01 6.26620627e-01 8.44301573e-02 1.28892279e+02] [-6.22090262e-01 7.79301894e-01 -7.54470927e-02 -7.24970270e+01] [-1.13073286e-01 5.92851060e-03 9.93568963e-01 -1.53374310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59592 meters 0.03825945580592218 Centerline is valid? [True, True] Translation: X:128.91, Y:-72.52, Z:-15.34 [[ 7.73481198e-01 6.28056295e-01 8.52767680e-02 1.28913388e+02] [-6.23435832e-01 7.78146103e-01 -7.62653685e-02 -7.25213100e+01] [-1.14256729e-01 5.82523586e-03 9.93434178e-01 -1.53413706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62592 meters 0.03746445118897902 Centerline is valid? [True, True] Translation: X:128.94, Y:-72.55, Z:-15.34 [[ 7.72180130e-01 6.29833962e-01 8.39465764e-02 1.28935176e+02] [-6.25360676e-01 7.76710176e-01 -7.51354009e-02 -7.25453470e+01] [-1.12524987e-01 5.52117588e-03 9.93633556e-01 -1.53435230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65592 meters 0.0368688679052665 Centerline is valid? [True, True] Translation: X:128.96, Y:-72.57, Z:-15.35 [[ 7.70788060e-01 6.31782438e-01 8.20775113e-02 1.28956906e+02] [-6.27511299e-01 7.75128558e-01 -7.35206693e-02 -7.25690346e+01] [-1.10069691e-01 5.16428838e-03 9.93910455e-01 -1.53464105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68592 meters 0.03554332898635858 Centerline is valid? [True, True] Translation: X:128.98, Y:-72.59, Z:-15.35 [[ 7.67350623e-01 6.35963399e-01 8.19974131e-02 1.28977151e+02] [-6.31718177e-01 7.71705488e-01 -7.35036413e-02 -7.25932401e+01] [-1.10023479e-01 4.60380866e-03 9.93918326e-01 -1.53492760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.71592 meters 0.03468580441869438 Centerline is valid? [True, True] Translation: X:129.00, Y:-72.62, Z:-15.35 [[ 7.64538769e-01 6.39275694e-01 8.25049005e-02 1.28999512e+02] [-6.34993977e-01 7.68966303e-01 -7.39829303e-02 -7.26161326e+01] [-1.10738977e-01 4.17270357e-03 9.93840766e-01 -1.53524048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74592 meters 0.03368855793375125 Centerline is valid? [True, True] Translation: X:129.02, Y:-72.64, Z:-15.36 [[ 7.59759368e-01 6.44576951e-01 8.53595730e-02 1.29020899e+02] [-6.40019139e-01 7.64531122e-01 -7.66006901e-02 -7.26396209e+01] [-1.14635089e-01 3.56633151e-03 9.93401267e-01 -1.53559204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.77592 meters 0.032876196741669854 Centerline is valid? [True, True] Translation: X:129.04, Y:-72.66, Z:-15.36 [[ 7.56553035e-01 6.48386343e-01 8.49862081e-02 1.29044673e+02] [-6.43889824e-01 7.61305582e-01 -7.62869944e-02 -7.26612294e+01] [-1.14163920e-01 2.99340257e-03 9.93457417e-01 -1.53586015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80592000000001 meters 0.03214810451748858 Centerline is valid? [True, True] Translation: X:129.07, Y:-72.68, Z:-15.36 [[ 7.54024700e-01 6.51288858e-01 8.52618022e-02 1.29068036e+02] [-6.46774458e-01 7.58825418e-01 -7.65949466e-02 -7.26829364e+01] [-1.14584258e-01 2.60932574e-03 9.93410106e-01 -1.53617623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.83592000000002 meters 0.031553126736050464 Centerline is valid? [True, True] Translation: X:129.09, Y:-72.71, Z:-15.37 [[ 7.49337384e-01 6.56763596e-01 8.45876118e-02 1.29090726e+02] [-6.52350507e-01 7.54094405e-01 -7.60292302e-02 -7.27060158e+01] [-1.13720275e-01 1.79077295e-03 9.93511194e-01 -1.53656395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86592000000002 meters 0.03133911866534032 Centerline is valid? [True, True] Translation: X:129.11, Y:-72.73, Z:-15.37 [[ 7.47644251e-01 6.58644599e-01 8.49433058e-02 1.29114859e+02] [-6.54199303e-01 7.52452568e-01 -7.64094556e-02 -7.27279522e+01] [-1.14242484e-01 1.55723879e-03 9.93451675e-01 -1.53677677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89592000000002 meters 0.031010891496998736 Centerline is valid? [True, True] Translation: X:129.14, Y:-72.74, Z:-15.37 [[ 7.44267875e-01 6.62427651e-01 8.51759181e-02 1.29143564e+02] [-6.57978906e-01 7.49125223e-01 -7.66495918e-02 -7.27438754e+01] [-1.14582238e-01 1.00387145e-03 9.93413259e-01 -1.53696490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92592000000002 meters 0.03106679859987689 Centerline is valid? [True, True] Translation: X:129.17, Y:-72.76, Z:-15.37 [[ 7.41633729e-01 6.65203500e-01 8.65084731e-02 1.29170459e+02] [-6.60624295e-01 7.46661834e-01 -7.79207704e-02 -7.27629995e+01] [-1.16425744e-01 6.39072472e-04 9.93199193e-01 -1.53732476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95592000000002 meters 0.030810620404064425 Centerline is valid? [True, True] Translation: X:129.20, Y:-72.78, Z:-15.38 [[ 7.39675171e-01 6.67481364e-01 8.57278893e-02 1.29195512e+02] [-6.62991031e-01 7.44626427e-01 -7.72940960e-02 -7.27826564e+01] [-1.15427621e-01 3.35702010e-04 9.93315837e-01 -1.53762486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98592000000002 meters 0.030463645570036436 Centerline is valid? [True, True] Translation: X:129.22, Y:-72.80, Z:-15.38 [[ 7.36913334e-01 6.70735806e-01 8.40964714e-02 1.29221715e+02] [-6.66428749e-01 7.41696343e-01 -7.58897767e-02 -7.28012576e+01] [-1.13276036e-01 -1.20117831e-04 9.93563549e-01 -1.53802868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01592 meters 0.03054042418658131 Centerline is valid? [True, True] Translation: X:129.25, Y:-72.82, Z:-15.38 [[ 7.35378179e-01 6.72464040e-01 8.37320042e-02 1.29248599e+02] [-6.68197645e-01 7.40129721e-01 -7.56300359e-02 -7.28203070e+01] [-1.12831024e-01 -3.32849945e-04 9.93614135e-01 -1.53832191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04592 meters 0.030461952090059176 Centerline is valid? [True, True] Translation: X:129.28, Y:-72.84, Z:-15.39 [[ 7.33470426e-01 6.74461625e-01 8.43957967e-02 1.29278408e+02] [-6.70131163e-01 7.38309673e-01 -7.63089238e-02 -7.28362052e+01] [-1.13777674e-01 -5.85914465e-04 9.93506063e-01 -1.53860327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07592 meters 0.03043234684671409 Centerline is valid? [True, True] Translation: X:129.30, Y:-72.86, Z:-15.39 [[ 7.32980225e-01 6.74937819e-01 8.48465117e-02 1.29304934e+02] [-6.70554817e-01 7.37874363e-01 -7.67962318e-02 -7.28553736e+01] [-1.14438747e-01 -6.04117910e-04 9.93430122e-01 -1.53889117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10592 meters 0.030405234211701604 Centerline is valid? [True, True] Translation: X:129.33, Y:-72.87, Z:-15.39 [[ 7.34222010e-01 6.73759163e-01 8.34663405e-02 1.29333788e+02] [-6.69501793e-01 7.38950920e-01 -7.56233221e-02 -7.28708620e+01] [-1.12629435e-01 -3.56557060e-04 9.93636998e-01 -1.53914914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13592 meters 0.0303286003307754 Centerline is valid? [True, True] Translation: X:129.36, Y:-72.89, Z:-15.39 [[ 7.35593733e-01 6.72312434e-01 8.30532989e-02 1.29361138e+02] [-6.68080210e-01 7.40267508e-01 -7.53183196e-02 -7.28892015e+01] [-1.12119101e-01 -8.25814900e-05 9.93694772e-01 -1.53946832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16592 meters 0.030498304148440653 Centerline is valid? [True, True] Translation: X:129.39, Y:-72.91, Z:-15.40 [[ 7.38805766e-01 6.68877037e-01 8.22772763e-02 1.29390562e+02] [-6.64693783e-01 7.43372899e-01 -7.46920906e-02 -7.29051726e+01] [-1.11122522e-01 4.93753097e-04 9.93806592e-01 -1.53985309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19592 meters 0.03062882739062504 Centerline is valid? [True, True] Translation: X:129.42, Y:-72.92, Z:-15.40 [[ 7.40050899e-01 6.67220153e-01 8.45099632e-02 1.29417055e+02] [-6.62786085e-01 7.44860115e-01 -7.67985355e-02 -7.29242130e+01] [-1.14189631e-01 8.22797664e-04 9.93458631e-01 -1.54028032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22592 meters 0.03098695963851045 Centerline is valid? [True, True] Translation: X:129.44, Y:-72.94, Z:-15.41 [[ 7.41529827e-01 6.65716671e-01 8.33956212e-02 1.29443361e+02] [-6.61381880e-01 7.46203807e-01 -7.58543767e-02 -7.29437417e+01] [-1.12727653e-01 1.09193008e-03 9.93625324e-01 -1.54050777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25592 meters 0.03149782390142342 Centerline is valid? [True, True] Translation: X:129.47, Y:-72.96, Z:-15.41 [[ 7.44221095e-01 6.62536542e-01 8.47366055e-02 1.29470800e+02] [-6.58031142e-01 7.49027756e-01 -7.71520356e-02 -7.29607940e+01] [-1.14586112e-01 1.65884708e-03 9.93411934e-01 -1.54079648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28592 meters 0.031701593916927145 Centerline is valid? [True, True] Translation: X:129.50, Y:-72.98, Z:-15.41 [[ 7.45131906e-01 6.61470179e-01 8.50625894e-02 1.29495691e+02] [-6.56915120e-01 7.49969108e-01 -7.75168539e-02 -7.29806441e+01] [-1.15069402e-01 1.88137998e-03 9.93355673e-01 -1.54112540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31592 meters 0.032130035581305325 Centerline is valid? [True, True] Translation: X:129.52, Y:-73.00, Z:-15.41 [[ 7.45960093e-01 6.60313588e-01 8.67727258e-02 1.29521946e+02] [-6.55556861e-01 7.50986901e-01 -7.91446547e-02 -7.29993325e+01] [-1.17425471e-01 2.15429817e-03 9.93079361e-01 -1.54149835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34592 meters 0.03251713692965805 Centerline is valid? [True, True] Translation: X:129.55, Y:-73.02, Z:-15.42 [[ 7.45568366e-01 6.60623022e-01 8.77783272e-02 1.29546189e+02] [-6.55748810e-01 7.50714631e-01 -8.01314009e-02 -7.30199461e+01] [-1.18833123e-01 2.18290402e-03 9.92911841e-01 -1.54189997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37592 meters 0.03242048044131635 Centerline is valid? [True, True] Translation: X:129.57, Y:-73.04, Z:-15.42 [[ 7.45592863e-01 6.60624130e-01 8.75616407e-02 1.29571625e+02] [-6.55765678e-01 7.50713517e-01 -8.00036987e-02 -7.30410749e+01] [-1.18586081e-01 2.23026811e-03 9.92941271e-01 -1.54233565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40592 meters 0.032667959648271974 Centerline is valid? [True, True] Translation: X:129.60, Y:-73.06, Z:-15.43 [[ 7.46322739e-01 6.59932990e-01 8.65495126e-02 1.29597484e+02] [-6.55172912e-01 7.51320722e-01 -7.91557194e-02 -7.30623880e+01] [-1.17263913e-01 2.37081712e-03 9.93097958e-01 -1.54264911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43592 meters 0.03290627898098067 Centerline is valid? [True, True] Translation: X:129.62, Y:-73.08, Z:-15.43 [[ 7.47186236e-01 6.59105165e-01 8.53997105e-02 1.29622676e+02] [-6.54456951e-01 7.52046547e-01 -7.81798628e-02 -7.30837610e+01] [-1.15753309e-01 2.52448323e-03 9.93274785e-01 -1.54296314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46592 meters 0.033677505366884526 Centerline is valid? [True, True] Translation: X:129.65, Y:-73.10, Z:-15.43 [[ 7.48968057e-01 6.56749746e-01 8.79011994e-02 1.29646925e+02] [-6.51798697e-01 7.54102492e-01 -8.05474347e-02 -7.31040958e+01] [-1.19186021e-01 3.03356842e-03 9.92867307e-01 -1.54333250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.49592 meters 0.033798576388146595 Centerline is valid? [True, True] Translation: X:129.67, Y:-73.13, Z:-15.44 [[ 7.49592365e-01 6.56025394e-01 8.79884617e-02 1.29670598e+02] [-6.51051731e-01 7.54732029e-01 -8.06920530e-02 -7.31253252e+01] [-1.19343746e-01 3.20110646e-03 9.92847835e-01 -1.54357116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52592 meters 0.034482068685417484 Centerline is valid? [True, True] Translation: X:129.69, Y:-73.15, Z:-15.44 [[ 7.51034758e-01 6.54355082e-01 8.81261543e-02 1.29693427e+02] [-6.49346078e-01 7.56179215e-01 -8.08867483e-02 -7.31476338e+01] [-1.19567821e-01 3.52438674e-03 9.92819780e-01 -1.54400460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.55592000000001 meters 0.03464217061549495 Centerline is valid? [True, True] Translation: X:129.72, Y:-73.17, Z:-15.44 [[ 7.50670397e-01 6.54804839e-01 8.78895747e-02 1.29717813e+02] [-6.49817502e-01 7.55789917e-01 -8.07391817e-02 -7.31703665e+01] [-1.19294461e-01 3.49632966e-03 9.92852762e-01 -1.54428916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58592000000002 meters 0.03455073725747461 Centerline is valid? [True, True] Translation: X:129.74, Y:-73.19, Z:-15.45 [[ 7.49994909e-01 6.55577538e-01 8.78961202e-02 1.29741624e+02] [-6.50585653e-01 7.55120069e-01 -8.08207228e-02 -7.31916889e+01] [-1.19356375e-01 3.43117595e-03 9.92845548e-01 -1.54462122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61592000000002 meters 0.03455073725747461 Centerline is valid? [True, True] Translation: X:129.77, Y:-73.21, Z:-15.45 [[ 7.49685322e-01 6.55936152e-01 8.78617289e-02 1.29765774e+02] [-6.50942344e-01 7.54808607e-01 -8.08580961e-02 -7.32134142e+01] [-1.19356538e-01 3.42520799e-03 9.92845549e-01 -1.54493734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64592000000002 meters 0.034358191310127593 Centerline is valid? [True, True] Translation: X:129.79, Y:-73.24, Z:-15.45 [[ 7.48479628e-01 6.57241358e-01 8.83857711e-02 1.29788787e+02] [-6.52187396e-01 7.53672969e-01 -8.14165607e-02 -7.32356232e+01] [-1.20124297e-01 3.29455114e-03 9.92753393e-01 -1.54518300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67592000000002 meters 0.03399184291786161 Centerline is valid? [True, True] Translation: X:129.81, Y:-73.26, Z:-15.46 [[ 7.47120010e-01 6.58758813e-01 8.85918595e-02 1.29811525e+02] [-6.53683459e-01 7.52347762e-01 -8.16748437e-02 -7.32585979e+01] [-1.20455910e-01 3.10987680e-03 9.92713807e-01 -1.54552431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70592000000002 meters 0.03327229469976071 Centerline is valid? [True, True] Translation: X:129.83, Y:-73.28, Z:-15.46 [[ 7.45074240e-01 6.61387959e-01 8.61994510e-02 1.29831839e+02] [-6.56594886e-01 7.50039282e-01 -7.95250395e-02 -7.32822575e+01] [-1.17249878e-01 2.65393966e-03 9.93098899e-01 -1.54588517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73592000000002 meters 0.032989311636865574 Centerline is valid? [True, True] Translation: X:129.85, Y:-73.30, Z:-15.46 [[ 7.43057806e-01 6.63590433e-01 8.66766056e-02 1.29854963e+02] [-6.58756445e-01 7.48092431e-01 -7.99853815e-02 -7.33045142e+01] [-1.17919647e-01 2.33498952e-03 9.93020395e-01 -1.54631475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76592 meters 0.032827361246781823 Centerline is valid? [True, True] Translation: X:129.88, Y:-73.33, Z:-15.47 [[ 7.41673094e-01 6.65135216e-01 8.66958248e-02 1.29878336e+02] [-6.60301462e-01 7.46719867e-01 -8.00713435e-02 -7.33266613e+01] [-1.17995765e-01 2.14138128e-03 9.93011789e-01 -1.54668798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79592 meters 0.03289291076828349 Centerline is valid? [True, True] Translation: X:129.90, Y:-73.35, Z:-15.47 [[ 7.41706888e-01 6.65009233e-01 8.73705480e-02 1.29901400e+02] [-6.60090425e-01 7.46831804e-01 -8.07643930e-02 -7.33488430e+01] [-1.18960171e-01 2.23104441e-03 9.92896520e-01 -1.54689853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82592 meters 0.03311883664445479 Centerline is valid? [True, True] Translation: X:129.92, Y:-73.37, Z:-15.47 [[ 7.42328341e-01 6.64300122e-01 8.74870413e-02 1.29924794e+02] [-6.59354864e-01 7.47462097e-01 -8.09418142e-02 -7.33717319e+01] [-1.19162904e-01 2.40039641e-03 9.92871815e-01 -1.54701679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85592 meters 0.03354428662011786 Centerline is valid? [True, True] Translation: X:129.95, Y:-73.39, Z:-15.47 [[ 7.42998834e-01 6.63494831e-01 8.79053061e-02 1.29948639e+02] [-6.58487875e-01 7.48176367e-01 -8.13992799e-02 -7.33930156e+01] [-1.19776674e-01 2.59499181e-03 9.92797469e-01 -1.54739562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88592 meters 0.0334836738088613 Centerline is valid? [True, True] Translation: X:129.97, Y:-73.42, Z:-15.48 [[ 7.43528207e-01 6.63098150e-01 8.64097748e-02 1.29971375e+02] [-6.58250038e-01 7.48527719e-01 -8.00820899e-02 -7.34161911e+01] [-1.17782397e-01 2.66405512e-03 9.93035855e-01 -1.54771951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91592 meters 0.03398717254489808 Centerline is valid? [True, True] Translation: X:129.99, Y:-73.44, Z:-15.48 [[ 7.46152090e-01 6.60333681e-01 8.49499163e-02 1.29991639e+02] [-6.55623041e-01 7.50965934e-01 -7.87946327e-02 -7.34411882e+01] [-1.15825243e-01 3.09765743e-03 9.93264777e-01 -1.54808602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94592 meters 0.03424362106300752 Centerline is valid? [True, True] Translation: X:130.01, Y:-73.46, Z:-15.48 [[ 7.46604643e-01 6.59701757e-01 8.58783964e-02 1.30014014e+02] [-6.54875023e-01 7.51520337e-01 -7.97238178e-02 -7.34645542e+01] [-1.17133304e-01 3.28255578e-03 9.93110776e-01 -1.54844399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97592 meters 0.03461908062453029 Centerline is valid? [True, True] Translation: X:130.03, Y:-73.49, Z:-15.49 [[ 7.47031557e-01 6.59209250e-01 8.59477684e-02 1.30034625e+02] [-6.54363467e-01 7.51951802e-01 -7.98557530e-02 -7.34897899e+01] [-1.17270230e-01 3.41368782e-03 9.93094175e-01 -1.54869932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00592 meters 0.03464082051034832 Centerline is valid? [True, True] Translation: X:130.06, Y:-73.51, Z:-15.49 [[ 7.47309463e-01 6.58931629e-01 8.56602254e-02 1.30056559e+02] [-6.54108415e-01 7.52194705e-01 -7.96574337e-02 -7.35141691e+01] [-1.16921971e-01 3.49767977e-03 9.93134945e-01 -1.54890743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03592 meters 0.03482017863603377 Centerline is valid? [True, True] Translation: X:130.08, Y:-73.54, Z:-15.49 [[ 7.47604699e-01 6.58452179e-01 8.67637119e-02 1.30076993e+02] [-6.53491124e-01 7.52613584e-01 -8.07597948e-02 -7.35384117e+01] [-1.18476011e-01 3.67708655e-03 9.92950106e-01 -1.54928527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06592 meters 0.03492830731724013 Centerline is valid? [True, True] Translation: X:130.10, Y:-73.56, Z:-15.49 [[ 7.47993706e-01 6.58167480e-01 8.55627556e-02 1.30098180e+02] [-6.53333953e-01 7.52862367e-01 -7.97057278e-02 -7.35647951e+01] [-1.16876697e-01 3.71832938e-03 9.93139472e-01 -1.54942361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09592 meters 0.034666007251664605 Centerline is valid? [True, True] Translation: X:130.12, Y:-73.59, Z:-15.50 [[ 7.46987623e-01 6.59373057e-01 8.50685748e-02 1.30120006e+02] [-6.54594470e-01 7.51807461e-01 -7.93197394e-02 -7.35889836e+01] [-1.16256488e-01 3.56544496e-03 9.93212825e-01 -1.54971342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12592 meters 0.03410741901600835 Centerline is valid? [True, True] Translation: X:130.14, Y:-73.62, Z:-15.50 [[ 7.45557931e-01 6.61049108e-01 8.46017028e-02 1.30137633e+02] [-6.56326816e-01 7.50335247e-01 -7.89438327e-02 -7.36176569e+01] [-1.15665390e-01 3.33083438e-03 9.93282650e-01 -1.55010988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15592 meters 0.034139409793929834 Centerline is valid? [True, True] Translation: X:130.16, Y:-73.64, Z:-15.50 [[ 7.44248048e-01 6.62435309e-01 8.52895358e-02 1.30159602e+02] [-6.57640961e-01 7.49112437e-01 -7.96173557e-02 -7.36416757e+01] [-1.16632800e-01 3.16516928e-03 9.93170062e-01 -1.55043430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18592 meters 0.033965224802503 Centerline is valid? [True, True] Translation: X:130.18, Y:-73.66, Z:-15.51 [[ 7.43279303e-01 6.63537525e-01 8.51694265e-02 1.30181704e+02] [-6.58755944e-01 7.48136830e-01 -7.95731708e-02 -7.36644955e+01] [-1.16518170e-01 3.03922491e-03 9.93183910e-01 -1.55068276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.21592 meters 0.033732588303275454 Centerline is valid? [True, True] Translation: X:130.20, Y:-73.69, Z:-15.51 [[ 7.42296853e-01 6.64554487e-01 8.58062708e-02 1.30202589e+02] [-6.59699340e-01 7.47233970e-01 -8.02382329e-02 -7.36910477e+01] [-1.17440038e-01 2.95424747e-03 9.93075581e-01 -1.55090818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24592 meters 0.03365892332114259 Centerline is valid? [True, True] Translation: X:130.22, Y:-73.72, Z:-15.51 [[ 7.42097196e-01 6.64886571e-01 8.49564538e-02 1.30221246e+02] [-6.60120854e-01 7.46938598e-01 -7.95184860e-02 -7.37184094e+01] [-1.16328028e-01 2.92891872e-03 9.93206530e-01 -1.55127366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.27592 meters 0.033370980185839 Centerline is valid? [True, True] Translation: X:130.24, Y:-73.74, Z:-15.52 [[ 7.40709559e-01 6.66317116e-01 8.58536570e-02 1.30242648e+02] [-6.61450991e-01 7.45663285e-01 -8.04291693e-02 -7.37436578e+01] [-1.17609252e-01 2.78666800e-03 9.93056040e-01 -1.55175264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30592000000001 meters 0.03334508927796575 Centerline is valid? [True, True] Translation: X:130.26, Y:-73.77, Z:-15.52 [[ 7.40074178e-01 6.67113603e-01 8.51448895e-02 1.30264602e+02] [-6.62324055e-01 7.44951124e-01 -7.98415239e-02 -7.37672045e+01] [-1.16692148e-01 2.69514174e-03 9.93164477e-01 -1.55201343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.33592000000002 meters 0.032735102373137925 Centerline is valid? [True, True] Translation: X:130.28, Y:-73.79, Z:-15.52 [[ 7.37110576e-01 6.70457106e-01 8.45888178e-02 1.30284059e+02] [-6.65743985e-01 7.41945020e-01 -7.93884961e-02 -7.37940374e+01] [-1.15986834e-01 2.20360345e-03 9.93248307e-01 -1.55221242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36592000000002 meters 0.03251533651197441 Centerline is valid? [True, True] Translation: X:130.31, Y:-73.82, Z:-15.53 [[ 7.34605061e-01 6.73100646e-01 8.53869162e-02 1.30305922e+02] [-6.68307331e-01 7.39548562e-01 -8.02074516e-02 -7.38179703e+01] [-1.17135459e-01 1.85609777e-03 9.93114213e-01 -1.55264367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39592000000002 meters 0.03162827479662024 Centerline is valid? [True, True] Translation: X:130.33, Y:-73.84, Z:-15.53 [[ 7.29573572e-01 6.78742506e-01 8.38511371e-02 1.30326293e+02] [-6.74150499e-01 7.34375686e-01 -7.88254790e-02 -7.38433745e+01] [-1.15080440e-01 9.80700323e-04 9.93355692e-01 -1.55285055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42592000000002 meters 0.03145591005509621 Centerline is valid? [True, True] Translation: X:130.35, Y:-73.87, Z:-15.53 [[ 7.25934477e-01 6.82512647e-01 8.48270086e-02 1.30348462e+02] [-6.77834199e-01 7.30873665e-01 -7.97777176e-02 -7.38671603e+01] [-1.16447128e-01 4.14748342e-04 9.93196805e-01 -1.55328294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45592000000002 meters 0.031281913201883574 Centerline is valid? [True, True] Translation: X:130.37, Y:-73.89, Z:-15.53 [[ 7.23639316e-01 6.85037286e-01 8.40836333e-02 1.30370900e+02] [-6.80449317e-01 7.28508005e-01 -7.91505823e-02 -7.38908798e+01] [-1.15476700e-01 6.18224009e-05 9.93310187e-01 -1.55343013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48592000000002 meters 0.03129523217699181 Centerline is valid? [True, True] Translation: X:130.39, Y:-73.91, Z:-15.54 [[ 7.21123898e-01 6.87638366e-01 8.44618335e-02 1.30393728e+02] [-6.83022444e-01 7.26053283e-01 -7.95422646e-02 -7.39146905e+01] [-1.16020104e-01 -3.29500036e-04 9.93246811e-01 -1.55383167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51592 meters 0.03130779901222592 Centerline is valid? [True, True] Translation: X:130.42, Y:-73.94, Z:-15.54 [[ 7.17462881e-01 6.91479401e-01 8.42807959e-02 1.30417427e+02] [-6.86899816e-01 7.22395634e-01 -7.94555822e-02 -7.39379406e+01] [-1.15825977e-01 -8.86032311e-04 9.93269127e-01 -1.55407390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54592 meters 0.031709837883373435 Centerline is valid? [True, True] Translation: X:130.44, Y:-73.96, Z:-15.54 [[ 7.14154152e-01 6.94660315e-01 8.62026287e-02 1.30441868e+02] [-6.89881801e-01 7.19336612e-01 -8.13507110e-02 -7.39579316e+01] [-1.18519818e-01 -1.37267671e-03 9.92950738e-01 -1.55447215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57592 meters 0.03181112277958957 Centerline is valid? [True, True] Translation: X:130.47, Y:-73.98, Z:-15.55 [[ 7.11936223e-01 6.96851036e-01 8.68645424e-02 1.30466932e+02] [-6.92006249e-01 7.17213878e-01 -8.20463556e-02 -7.39786305e+01] [-1.19474543e-01 -1.69903357e-03 9.92835811e-01 -1.55475987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60592 meters 0.031900741201592135 Centerline is valid? [True, True] Translation: X:130.49, Y:-74.00, Z:-15.55 [[ 7.10426744e-01 6.98459233e-01 8.63049346e-02 1.30492156e+02] [-6.93679637e-01 7.15647317e-01 -8.15933773e-02 -7.39993945e+01] [-1.18753543e-01 -1.90185837e-03 9.92921940e-01 -1.55506450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63592 meters 0.03156798212928941 Centerline is valid? [True, True] Translation: X:130.52, Y:-74.02, Z:-15.55 [[ 7.09472845e-01 6.99619481e-01 8.47399764e-02 1.30516921e+02] [-6.95010972e-01 7.14512830e-01 -8.01945495e-02 -7.40200058e+01] [-1.16653469e-01 -1.99935817e-03 9.93170665e-01 -1.55536436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66592 meters 0.03180736654269298 Centerline is valid? [True, True] Translation: X:130.54, Y:-74.04, Z:-15.56 [[ 7.07587732e-01 7.01477220e-01 8.51428865e-02 1.30541718e+02] [-6.96829284e-01 7.12688282e-01 -8.06496218e-02 -7.40410912e+01] [-1.17254210e-01 -2.26337365e-03 9.93099354e-01 -1.55565942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69592 meters 0.03197770850702009 Centerline is valid? [True, True] Translation: X:130.57, Y:-74.06, Z:-15.56 [[ 7.07301673e-01 7.01705754e-01 8.56351426e-02 1.30567772e+02] [-6.96996309e-01 7.12463282e-01 -8.11924772e-02 -7.40621936e+01] [-1.17985123e-01 -2.25980332e-03 9.93012791e-01 -1.55591262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72592 meters 0.031711726899060544 Centerline is valid? [True, True] Translation: X:130.60, Y:-74.08, Z:-15.56 [[ 7.06681508e-01 7.02157880e-01 8.70376796e-02 1.30595156e+02] [-6.97285453e-01 7.12017530e-01 -8.26077160e-02 -7.40799897e+01] [-1.19976012e-01 -2.31276252e-03 9.92774097e-01 -1.55619065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75592 meters 0.031594143140123904 Centerline is valid? [True, True] Translation: X:130.62, Y:-74.10, Z:-15.56 [[ 7.07242140e-01 7.01666821e-01 8.64420457e-02 1.30620075e+02] [-6.96848520e-01 7.12501932e-01 -8.21166063e-02 -7.41003212e+01] [-1.19208623e-01 -2.16068717e-03 9.92866877e-01 -1.55647911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78592 meters 0.031377241280013755 Centerline is valid? [True, True] Translation: X:130.65, Y:-74.12, Z:-15.57 [[ 7.08519688e-01 7.00303503e-01 8.70336495e-02 1.30645745e+02] [-6.95399399e-01 7.13842721e-01 -8.27541205e-02 -7.41195973e+01] [-1.20081338e-01 -1.89022397e-03 9.92762257e-01 -1.55685369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81592 meters 0.0313602104450749 Centerline is valid? [True, True] Translation: X:130.67, Y:-74.14, Z:-15.57 [[ 7.09778644e-01 6.98803644e-01 8.88129705e-02 1.30670173e+02] [-6.93676171e-01 7.15311706e-01 -8.45135052e-02 -7.41399472e+01] [-1.22587303e-01 -1.62156025e-03 9.92456409e-01 -1.55721209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84592 meters 0.03127993445626269 Centerline is valid? [True, True] Translation: X:130.69, Y:-74.16, Z:-15.57 [[ 7.10360891e-01 6.98276783e-01 8.83002769e-02 1.30694280e+02] [-6.93199925e-01 7.15826306e-01 -8.40628536e-02 -7.41610866e+01] [-1.21906800e-01 -1.49478179e-03 9.92540426e-01 -1.55739466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87592 meters 0.030962415114092378 Centerline is valid? [True, True] Translation: X:130.72, Y:-74.18, Z:-15.58 [[ 7.13634715e-01 6.94947605e-01 8.81664349e-02 1.30721025e+02] [-6.89851326e-01 7.19059854e-01 -8.40123513e-02 -7.41803687e+01] [-1.21781126e-01 -8.67601607e-04 9.92556600e-01 -1.55753721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90592 meters 0.03103040553305154 Centerline is valid? [True, True] Translation: X:130.75, Y:-74.20, Z:-15.58 [[ 7.14814904e-01 6.93635051e-01 8.89385677e-02 1.30746905e+02] [-6.88428733e-01 7.20326361e-01 -8.48281434e-02 -7.42013898e+01] [-1.22904568e-01 -5.91444263e-04 9.92418318e-01 -1.55800198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93592 meters 0.031106143151211504 Centerline is valid? [True, True] Translation: X:130.77, Y:-74.22, Z:-15.58 [[ 7.18901672e-01 6.89462499e-01 8.84412125e-02 1.30774068e+02] [-6.84272379e-01 7.24321357e-01 -8.44386416e-02 -7.42197378e+01] [-1.22277136e-01 1.85201766e-04 9.92495979e-01 -1.55836470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96592 meters 0.03129486415831665 Centerline is valid? [True, True] Translation: X:130.80, Y:-74.24, Z:-15.59 [[ 7.20069794e-01 6.88163248e-01 8.90552473e-02 1.30798201e+02] [-6.82881094e-01 7.25555738e-01 -8.51016029e-02 -7.42403284e+01] [-1.23178341e-01 4.64948868e-04 9.92384442e-01 -1.55864274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.99592 meters 0.03157101596128844 Centerline is valid? [True, True] Translation: X:130.82, Y:-74.26, Z:-15.59 [[ 7.21718927e-01 6.86519710e-01 8.83882259e-02 1.30823279e+02] [-6.81294914e-01 7.27110758e-01 -8.45410292e-02 -7.42616860e+01] [-1.22307113e-01 7.96412098e-04 9.92491983e-01 -1.55899832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02592 meters 0.03142823887126716 Centerline is valid? [True, True] Translation: X:130.85, Y:-74.28, Z:-15.59 [[ 7.24866686e-01 6.83607724e-01 8.51396910e-02 1.30848175e+02] [-6.78731909e-01 7.29848473e-01 -8.15119704e-02 -7.42818607e+01] [-1.17861286e-01 1.29828687e-03 9.93029220e-01 -1.55910802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.05592000000001 meters 0.03168503030029155 Centerline is valid? [True, True] Translation: X:130.87, Y:-74.30, Z:-15.59 [[ 7.25675323e-01 6.82759535e-01 8.50572927e-02 1.30872728e+02] [-6.77878751e-01 7.30641638e-01 -8.15058074e-02 -7.43031334e+01] [-1.17795267e-01 1.48822175e-03 9.93036787e-01 -1.55945510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08592000000002 meters 0.03195408981016346 Centerline is valid? [True, True] Translation: X:130.90, Y:-74.32, Z:-15.60 [[ 7.27462464e-01 6.80772185e-01 8.57181129e-02 1.30897302e+02] [-6.75791588e-01 7.32492786e-01 -8.22195075e-02 -7.43240647e+01] [-1.18760653e-01 1.88402588e-03 9.92921124e-01 -1.55978255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11592000000002 meters 0.03228169180985293 Centerline is valid? [True, True] Translation: X:130.92, Y:-74.34, Z:-15.60 [[ 7.28467315e-01 6.79679931e-01 8.58519826e-02 1.30921145e+02] [-6.74667693e-01 7.33505765e-01 -8.24184284e-02 -7.43449150e+01] [-1.18991076e-01 2.11757218e-03 9.92893066e-01 -1.56004455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14592000000002 meters 0.032627240433317405 Centerline is valid? [True, True] Translation: X:130.95, Y:-74.37, Z:-15.60 [[ 7.28743063e-01 6.79306838e-01 8.64625255e-02 1.30945744e+02] [-6.74212056e-01 7.33850928e-01 -8.30717662e-02 -7.43660432e+01] [-1.19881823e-01 2.24389625e-03 9.92785633e-01 -1.56043240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17592000000002 meters 0.03259447808833382 Centerline is valid? [True, True] Translation: X:130.97, Y:-74.39, Z:-15.61 [[ 7.30071974e-01 6.78008651e-01 8.54352539e-02 1.30969210e+02] [-6.73018491e-01 7.35049763e-01 -8.21459503e-02 -7.43879096e+01] [-1.18494828e-01 2.47295039e-03 9.92951590e-01 -1.56070194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20592000000002 meters 0.03275532507505108 Centerline is valid? [True, True] Translation: X:130.99, Y:-74.41, Z:-15.61 [[ 7.30023669e-01 6.78068343e-01 8.53742634e-02 1.30992080e+02] [-6.73081524e-01 7.34994648e-01 -8.21226482e-02 -7.44108423e+01] [-1.18434395e-01 2.48763761e-03 9.92958763e-01 -1.56118807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23592000000002 meters 0.03311792885610931 Centerline is valid? [True, True] Translation: X:131.02, Y:-74.43, Z:-15.61 [[ 7.31700824e-01 6.76491453e-01 8.35057964e-02 1.31015154e+02] [-6.71701911e-01 7.36445384e-01 -8.04035956e-02 -7.44339908e+01] [-1.15889804e-01 2.74037409e-03 9.93258297e-01 -1.56144830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26592 meters 0.03306767831748524 Centerline is valid? [True, True] Translation: X:131.04, Y:-74.46, Z:-15.62 [[ 7.32000370e-01 6.76292691e-01 8.24842686e-02 1.31039388e+02] [-6.71609874e-01 7.36627712e-01 -7.94971140e-02 -7.44571754e+01] [-1.14523515e-01 2.79466760e-03 9.93416607e-01 -1.56162371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29592 meters 0.03329900820388438 Centerline is valid? [True, True] Translation: X:131.06, Y:-74.48, Z:-15.62 [[ 7.32015231e-01 6.76253355e-01 8.26746712e-02 1.31062920e+02] [-6.71539547e-01 7.36663553e-01 -7.97586781e-02 -7.44806437e+01] [-1.14840491e-01 2.86525592e-03 9.93379813e-01 -1.56191808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32592 meters 0.03349113447354377 Centerline is valid? [True, True] Translation: X:131.09, Y:-74.50, Z:-15.62 [[ 7.31917632e-01 6.76254008e-01 8.35290147e-02 1.31085615e+02] [-6.71432854e-01 7.36662608e-01 -8.06605577e-02 -7.45033363e+01] [-1.16079727e-01 2.95275975e-03 9.93235510e-01 -1.56224203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35592 meters 0.033483395632558983 Centerline is valid? [True, True] Translation: X:131.11, Y:-74.53, Z:-15.62 [[ 7.31102675e-01 6.77260347e-01 8.25063702e-02 1.31107930e+02] [-6.72555588e-01 7.35738091e-01 -7.97398400e-02 -7.45262130e+01] [-1.14707711e-01 2.80789002e-03 9.93395317e-01 -1.56238981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38592 meters 0.03340096504443057 Centerline is valid? [True, True] Translation: X:131.13, Y:-74.55, Z:-15.63 [[ 7.29737800e-01 6.78542521e-01 8.40404133e-02 1.31129868e+02] [-6.73660597e-01 7.34556133e-01 -8.12938352e-02 -7.45504418e+01] [-1.16893725e-01 2.70846940e-03 9.93140736e-01 -1.56277275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41592 meters 0.033337898365391076 Centerline is valid? [True, True] Translation: X:131.15, Y:-74.57, Z:-15.63 [[ 7.29215698e-01 6.79138537e-01 8.37574704e-02 1.31152364e+02] [-6.74284281e-01 7.34005288e-01 -8.10983729e-02 -7.45743604e+01] [-1.16555456e-01 2.66186091e-03 9.93180618e-01 -1.56321304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44592 meters 0.033425153331253614 Centerline is valid? [True, True] Translation: X:131.18, Y:-74.60, Z:-15.64 [[ 7.29382486e-01 6.78956090e-01 8.37843502e-02 1.31175690e+02] [-6.74088294e-01 7.34173730e-01 -8.12028682e-02 -7.45976408e+01] [-1.16645451e-01 2.74990021e-03 9.93169813e-01 -1.56351020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47592 meters 0.033425153331253614 Centerline is valid? [True, True] Translation: X:131.20, Y:-74.62, Z:-15.64 [[ 7.29056537e-01 6.79310938e-01 8.37449402e-02 1.31199239e+02] [-6.74440812e-01 7.33845410e-01 -8.12434951e-02 -7.46199675e+01] [-1.16645435e-01 2.75009577e-03 9.93169814e-01 -1.56382614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50592 meters 0.03343272507744033 Centerline is valid? [True, True] Translation: X:131.22, Y:-74.64, Z:-15.64 [[ 7.29682906e-01 6.78650399e-01 8.36450381e-02 1.31221787e+02] [-6.73778591e-01 7.34455699e-01 -8.12233754e-02 -7.46432453e+01] [-1.16555851e-01 2.90907268e-03 9.93179878e-01 -1.56407119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53592 meters 0.03372661058351287 Centerline is valid? [True, True] Translation: X:131.24, Y:-74.67, Z:-15.64 [[ 7.30094651e-01 6.78183922e-01 8.38353738e-02 1.31244556e+02] [-6.73278672e-01 7.34885922e-01 -8.14770632e-02 -7.46654539e+01] [-1.16865870e-01 3.04139886e-03 9.93143050e-01 -1.56430754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56592 meters 0.034017429476991205 Centerline is valid? [True, True] Translation: X:131.27, Y:-74.69, Z:-15.64 [[ 7.31903993e-01 6.76264207e-01 8.35659448e-02 1.31265289e+02] [-6.71370135e-01 7.36651374e-01 -8.12828122e-02 -7.46895704e+01] [-1.16527625e-01 3.38753517e-03 9.93181674e-01 -1.56445091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59592 meters 0.03385385845225698 Centerline is valid? [True, True] Translation: X:131.29, Y:-74.71, Z:-15.65 [[ 7.32051471e-01 6.76347980e-01 8.15723848e-02 1.31287068e+02] [-6.71678909e-01 7.36574685e-01 -7.94051440e-02 -7.47128801e+01] [-1.13789662e-01 3.33820209e-03 9.93499255e-01 -1.56472321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62592 meters 0.03412435590629358 Centerline is valid? [True, True] Translation: X:131.31, Y:-74.74, Z:-15.65 [[ 7.32179674e-01 6.76092243e-01 8.25360759e-02 1.31310036e+02] [-6.71302254e-01 7.36808825e-01 -8.04116833e-02 -7.47350780e+01] [-1.15179024e-01 3.46914629e-03 9.93338692e-01 -1.56509724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65592 meters 0.03386737930994326 Centerline is valid? [True, True] Translation: X:131.33, Y:-74.76, Z:-15.65 [[ 7.31620309e-01 6.76821506e-01 8.15130192e-02 1.31331925e+02] [-6.72146802e-01 7.36139489e-01 -7.94816246e-02 -7.47582687e+01] [-1.13799825e-01 3.36165554e-03 9.93498012e-01 -1.56538211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68592 meters 0.03385079802663645 Centerline is valid? [True, True] Translation: X:131.35, Y:-74.78, Z:-15.66 [[ 7.30189977e-01 6.78118892e-01 8.35306282e-02 1.31353664e+02] [-6.73209073e-01 7.34944849e-01 -8.15206271e-02 -7.47822509e+01] [-1.16671082e-01 3.29196804e-03 9.93165153e-01 -1.56586674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.71592 meters 0.03415104880231986 Centerline is valid? [True, True] Translation: X:131.37, Y:-74.81, Z:-15.66 [[ 7.30044341e-01 6.78059462e-01 8.52679687e-02 1.31374941e+02] [-6.72932466e-01 7.34999046e-01 -8.32964513e-02 -7.48061412e+01] [-1.19151823e-01 3.43051846e-03 9.92870120e-01 -1.56608483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74592 meters 0.03430975135148797 Centerline is valid? [True, True] Translation: X:131.40, Y:-74.83, Z:-15.66 [[ 7.30615208e-01 6.77414900e-01 8.55012916e-02 1.31398270e+02] [-6.72246819e-01 7.35592353e-01 -8.35948862e-02 -7.48277176e+01] [-1.19522518e-01 3.59772390e-03 9.92824972e-01 -1.56637540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.77592 meters 0.03394079526460634 Centerline is valid? [True, True] Translation: X:131.42, Y:-74.85, Z:-15.67 [[ 7.30688062e-01 6.77572307e-01 8.36105591e-02 1.31419906e+02] [-6.72624173e-01 7.35447635e-01 -8.18138028e-02 -7.48511598e+01] [-1.16925955e-01 3.54188584e-03 9.93134319e-01 -1.56668518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80592000000001 meters 0.03381207434314437 Centerline is valid? [True, True] Translation: X:131.44, Y:-74.87, Z:-15.67 [[ 7.30571212e-01 6.77774531e-01 8.29902943e-02 1.31442264e+02] [-6.72893010e-01 7.35261310e-01 -8.12760919e-02 -7.48749740e+01] [-1.16106418e-01 3.53438400e-03 9.93230491e-01 -1.56700509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.83592000000002 meters 0.03360963655916668 Centerline is valid? [True, True] Translation: X:131.46, Y:-74.90, Z:-15.67 [[ 7.30216580e-01 6.78299067e-01 8.18176153e-02 1.31464690e+02] [-6.73549664e-01 7.34777807e-01 -8.02024002e-02 -7.48985742e+01] [-1.14518981e-01 3.45689502e-03 9.93415046e-01 -1.56728917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86592000000002 meters 0.033209071265478944 Centerline is valid? [True, True] Translation: X:131.49, Y:-74.92, Z:-15.67 [[ 7.28196022e-01 6.80456974e-01 8.19076336e-02 1.31487280e+02] [-6.75702823e-01 7.32781175e-01 -8.03582270e-02 -7.49212884e+01] [-1.14700688e-01 3.17132197e-03 9.93395035e-01 -1.56749086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89592000000002 meters 0.0329157803148881 Centerline is valid? [True, True] Translation: X:131.51, Y:-74.94, Z:-15.68 [[ 7.26652544e-01 6.81992460e-01 8.28393914e-02 1.31509766e+02] [-6.77130948e-01 7.31352993e-01 -8.13417482e-02 -7.49443709e+01] [-1.16059296e-01 3.01407258e-03 9.93237713e-01 -1.56777691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92592000000002 meters 0.031860241449239976 Centerline is valid? [True, True] Translation: X:131.53, Y:-74.97, Z:-15.68 [[ 7.21539330e-01 6.87127244e-01 8.50714146e-02 1.31530903e+02] [-6.82025857e-01 7.26533443e-01 -8.36055484e-02 -7.49685839e+01] [-1.19254878e-01 2.30378699e-03 9.92861001e-01 -1.56809612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95592000000002 meters 0.03133882572440763 Centerline is valid? [True, True] Translation: X:131.55, Y:-74.99, Z:-15.68 [[ 7.19411403e-01 6.89382177e-01 8.48495618e-02 1.31554252e+02] [-6.84315549e-01 7.24395147e-01 -8.34499854e-02 -7.49911692e+01] [-1.18993543e-01 1.97099663e-03 9.92893072e-01 -1.56839475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98592000000002 meters 0.030756898763551362 Centerline is valid? [True, True] Translation: X:131.58, Y:-75.01, Z:-15.69 [[ 7.16094180e-01 6.93057536e-01 8.29480376e-02 1.31578607e+02] [-6.88236919e-01 7.20881001e-01 -8.16120432e-02 -7.50119193e+01] [-1.16357506e-01 1.35400733e-03 9.93206473e-01 -1.56876331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01592 meters 0.03062591547031262 Centerline is valid? [True, True] Translation: X:131.60, Y:-75.03, Z:-15.69 [[ 7.14575021e-01 6.94567000e-01 8.34219581e-02 1.31602119e+02] [-6.89692503e-01 7.19427077e-01 -8.21518877e-02 -7.50344340e+01] [-1.17076006e-01 1.16818777e-03 9.93122271e-01 -1.56908609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04592 meters 0.03038656404392208 Centerline is valid? [True, True] Translation: X:131.63, Y:-75.06, Z:-15.69 [[ 7.13673126e-01 6.95491317e-01 8.34415847e-02 1.31626038e+02] [-6.90611048e-01 7.18533694e-01 -8.22539456e-02 -7.50567129e+01] [-1.17162495e-01 1.07675020e-03 9.93112174e-01 -1.56942300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07592 meters 0.030547422298319936 Centerline is valid? [True, True] Translation: X:131.65, Y:-75.08, Z:-15.70 [[ 7.13483218e-01 6.95626979e-01 8.39333260e-02 1.31653591e+02] [-6.90679844e-01 7.18402289e-01 -8.28221226e-02 -7.50760490e+01] [-1.17911197e-01 1.12113806e-03 9.93023511e-01 -1.56954664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10592 meters 0.030567702298721404 Centerline is valid? [True, True] Translation: X:131.68, Y:-75.10, Z:-15.70 [[ 7.13503534e-01 6.95557579e-01 8.43348172e-02 1.31679923e+02] [-6.90552355e-01 7.18469358e-01 -8.33020255e-02 -7.50959259e+01] [-1.18533337e-01 1.19868301e-03 9.92949350e-01 -1.56978574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13592 meters 0.030550860347876078 Centerline is valid? [True, True] Translation: X:131.71, Y:-75.11, Z:-15.70 [[ 7.13842801e-01 6.95205584e-01 8.43661715e-02 1.31708029e+02] [-6.90184175e-01 7.18809751e-01 -8.34167041e-02 -7.51136861e+01] [-1.18634985e-01 1.31821734e-03 9.92937059e-01 -1.57025429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16592 meters 0.030560023105353773 Centerline is valid? [True, True] Translation: X:131.73, Y:-75.13, Z:-15.71 [[ 7.14367648e-01 6.94852955e-01 8.28144597e-02 1.31731978e+02] [-6.90003522e-01 7.19150462e-01 -8.19619005e-02 -7.51348507e+01] [-1.16507526e-01 1.40866125e-03 9.93188810e-01 -1.57055677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19592 meters 0.030693322734592056 Centerline is valid? [True, True] Translation: X:131.76, Y:-75.16, Z:-15.71 [[ 7.15463341e-01 6.93778097e-01 8.23660125e-02 1.31756348e+02] [-6.88965642e-01 7.20186991e-01 -8.15906963e-02 -7.51572954e+01] [-1.15924769e-01 1.62779953e-03 9.93256663e-01 -1.57106224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22592 meters 0.030674826046463793 Centerline is valid? [True, True] Translation: X:131.78, Y:-75.18, Z:-15.71 [[ 7.17383081e-01 6.91886952e-01 8.15718127e-02 1.31782324e+02] [-6.87145930e-01 7.22003157e-01 -8.08820898e-02 -7.51774175e+01] [-1.14856369e-01 1.97170371e-03 9.93380152e-01 -1.57122191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25592 meters 0.031087993429591787 Centerline is valid? [True, True] Translation: X:131.81, Y:-75.20, Z:-15.71 [[ 7.18803134e-01 6.90507013e-01 8.07596419e-02 1.31806769e+02] [-6.85843688e-01 7.23322290e-01 -8.01454906e-02 -7.51983832e+01] [-1.13756272e-01 2.22033918e-03 9.93506206e-01 -1.57133694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28592 meters 0.03173001549838367 Centerline is valid? [True, True] Translation: X:131.83, Y:-75.22, Z:-15.72 [[ 7.21179366e-01 6.87959288e-01 8.13162973e-02 1.31830651e+02] [-6.83206997e-01 7.25744287e-01 -8.07677500e-02 -7.52194502e+01] [-1.14579762e-01 2.69217148e-03 9.93410404e-01 -1.57173745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31592 meters 0.03212905755051196 Centerline is valid? [True, True] Translation: X:131.85, Y:-75.24, Z:-15.72 [[ 7.22936963e-01 6.86079900e-01 8.15874876e-02 1.31853588e+02] [-6.81275721e-01 7.27519800e-01 -8.11069266e-02 -7.52420100e+01] [-1.15002345e-01 3.05162080e-03 9.93360533e-01 -1.57213261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34592 meters 0.03259565546858806 Centerline is valid? [True, True] Translation: X:131.88, Y:-75.26, Z:-15.73 [[ 7.23762863e-01 6.85157667e-01 8.20139629e-02 1.31876362e+02] [-6.80288979e-01 7.28387469e-01 -8.16002498e-02 -7.52640239e+01] [-1.15646980e-01 3.26603530e-03 9.93285009e-01 -1.57258980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37592 meters 0.03336258403478233 Centerline is valid? [True, True] Translation: X:131.90, Y:-75.29, Z:-15.73 [[ 7.26458223e-01 6.82370802e-01 8.14158441e-02 1.31899119e+02] [-6.77547732e-01 7.30996683e-01 -8.10735476e-02 -7.52866159e+01] [-1.14836934e-01 3.73342478e-03 9.93377340e-01 -1.57299213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40592 meters 0.03348100034961096 Centerline is valid? [True, True] Translation: X:131.92, Y:-75.31, Z:-15.73 [[ 7.26569901e-01 6.82168294e-01 8.21133286e-02 1.31920922e+02] [-6.77252619e-01 7.31185070e-01 -8.18369382e-02 -7.53097220e+01] [-1.15866604e-01 3.84878924e-03 9.93257327e-01 -1.57331928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43592 meters 0.034165681814644494 Centerline is valid? [True, True] Translation: X:131.94, Y:-75.33, Z:-15.74 [[ 7.28540711e-01 6.80102558e-01 8.17859583e-02 1.31942299e+02] [-6.75205270e-01 7.33104889e-01 -8.15785823e-02 -7.53339673e+01] [-1.15439488e-01 4.21100824e-03 9.93305588e-01 -1.57351556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46592 meters 0.03440189868636939 Centerline is valid? [True, True] Translation: X:131.96, Y:-75.36, Z:-15.74 [[ 7.29129534e-01 6.79531075e-01 8.12873955e-02 1.31964585e+02] [-6.74682228e-01 7.33633979e-01 -8.11484783e-02 -7.53566156e+01] [-1.14778108e-01 4.32459111e-03 9.93381741e-01 -1.57384365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.49592 meters 0.034977281062031795 Centerline is valid? [True, True] Translation: X:131.99, Y:-75.38, Z:-15.74 [[ 7.30245748e-01 6.78359632e-01 8.10515711e-02 1.31987169e+02] [-6.73524093e-01 7.34715967e-01 -8.09799013e-02 -7.53792399e+01] [-1.14483379e-01 4.54504272e-03 9.93414767e-01 -1.57420519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52592 meters 0.03574080825616941 Centerline is valid? [True, True] Translation: X:132.01, Y:-75.40, Z:-15.75 [[ 7.31722750e-01 6.76776172e-01 8.09680820e-02 1.32009159e+02] [-6.71933292e-01 7.36172950e-01 -8.09631935e-02 -7.54022558e+01] [-1.14400472e-01 4.83746064e-03 9.93422937e-01 -1.57463276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.55592000000001 meters 0.03646157300013674 Centerline is valid? [True, True] Translation: X:131.96, Y:-75.76, Z:-13.78 [[ 7.23273973e-01 -6.88459666e-01 -5.38335221e-02 1.31961242e+02] [-6.86198660e-01 -7.25266376e-01 5.58577016e-02 -7.57635300e+01] [-7.74994181e-02 -3.45993100e-03 -9.96986394e-01 -1.37780986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58592000000002 meters 0.03642512892872731 Centerline is valid? [True, True] Translation: X:132.03, Y:-75.45, Z:-15.75 [[ 7.79590358e-01 6.20141160e-01 8.75432265e-02 1.32028703e+02] [-6.15508103e-01 7.84472718e-01 -7.58441209e-02 -7.54482789e+01] [-1.15709334e-01 5.24378010e-03 9.93269275e-01 -1.57520144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61592000000002 meters 0.0369703114759267 Centerline is valid? [True, True] Translation: X:132.05, Y:-75.47, Z:-15.76 [[ 7.80214657e-01 6.19371376e-01 8.74310478e-02 1.32051616e+02] [-6.14733748e-01 7.85079366e-01 -7.58472708e-02 -7.54700572e+01] [-1.15617940e-01 5.43033662e-03 9.93278915e-01 -1.57552933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64592000000002 meters 0.036870558404361216 Centerline is valid? [True, True] Translation: X:132.07, Y:-75.49, Z:-15.76 [[ 7.80187730e-01 6.19479663e-01 8.69025566e-02 1.32074664e+02] [-6.14891913e-01 7.84993938e-01 -7.54483455e-02 -7.54932225e+01] [-1.14956696e-01 5.42819409e-03 9.93355673e-01 -1.57580892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67592000000002 meters 0.037043718032912266 Centerline is valid? [True, True] Translation: X:132.10, Y:-75.52, Z:-15.76 [[ 7.79730099e-01 6.19957472e-01 8.75996926e-02 1.32097131e+02] [-6.15290182e-01 7.84616431e-01 -7.61252114e-02 -7.55167820e+01] [-1.15926552e-01 5.45788778e-03 9.93242793e-01 -1.57629188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70592000000002 meters 0.03631470415228169 Centerline is valid? [True, True] Translation: X:132.12, Y:-75.54, Z:-15.77 [[ 7.78002076e-01 6.22014787e-01 8.83763198e-02 1.32119914e+02] [-6.17268886e-01 7.82987869e-01 -7.68707910e-02 -7.55401084e+01] [-1.17012355e-01 5.25368247e-03 9.93116563e-01 -1.57654253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73592000000002 meters 0.03609084345226902 Centerline is valid? [True, True] Translation: X:132.14, Y:-75.56, Z:-15.77 [[ 7.76935509e-01 6.23086555e-01 9.01906871e-02 1.32144050e+02] [-6.18142124e-01 7.82135264e-01 -7.85158821e-02 -7.55624662e+01] [-1.19463507e-01 5.25111393e-03 9.92824706e-01 -1.57694465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76592 meters 0.036429039463358716 Centerline is valid? [True, True] Translation: X:132.17, Y:-75.58, Z:-15.77 [[ 7.77300450e-01 6.22865584e-01 8.85577416e-02 1.32168408e+02] [-6.18090371e-01 7.82311338e-01 -7.71573974e-02 -7.55840644e+01] [-1.17338413e-01 5.23779237e-03 9.93078175e-01 -1.57721803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79592 meters 0.03624282486507587 Centerline is valid? [True, True] Translation: X:132.19, Y:-75.61, Z:-15.78 [[ 7.76379682e-01 6.24025022e-01 8.84723763e-02 1.32190763e+02] [-6.19262979e-01 7.81387838e-01 -7.71129684e-02 -7.56069143e+01] [-1.17251661e-01 5.08127462e-03 9.93089235e-01 -1.57763473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82592 meters 0.0362271242706558 Centerline is valid? [True, True] Translation: X:132.21, Y:-75.63, Z:-15.78 [[ 7.76653659e-01 6.23688025e-01 8.84440018e-02 1.32214136e+02] [-6.18919405e-01 7.81656198e-01 -7.71515268e-02 -7.56282555e+01] [-1.17251286e-01 5.18030668e-03 9.93088768e-01 -1.57802415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85592 meters 0.0364528730393598 Centerline is valid? [True, True] Translation: X:132.24, Y:-75.65, Z:-15.78 [[ 7.76547689e-01 6.23771400e-01 8.87858471e-02 1.32238132e+02] [-6.18958681e-01 7.81589279e-01 -7.75135453e-02 -7.56500481e+01] [-1.17744799e-01 5.23819367e-03 9.93030072e-01 -1.57836923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88592 meters 0.03650935426939701 Centerline is valid? [True, True] Translation: X:132.26, Y:-75.67, Z:-15.79 [[ 7.77009061e-01 6.23211681e-01 8.86798715e-02 1.32261670e+02] [-6.18399378e-01 7.82034783e-01 -7.74842389e-02 -7.56711256e+01] [-1.17639827e-01 5.36637832e-03 9.93041828e-01 -1.57864469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91592 meters 0.03675202568876024 Centerline is valid? [True, True] Translation: X:132.29, Y:-75.69, Z:-15.79 [[ 7.76749346e-01 6.23383897e-01 8.97383447e-02 1.32285606e+02] [-6.18449337e-01 7.81896910e-01 -7.84706345e-02 -7.56930464e+01] [-1.19083464e-01 5.45339424e-03 9.92869271e-01 -1.57903775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94592 meters 0.0369605971431239 Centerline is valid? [True, True] Translation: X:132.31, Y:-75.72, Z:-15.79 [[ 7.77405805e-01 6.22830552e-01 8.78767154e-02 1.32310679e+02] [-6.18088336e-01 7.82337624e-01 -7.69067624e-02 -7.57150133e+01] [-1.16649142e-01 5.47219072e-03 9.93158111e-01 -1.57935758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97592 meters 0.036852095620146755 Centerline is valid? [True, True] Translation: X:132.34, Y:-75.74, Z:-15.80 [[ 7.76964634e-01 6.23325756e-01 8.82664089e-02 1.32335639e+02] [-6.18535728e-01 7.81943074e-01 -7.73212861e-02 -7.57367620e+01] [-1.17215656e-01 5.47997722e-03 9.93091365e-01 -1.57967015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00592 meters 0.03659611211048928 Centerline is valid? [True, True] Translation: X:132.36, Y:-75.76, Z:-15.80 [[ 7.76390230e-01 6.24317966e-01 8.62860858e-02 1.32359301e+02] [-6.19740133e-01 7.81152629e-01 -7.56487732e-02 -7.57589292e+01] [-1.14631491e-01 5.25801805e-03 9.93394169e-01 -1.58004213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03592 meters 0.036389841498770836 Centerline is valid? [True, True] Translation: X:132.38, Y:-75.78, Z:-15.80 [[ 7.75200535e-01 6.25666715e-01 8.72083228e-02 1.32382995e+02] [-6.20995159e-01 7.80073571e-01 -7.64868424e-02 -7.57807680e+01] [-1.15884179e-01 5.13669491e-03 9.93249451e-01 -1.58036400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06592 meters 0.036455103718896806 Centerline is valid? [True, True] Translation: X:132.41, Y:-75.80, Z:-15.81 [[ 7.74220669e-01 6.26833560e-01 8.75330993e-02 1.32407338e+02] [-6.22126942e-01 7.79136944e-01 -7.68354805e-02 -7.58021120e+01] [-1.16363329e-01 5.03091776e-03 9.93193972e-01 -1.58072564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09592 meters 0.03646564285239921 Centerline is valid? [True, True] Translation: X:132.43, Y:-75.82, Z:-15.81 [[ 7.74192739e-01 6.26915501e-01 8.71926447e-02 1.32432891e+02] [-6.22238531e-01 7.79070893e-01 -7.66012650e-02 -7.58236484e+01] [-1.15951772e-01 5.04952004e-03 9.93242009e-01 -1.58104832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12592 meters 0.03650244876948664 Centerline is valid? [True, True] Translation: X:132.46, Y:-75.85, Z:-15.81 [[ 7.74396030e-01 6.26855655e-01 8.58066211e-02 1.32457476e+02] [-6.22318285e-01 7.79119160e-01 -7.54538743e-02 -7.58460475e+01] [-1.14152270e-01 5.03215144e-03 9.93450520e-01 -1.58142047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15592 meters 0.036598684542992775 Centerline is valid? [True, True] Translation: X:132.48, Y:-75.87, Z:-15.82 [[ 7.74239402e-01 6.26940464e-01 8.65967862e-02 1.32479922e+02] [-6.22311119e-01 7.79050330e-01 -7.62197752e-02 -7.58693666e+01] [-1.15248516e-01 5.12221022e-03 9.93323483e-01 -1.58183628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18592 meters 0.036695614160663984 Centerline is valid? [True, True] Translation: X:132.50, Y:-75.89, Z:-15.82 [[ 7.74021278e-01 6.27278248e-01 8.60991308e-02 1.32504698e+02] [-6.22696876e-01 7.78778574e-01 -7.58454593e-02 -7.58913300e+01] [-1.14628365e-01 5.09233964e-03 9.93395393e-01 -1.58202387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.21592 meters 0.03627244073733712 Centerline is valid? [True, True] Translation: X:132.53, Y:-75.91, Z:-15.82 [[ 7.72168179e-01 6.29326048e-01 8.77782943e-02 1.32528462e+02] [-6.24568096e-01 7.77125677e-01 -7.73975181e-02 -7.59126059e+01] [-1.16923041e-01 4.94037844e-03 9.93128690e-01 -1.58225695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24592 meters 0.035735578835529976 Centerline is valid? [True, True] Translation: X:132.55, Y:-75.93, Z:-15.82 [[ 7.70041296e-01 6.31999546e-01 8.72523719e-02 1.32551801e+02] [-6.27309217e-01 7.74955397e-01 -7.69888218e-02 -7.59343541e+01] [-1.16273597e-01 4.55035501e-03 9.93206799e-01 -1.58244231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.27592 meters 0.03500290062575983 Centerline is valid? [True, True] Translation: X:132.57, Y:-75.96, Z:-15.83 [[ 7.68119623e-01 6.34306960e-01 8.74466982e-02 1.32573715e+02] [-6.29608563e-01 7.73069752e-01 -7.71765174e-02 -7.59583383e+01] [-1.16555999e-01 4.22360750e-03 9.93175141e-01 -1.58286699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30592000000001 meters 0.034287470996678726 Centerline is valid? [True, True] Translation: X:132.60, Y:-75.98, Z:-15.83 [[ 7.65098824e-01 6.37866770e-01 8.80327984e-02 1.32595241e+02] [-6.33125090e-01 7.70137704e-01 -7.77208950e-02 -7.59829885e+01] [-1.17372953e-01 3.72839200e-03 9.93080908e-01 -1.58325514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.33592000000002 meters 0.033968567470200994 Centerline is valid? [True, True] Translation: X:132.62, Y:-76.01, Z:-15.84 [[ 7.63298818e-01 6.39837969e-01 8.93436476e-02 1.32618800e+02] [-6.34963033e-01 7.68501859e-01 -7.89103245e-02 -7.60050202e+01] [-1.19150581e-01 3.50224394e-03 9.92870018e-01 -1.58359995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36592000000002 meters 0.03384762924903375 Centerline is valid? [True, True] Translation: X:132.64, Y:-76.03, Z:-15.84 [[ 7.61168476e-01 6.42305198e-01 8.98141669e-02 1.32642782e+02] [-6.37387483e-01 7.66442357e-01 -7.93933903e-02 -7.60262623e+01] [-1.19832169e-01 3.18532013e-03 9.92789054e-01 -1.58391124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39592000000002 meters 0.033624302315621794 Centerline is valid? [True, True] Translation: X:132.67, Y:-76.05, Z:-15.84 [[ 7.60445415e-01 6.43238241e-01 8.92599422e-02 1.32666034e+02] [-6.38379587e-01 7.65659934e-01 -7.89706885e-02 -7.60477295e+01] [-1.19139728e-01 3.07117298e-03 9.92872748e-01 -1.58423657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42592000000002 meters 0.033624302315621794 Centerline is valid? [True, True] Translation: X:132.69, Y:-76.07, Z:-15.85 [[ 7.60132439e-01 6.43612841e-01 8.92254803e-02 1.32690555e+02] [-6.38752192e-01 7.65345097e-01 -7.90096096e-02 -7.60689612e+01] [-1.19139883e-01 3.06479612e-03 9.92872749e-01 -1.58455180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45592000000002 meters 0.03339882007552765 Centerline is valid? [True, True] Translation: X:132.71, Y:-76.09, Z:-15.85 [[ 7.58813067e-01 6.45165618e-01 8.92415522e-02 1.32714635e+02] [-6.40304731e-01 7.64037322e-01 -7.91000742e-02 -7.60904312e+01] [-1.19216525e-01 2.88038186e-03 9.92864101e-01 -1.58491279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48592000000002 meters 0.03320909950474771 Centerline is valid? [True, True] Translation: X:132.74, Y:-76.11, Z:-15.85 [[ 7.56981368e-01 6.47433595e-01 8.83682540e-02 1.32739530e+02] [-6.42675100e-01 7.62117601e-01 -7.83931018e-02 -7.61110577e+01] [-1.18101329e-01 2.55004100e-03 9.92998275e-01 -1.58518464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51592 meters 0.033220778714405666 Centerline is valid? [True, True] Translation: X:132.76, Y:-76.13, Z:-15.86 [[ 7.55621121e-01 6.48913868e-01 8.91488289e-02 1.32764014e+02] [-6.44072364e-01 7.60858109e-01 -7.91563518e-02 -7.61328136e+01] [-1.19195264e-01 2.39391430e-03 9.92867946e-01 -1.58555020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54592 meters 0.0330735445767871 Centerline is valid? [True, True] Translation: X:132.79, Y:-76.16, Z:-15.86 [[ 7.54790581e-01 6.49893606e-01 8.90476237e-02 1.32786478e+02] [-6.45060693e-01 7.60021731e-01 -7.91433553e-02 -7.61561476e+01] [-1.19112890e-01 2.29553731e-03 9.92878064e-01 -1.58587958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57592 meters 0.032883143645610166 Centerline is valid? [True, True] Translation: X:132.81, Y:-76.18, Z:-15.86 [[ 7.53590722e-01 6.51220801e-01 8.95125239e-02 1.32810384e+02] [-6.46337794e-01 7.58885261e-01 -7.96279928e-02 -7.61790737e+01] [-1.19785140e-01 2.15158932e-03 9.92797507e-01 -1.58626891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60592 meters 0.03277724114348594 Centerline is valid? [True, True] Translation: X:132.83, Y:-76.20, Z:-15.86 [[ 7.53544189e-01 6.51439644e-01 8.83037177e-02 1.32834883e+02] [-6.46681251e-01 7.58697440e-01 -7.86228645e-02 -7.62004043e+01] [-1.18213855e-01 2.14144399e-03 9.92985850e-01 -1.58645342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63592 meters 0.032727824336808466 Centerline is valid? [True, True] Translation: X:132.86, Y:-76.22, Z:-15.87 [[ 7.52012022e-01 6.53196316e-01 8.83882972e-02 1.32861063e+02] [-6.48435667e-01 7.57186213e-01 -7.87415101e-02 -7.62194882e+01] [-1.18360064e-01 1.90043781e-03 9.92968924e-01 -1.58674257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66592 meters 0.032472525952679056 Centerline is valid? [True, True] Translation: X:132.89, Y:-76.24, Z:-15.87 [[ 7.50807354e-01 6.54649851e-01 8.78742844e-02 1.32885294e+02] [-6.49946326e-01 7.55930310e-01 -7.83526630e-02 -7.62404412e+01] [-1.17720394e-01 1.71418722e-03 9.93045301e-01 -1.58696811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69592 meters 0.032227508182151185 Centerline is valid? [True, True] Translation: X:132.91, Y:-76.26, Z:-15.87 [[ 7.49265488e-01 6.56344598e-01 8.83911658e-02 1.32909816e+02] [-6.51588502e-01 7.54459730e-01 -7.88856098e-02 -7.62625663e+01] [-1.18463719e-01 1.51159758e-03 9.92957231e-01 -1.58733582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72592 meters 0.03208295952782989 Centerline is valid? [True, True] Translation: X:132.93, Y:-76.28, Z:-15.88 [[ 7.48145198e-01 6.57724928e-01 8.76166742e-02 1.32934633e+02] [-6.53052410e-01 7.53257010e-01 -7.82714962e-02 -7.62835665e+01] [-1.17478988e-01 1.34016375e-03 9.93074464e-01 -1.58754184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75592 meters 0.03212053253169793 Centerline is valid? [True, True] Translation: X:132.96, Y:-76.30, Z:-15.88 [[ 7.47693018e-01 6.58152356e-01 8.82645284e-02 1.32959873e+02] [-6.53404606e-01 7.52883582e-01 -7.89223171e-02 -7.63047519e+01] [-1.18395823e-01 1.33721599e-03 9.92965579e-01 -1.58792504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78592 meters 0.0322191823634634 Centerline is valid? [True, True] Translation: X:132.99, Y:-76.33, Z:-15.88 [[ 7.48670718e-01 6.57093151e-01 8.78677782e-02 1.32985218e+02] [-6.52371401e-01 7.53807775e-01 -7.86472687e-02 -7.63253026e+01] [-1.17913996e-01 1.55848156e-03 9.93022588e-01 -1.58808611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81592 meters 0.03228409973933178 Centerline is valid? [True, True] Translation: X:133.01, Y:-76.35, Z:-15.88 [[ 7.49608071e-01 6.56016444e-01 8.79213543e-02 1.33010182e+02] [-6.51272280e-01 7.54744478e-01 -7.87730268e-02 -7.63452453e+01] [-1.18034558e-01 1.78815586e-03 9.93007878e-01 -1.58839236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84592 meters 0.03247297850952802 Centerline is valid? [True, True] Translation: X:133.04, Y:-76.36, Z:-15.89 [[ 7.50869440e-01 6.54579435e-01 8.78683547e-02 1.33036446e+02] [-6.49822897e-01 7.55990407e-01 -7.87953512e-02 -7.63643745e+01] [-1.18005450e-01 2.06615241e-03 9.93010798e-01 -1.58881515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87592 meters 0.0325221466137785 Centerline is valid? [True, True] Translation: X:133.06, Y:-76.38, Z:-15.89 [[ 7.51991050e-01 6.53475966e-01 8.64790302e-02 1.33062729e+02] [-6.48853871e-01 7.56943903e-01 -7.76181745e-02 -7.63844234e+01] [-1.16181386e-01 2.25591907e-03 9.93225451e-01 -1.58909784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90592 meters 0.03274703544745569 Centerline is valid? [True, True] Translation: X:133.09, Y:-76.40, Z:-15.89 [[ 7.53494135e-01 6.51738910e-01 8.65042307e-02 1.33088087e+02] [-6.47093847e-01 7.58439005e-01 -7.77163396e-02 -7.64041337e+01] [-1.16258945e-01 2.58245065e-03 9.93215580e-01 -1.58937250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93592 meters 0.032902732354919015 Centerline is valid? [True, True] Translation: X:133.11, Y:-76.43, Z:-15.90 [[ 7.54234518e-01 6.50850189e-01 8.67428537e-02 1.33112628e+02] [-6.46165537e-01 7.59201099e-01 -7.79986562e-02 -7.64253492e+01] [-1.16620710e-01 2.77903622e-03 9.93172637e-01 -1.58972273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96592 meters 0.03312846401922499 Centerline is valid? [True, True] Translation: X:133.14, Y:-76.45, Z:-15.90 [[ 7.55230847e-01 6.49836366e-01 8.56683419e-02 1.33137843e+02] [-6.45253111e-01 7.60068412e-01 -7.71001370e-02 -7.64467602e+01] [-1.15216273e-01 2.95063760e-03 9.93336048e-01 -1.58988913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.99592 meters 0.03350428339660564 Centerline is valid? [True, True] Translation: X:133.16, Y:-76.47, Z:-15.90 [[ 7.56217880e-01 6.48702815e-01 8.55521858e-02 1.33163109e+02] [-6.44116156e-01 7.61035196e-01 -7.70701496e-02 -7.64665510e+01] [-1.15103847e-01 3.17628004e-03 9.93348386e-01 -1.59008922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02592 meters 0.03368893160928366 Centerline is valid? [True, True] Translation: X:133.19, Y:-76.49, Z:-15.90 [[ 7.57454438e-01 6.47340806e-01 8.49273470e-02 1.33188928e+02] [-6.42805120e-01 7.62193062e-01 -7.65722824e-02 -7.64857309e+01] [-1.14299398e-01 3.40828171e-03 9.93440502e-01 -1.59022267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.05592000000001 meters 0.03404944062858531 Centerline is valid? [True, True] Translation: X:133.21, Y:-76.51, Z:-15.91 [[ 7.58345294e-01 6.46284364e-01 8.50231418e-02 1.33211963e+02] [-6.41724275e-01 7.63088070e-01 -7.67238693e-02 -7.65076618e+01] [-1.14465582e-01 3.62177121e-03 9.93420612e-01 -1.59059283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08592000000002 meters 0.034068947451099445 Centerline is valid? [True, True] Translation: X:133.24, Y:-76.53, Z:-15.91 [[ 7.58609376e-01 6.45979976e-01 8.49804996e-02 1.33235575e+02] [-6.41415087e-01 7.63345310e-01 -7.67503948e-02 -7.65289701e+01] [-1.14448684e-01 3.71579454e-03 9.93422212e-01 -1.59081961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11592000000002 meters 0.034218613675079924 Centerline is valid? [True, True] Translation: X:133.26, Y:-76.55, Z:-15.91 [[ 7.58366474e-01 6.46341351e-01 8.43987576e-02 1.33260410e+02] [-6.41833703e-01 7.63039495e-01 -7.62904098e-02 -7.65507325e+01] [-1.13709232e-01 3.68612191e-03 9.93507234e-01 -1.59104600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14592000000002 meters 0.034049716088465985 Centerline is valid? [True, True] Translation: X:133.28, Y:-76.57, Z:-15.91 [[ 7.57572586e-01 6.47147044e-01 8.53491659e-02 1.33284779e+02] [-6.42533268e-01 7.62356399e-01 -7.72251313e-02 -7.65722603e+01] [-1.15042498e-01 3.66396395e-03 9.93353814e-01 -1.59137276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17592000000002 meters 0.033270779281493905 Centerline is valid? [True, True] Translation: X:133.31, Y:-76.60, Z:-15.92 [[ 7.55474157e-01 6.49622248e-01 8.51453638e-02 1.33306394e+02] [-6.45038496e-01 7.60249856e-01 -7.71070331e-02 -7.65958362e+01] [-1.14822195e-01 3.33033340e-03 9.93380477e-01 -1.59152601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20592000000002 meters 0.032906603055270996 Centerline is valid? [True, True] Translation: X:133.33, Y:-76.62, Z:-15.92 [[ 7.54148503e-01 6.51264495e-01 8.43480482e-02 1.33329525e+02] [-6.46773336e-01 7.58844589e-01 -7.64142763e-02 -7.66174631e+01] [-1.13772965e-01 3.07364355e-03 9.93502021e-01 -1.59185344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23592000000002 meters 0.032462761193833685 Centerline is valid? [True, True] Translation: X:133.35, Y:-76.64, Z:-15.92 [[ 7.51573381e-01 6.54152041e-01 8.49856457e-02 1.33352967e+02] [-6.49603127e-01 7.56358231e-01 -7.70584468e-02 -7.66390905e+01] [-1.14687533e-01 2.70813626e-03 9.93397924e-01 -1.59216532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26592 meters 0.03229638587698271 Centerline is valid? [True, True] Translation: X:133.38, Y:-76.66, Z:-15.92 [[ 7.49620576e-01 6.56399444e-01 8.49044294e-02 1.33377617e+02] [-6.51865944e-01 7.54409670e-01 -7.70508995e-02 -7.66599794e+01] [-1.14628890e-01 2.41263369e-03 9.93405454e-01 -1.59249165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29592 meters 0.03179922738671346 Centerline is valid? [True, True] Translation: X:133.40, Y:-76.68, Z:-15.93 [[ 7.46030100e-01 6.60374663e-01 8.56994435e-02 1.33401354e+02] [-6.55773660e-01 7.50933953e-01 -7.78402527e-02 -7.66813105e+01] [-1.15758353e-01 1.87173378e-03 9.93275642e-01 -1.59287502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32592 meters 0.03166532445205402 Centerline is valid? [True, True] Translation: X:133.43, Y:-76.70, Z:-15.93 [[ 7.44188228e-01 6.62350294e-01 8.64636826e-02 1.33427249e+02] [-6.57671494e-01 7.49192514e-01 -7.86052396e-02 -7.67023894e+01] [-1.16842147e-01 1.63239469e-03 9.93149157e-01 -1.59312068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35592 meters 0.03171275615494839 Centerline is valid? [True, True] Translation: X:133.45, Y:-76.72, Z:-15.93 [[ 7.43706403e-01 6.62684234e-01 8.80363088e-02 1.33451341e+02] [-6.57826505e-01 7.48897078e-01 -8.01090223e-02 -7.67226772e+01] [-1.19017121e-01 1.66497546e-03 9.92890806e-01 -1.59347725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38592 meters 0.031557717360171794 Centerline is valid? [True, True] Translation: X:133.48, Y:-76.74, Z:-15.94 [[ 7.44641759e-01 6.61728341e-01 8.73169744e-02 1.33476418e+02] [-6.56938977e-01 7.49741456e-01 -7.94916980e-02 -7.67439464e+01] [-1.18067065e-01 1.83091401e-03 9.93003936e-01 -1.59361180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41592 meters 0.03194444455198297 Centerline is valid? [True, True] Translation: X:133.50, Y:-76.76, Z:-15.94 [[ 7.45925612e-01 6.60333691e-01 8.69160365e-02 1.33502166e+02] [-6.55574064e-01 7.50969452e-01 -7.91677303e-02 -7.67634480e+01] [-1.17548408e-01 2.07333848e-03 9.93064989e-01 -1.59403729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44592 meters 0.031910943978612404 Centerline is valid? [True, True] Translation: X:133.53, Y:-76.78, Z:-15.94 [[ 7.46866919e-01 6.59305456e-01 8.66378691e-02 1.33527180e+02] [-6.54562145e-01 7.51871758e-01 -7.89763099e-02 -7.67840051e+01] [-1.17210079e-01 2.27492378e-03 9.93104537e-01 -1.59441504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47592 meters 0.031938964480942536 Centerline is valid? [True, True] Translation: X:133.55, Y:-76.80, Z:-15.95 [[ 7.47010776e-01 6.59224226e-01 8.60134894e-02 1.33552965e+02] [-6.54544823e-01 7.51942915e-01 -7.84405983e-02 -7.68048526e+01] [-1.16387177e-01 2.29628805e-03 9.93201265e-01 -1.59467993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50592 meters 0.03180343798120892 Centerline is valid? [True, True] Translation: X:133.58, Y:-76.83, Z:-15.95 [[ 7.46476532e-01 6.59757249e-01 8.65630384e-02 1.33576903e+02] [-6.55011787e-01 7.51475308e-01 -7.90216498e-02 -7.68281616e+01] [-1.17185092e-01 2.28799664e-03 9.93107456e-01 -1.59501925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53592 meters 0.031768465170495426 Centerline is valid? [True, True] Translation: X:133.60, Y:-76.85, Z:-15.95 [[ 7.46075898e-01 6.60300653e-01 8.58708460e-02 1.33600156e+02] [-6.55625793e-01 7.50998017e-01 -7.84652651e-02 -7.68499767e+01] [-1.16299501e-01 2.24190163e-03 9.93211659e-01 -1.59525283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56592 meters 0.0315334243925967 Centerline is valid? [True, True] Translation: X:133.62, Y:-76.87, Z:-15.95 [[ 7.45577644e-01 6.60962819e-01 8.51006995e-02 1.33624414e+02] [-6.56368269e-01 7.50415515e-01 -7.78283412e-02 -7.68707070e+01] [-1.15302525e-01 2.16967244e-03 9.93328053e-01 -1.59548931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59592 meters 0.031585618692063125 Centerline is valid? [True, True] Translation: X:133.65, Y:-76.89, Z:-15.96 [[ 7.46338056e-01 6.60102821e-01 8.51103569e-02 1.33648795e+02] [-6.55493795e-01 7.51171568e-01 -7.79048151e-02 -7.68916976e+01] [-1.15357668e-01 2.35401738e-03 9.93321231e-01 -1.59591117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62592 meters 0.032011625783570745 Centerline is valid? [True, True] Translation: X:133.67, Y:-76.91, Z:-15.96 [[ 7.48100738e-01 6.57929970e-01 8.64490603e-02 1.33671186e+02] [-6.53151610e-01 7.53073966e-01 -7.91995971e-02 -7.69142981e+01] [-1.17210325e-01 2.78493415e-03 9.93103209e-01 -1.59626916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65592 meters 0.03252319569595271 Centerline is valid? [True, True] Translation: X:133.69, Y:-76.94, Z:-15.97 [[ 7.49157441e-01 6.56619256e-01 8.72598545e-02 1.33694359e+02] [-6.51733392e-01 7.54215964e-01 -8.00116571e-02 -7.69364224e+01] [-1.18349970e-01 3.07116734e-03 9.92967196e-01 -1.59668246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68592 meters 0.03276103863106546 Centerline is valid? [True, True] Translation: X:133.72, Y:-76.96, Z:-15.97 [[ 7.51106637e-01 6.54448568e-01 8.68095146e-02 1.33717372e+02] [-6.49590675e-01 7.56098662e-01 -7.96666089e-02 -7.69584376e+01] [-1.17774256e-01 3.44746750e-03 9.93034410e-01 -1.59694493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.71592 meters 0.033713807184263624 Centerline is valid? [True, True] Translation: X:133.74, Y:-76.98, Z:-15.97 [[ 7.54595010e-01 6.50416238e-01 8.68624695e-02 1.33740548e+02] [-6.45518689e-01 7.59566781e-01 -7.97742304e-02 -7.69804583e+01] [-1.17864301e-01 4.12588882e-03 9.93021140e-01 -1.59730235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74592 meters 0.03418488683822454 Centerline is valid? [True, True] Translation: X:133.76, Y:-77.00, Z:-15.98 [[ 7.56242268e-01 6.48615632e-01 8.59964747e-02 1.33763824e+02] [-6.43800814e-01 7.61103508e-01 -7.90060899e-02 -7.70029474e+01] [-1.16696804e-01 4.38314420e-03 9.93157915e-01 -1.59759934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.77592 meters 0.035633874390170364 Centerline is valid? [True, True] Translation: X:133.78, Y:-77.03, Z:-15.98 [[ 7.59775403e-01 6.44443514e-01 8.62200333e-02 1.33784559e+02] [-6.39570005e-01 7.64635028e-01 -7.92684233e-02 -7.70267011e+01] [-1.17010879e-01 5.08245118e-03 9.93117628e-01 -1.59797471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80592000000001 meters 0.035915029611483545 Centerline is valid? [True, True] Translation: X:133.81, Y:-77.05, Z:-15.98 [[ 7.61496218e-01 6.42539867e-01 8.52410079e-02 1.33807399e+02] [-6.37762828e-01 7.66233736e-01 -7.83864641e-02 -7.70498945e+01] [-1.15680964e-01 5.32744970e-03 9.93272134e-01 -1.59807595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.83592000000002 meters 0.036968156512442424 Centerline is valid? [True, True] Translation: X:133.83, Y:-77.07, Z:-15.98 [[ 7.64115059e-01 6.39537867e-01 8.43770913e-02 1.33828120e+02] [-6.34832143e-01 7.68737932e-01 -7.76539893e-02 -7.70739237e+01] [-1.14526537e-01 5.77129293e-03 9.93403425e-01 -1.59844887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86592000000002 meters 0.03747498148838922 Centerline is valid? [True, True] Translation: X:133.85, Y:-77.10, Z:-15.99 [[ 7.65522965e-01 6.37783696e-01 8.48913795e-02 1.33849521e+02] [-6.33002622e-01 7.70191234e-01 -7.81865932e-02 -7.70972652e+01] [-1.15248731e-01 6.11716685e-03 9.93317829e-01 -1.59875673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89592000000002 meters 0.03805475441758312 Centerline is valid? [True, True] Translation: X:133.87, Y:-77.12, Z:-15.99 [[ 7.67219412e-01 6.35708488e-01 8.51416034e-02 1.33871171e+02] [-6.30880278e-01 7.71901943e-01 -7.84695190e-02 -7.71214700e+01] [-1.15604708e-01 6.48917980e-03 9.93274102e-01 -1.59901420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92592000000002 meters 0.03918314882525934 Centerline is valid? [True, True] Translation: X:133.89, Y:-77.15, Z:-15.99 [[ 7.69968285e-01 6.32441413e-01 8.46563620e-02 1.33889441e+02] [-6.27646679e-01 7.74576986e-01 -7.80393393e-02 -7.71482424e+01] [-1.14928180e-01 6.95353179e-03 9.93349466e-01 -1.59938854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95592000000002 meters 0.03999144508863702 Centerline is valid? [True, True] Translation: X:133.91, Y:-77.17, Z:-16.00 [[ 7.70840123e-01 6.31290939e-01 8.53068276e-02 1.33910955e+02] [-6.26412645e-01 7.75512711e-01 -7.86589683e-02 -7.71714785e+01] [-1.15813223e-01 7.19621325e-03 9.93244941e-01 -1.59980319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98592000000002 meters 0.039470963434413094 Centerline is valid? [True, True] Translation: X:133.93, Y:-77.20, Z:-16.00 [[ 7.70604677e-01 6.31590121e-01 8.52194333e-02 1.33929878e+02] [-6.26716618e-01 7.75269120e-01 -7.86388692e-02 -7.71989087e+01] [-1.15735528e-01 7.19104528e-03 9.93254034e-01 -1.60020727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01592 meters 0.03945326995255254 Centerline is valid? [True, True] Translation: X:133.95, Y:-77.22, Z:-16.01 [[ 7.69558419e-01 6.32661965e-01 8.67103040e-02 1.33951369e+02] [-6.27613760e-01 7.74394488e-01 -8.00883592e-02 -7.72239244e+01] [-1.17816840e-01 7.21209126e-03 9.93009153e-01 -1.60061388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04592 meters 0.03894120532209944 Centerline is valid? [True, True] Translation: X:133.97, Y:-77.25, Z:-16.01 [[ 7.68412403e-01 6.33997462e-01 8.71182903e-02 1.33969396e+02] [-6.28901305e-01 7.73302558e-01 -8.05375771e-02 -7.72515656e+01] [-1.18429416e-01 7.09726670e-03 9.92937109e-01 -1.60082218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07592 meters 0.03857508989124328 Centerline is valid? [True, True] Translation: X:133.99, Y:-77.28, Z:-16.01 [[ 7.67596000e-01 6.35292209e-01 8.48539380e-02 1.33989863e+02] [-6.30459445e-01 7.72242245e-01 -7.85035273e-02 -7.72751458e+01] [-1.15400475e-01 6.76202684e-03 9.93296031e-01 -1.60108585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10592 meters 0.03828207787131307 Centerline is valid? [True, True] Translation: X:134.01, Y:-77.30, Z:-16.02 [[ 7.66344551e-01 6.36617585e-01 8.62211101e-02 1.34011381e+02] [-6.31629296e-01 7.71150450e-01 -7.98211454e-02 -7.72988986e+01] [-1.17304993e-01 6.71072080e-03 9.93073263e-01 -1.60150243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13592 meters 0.03773222330034564 Centerline is valid? [True, True] Translation: X:134.03, Y:-77.32, Z:-16.02 [[ 7.64403483e-01 6.38997274e-01 8.58475290e-02 1.34031178e+02] [-6.34060627e-01 7.69182698e-01 -7.95304816e-02 -7.73240284e+01] [-1.16852195e-01 6.36083907e-03 9.93128946e-01 -1.60191360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16592 meters 0.03747920675321981 Centerline is valid? [True, True] Translation: X:134.05, Y:-77.35, Z:-16.02 [[ 7.63648213e-01 6.39811226e-01 8.65043449e-02 1.34053793e+02] [-6.34800679e-01 7.68506249e-01 -8.01638475e-02 -7.73481498e+01] [-1.17768859e-01 6.30396197e-03 9.93021025e-01 -1.60221545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19592 meters 0.037330236117888424 Centerline is valid? [True, True] Translation: X:134.07, Y:-77.37, Z:-16.03 [[ 7.63007990e-01 6.40642544e-01 8.59996371e-02 1.34074847e+02] [-6.35687274e-01 7.67814272e-01 -7.97680013e-02 -7.73728238e+01] [-1.17134524e-01 6.19474754e-03 9.93096737e-01 -1.60257120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22592 meters 0.03684575585725511 Centerline is valid? [True, True] Translation: X:134.10, Y:-77.40, Z:-16.03 [[ 7.62935089e-01 6.40610687e-01 8.68792136e-02 1.34096223e+02] [-6.35545710e-01 7.67839906e-01 -8.06444632e-02 -7.73969405e+01] [-1.18371032e-01 6.31077922e-03 9.92949381e-01 -1.60285126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25592 meters 0.03684343299824201 Centerline is valid? [True, True] Translation: X:134.12, Y:-77.42, Z:-16.03 [[ 7.62862569e-01 6.40939140e-01 8.50747864e-02 1.34119022e+02] [-6.36081413e-01 7.67567039e-01 -7.90017506e-02 -7.74202736e+01] [-1.15935916e-01 6.15298809e-03 9.93237637e-01 -1.60307439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28592 meters 0.03646460708428617 Centerline is valid? [True, True] Translation: X:134.14, Y:-77.44, Z:-16.03 [[ 7.61765790e-01 6.42155761e-01 8.57254940e-02 1.34140507e+02] [-6.37227137e-01 7.66550403e-01 -7.96370267e-02 -7.74448457e+01] [-1.16852287e-01 6.03815144e-03 9.93130950e-01 -1.60341587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31592 meters 0.03646460708428617 Centerline is valid? [True, True] Translation: X:134.16, Y:-77.47, Z:-16.04 [[ 7.61465527e-01 6.42516269e-01 8.56918649e-02 1.34164495e+02] [-6.37585859e-01 7.66248298e-01 -7.96731990e-02 -7.74666791e+01] [-1.16852572e-01 6.03247319e-03 9.93130951e-01 -1.60373136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34592 meters 0.036230397806986905 Centerline is valid? [True, True] Translation: X:134.19, Y:-77.49, Z:-16.04 [[ 7.60342867e-01 6.43878601e-01 8.54346017e-02 1.34187359e+02] [-6.38977784e-01 7.65105211e-01 -7.95072757e-02 -7.74893902e+01] [-1.16559492e-01 5.86197745e-03 9.93166412e-01 -1.60394661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37592 meters 0.035498543038502924 Centerline is valid? [True, True] Translation: X:134.21, Y:-77.51, Z:-16.04 [[ 7.57984628e-01 6.46531617e-01 8.63491310e-02 1.34208718e+02] [-6.41534950e-01 7.62866938e-01 -8.04173023e-02 -7.75139836e+01] [-1.17865226e-01 5.55909350e-03 9.93014041e-01 -1.60423442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40592 meters 0.03506859604448619 Centerline is valid? [True, True] Translation: X:134.23, Y:-77.54, Z:-16.05 [[ 7.56916633e-01 6.47705202e-01 8.69205499e-02 1.34230767e+02] [-6.42645964e-01 7.61871658e-01 -8.09798868e-02 -7.75378234e+01] [-1.18673397e-01 5.43588263e-03 9.92918464e-01 -1.60460030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43592 meters 0.03496499881982663 Centerline is valid? [True, True] Translation: X:134.25, Y:-77.56, Z:-16.05 [[ 7.55254169e-01 6.49475702e-01 8.81615133e-02 1.34250595e+02] [-6.44273974e-01 7.60363976e-01 -8.22050557e-02 -7.75628799e+01] [-1.20425025e-01 5.28554252e-03 9.92708354e-01 -1.60504460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46592 meters 0.034604147267431926 Centerline is valid? [True, True] Translation: X:134.27, Y:-77.59, Z:-16.05 [[ 7.54452165e-01 6.50651210e-01 8.63419582e-02 1.34272665e+02] [-6.45662530e-01 7.59359980e-01 -8.05749234e-02 -7.75860712e+01] [-1.17990799e-01 5.04215827e-03 9.93001887e-01 -1.60522701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.49592 meters 0.03427128163969843 Centerline is valid? [True, True] Translation: X:134.30, Y:-77.61, Z:-16.06 [[ 7.53542359e-01 6.51582124e-01 8.72619595e-02 1.34295459e+02] [-6.46483838e-01 7.58561600e-01 -8.15042692e-02 -7.76104867e+01] [-1.19300296e-01 5.00347277e-03 9.92845610e-01 -1.60557395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52592 meters 0.03437566750806234 Centerline is valid? [True, True] Translation: X:134.32, Y:-77.63, Z:-16.06 [[ 7.52920182e-01 6.52285785e-01 8.73753650e-02 1.34318345e+02] [-6.47170639e-01 7.57956954e-01 -8.16787609e-02 -7.76334867e+01] [-1.19504660e-01 4.95081663e-03 9.92821296e-01 -1.60597923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.55592000000001 meters 0.03404109958036575 Centerline is valid? [True, True] Translation: X:134.34, Y:-77.66, Z:-16.06 [[ 7.52276651e-01 6.53028783e-01 8.73684681e-02 1.34339933e+02] [-6.47915439e-01 7.57317511e-01 -8.17053992e-02 -7.76570151e+01] [-1.19521648e-01 4.85768477e-03 9.92819711e-01 -1.60628296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58592000000002 meters 0.033984052863801927 Centerline is valid? [True, True] Translation: X:134.36, Y:-77.68, Z:-16.07 [[ 7.51123585e-01 6.54303857e-01 8.77486342e-02 1.34359337e+02] [-6.49145978e-01 7.56216970e-01 -8.21303501e-02 -7.76824385e+01] [-1.20095211e-01 4.72837006e-03 9.92751118e-01 -1.60666398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61592000000002 meters 0.0333307227659381 Centerline is valid? [True, True] Translation: X:134.38, Y:-77.71, Z:-16.07 [[ 7.50256278e-01 6.55515111e-01 8.61130484e-02 1.34380395e+02] [-6.50549192e-01 7.55168681e-01 -8.06598588e-02 -7.77075241e+01] [-1.17903633e-01 4.49479138e-03 9.93014869e-01 -1.60697512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64592000000002 meters 0.033251343099500806 Centerline is valid? [True, True] Translation: X:134.40, Y:-77.73, Z:-16.07 [[ 7.48200930e-01 6.57899305e-01 8.58130087e-02 1.34400328e+02] [-6.52979305e-01 7.53094567e-01 -8.04151804e-02 -7.77326470e+01] [-1.17530402e-01 4.13259401e-03 9.93060686e-01 -1.60728814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67592000000002 meters 0.03283034733764855 Centerline is valid? [True, True] Translation: X:134.42, Y:-77.76, Z:-16.08 [[ 7.46453303e-01 6.59720497e-01 8.70421268e-02 1.34422898e+02] [-6.54661719e-01 7.51500642e-01 -8.16383411e-02 -7.77555760e+01] [-1.19270701e-01 3.95606098e-03 9.92853891e-01 -1.60760761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70592000000002 meters 0.03270140476209535 Centerline is valid? [True, True] Translation: X:134.45, Y:-77.78, Z:-16.08 [[ 7.44927395e-01 6.61288182e-01 8.82106349e-02 1.34446297e+02] [-6.56093994e-01 7.50122263e-01 -8.28085859e-02 -7.77783304e+01] [-1.20929100e-01 3.81191642e-03 9.92653828e-01 -1.60792057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73592000000002 meters 0.032513241219721434 Centerline is valid? [True, True] Translation: X:134.47, Y:-77.80, Z:-16.08 [[ 7.42757881e-01 6.63836672e-01 8.73590465e-02 1.34467939e+02] [-6.58750689e-01 7.47869744e-01 -8.20876111e-02 -7.78017518e+01] [-1.19825954e-01 3.42338801e-03 9.92789011e-01 -1.60827783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76592 meters 0.03246383332220196 Centerline is valid? [True, True] Translation: X:134.49, Y:-77.82, Z:-16.09 [[ 7.40983996e-01 6.65752884e-01 8.78397153e-02 1.34489776e+02] [-6.60615169e-01 7.46165498e-01 -8.26114307e-02 -7.78244621e+01] [-1.20541763e-01 3.18549959e-03 9.92703146e-01 -1.60869187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79592 meters 0.032292138476468814 Centerline is valid? [True, True] Translation: X:134.51, Y:-77.85, Z:-16.09 [[ 7.38127617e-01 6.68982825e-01 8.73475889e-02 1.34511841e+02] [-6.63916499e-01 7.43272967e-01 -8.22203096e-02 -7.78479546e+01] [-1.19927077e-01 2.69757577e-03 9.92779039e-01 -1.60892254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82592 meters 0.03203933057426952 Centerline is valid? [True, True] Translation: X:134.54, Y:-77.87, Z:-16.09 [[ 7.36486192e-01 6.70819490e-01 8.71165954e-02 1.34535208e+02] [-6.65784161e-01 7.41616632e-01 -8.20744920e-02 -7.78697776e+01] [-1.19664285e-01 2.44588072e-03 9.92811400e-01 -1.60916215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85592 meters 0.0319372516281303 Centerline is valid? [True, True] Translation: X:134.56, Y:-77.89, Z:-16.10 [[ 7.32990239e-01 6.74441937e-01 8.86193094e-02 1.34557352e+02] [-6.69247776e-01 7.38325330e-01 -8.35650666e-02 -7.78923660e+01] [-1.21789666e-01 1.94410243e-03 9.92554028e-01 -1.60953225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88592 meters 0.03179871815764411 Centerline is valid? [True, True] Translation: X:134.58, Y:-77.92, Z:-16.10 [[ 7.31252267e-01 6.76286917e-01 8.89164099e-02 1.34580502e+02] [-6.71062030e-01 7.36636356e-01 -8.39203888e-02 -7.79151308e+01] [-1.22253321e-01 1.69854812e-03 9.92497476e-01 -1.60981139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91592 meters 0.031879584747143024 Centerline is valid? [True, True] Translation: X:134.60, Y:-77.94, Z:-16.10 [[ 7.28891458e-01 6.78715525e-01 8.97913083e-02 1.34604593e+02] [-6.73395306e-01 7.34400011e-01 -8.48256168e-02 -7.79370642e+01] [-1.23515201e-01 1.36362196e-03 9.92341743e-01 -1.61012747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94592 meters 0.031420710862890076 Centerline is valid? [True, True] Translation: X:134.63, Y:-77.96, Z:-16.10 [[ 7.24331974e-01 6.83730776e-01 8.86307919e-02 1.34630466e+02] [-6.78575865e-01 7.29734140e-01 -8.38026295e-02 -7.79572963e+01] [-1.21975352e-01 5.58207759e-04 9.92532973e-01 -1.61033753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97592 meters 0.031408350317073126 Centerline is valid? [True, True] Translation: X:134.65, Y:-77.98, Z:-16.11 [[ 7.22444029e-01 6.85608607e-01 8.95291148e-02 1.34654772e+02] [-6.80357798e-01 7.27970304e-01 -8.46906316e-02 -7.79781342e+01] [-1.23239163e-01 2.72409748e-04 9.92376962e-01 -1.61069424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00592 meters 0.03149399379926645 Centerline is valid? [True, True] Translation: X:134.68, Y:-78.00, Z:-16.11 [[ 7.20349224e-01 6.87977399e-01 8.82275159e-02 1.34679816e+02] [-6.82887038e-01 7.25732108e-01 -8.35356250e-02 -7.79985447e+01] [-1.21500163e-01 -7.46044489e-05 9.92591409e-01 -1.61097906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03592 meters 0.031461339605742995 Centerline is valid? [True, True] Translation: X:134.70, Y:-78.02, Z:-16.11 [[ 7.19082915e-01 6.89258003e-01 8.85616586e-02 1.34704994e+02] [-6.84128617e-01 7.24515943e-01 -8.39326134e-02 -7.80192362e+01] [-1.22015559e-01 -2.33056808e-04 9.92528160e-01 -1.61123569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06592 meters 0.03156351604459842 Centerline is valid? [True, True] Translation: X:134.73, Y:-78.04, Z:-16.12 [[ 7.17693427e-01 6.90678128e-01 8.87686241e-02 1.34733711e+02] [-6.85524372e-01 7.23162192e-01 -8.42186429e-02 -7.80369001e+01] [-1.22362087e-01 -4.09888904e-04 9.92485442e-01 -1.61165839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09592 meters 0.03126721775809553 Centerline is valid? [True, True] Translation: X:134.76, Y:-78.06, Z:-16.12 [[ 7.16838279e-01 6.91684843e-01 8.78348386e-02 1.34758212e+02] [-6.86636445e-01 7.22199290e-01 -8.34180934e-02 -7.80572899e+01] [-1.21133289e-01 -5.13318826e-04 9.92636118e-01 -1.61185462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12592 meters 0.031211068867250915 Centerline is valid? [True, True] Translation: X:134.78, Y:-78.08, Z:-16.12 [[ 7.17091942e-01 6.91501269e-01 8.72074597e-02 1.34783689e+02] [-6.86514405e-01 7.22375121e-01 -8.28984717e-02 -7.80774934e+01] [-1.20320898e-01 -4.23351178e-04 9.92734961e-01 -1.61217042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15592 meters 0.03148538518032386 Centerline is valid? [True, True] Translation: X:134.81, Y:-78.10, Z:-16.13 [[ 7.16174924e-01 6.92342169e-01 8.80670134e-02 1.34807816e+02] [-6.87252880e-01 7.21569163e-01 -8.37939226e-02 -7.80982544e+01] [-1.21560507e-01 -5.13202458e-04 9.92583891e-01 -1.61254654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18592 meters 0.03131056107458538 Centerline is valid? [True, True] Translation: X:134.83, Y:-78.12, Z:-16.13 [[ 7.15879904e-01 6.92807697e-01 8.67954926e-02 1.34832959e+02] [-6.87859109e-01 7.21122192e-01 -8.26597305e-02 -7.81183904e+01] [-1.19857453e-01 -5.28630186e-04 9.92790971e-01 -1.61272955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21592 meters 0.03131512565866995 Centerline is valid? [True, True] Translation: X:134.86, Y:-78.14, Z:-16.13 [[ 7.15185500e-01 6.93362602e-01 8.80795231e-02 1.34859500e+02] [-6.88260540e-01 7.20588629e-01 -8.39610397e-02 -7.81375001e+01] [-1.21684548e-01 -5.73941964e-04 9.92568658e-01 -1.61314771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24592 meters 0.03156194897955545 Centerline is valid? [True, True] Translation: X:134.88, Y:-78.16, Z:-16.14 [[ 7.14962555e-01 6.93513755e-01 8.86973259e-02 1.34883823e+02] [-6.88330725e-01 7.20443179e-01 -8.46311882e-02 -7.81590181e+01] [-1.22594277e-01 -5.44964094e-04 9.92456723e-01 -1.61354160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.27592 meters 0.0315588168596223 Centerline is valid? [True, True] Translation: X:134.91, Y:-78.18, Z:-16.14 [[ 7.15155171e-01 6.93242759e-01 8.92611749e-02 1.34908324e+02] [-6.87979887e-01 7.20704022e-01 -8.52607109e-02 -7.81808029e+01] [-1.23437258e-01 -4.35254661e-04 9.92352283e-01 -1.61398739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30592000000001 meters 0.03136511986249643 Centerline is valid? [True, True] Translation: X:134.93, Y:-78.20, Z:-16.14 [[ 7.16095250e-01 6.92533219e-01 8.72085677e-02 1.34932504e+02] [-6.87495015e-01 7.21385945e-01 -8.33841873e-02 -7.82021305e+01] [-1.20657355e-01 -2.44435166e-04 9.92694184e-01 -1.61422540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.33592000000002 meters 0.03147572740370442 Centerline is valid? [True, True] Translation: X:134.96, Y:-78.22, Z:-16.15 [[ 7.16534198e-01 6.91939131e-01 8.83118454e-02 1.34957808e+02] [-6.86757975e-01 7.21955838e-01 -8.45177654e-02 -7.82214559e+01] [-1.22238401e-01 -8.89948170e-05 9.92500763e-01 -1.61454272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36592000000002 meters 0.03156970032451775 Centerline is valid? [True, True] Translation: X:134.98, Y:-78.24, Z:-16.15 [[ 7.16364993e-01 6.92086419e-01 8.85301380e-02 1.34982948e+02] [-6.86870637e-01 7.21814648e-01 -8.48076727e-02 -7.82425161e+01] [-1.22596589e-01 -5.55043812e-05 9.92456585e-01 -1.61479936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39592000000002 meters 0.03163604792383994 Centerline is valid? [True, True] Translation: X:135.01, Y:-78.26, Z:-16.15 [[ 7.15895744e-01 6.92487412e-01 8.91878228e-02 1.35007819e+02] [-6.87185683e-01 7.21429955e-01 -8.55257685e-02 -7.82626703e+01] [-1.23568285e-01 -6.10611612e-05 9.92336070e-01 -1.61515902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42592000000002 meters 0.03159470113002543 Centerline is valid? [True, True] Translation: X:135.03, Y:-78.28, Z:-16.15 [[ 7.15810905e-01 6.92615690e-01 8.88721276e-02 1.35034677e+02] [-6.87342541e-01 7.21306804e-01 -8.53037276e-02 -7.82818109e+01] [-1.23186770e-01 -2.42555739e-05 9.92383504e-01 -1.61546906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45592000000002 meters 0.031411210389594345 Centerline is valid? [True, True] Translation: X:135.06, Y:-78.30, Z:-16.16 [[ 7.15898972e-01 6.92641373e-01 8.79578912e-02 1.35060482e+02] [-6.87466200e-01 7.21282142e-01 -8.45121059e-02 -7.83010041e+01] [-1.21979037e-01 3.40525598e-05 9.92532676e-01 -1.61575358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48592000000002 meters 0.03157571932019758 Centerline is valid? [True, True] Translation: X:135.09, Y:-78.32, Z:-16.16 [[ 7.15445764e-01 6.93088210e-01 8.81254336e-02 1.35085685e+02] [-6.87886741e-01 7.20852782e-01 -8.47531560e-02 -7.83223868e+01] [-1.22266877e-01 1.59690477e-05 9.92497260e-01 -1.61614172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51592 meters 0.031542672163945226 Centerline is valid? [True, True] Translation: X:135.11, Y:-78.34, Z:-16.16 [[ 7.15344497e-01 6.93321575e-01 8.71059346e-02 1.35110563e+02] [-6.88231555e-01 7.20628331e-01 -8.38578291e-02 -7.83431973e+01] [-1.20911446e-01 3.81837887e-05 9.92663297e-01 -1.61641470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54592 meters 0.03152852323762996 Centerline is valid? [True, True] Translation: X:135.14, Y:-78.36, Z:-16.17 [[ 7.15098163e-01 6.93598824e-01 8.69211684e-02 1.35135679e+02] [-6.88522904e-01 7.20361485e-01 -8.37588312e-02 -7.83643285e+01] [-1.20709689e-01 4.85710437e-05 9.92687851e-01 -1.61671621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57592 meters 0.03172585810109108 Centerline is valid? [True, True] Translation: X:135.16, Y:-78.38, Z:-16.17 [[ 7.16260259e-01 6.92294473e-01 8.77473843e-02 1.35161715e+02] [-6.87100801e-01 7.21615029e-01 -8.46418248e-02 -7.83839517e+01] [-1.21916899e-01 3.34277355e-04 9.92540255e-01 -1.61708297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60592 meters 0.031650867299637814 Centerline is valid? [True, True] Translation: X:135.19, Y:-78.40, Z:-16.17 [[ 7.18377280e-01 6.90184507e-01 8.70599199e-02 1.35188509e+02] [-6.85047191e-01 7.23633050e-01 -8.40568542e-02 -7.84031831e+01] [-1.21014174e-01 7.44380683e-04 9.92650500e-01 -1.61734242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63592 meters 0.03159285312553102 Centerline is valid? [True, True] Translation: X:135.21, Y:-78.42, Z:-16.18 [[ 7.19231204e-01 6.89413557e-01 8.61128557e-02 1.35212993e+02] [-6.84372149e-01 7.24367373e-01 -8.32266209e-02 -7.84234479e+01] [-1.19754904e-01 9.25942534e-04 9.92803055e-01 -1.61765089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66592 meters 0.03151490511443176 Centerline is valid? [True, True] Translation: X:135.24, Y:-78.44, Z:-16.18 [[ 7.19613795e-01 6.89122726e-01 8.52399825e-02 1.35236954e+02] [-6.84172549e-01 7.24643935e-01 -8.24565971e-02 -7.84444037e+01] [-1.18591351e-01 1.01804862e-03 9.92942624e-01 -1.61788371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69592 meters 0.03171744252640509 Centerline is valid? [True, True] Translation: X:135.26, Y:-78.47, Z:-16.18 [[ 7.20828798e-01 6.87725010e-01 8.62563284e-02 1.35260278e+02] [-6.82636440e-01 7.25970089e-01 -8.35159880e-02 -7.84666613e+01] [-1.20055548e-01 1.31901634e-03 9.92766300e-01 -1.61833844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72592 meters 0.031737094948848715 Centerline is valid? [True, True] Translation: X:135.28, Y:-78.49, Z:-16.19 [[ 7.21449559e-01 6.87196031e-01 8.52768930e-02 1.35284431e+02] [-6.82210020e-01 7.26470593e-01 -8.26436075e-02 -7.84888980e+01] [-1.18743514e-01 1.44644331e-03 9.92923907e-01 -1.61852608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75592 meters 0.03183107943436752 Centerline is valid? [True, True] Translation: X:135.31, Y:-78.51, Z:-16.19 [[ 7.21913096e-01 6.86620468e-01 8.59872978e-02 1.35308137e+02] [-6.81536492e-01 7.27014252e-01 -8.34163546e-02 -7.85102173e+01] [-1.19789367e-01 1.61587748e-03 9.92798014e-01 -1.61898736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78592 meters 0.03154693829363114 Centerline is valid? [True, True] Translation: X:135.33, Y:-78.53, Z:-16.19 [[ 7.21339940e-01 6.87189891e-01 8.62481561e-02 1.35331908e+02] [-6.82069692e-01 7.26476119e-01 -8.37459523e-02 -7.85332651e+01] [-1.20206598e-01 1.58204696e-03 9.92747637e-01 -1.61936710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81592 meters 0.03147399047114488 Centerline is valid? [True, True] Translation: X:135.35, Y:-78.56, Z:-16.20 [[ 7.20326776e-01 6.88328787e-01 8.56318690e-02 1.35353883e+02] [-6.83279896e-01 7.25397409e-01 -8.32296969e-02 -7.85562050e+01] [-1.19406532e-01 1.44204467e-03 9.92844399e-01 -1.61964849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84592 meters 0.03134470965030017 Centerline is valid? [True, True] Translation: X:135.38, Y:-78.58, Z:-16.20 [[ 7.19696745e-01 6.88769910e-01 8.73647850e-02 1.35375910e+02] [-6.83507747e-01 7.24978552e-01 -8.49897558e-02 -7.85789473e+01] [-1.21875982e-01 1.45234332e-03 9.92544274e-01 -1.61992775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87592 meters 0.03124411987047771 Centerline is valid? [True, True] Translation: X:135.40, Y:-78.60, Z:-16.20 [[ 7.18990637e-01 6.89571019e-01 8.68577784e-02 1.35399092e+02] [-6.84367130e-01 7.24216790e-01 -8.45675634e-02 -7.86010664e+01] [-1.21219202e-01 1.36067770e-03 9.92624830e-01 -1.62018353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90592 meters 0.03095699036978983 Centerline is valid? [True, True] Translation: X:135.42, Y:-78.62, Z:-16.20 [[ 7.17873346e-01 6.90918205e-01 8.53808785e-02 1.35421196e+02] [-6.85891124e-01 7.22931997e-01 -8.32027280e-02 -7.86248719e+01] [-1.19210848e-01 1.16703399e-03 9.92868275e-01 -1.62040653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93592 meters 0.030739032805596707 Centerline is valid? [True, True] Translation: X:135.44, Y:-78.65, Z:-16.21 [[ 7.16860678e-01 6.91960648e-01 8.54472340e-02 1.35441557e+02] [-6.86923929e-01 7.21934456e-01 -8.33436069e-02 -7.86515766e+01] [-1.19357799e-01 1.05000481e-03 9.92850751e-01 -1.62067411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96592 meters 0.03056975275138655 Centerline is valid? [True, True] Translation: X:135.46, Y:-78.67, Z:-16.21 [[ 7.16220011e-01 6.92668361e-01 8.50848889e-02 1.35464654e+02] [-6.87669221e-01 7.21255546e-01 -8.30751488e-02 -7.86745530e+01] [-1.18911475e-01 9.89824631e-04 9.92904367e-01 -1.62089238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.99592 meters 0.03057795883230875 Centerline is valid? [True, True] Translation: X:135.49, Y:-78.70, Z:-16.21 [[ 7.15688149e-01 6.93258839e-01 8.47505445e-02 1.35489375e+02] [-6.88293022e-01 7.20688060e-01 -8.28337845e-02 -7.86968457e+01] [-1.18503959e-01 9.49949558e-04 9.92953125e-01 -1.62125557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02592 meters 0.03052363793901362 Centerline is valid? [True, True] Translation: X:135.51, Y:-78.72, Z:-16.22 [[ 7.12664434e-01 6.96517914e-01 8.34997053e-02 1.35513547e+02] [-6.91710706e-01 7.17539255e-01 -8.16928156e-02 -7.87180455e+01] [-1.16814826e-01 4.61924028e-04 9.93153605e-01 -1.62160844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.05592000000001 meters 0.030364856918959883 Centerline is valid? [True, True] Translation: X:135.54, Y:-78.74, Z:-16.22 [[ 7.10989109e-01 6.98277925e-01 8.30808387e-02 1.35536464e+02] [-6.93522314e-01 7.15826717e-01 -8.13566949e-02 -7.87407635e+01] [-1.16281068e-01 2.25308568e-04 9.93216322e-01 -1.62192469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08592000000002 meters 0.03055451462523539 Centerline is valid? [True, True] Translation: X:135.56, Y:-78.76, Z:-16.22 [[ 7.08353218e-01 7.00895525e-01 8.35534630e-02 1.35559898e+02] [-6.96094455e-01 7.13263934e-01 -8.18967040e-02 -7.87644098e+01] [-1.16996705e-01 -1.49308449e-04 9.93132292e-01 -1.62203275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11592000000002 meters 0.030529503280179386 Centerline is valid? [True, True] Translation: X:135.59, Y:-78.79, Z:-16.22 [[ 7.07028366e-01 7.02231557e-01 8.35567495e-02 1.35585086e+02] [-6.97429245e-01 7.11948556e-01 -8.19859887e-02 -7.87864643e+01] [-1.17061256e-01 -3.08501112e-04 9.93124648e-01 -1.62228945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14592000000002 meters 0.03039165940590404 Centerline is valid? [True, True] Translation: X:135.61, Y:-78.81, Z:-16.23 [[ 7.06597710e-01 7.02719677e-01 8.30947174e-02 1.35610034e+02] [-6.97963858e-01 7.11466759e-01 -8.16180339e-02 -7.88079599e+01] [-1.16473728e-01 -3.25993667e-04 9.93193720e-01 -1.62261557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17592000000002 meters 0.03040226790754773 Centerline is valid? [True, True] Translation: X:135.64, Y:-78.83, Z:-16.23 [[ 7.05798227e-01 7.03594849e-01 8.24812240e-02 1.35635218e+02] [-6.98905275e-01 7.10601241e-01 -8.11005119e-02 -7.88294943e+01] [-1.15673163e-01 -4.05965005e-04 9.93287247e-01 -1.62306082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20592000000002 meters 0.03045462016304576 Centerline is valid? [True, True] Translation: X:135.66, Y:-78.85, Z:-16.23 [[ 7.05470918e-01 7.03958507e-01 8.21778810e-02 1.35660119e+02] [-6.99296004e-01 7.10240986e-01 -8.08878239e-02 -7.88515015e+01] [-1.15307771e-01 -4.02656447e-04 9.93329732e-01 -1.62335875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23592000000002 meters 0.03045462016304576 Centerline is valid? [True, True] Translation: X:135.68, Y:-78.87, Z:-16.24 [[ 7.05102048e-01 7.04332949e-01 8.21352447e-02 1.35683458e+02] [-6.99667938e-01 7.09869660e-01 -8.09310985e-02 -7.88739752e+01] [-1.15307757e-01 -4.02713950e-04 9.93329733e-01 -1.62367379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26592 meters 0.030373305102184958 Centerline is valid? [True, True] Translation: X:135.71, Y:-78.89, Z:-16.24 [[ 7.03975383e-01 7.05356409e-01 8.30120265e-02 1.35708780e+02] [-7.00588004e-01 7.08852643e-01 -8.18802681e-02 -7.88944559e+01] [-1.16598066e-01 -5.15536931e-04 9.93179050e-01 -1.62388909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29592 meters 0.03042353645957829 Centerline is valid? [True, True] Translation: X:135.73, Y:-78.92, Z:-16.24 [[ 7.03586829e-01 7.05740864e-01 8.30385817e-02 1.35732392e+02] [-7.00962990e-01 7.08469871e-01 -8.19837151e-02 -7.89166533e+01] [-1.16689591e-01 -5.24310312e-04 9.93168296e-01 -1.62422223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32592 meters 0.030293814489670005 Centerline is valid? [True, True] Translation: X:135.76, Y:-78.94, Z:-16.24 [[ 7.04007042e-01 7.05555836e-01 8.10249805e-02 1.35755964e+02] [-7.00997088e-01 7.08654206e-01 -8.00768340e-02 -7.89385466e+01] [-1.13917371e-01 -4.23620359e-04 9.93490137e-01 -1.62449576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35592 meters 0.03022767981201134 Centerline is valid? [True, True] Translation: X:135.78, Y:-78.96, Z:-16.25 [[ 7.03934045e-01 7.05716960e-01 8.02523081e-02 1.35779869e+02] [-7.01237841e-01 7.08493767e-01 -7.93855958e-02 -7.89605564e+01] [-1.12882021e-01 -3.93731744e-04 9.93608320e-01 -1.62484077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38592 meters 0.030242034387388036 Centerline is valid? [True, True] Translation: X:135.80, Y:-78.98, Z:-16.25 [[ 7.03737396e-01 7.05860819e-01 8.07104807e-02 1.35804163e+02] [-7.01322523e-01 7.08350458e-01 -7.99146251e-02 -7.89831451e+01] [-1.13579909e-01 -3.65167865e-04 9.93528797e-01 -1.62517299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41592 meters 0.030393126845394015 Centerline is valid? [True, True] Translation: X:135.83, Y:-79.01, Z:-16.25 [[ 7.02669182e-01 7.06765827e-01 8.20858411e-02 1.35827157e+02] [-7.02067271e-01 7.07447421e-01 -8.13614914e-02 -7.90060523e+01] [-1.15574938e-01 -4.59569853e-04 9.93298657e-01 -1.62541525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44592 meters 0.030466914713104743 Centerline is valid? [True, True] Translation: X:135.85, Y:-79.03, Z:-16.26 [[ 7.00220770e-01 7.09093894e-01 8.29260062e-02 1.35850621e+02] [-7.04305515e-01 7.05113617e-01 -8.22710667e-02 -7.90274760e+01] [-1.16810167e-01 -7.97333798e-04 9.93153940e-01 -1.62571462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47592 meters 0.030637988620484505 Centerline is valid? [True, True] Translation: X:135.87, Y:-79.05, Z:-16.26 [[ 6.98097831e-01 7.11129780e-01 8.33897757e-02 1.35873700e+02] [-7.06293936e-01 7.03059908e-01 -8.27988033e-02 -7.90490229e+01] [-1.17508703e-01 -1.09602792e-03 9.93071248e-01 -1.62609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50592 meters 0.030635662058757715 Centerline is valid? [True, True] Translation: X:135.90, Y:-79.07, Z:-16.26 [[ 6.96153028e-01 7.13132194e-01 8.25435391e-02 1.35897937e+02] [-7.08403987e-01 7.01028198e-01 -8.19954700e-02 -7.90712211e+01] [-1.16338958e-01 -1.39277746e-03 9.93208592e-01 -1.62639893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53592 meters 0.03110900799305867 Centerline is valid? [True, True] Translation: X:135.92, Y:-79.09, Z:-16.27 [[ 6.93125878e-01 7.16283456e-01 8.07126251e-02 1.35923066e+02] [-7.11774932e-01 6.97807067e-01 -8.02604732e-02 -7.90930148e+01] [-1.13811089e-01 -1.81861228e-03 9.93500744e-01 -1.62678834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56592 meters 0.031136588537583137 Centerline is valid? [True, True] Translation: X:135.95, Y:-79.11, Z:-16.27 [[ 6.91588886e-01 7.17856120e-01 7.99212347e-02 1.35949476e+02] [-7.13436888e-01 6.96188622e-01 -7.95563363e-02 -7.91135810e+01] [-1.12750257e-01 -1.99847900e-03 9.93621349e-01 -1.62698225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59592 meters 0.031195426104772755 Centerline is valid? [True, True] Translation: X:135.98, Y:-79.13, Z:-16.27 [[ 6.91364838e-01 7.17979531e-01 8.07468504e-02 1.35975392e+02] [-7.13459264e-01 6.96061401e-01 -8.04636891e-02 -7.91336289e+01] [-1.13976048e-01 -1.97982311e-03 9.93481525e-01 -1.62734059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62592 meters 0.031115371115620797 Centerline is valid? [True, True] Translation: X:136.00, Y:-79.15, Z:-16.28 [[ 6.91702403e-01 7.17636689e-01 8.09034449e-02 1.36001865e+02] [-7.13086663e-01 6.96415175e-01 -8.07051195e-02 -7.91534897e+01] [-1.14259341e-01 -1.86724243e-03 9.93449202e-01 -1.62761134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65592 meters 0.03130745513180159 Centerline is valid? [True, True] Translation: X:136.03, Y:-79.17, Z:-16.28 [[ 6.92032573e-01 7.17163991e-01 8.22601262e-02 1.36030471e+02] [-7.12445952e-01 6.96902232e-01 -8.21464880e-02 -7.91717995e+01] [-1.16239769e-01 -1.75784849e-03 9.93219626e-01 -1.62808702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68592 meters 0.03127518489242091 Centerline is valid? [True, True] Translation: X:136.05, Y:-79.19, Z:-16.28 [[ 6.92045661e-01 7.16969708e-01 8.38286384e-02 1.36054932e+02] [-7.12057540e-01 6.97102257e-01 -8.38003756e-02 -7.91925028e+01] [-1.18519464e-01 -1.69712776e-03 9.92950279e-01 -1.62842613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71592 meters 0.03146065923809507 Centerline is valid? [True, True] Translation: X:136.10, Y:-79.48, Z:-14.32 [[ 7.64118876e-01 -6.42992729e-01 -5.17947240e-02 1.36098470e+02] [-6.40762221e-01 -7.65828648e-01 5.41318551e-02 -7.94795582e+01] [-7.44722727e-02 -8.17506990e-03 -9.97189575e-01 -1.43216322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74592 meters 0.031325273806517825 Centerline is valid? [True, True] Translation: X:136.10, Y:-79.24, Z:-16.29 [[ 7.43757915e-01 6.62334683e-01 9.02049435e-02 1.36096831e+02] [-6.57760533e-01 7.49206537e-01 -7.77215951e-02 -7.92392382e+01] [-1.19059841e-01 -1.52720014e-03 9.92885906e-01 -1.62916457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.77592 meters 0.03148575885175277 Centerline is valid? [True, True] Translation: X:136.13, Y:-79.25, Z:-16.30 [[ 7.44232230e-01 6.61696841e-01 9.09707602e-02 1.36127348e+02] [-6.57029485e-01 7.49770234e-01 -7.84656125e-02 -7.92538143e+01] [-1.20127616e-01 -1.37383396e-03 9.92757507e-01 -1.62977233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80592000000001 meters 0.031469973186112714 Centerline is valid? [True, True] Translation: X:136.15, Y:-79.27, Z:-16.30 [[ 7.44247457e-01 6.61777355e-01 9.02577161e-02 1.36154059e+02] [-6.57174086e-01 7.49699275e-01 -7.79308578e-02 -7.92720699e+01] [-1.19239021e-01 -1.31518936e-03 9.92864707e-01 -1.63010959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.83592000000002 meters 0.03147142904916313 Centerline is valid? [True, True] Translation: X:136.18, Y:-79.29, Z:-16.30 [[ 7.44135773e-01 6.61921690e-01 9.01200715e-02 1.36181546e+02] [-6.57324799e-01 7.49571901e-01 -7.78849997e-02 -7.92910691e+01] [-1.19105244e-01 -1.28114345e-03 9.92880808e-01 -1.63045314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86592000000002 meters 0.031535100908732405 Centerline is valid? [True, True] Translation: X:136.21, Y:-79.31, Z:-16.31 [[ 7.44896211e-01 6.60785239e-01 9.21547733e-02 1.36210272e+02] [-6.55958826e-01 7.50574273e-01 -7.97262737e-02 -7.93067690e+01] [-1.21850947e-01 -1.06193772e-03 9.92547842e-01 -1.63082290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89592000000002 meters 0.031458441249062476 Centerline is valid? [True, True] Translation: X:136.24, Y:-79.33, Z:-16.31 [[ 7.45433819e-01 6.60177607e-01 9.21626173e-02 1.36237073e+02] [-6.55336531e-01 7.51108984e-01 -7.98080515e-02 -7.93266144e+01] [-1.21911658e-01 -9.05909225e-04 9.92540542e-01 -1.63118404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92592000000002 meters 0.03158000039350892 Centerline is valid? [True, True] Translation: X:136.26, Y:-79.34, Z:-16.32 [[ 7.46002905e-01 6.59239694e-01 9.42480290e-02 1.36264955e+02] [-6.54158121e-01 7.51932529e-01 -8.16983832e-02 -7.93433520e+01] [-1.24726976e-01 -7.05882268e-04 9.92190850e-01 -1.63155686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95592000000002 meters 0.03142815935108373 Centerline is valid? [True, True] Translation: X:136.29, Y:-79.36, Z:-16.32 [[ 7.46675040e-01 6.58507622e-01 9.40430571e-02 1.36292183e+02] [-6.53432820e-01 7.52573874e-01 -8.15972631e-02 -7.93618125e+01] [-1.24506768e-01 -5.24180356e-04 9.92218620e-01 -1.63181462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98592000000002 meters 0.031455977486213545 Centerline is valid? [True, True] Translation: X:136.32, Y:-79.38, Z:-16.32 [[ 7.47004046e-01 6.57931558e-01 9.54516654e-02 1.36317850e+02] [-6.52687652e-01 7.53077637e-01 -8.29029707e-02 -7.93803472e+01] [-1.26426995e-01 -3.71268853e-04 9.91975845e-01 -1.63222977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01592 meters 0.03172728991802078 Centerline is valid? [True, True] Translation: X:136.34, Y:-79.40, Z:-16.33 [[ 7.49750101e-01 6.54699154e-01 9.61447043e-02 1.36343785e+02] [-6.49342650e-01 7.55889519e-01 -8.35772597e-02 -7.93995588e+01] [-1.27392735e-01 2.31201812e-04 9.91852326e-01 -1.63273945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04592 meters 0.03145750250909561 Centerline is valid? [True, True] Translation: X:136.37, Y:-79.42, Z:-16.33 [[ 7.52801868e-01 6.51543751e-01 9.37021222e-02 1.36369649e+02] [-6.46423492e-01 7.58610636e-01 -8.15265104e-02 -7.94185948e+01] [-1.24201515e-01 8.02056211e-04 9.92256691e-01 -1.63291019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07592 meters 0.03142982184176893 Centerline is valid? [True, True] Translation: X:136.39, Y:-79.44, Z:-16.33 [[ 7.53809834e-01 6.50614845e-01 9.20383475e-02 1.36394941e+02] [-6.45659904e-01 7.59407229e-01 -8.01495485e-02 -7.94380835e+01] [-1.22041073e-01 9.92047254e-04 9.92524555e-01 -1.63315379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10592 meters 0.03146515686423781 Centerline is valid? [True, True] Translation: X:136.42, Y:-79.46, Z:-16.34 [[ 7.54045105e-01 6.50302767e-01 9.23162616e-02 1.36420310e+02] [-6.45306223e-01 7.59674335e-01 -8.04660387e-02 -7.94590850e+01] [-1.22457582e-01 1.10276446e-03 9.92473135e-01 -1.63350822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13592 meters 0.031395845642914796 Centerline is valid? [True, True] Translation: X:136.44, Y:-79.48, Z:-16.34 [[ 7.54129957e-01 6.50253461e-01 9.19698076e-02 1.36444173e+02] [-6.45284110e-01 7.59716441e-01 -8.02455401e-02 -7.94818125e+01] [-1.22050915e-01 1.16891024e-03 9.92523152e-01 -1.63379734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16592 meters 0.03149005841596763 Centerline is valid? [True, True] Translation: X:136.47, Y:-79.50, Z:-16.34 [[ 7.52794619e-01 6.51621224e-01 9.32203970e-02 1.36467949e+02] [-6.46515550e-01 7.58543825e-01 -8.14181132e-02 -7.95037427e+01] [-1.23765527e-01 1.02268130e-03 9.92310964e-01 -1.63424241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19592 meters 0.031402851032753955 Centerline is valid? [True, True] Translation: X:136.49, Y:-79.53, Z:-16.35 [[ 7.51588790e-01 6.53217923e-01 9.17640205e-02 1.36491710e+02] [-6.48274347e-01 7.57169533e-01 -8.02163907e-02 -7.95255610e+01] [-1.21879705e-01 8.01479557e-04 9.92544556e-01 -1.63451931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22592 meters 0.031266865373412375 Centerline is valid? [True, True] Translation: X:136.52, Y:-79.55, Z:-16.35 [[ 7.51196007e-01 6.53874862e-01 9.02896638e-02 1.36516236e+02] [-6.49086808e-01 7.56602360e-01 -7.89885066e-02 -7.95467651e+01] [-1.19961972e-01 7.30021118e-04 9.92778219e-01 -1.63463920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25592 meters 0.03142821131395399 Centerline is valid? [True, True] Translation: X:136.54, Y:-79.57, Z:-16.35 [[ 7.49849776e-01 6.55299999e-01 9.11439786e-02 1.36541019e+02] [-6.50426417e-01 7.55368535e-01 -7.97737627e-02 -7.95678729e+01] [-1.21123040e-01 5.35886673e-04 9.92637357e-01 -1.63504796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28592 meters 0.031406376373507114 Centerline is valid? [True, True] Translation: X:136.57, Y:-79.59, Z:-16.35 [[ 7.49061373e-01 6.56145630e-01 9.15421853e-02 1.36567146e+02] [-6.51225139e-01 7.54634147e-01 -8.02067434e-02 -7.95886952e+01] [-1.21708163e-01 4.65201063e-04 9.92565820e-01 -1.63530855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31592 meters 0.0315570374101183 Centerline is valid? [True, True] Translation: X:136.59, Y:-79.61, Z:-16.36 [[ 7.48607965e-01 6.56722792e-01 9.11114117e-02 1.36592603e+02] [-6.51842892e-01 7.54131943e-01 -7.99115572e-02 -7.96096545e+01] [-1.21189767e-01 4.32102153e-04 9.92629263e-01 -1.63566499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34592 meters 0.03133122562991343 Centerline is valid? [True, True] Translation: X:136.62, Y:-79.63, Z:-16.36 [[ 7.49437846e-01 6.56116551e-01 8.86227178e-02 1.36618447e+02] [-6.51487141e-01 7.54659354e-01 -7.78059336e-02 -7.96286102e+01] [-1.17929724e-01 5.74150165e-04 9.93021778e-01 -1.63591388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37592 meters 0.03143379074246014 Centerline is valid? [True, True] Translation: X:136.64, Y:-79.65, Z:-16.36 [[ 7.49410121e-01 6.56206669e-01 8.81888731e-02 1.36644007e+02] [-6.51614697e-01 7.54580965e-01 -7.74974469e-02 -7.96492825e+01] [-1.17399986e-01 6.12205241e-04 9.93084522e-01 -1.63626571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40592 meters 0.031315234106509486 Centerline is valid? [True, True] Translation: X:136.67, Y:-79.67, Z:-16.36 [[ 7.48820751e-01 6.57027046e-01 8.70800997e-02 1.36669423e+02] [-6.52546590e-01 7.53866814e-01 -7.66014052e-02 -7.96693665e+01] [-1.15975992e-01 5.36899713e-04 9.93251872e-01 -1.63637213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43592 meters 0.0313937660182002 Centerline is valid? [True, True] Translation: X:136.69, Y:-79.69, Z:-16.37 [[ 7.47922029e-01 6.58079352e-01 8.68573816e-02 1.36694875e+02] [-6.53620645e-01 7.52948460e-01 -7.64765922e-02 -7.96908798e+01] [-1.15726798e-01 4.26750245e-04 9.93280991e-01 -1.63677969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46592 meters 0.03141290624195112 Centerline is valid? [True, True] Translation: X:136.72, Y:-79.71, Z:-16.37 [[ 7.46969628e-01 6.59095312e-01 8.73484042e-02 1.36719877e+02] [-6.54583290e-01 7.52059345e-01 -7.69899835e-02 -7.97118715e+01] [-1.16434921e-01 3.32373543e-04 9.93198268e-01 -1.63714339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.49592 meters 0.03147672708913796 Centerline is valid? [True, True] Translation: X:136.74, Y:-79.73, Z:-16.37 [[ 7.45545529e-01 6.60837509e-01 8.63461116e-02 1.36744360e+02] [-6.56431409e-01 7.50528995e-01 -7.61842005e-02 -7.97321453e+01] [-1.15150638e-01 1.18490368e-04 9.93348034e-01 -1.63744204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52592 meters 0.03151992532550422 Centerline is valid? [True, True] Translation: X:136.77, Y:-79.75, Z:-16.38 [[ 7.44558146e-01 6.62067305e-01 8.54403415e-02 1.36768720e+02] [-6.57754425e-01 7.49444383e-01 -7.54468858e-02 -7.97527045e+01] [-1.13983700e-01 -2.41693403e-05 9.93482620e-01 -1.63757252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.55592000000001 meters 0.03120570900318226 Centerline is valid? [True, True] Translation: X:136.79, Y:-79.77, Z:-16.38 [[ 7.43642205e-01 6.63141099e-01 8.50890951e-02 1.36794129e+02] [-6.58866993e-01 7.48494393e-01 -7.51693367e-02 -7.97745222e+01] [-1.13536587e-01 -1.63304908e-04 9.93533803e-01 -1.63765929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58592000000002 meters 0.03132762136105865 Centerline is valid? [True, True] Translation: X:136.82, Y:-79.80, Z:-16.38 [[ 7.42131694e-01 6.64817715e-01 8.51936354e-02 1.36818489e+02] [-6.60534930e-01 7.47005540e-01 -7.53414167e-02 -7.97959394e+01] [-1.13728426e-01 -3.60118858e-04 9.93511809e-01 -1.63801073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61592000000002 meters 0.031152111558541386 Centerline is valid? [True, True] Translation: X:136.84, Y:-79.82, Z:-16.38 [[ 7.41442882e-01 6.65586927e-01 8.51850654e-02 1.36842716e+02] [-6.61300979e-01 7.46320218e-01 -7.54131818e-02 -7.98175843e+01] [-1.13769365e-01 -4.18400201e-04 9.93507099e-01 -1.63843344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64592000000002 meters 0.031250844616796454 Centerline is valid? [True, True] Translation: X:136.87, Y:-79.84, Z:-16.39 [[ 7.40919073e-01 6.66166915e-01 8.52089656e-02 1.36867317e+02] [-6.61873324e-01 7.45802547e-01 -7.55133307e-02 -7.98387991e+01] [-1.13853546e-01 -4.48274322e-04 9.93497443e-01 -1.63875313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67592000000002 meters 0.03098469287974303 Centerline is valid? [True, True] Translation: X:136.89, Y:-79.86, Z:-16.39 [[ 7.40478159e-01 6.66810241e-01 8.40011817e-02 1.36892076e+02] [-6.62634166e-01 7.45227391e-01 -7.45123952e-02 -7.98598915e+01] [-1.12285610e-01 -4.87251745e-04 9.93675855e-01 -1.63908099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70592000000002 meters 0.0308974508002169 Centerline is valid? [True, True] Translation: X:136.92, Y:-79.88, Z:-16.39 [[ 7.39023326e-01 6.68408515e-01 8.41105310e-02 1.36916394e+02] [-6.64228236e-01 7.43794029e-01 -7.46410946e-02 -7.98815828e+01] [-1.12451654e-01 -7.07079670e-04 9.93656946e-01 -1.63937993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73592000000002 meters 0.030990889427695782 Centerline is valid? [True, True] Translation: X:136.94, Y:-79.90, Z:-16.40 [[ 7.38198804e-01 6.69316051e-01 8.41341113e-02 1.36940629e+02] [-6.65130521e-01 7.42977391e-01 -7.47394596e-02 -7.99030822e+01] [-1.12534062e-01 -7.87585518e-04 9.93647555e-01 -1.63975275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76592 meters 0.031008091663579415 Centerline is valid? [True, True] Translation: X:136.96, Y:-79.92, Z:-16.40 [[ 7.36163268e-01 6.71441678e-01 8.50277352e-02 1.36964785e+02] [-6.67171706e-01 7.41056635e-01 -7.56107044e-02 -7.99237730e+01] [-1.13778546e-01 -1.06627584e-03 9.93505564e-01 -1.64008111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79592 meters 0.03123621887472671 Centerline is valid? [True, True] Translation: X:136.99, Y:-79.94, Z:-16.40 [[ 7.34982162e-01 6.72720159e-01 8.51399373e-02 1.36990532e+02] [-6.68439401e-01 7.39896016e-01 -7.57802917e-02 -7.99445129e+01] [-1.13973630e-01 -1.21372614e-03 9.93483034e-01 -1.64041920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82592 meters 0.031036372740745586 Centerline is valid? [True, True] Translation: X:137.02, Y:-79.97, Z:-16.41 [[ 7.33372467e-01 6.74470076e-01 8.51759467e-02 1.37015987e+02] [-6.70188425e-01 7.38300805e-01 -7.58906880e-02 -7.99650339e+01] [-1.14071468e-01 -1.42779250e-03 9.93471520e-01 -1.64080987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85592 meters 0.0310751204390655 Centerline is valid? [True, True] Translation: X:137.04, Y:-79.99, Z:-16.41 [[ 7.31694552e-01 6.76262453e-01 8.53942495e-02 1.37040022e+02] [-6.71962052e-01 7.36658915e-01 -7.61619523e-02 -7.99858957e+01] [-1.14411904e-01 -1.65440961e-03 9.93432020e-01 -1.64112299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88592 meters 0.03074306472843496 Centerline is valid? [True, True] Translation: X:137.07, Y:-80.00, Z:-16.42 [[ 7.32591299e-01 6.75179816e-01 8.62682152e-02 1.37066917e+02] [-6.70774834e-01 7.37651762e-01 -7.70129872e-02 -8.00048242e+01] [-1.15633515e-01 -1.44750339e-03 9.93290891e-01 -1.64164698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91592 meters 0.030652517463959982 Centerline is valid? [True, True] Translation: X:137.09, Y:-80.02, Z:-16.42 [[ 7.32869630e-01 6.74945888e-01 8.57330432e-02 1.37092028e+02] [-6.70585017e-01 7.37866005e-01 -7.66126190e-02 -8.00245813e+01] [-1.14968870e-01 -1.34423252e-03 9.93368185e-01 -1.64181288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94592 meters 0.030390938552113767 Centerline is valid? [True, True] Translation: X:137.12, Y:-80.04, Z:-16.42 [[ 7.35118526e-01 6.72393442e-01 8.65321457e-02 1.37118388e+02] [-6.67924566e-01 7.40193386e-01 -7.73984838e-02 -8.00440958e+01] [-1.16092755e-01 -8.99886477e-04 9.93237969e-01 -1.64221837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97592 meters 0.030355037516873833 Centerline is valid? [True, True] Translation: X:137.14, Y:-80.06, Z:-16.43 [[ 7.35830266e-01 6.71486218e-01 8.75218724e-02 1.37144249e+02] [-6.66898149e-01 7.41016708e-01 -7.83651512e-02 -8.00646465e+01] [-1.17476289e-01 -7.04724662e-04 9.93075438e-01 -1.64263817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00592 meters 0.030272201382958136 Centerline is valid? [True, True] Translation: X:137.17, Y:-80.08, Z:-16.43 [[ 7.37885745e-01 6.68973197e-01 8.94398623e-02 1.37170800e+02] [-6.64152880e-01 7.43286485e-01 -8.01632911e-02 -8.00821054e+01] [-1.20106534e-01 -2.50392401e-04 9.92760977e-01 -1.64314299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03592 meters 0.030447525043214005 Centerline is valid? [True, True] Translation: X:137.20, Y:-80.10, Z:-16.44 [[ 7.38989525e-01 6.67654175e-01 9.01797384e-02 1.37195932e+02] [-6.62735280e-01 7.44471559e-01 -8.08952769e-02 -8.01021660e+01] [-1.21146320e-01 1.54679783e-05 9.92634660e-01 -1.64353687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06592 meters 0.03024359605114349 Centerline is valid? [True, True] Translation: X:137.22, Y:-80.12, Z:-16.44 [[ 7.39929922e-01 6.66576753e-01 9.04386129e-02 1.37220838e+02] [-6.61612315e-01 7.45436362e-01 -8.12020575e-02 -8.01230962e+01] [-1.21543634e-01 2.48531916e-04 9.92586058e-01 -1.64381087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09592 meters 0.030304878297437932 Centerline is valid? [True, True] Translation: X:137.25, Y:-80.14, Z:-16.44 [[ 7.41962119e-01 6.64123976e-01 9.18235169e-02 1.37245951e+02] [-6.58976697e-01 7.47622111e-01 -8.25281262e-02 -8.01435539e+01] [-1.23458199e-01 7.23185492e-04 9.92349510e-01 -1.64415847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12592 meters 0.030304878297437932 Centerline is valid? [True, True] Translation: X:137.27, Y:-80.16, Z:-16.44 [[ 7.41630422e-01 6.64499545e-01 9.17860096e-02 1.37270332e+02] [-6.59349971e-01 7.47288325e-01 -8.25698241e-02 -8.01649818e+01] [-1.23458224e-01 7.17190735e-04 9.92349511e-01 -1.64447279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15592 meters 0.03018483370780852 Centerline is valid? [True, True] Translation: X:137.30, Y:-80.19, Z:-16.45 [[ 7.42117258e-01 6.63917086e-01 9.20656201e-02 1.37295087e+02] [-6.58721006e-01 7.47805676e-01 -8.29054086e-02 -8.01860268e+01] [-1.23889511e-01 8.79976611e-04 9.92295629e-01 -1.64481031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18592 meters 0.030639548160691952 Centerline is valid? [True, True] Translation: X:137.32, Y:-80.21, Z:-16.45 [[ 7.45735097e-01 6.59772818e-01 9.26228536e-02 1.37319196e+02] [-6.54471203e-01 7.51463329e-01 -8.34883823e-02 -8.02065813e+01] [-1.24686043e-01 1.64122651e-03 9.92194889e-01 -1.64513720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21592 meters 0.03110648247394275 Centerline is valid? [True, True] Translation: X:137.34, Y:-80.23, Z:-16.46 [[ 7.47297093e-01 6.57801098e-01 9.40466410e-02 1.37342802e+02] [-6.52309881e-01 7.53188881e-01 -8.48429584e-02 -8.02287424e+01] [-1.26644676e-01 2.05534291e-03 9.91946018e-01 -1.64551375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24592 meters 0.03171221549053388 Centerline is valid? [True, True] Translation: X:137.37, Y:-80.25, Z:-16.46 [[ 7.50543997e-01 6.53858480e-01 9.56702496e-02 1.37366391e+02] [-6.48135100e-01 7.56611626e-01 -8.63697859e-02 -8.02502480e+01] [-1.28858840e-01 2.81707759e-03 9.91658945e-01 -1.64585697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.27592 meters 0.03175511847806489 Centerline is valid? [True, True] Translation: X:137.39, Y:-80.27, Z:-16.46 [[ 7.51270843e-01 6.53255187e-01 9.40732781e-02 1.37389627e+02] [-6.47713194e-01 7.57132269e-01 -8.49608443e-02 -8.02726680e+01] [-1.26727027e-01 2.89610169e-03 9.91933402e-01 -1.64613123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30592000000001 meters 0.03209434759117667 Centerline is valid? [True, True] Translation: X:137.41, Y:-80.30, Z:-16.47 [[ 7.52037097e-01 6.52380680e-01 9.40194245e-02 1.37410215e+02] [-6.46829070e-01 7.57885122e-01 -8.49840916e-02 -8.02979314e+01] [-1.26697902e-01 3.09669268e-03 9.91936516e-01 -1.64670515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.33592000000002 meters 0.032275502022307334 Centerline is valid? [True, True] Translation: X:137.43, Y:-80.32, Z:-16.47 [[ 7.51938298e-01 6.52362757e-01 9.49296066e-02 1.37433186e+02] [-6.46693140e-01 7.57900181e-01 -8.58795595e-02 -8.03204067e+01] [-1.27971792e-01 3.18580441e-03 9.91772691e-01 -1.64700143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36592000000002 meters 0.03215363920594549 Centerline is valid? [True, True] Translation: X:137.46, Y:-80.34, Z:-16.47 [[ 7.51465915e-01 6.52920469e-01 9.48358576e-02 1.37457219e+02] [-6.47256867e-01 7.57419944e-01 -8.58695351e-02 -8.03428711e+01] [-1.27896547e-01 3.14486880e-03 9.91782528e-01 -1.64730021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39592000000002 meters 0.032132613254408894 Centerline is valid? [True, True] Translation: X:137.48, Y:-80.37, Z:-16.48 [[ 7.49866463e-01 6.54574480e-01 9.60860976e-02 1.37479506e+02] [-6.48762290e-01 7.55991701e-01 -8.70863818e-02 -8.03669097e+01] [-1.29644815e-01 2.96612031e-03 9.91556062e-01 -1.64765523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42592000000002 meters 0.031810808697463 Centerline is valid? [True, True] Translation: X:137.50, Y:-80.39, Z:-16.48 [[ 7.48733824e-01 6.55927995e-01 9.56876488e-02 1.37501369e+02] [-6.50164560e-01 7.54818340e-01 -8.68062118e-02 -8.03904110e+01] [-1.29165417e-01 2.78202876e-03 9.91619158e-01 -1.64790019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45592000000002 meters 0.03144656391360352 Centerline is valid? [True, True] Translation: X:137.52, Y:-80.42, Z:-16.48 [[ 7.48351505e-01 6.56517804e-01 9.46276745e-02 1.37521148e+02] [-6.50878796e-01 7.54305710e-01 -8.59051164e-02 -8.04168978e+01] [-1.27776434e-01 2.69607637e-03 9.91799332e-01 -1.64810210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48592000000002 meters 0.03174160742724157 Centerline is valid? [True, True] Translation: X:137.54, Y:-80.44, Z:-16.48 [[ 7.48214513e-01 6.56776183e-01 9.39153214e-02 1.37544554e+02] [-6.51219406e-01 7.54080878e-01 -8.52954530e-02 -8.04388508e+01] [-1.26839770e-01 2.65981605e-03 9.91919653e-01 -1.64840602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51592 meters 0.03156295976014816 Centerline is valid? [True, True] Translation: X:137.57, Y:-80.46, Z:-16.49 [[ 7.47319607e-01 6.57682988e-01 9.46915673e-02 1.37566457e+02] [-6.52030912e-01 7.53290385e-01 -8.60772139e-02 -8.04632745e+01] [-1.27941766e-01 2.58536069e-03 9.91778312e-01 -1.64878561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54592 meters 0.03156863868276377 Centerline is valid? [True, True] Translation: X:137.59, Y:-80.49, Z:-16.49 [[ 7.47212862e-01 6.57794271e-01 9.47609383e-02 1.37589167e+02] [-6.52123902e-01 7.53193049e-01 -8.62244024e-02 -8.04866067e+01] [-1.28091198e-01 2.63210972e-03 9.91758901e-01 -1.64910604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57592 meters 0.03183418558938714 Centerline is valid? [True, True] Translation: X:137.61, Y:-80.51, Z:-16.50 [[ 7.46711324e-01 6.58293878e-01 9.52437336e-02 1.37611660e+02] [-6.52558304e-01 7.52756456e-01 -8.67489338e-02 -8.05101168e+01] [-1.28801627e-01 2.62432190e-03 9.91666907e-01 -1.64951799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60592 meters 0.03174766806381855 Centerline is valid? [True, True] Translation: X:137.63, Y:-80.53, Z:-16.50 [[ 7.45920295e-01 6.59249155e-01 9.48338841e-02 1.37634060e+02] [-6.53560179e-01 7.51920374e-01 -8.64571739e-02 -8.05328074e+01] [-1.28304348e-01 2.51051038e-03 9.91731663e-01 -1.64977897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63592 meters 0.031116438950178803 Centerline is valid? [True, True] Translation: X:137.66, Y:-80.56, Z:-16.50 [[ 7.45217067e-01 6.60127637e-01 9.42498115e-02 1.37656070e+02] [-6.54507460e-01 7.51149635e-01 -8.59896031e-02 -8.05559359e+01] [-1.27559825e-01 2.39371516e-03 9.91827990e-01 -1.64999917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66592 meters 0.03145504077679284 Centerline is valid? [True, True] Translation: X:137.68, Y:-80.58, Z:-16.51 [[ 7.44520799e-01 6.60726110e-01 9.55499214e-02 1.37679044e+02] [-6.54947419e-01 7.50623361e-01 -8.72264153e-02 -8.05783646e+01] [-1.29354773e-01 2.36170606e-03 9.91595565e-01 -1.65052171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69592 meters 0.031159305367295075 Centerline is valid? [True, True] Translation: X:137.70, Y:-80.60, Z:-16.51 [[ 7.43578705e-01 6.61922178e-01 9.46030628e-02 1.37701874e+02] [-6.56257856e-01 7.49569369e-01 -8.64371834e-02 -8.06013007e+01] [-1.28126247e-01 2.18884581e-03 9.91755451e-01 -1.65068714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72592 meters 0.03122586672344843 Centerline is valid? [True, True] Translation: X:137.73, Y:-80.62, Z:-16.51 [[ 7.42746908e-01 6.62919961e-01 9.41496425e-02 1.37726009e+02] [-6.57308494e-01 7.48687431e-01 -8.60968891e-02 -8.06225253e+01] [-1.27564000e-01 2.06283855e-03 9.91828196e-01 -1.65104929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75592 meters 0.030960380774858597 Centerline is valid? [True, True] Translation: X:137.75, Y:-80.64, Z:-16.51 [[ 7.42520216e-01 6.63306809e-01 9.32084025e-02 1.37750787e+02] [-6.57801119e-01 7.48344807e-01 -8.53096625e-02 -8.06437315e+01] [-1.26338504e-01 2.03155761e-03 9.91985108e-01 -1.65123857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78592 meters 0.031207428993309208 Centerline is valid? [True, True] Translation: X:137.77, Y:-80.67, Z:-16.52 [[ 7.42652836e-01 6.63255935e-01 9.25112410e-02 1.37774825e+02] [-6.57822996e-01 7.48389764e-01 -8.47447242e-02 -8.06650226e+01] [-1.25441907e-01 2.07988811e-03 9.92098786e-01 -1.65153854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81592 meters 0.031469179662388005 Centerline is valid? [True, True] Translation: X:137.80, Y:-80.69, Z:-16.52 [[ 7.42990998e-01 6.62634411e-01 9.42338224e-02 1.37797778e+02] [-6.56981575e-01 7.48939531e-01 -8.63990108e-02 -8.06878371e+01] [-1.27826392e-01 2.28380230e-03 9.91793929e-01 -1.65197941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84592 meters 0.0317214875884356 Centerline is valid? [True, True] Translation: X:137.82, Y:-80.71, Z:-16.52 [[ 7.44219260e-01 6.61027231e-01 9.58159343e-02 1.37821718e+02] [-6.55158952e-01 7.50357195e-01 -8.79251281e-02 -8.07084031e+01] [-1.30017080e-01 2.66090665e-03 9.91508184e-01 -1.65230799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87592 meters 0.03196734852171258 Centerline is valid? [True, True] Translation: X:137.85, Y:-80.73, Z:-16.53 [[ 7.44654815e-01 6.60599464e-01 9.53811051e-02 1.37846727e+02] [-6.54771423e-01 7.50733392e-01 -8.75999911e-02 -8.07302767e+01] [-1.29474288e-01 2.77893331e-03 9.91578886e-01 -1.65267715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90592 meters 0.031790954987677526 Centerline is valid? [True, True] Translation: X:137.87, Y:-80.75, Z:-16.53 [[ 7.45134279e-01 6.60223356e-01 9.42338898e-02 1.37870601e+02] [-6.54521731e-01 7.51063829e-01 -8.66281109e-02 -8.07518074e+01] [-1.27969568e-01 2.87144632e-03 9.91773938e-01 -1.65286727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93592 meters 0.031672782763330944 Centerline is valid? [True, True] Translation: X:137.90, Y:-80.77, Z:-16.53 [[ 7.44157983e-01 6.61306778e-01 9.43516959e-02 1.37895175e+02] [-6.55589534e-01 7.50110525e-01 -8.68133791e-02 -8.07739676e+01] [-1.28184476e-01 2.74688474e-03 9.91746538e-01 -1.65319136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96592 meters 0.031372709746924306 Centerline is valid? [True, True] Translation: X:137.92, Y:-80.80, Z:-16.53 [[ 7.43214184e-01 6.62437877e-01 9.38548664e-02 1.37919377e+02] [-6.56779360e-01 7.49112340e-01 -8.64382715e-02 -8.07952393e+01] [-1.27567824e-01 2.60021037e-03 9.91826441e-01 -1.65346248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.99592 meters 0.03131881965913469 Centerline is valid? [True, True] Translation: X:137.94, Y:-80.82, Z:-16.54 [[ 7.41071625e-01 6.64805616e-01 9.40549795e-02 1.37943524e+02] [-6.59132115e-01 7.47012992e-01 -8.66974255e-02 -8.08159399e+01] [-1.27897227e-01 2.25434438e-03 9.91784864e-01 -1.65386246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02592 meters 0.03103436134614602 Centerline is valid? [True, True] Translation: X:137.97, Y:-80.84, Z:-16.54 [[ 7.39255200e-01 6.66924613e-01 9.33451152e-02 1.37967116e+02] [-6.61344058e-01 7.45122700e-01 -8.61173572e-02 -8.08379630e+01] [-1.26987349e-01 1.92946681e-03 9.91902460e-01 -1.65409816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.05592000000001 meters 0.03114118422035918 Centerline is valid? [True, True] Translation: X:137.99, Y:-80.86, Z:-16.54 [[ 7.37967639e-01 6.68149080e-01 9.47658693e-02 1.37991000e+02] [-6.62396663e-01 7.44025238e-01 -8.75048858e-02 -8.08588630e+01] [-1.28974507e-01 1.80317839e-03 9.91646270e-01 -1.65442378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08592000000002 meters 0.0309193888966477 Centerline is valid? [True, True] Translation: X:138.02, Y:-80.88, Z:-16.55 [[ 7.36151216e-01 6.70323683e-01 9.35283236e-02 1.38016508e+02] [-6.64729041e-01 7.42067403e-01 -8.64365112e-02 -8.08782615e+01] [-1.27344761e-01 1.45934996e-03 9.91857440e-01 -1.65467902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11592000000002 meters 0.03089760274583912 Centerline is valid? [True, True] Translation: X:138.04, Y:-80.90, Z:-16.55 [[ 7.34623204e-01 6.71756128e-01 9.52494232e-02 1.38041660e+02] [-6.65954610e-01 7.40771244e-01 -8.81046021e-02 -8.08984286e+01] [-1.29742840e-01 1.29189263e-03 9.91546835e-01 -1.65509449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14592000000002 meters 0.030824332938682118 Centerline is valid? [True, True] Translation: X:138.07, Y:-80.92, Z:-16.55 [[ 7.34674946e-01 6.71950271e-01 9.34642020e-02 1.38065744e+02] [-6.66357078e-01 7.40595146e-01 -8.65278804e-02 -8.09193622e+01] [-1.27361567e-01 1.28933335e-03 9.91855518e-01 -1.65530957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17592000000002 meters 0.030784844233181424 Centerline is valid? [True, True] Translation: X:138.09, Y:-80.94, Z:-16.56 [[ 7.33855942e-01 6.73003933e-01 9.23101461e-02 1.38089542e+02] [-6.67547435e-01 7.39638012e-01 -8.55338180e-02 -8.09404650e+01] [-1.25840689e-01 1.14809925e-03 9.92049799e-01 -1.65561629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20592000000002 meters 0.030742348427291823 Centerline is valid? [True, True] Translation: X:138.12, Y:-80.96, Z:-16.56 [[ 7.34077302e-01 6.72883774e-01 9.14217802e-02 1.38115281e+02] [-6.67522007e-01 7.39747225e-01 -8.47845071e-02 -8.09599057e+01] [-1.24679127e-01 1.21233198e-03 9.92196374e-01 -1.65584273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23592000000002 meters 0.030862820640633913 Centerline is valid? [True, True] Translation: X:138.14, Y:-80.98, Z:-16.56 [[ 7.33626023e-01 6.73307654e-01 9.19220455e-02 1.38139906e+02] [-6.67880448e-01 7.39361451e-01 -8.53249823e-02 -8.09809940e+01] [-1.25413581e-01 1.20369048e-03 9.92103818e-01 -1.65617574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26592 meters 0.03121029088951869 Centerline is valid? [True, True] Translation: X:138.16, Y:-81.00, Z:-16.57 [[ 7.32929094e-01 6.73904668e-01 9.30990914e-02 1.38164761e+02] [-6.68331389e-01 7.38817375e-01 -8.64987923e-02 -8.10015735e+01] [-1.27075166e-01 1.17643644e-03 9.91892392e-01 -1.65651599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29592 meters 0.031203167575181677 Centerline is valid? [True, True] Translation: X:138.19, Y:-81.02, Z:-16.57 [[ 7.33050448e-01 6.73863779e-01 9.24372655e-02 1.38189831e+02] [-6.68359901e-01 7.38854581e-01 -8.59590111e-02 -8.10224929e+01] [-1.26222361e-01 1.23092996e-03 9.92001210e-01 -1.65673492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32592 meters 0.031307383504247506 Centerline is valid? [True, True] Translation: X:138.22, Y:-81.04, Z:-16.57 [[ 7.32155096e-01 6.74845131e-01 9.23740523e-02 1.38216077e+02] [-6.69346679e-01 7.37958534e-01 -8.59780570e-02 -8.10422948e+01] [-1.26190093e-01 1.11900741e-03 9.92005448e-01 -1.65709403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35592 meters 0.03138542627951321 Centerline is valid? [True, True] Translation: X:138.24, Y:-81.06, Z:-16.57 [[ 7.31986292e-01 6.75107400e-01 9.17936100e-02 1.38241193e+02] [-6.69669718e-01 7.37718595e-01 -8.55204319e-02 -8.10630054e+01] [-1.25453329e-01 1.12838289e-03 9.92098881e-01 -1.65745839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38592 meters 0.031324077065685026 Centerline is valid? [True, True] Translation: X:138.27, Y:-81.08, Z:-16.58 [[ 7.31046624e-01 6.76190701e-01 9.13070082e-02 1.38265942e+02] [-6.70809837e-01 7.36725968e-01 -8.51411243e-02 -8.10840098e+01] [-1.24839880e-01 9.92492275e-04 9.92176405e-01 -1.65774618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41592 meters 0.03152313750206274 Centerline is valid? [True, True] Translation: X:138.29, Y:-81.10, Z:-16.58 [[ 7.30420984e-01 6.76814351e-01 9.16925310e-02 1.38291815e+02] [-6.71382819e-01 7.36153134e-01 -8.55784615e-02 -8.11038885e+01] [-1.25420475e-01 9.47514100e-04 9.92103224e-01 -1.65815630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44592 meters 0.03162463149884055 Centerline is valid? [True, True] Translation: X:138.32, Y:-81.12, Z:-16.58 [[ 7.30691648e-01 6.76531943e-01 9.16201196e-02 1.38316795e+02] [-6.71095896e-01 7.36412526e-01 -8.55972563e-02 -8.11248476e+01] [-1.25379482e-01 1.05931405e-03 9.92108292e-01 -1.65845433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47592 meters 0.03161507051417276 Centerline is valid? [True, True] Translation: X:138.34, Y:-81.15, Z:-16.59 [[ 7.30610874e-01 6.76648201e-01 9.14054873e-02 1.38340867e+02] [-6.71227856e-01 7.36305644e-01 -8.54819491e-02 -8.11471568e+01] [-1.25143583e-01 1.10013229e-03 9.92138031e-01 -1.65867883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50592 meters 0.031824535447649974 Centerline is valid? [True, True] Translation: X:138.36, Y:-81.17, Z:-16.59 [[ 7.30494175e-01 6.76645448e-01 9.23536569e-02 1.38363678e+02] [-6.71102265e-01 7.36308072e-01 -8.64417315e-02 -8.11695127e+01] [-1.26491147e-01 1.16643299e-03 9.91967050e-01 -1.65900529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53592 meters 0.03180426363727773 Centerline is valid? [True, True] Translation: X:138.39, Y:-81.19, Z:-16.59 [[ 7.31389096e-01 6.75810726e-01 9.13775330e-02 1.38388201e+02] [-6.70373331e-01 7.37074018e-01 -8.55657042e-02 -8.11908352e+01] [-1.25178226e-01 1.32476189e-03 9.92133387e-01 -1.65939592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56592 meters 0.03184231888762901 Centerline is valid? [True, True] Translation: X:138.41, Y:-81.21, Z:-16.60 [[ 7.31513580e-01 6.75798129e-01 9.04697300e-02 1.38412103e+02] [-6.70459322e-01 7.37085488e-01 -8.47896290e-02 -8.12120077e+01] [-1.23984598e-01 1.36849123e-03 9.92283199e-01 -1.65976349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59592 meters 0.032111281264286036 Centerline is valid? [True, True] Translation: X:138.44, Y:-81.23, Z:-16.60 [[ 7.31243054e-01 6.75978434e-01 9.13058169e-02 1.38435716e+02] [-6.70532012e-01 7.36920063e-01 -8.56483648e-02 -8.12331546e+01] [-1.25181536e-01 1.40629880e-03 9.92132857e-01 -1.66012215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62592 meters 0.031921902030135695 Centerline is valid? [True, True] Translation: X:138.46, Y:-81.26, Z:-16.60 [[ 7.30364084e-01 6.76917006e-01 9.13874801e-02 1.38459916e+02] [-6.71458410e-01 7.36058196e-01 -8.58017262e-02 -8.12557545e+01] [-1.25347151e-01 1.30360709e-03 9.92112087e-01 -1.66045503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65592 meters 0.031775473141395734 Centerline is valid? [True, True] Translation: X:138.48, Y:-81.28, Z:-16.61 [[ 7.29633681e-01 6.77816073e-01 9.05541976e-02 1.38482706e+02] [-6.72453689e-01 7.35230531e-01 -8.51005433e-02 -8.12782017e+01] [-1.24260727e-01 1.19871851e-03 9.92248877e-01 -1.66073293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68592 meters 0.03190038474256251 Centerline is valid? [True, True] Translation: X:138.51, Y:-81.30, Z:-16.61 [[ 7.28945481e-01 6.78497421e-01 9.09930484e-02 1.38506322e+02] [-6.73078332e-01 7.34601891e-01 -8.55898387e-02 -8.13013296e+01] [-1.24916150e-01 1.14487685e-03 9.92166642e-01 -1.66109536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71592 meters 0.03188558119248832 Centerline is valid? [True, True] Translation: X:138.53, Y:-81.32, Z:-16.61 [[ 7.28852785e-01 6.78731979e-01 8.99806569e-02 1.38528644e+02] [-6.73424876e-01 7.34385166e-01 -8.47193224e-02 -8.13239817e+01] [-1.23582173e-01 1.15270137e-03 9.92333673e-01 -1.66146466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74592 meters 0.03194989480905042 Centerline is valid? [True, True] Translation: X:138.55, Y:-81.35, Z:-16.62 [[ 7.29842569e-01 6.77748345e-01 8.93700447e-02 1.38553693e+02] [-6.72496569e-01 7.35292672e-01 -8.42202567e-02 -8.13455256e+01] [-1.22793279e-01 1.36648011e-03 9.92431329e-01 -1.66165269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.77592 meters 0.031819862863984506 Centerline is valid? [True, True] Translation: X:138.58, Y:-81.37, Z:-16.62 [[ 7.30256210e-01 6.77395034e-01 8.86669954e-02 1.38578230e+02] [-6.72213076e-01 7.35617964e-01 -8.36408507e-02 -8.13674814e+01] [-1.21882932e-01 1.47613691e-03 9.92543385e-01 -1.66185589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80592000000001 meters 0.03200260629754329 Centerline is valid? [True, True] Translation: X:138.60, Y:-81.39, Z:-16.62 [[ 7.30458602e-01 6.77183271e-01 8.86174261e-02 1.38603107e+02] [-6.71995300e-01 7.35812710e-01 -8.36777920e-02 -8.13891430e+01] [-1.21871029e-01 1.57266905e-03 9.92544699e-01 -1.66219798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.83592000000002 meters 0.03202957988371497 Centerline is valid? [True, True] Translation: X:138.63, Y:-81.41, Z:-16.63 [[ 7.30661107e-01 6.76871709e-01 8.93254504e-02 1.38626469e+02] [-6.71588445e-01 7.36099055e-01 -8.44223977e-02 -8.14102436e+01] [-1.22895512e-01 1.69422219e-03 9.92418169e-01 -1.66258912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86592000000002 meters 0.03205737341490734 Centerline is valid? [True, True] Translation: X:138.65, Y:-81.43, Z:-16.63 [[ 7.30486165e-01 6.77008098e-01 8.97217884e-02 1.38650377e+02] [-6.71672449e-01 7.35973567e-01 -8.48470967e-02 -8.14329248e+01] [-1.23475036e-01 1.71597695e-03 9.92346195e-01 -1.66292029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89592000000002 meters 0.0322684874334997 Centerline is valid? [True, True] Translation: X:138.67, Y:-81.45, Z:-16.63 [[ 7.30867273e-01 6.76438572e-01 9.09059308e-02 1.38673993e+02] [-6.70945644e-01 7.36496608e-01 -8.60505008e-02 -8.14540856e+01] [-1.25159788e-01 1.89855651e-03 9.92134781e-01 -1.66320775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92592000000002 meters 0.03221966866086647 Centerline is valid? [True, True] Translation: X:138.70, Y:-81.48, Z:-16.64 [[ 7.30354929e-01 6.76981061e-01 9.09852788e-02 1.38698369e+02] [-6.71472943e-01 7.35998075e-01 -8.62027834e-02 -8.14764481e+01] [-1.25322642e-01 1.86447472e-03 9.92114287e-01 -1.66357969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95592000000002 meters 0.032355381763763146 Centerline is valid? [True, True] Translation: X:138.72, Y:-81.50, Z:-16.64 [[ 7.30682944e-01 6.76664877e-01 9.07032525e-02 1.38722714e+02] [-6.71177862e-01 7.36288490e-01 -8.60205610e-02 -8.14982906e+01] [-1.24990853e-01 1.97574172e-03 9.92155927e-01 -1.66394376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98592000000002 meters 0.032252564548148385 Centerline is valid? [True, True] Translation: X:138.75, Y:-81.52, Z:-16.64 [[ 7.30240290e-01 6.77227703e-01 9.00652999e-02 1.38746642e+02] [-6.71811950e-01 7.35770975e-01 -8.54972328e-02 -8.15193581e+01] [-1.24168528e-01 1.92657934e-03 9.92259273e-01 -1.66418602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01592 meters 0.032252564548148385 Centerline is valid? [True, True] Translation: X:138.77, Y:-81.54, Z:-16.65 [[ 7.29908264e-01 6.77590608e-01 9.00271896e-02 1.38770424e+02] [-6.72172659e-01 7.35436795e-01 -8.55373476e-02 -8.15414434e+01] [-1.24168611e-01 1.92060150e-03 9.92259274e-01 -1.66450038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04592 meters 0.03207786629801313 Centerline is valid? [True, True] Translation: X:138.80, Y:-81.56, Z:-16.65 [[ 7.29951937e-01 6.77575036e-01 8.97899800e-02 1.38796654e+02] [-6.72175076e-01 7.35450983e-01 -8.53962484e-02 -8.15622891e+01] [-1.23898495e-01 1.98057024e-03 9.92292921e-01 -1.66474352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07592 meters 0.03227312553819853 Centerline is valid? [True, True] Translation: X:138.82, Y:-81.58, Z:-16.65 [[ 7.29017114e-01 6.78430900e-01 9.09151325e-02 1.38820523e+02] [-6.72890215e-01 7.34661708e-01 -8.65501753e-02 -8.15842922e+01] [-1.25510180e-01 1.92065596e-03 9.92090473e-01 -1.66512669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10592 meters 0.032006972780633164 Centerline is valid? [True, True] Translation: X:138.84, Y:-81.61, Z:-16.65 [[ 7.27131112e-01 6.80447140e-01 9.09507336e-02 1.38843419e+02] [-6.74908338e-01 7.32795358e-01 -8.66585199e-02 -8.16071802e+01] [-1.25614817e-01 1.62869751e-03 9.92077752e-01 -1.66535053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13592 meters 0.032037041342333324 Centerline is valid? [True, True] Translation: X:138.87, Y:-81.63, Z:-16.66 [[ 7.26392083e-01 6.81336740e-01 9.01930623e-02 1.38867712e+02] [-6.75887813e-01 7.31968542e-01 -8.60099825e-02 -8.16283105e+01] [-1.24620245e-01 1.51657868e-03 9.92203353e-01 -1.66557897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16592 meters 0.03193858693394582 Centerline is valid? [True, True] Translation: X:138.89, Y:-81.65, Z:-16.66 [[ 7.25689289e-01 6.82022219e-01 9.06683446e-02 1.38892907e+02] [-6.76511003e-01 7.31329988e-01 -8.65408109e-02 -8.16498750e+01] [-1.25331235e-01 1.46360687e-03 9.92113874e-01 -1.66596540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19592 meters 0.03176173805199427 Centerline is valid? [True, True] Translation: X:138.92, Y:-81.67, Z:-16.66 [[ 7.26043347e-01 6.81811001e-01 8.94137429e-02 1.38917070e+02] [-6.76440086e-01 7.31526753e-01 -8.54249408e-02 -8.16709710e+01] [-1.23652209e-01 1.53917005e-03 9.92324424e-01 -1.66632909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22592 meters 0.03175722893175068 Centerline is valid? [True, True] Translation: X:138.94, Y:-81.69, Z:-16.67 [[ 7.25905157e-01 6.82100464e-01 8.83213396e-02 1.38940277e+02] [-6.76853655e-01 7.31256884e-01 -8.44541211e-02 -8.16934921e+01] [-1.22191783e-01 1.52506047e-03 9.92505336e-01 -1.66661748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25592 meters 0.03201046270971153 Centerline is valid? [True, True] Translation: X:138.97, Y:-81.71, Z:-16.67 [[ 7.26412954e-01 6.81304474e-01 9.02686767e-02 1.38965235e+02] [-6.75807045e-01 7.31998048e-01 -8.63926825e-02 -8.17132792e+01] [-1.24936216e-01 1.75255609e-03 9.92163228e-01 -1.66699073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28592 meters 0.03195990294695451 Centerline is valid? [True, True] Translation: X:138.99, Y:-81.73, Z:-16.67 [[ 7.27016300e-01 6.80781239e-01 8.93543780e-02 1.38990450e+02] [-6.75381605e-01 7.32484383e-01 -8.55939021e-02 -8.17341999e+01] [-1.23721409e-01 1.87985873e-03 9.92315212e-01 -1.66717412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31592 meters 0.03226582469855885 Centerline is valid? [True, True] Translation: X:139.01, Y:-81.76, Z:-16.68 [[ 7.28141945e-01 6.79447933e-01 9.03316981e-02 1.39014147e+02] [-6.73908278e-01 7.33720453e-01 -8.66136785e-02 -8.17557014e+01] [-1.25127699e-01 2.19177312e-03 9.92138224e-01 -1.66769657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34592 meters 0.032416765987046424 Centerline is valid? [True, True] Translation: X:139.04, Y:-81.78, Z:-16.68 [[ 7.28650681e-01 6.78905421e-01 9.03084454e-02 1.39037167e+02] [-6.73355081e-01 7.34222007e-01 -8.66659008e-02 -8.17781267e+01] [-1.25144398e-01 2.33951703e-03 9.92135780e-01 -1.66801960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37592 meters 0.032323888053644056 Centerline is valid? [True, True] Translation: X:139.06, Y:-81.80, Z:-16.68 [[ 7.28622718e-01 6.78979482e-01 8.99766490e-02 1.39061437e+02] [-6.73461032e-01 7.34153407e-01 -8.64234542e-02 -8.18003346e+01] [-1.24736416e-01 2.37432520e-03 9.92187074e-01 -1.66820524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40592 meters 0.032396793270676696 Centerline is valid? [True, True] Translation: X:139.09, Y:-81.82, Z:-16.69 [[ 7.27738659e-01 6.79845341e-01 9.05911456e-02 1.39086384e+02] [-6.74246807e-01 7.33351895e-01 -8.70990388e-02 -8.18218794e+01] [-1.25649064e-01 2.30454707e-03 9.92072075e-01 -1.66856671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43592 meters 0.032369293638848745 Centerline is valid? [True, True] Translation: X:139.11, Y:-81.85, Z:-16.69 [[ 7.28296449e-01 6.79370866e-01 8.96633081e-02 1.39110169e+02] [-6.73872857e-01 7.33791084e-01 -8.62903107e-02 -8.18454033e+01] [-1.24417259e-01 2.42325725e-03 9.92227027e-01 -1.66884935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46592 meters 0.032425913238526616 Centerline is valid? [True, True] Translation: X:139.13, Y:-81.87, Z:-16.69 [[ 7.28902488e-01 6.78823091e-01 8.88840522e-02 1.39134709e+02] [-6.73406252e-01 7.34297405e-01 -8.56232531e-02 -8.18679099e+01] [-1.23390370e-01 2.55592573e-03 9.92354918e-01 -1.66915726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.49592 meters 0.03269429006418058 Centerline is valid? [True, True] Translation: X:139.16, Y:-81.89, Z:-16.69 [[ 7.29804475e-01 6.77826909e-01 8.90848466e-02 1.39158887e+02] [-6.72367874e-01 7.35216220e-01 -8.58984936e-02 -8.18888430e+01] [-1.23720935e-01 2.79131610e-03 9.92313125e-01 -1.66948636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52592 meters 0.03280700904761734 Centerline is valid? [True, True] Translation: X:139.18, Y:-81.91, Z:-16.70 [[ 7.30047348e-01 6.77493059e-01 8.96327187e-02 1.39183119e+02] [-6.71954644e-01 7.35523369e-01 -8.65004618e-02 -8.19094984e+01] [-1.24530422e-01 2.92031110e-03 9.92211493e-01 -1.66972530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.55592000000001 meters 0.03301752108918891 Centerline is valid? [True, True] Translation: X:139.21, Y:-81.93, Z:-16.70 [[ 7.31196540e-01 6.76382426e-01 8.86478135e-02 1.39208216e+02] [-6.70948219e-01 7.36543969e-01 -8.56240015e-02 -8.19308196e+01] [-1.23207582e-01 3.12988103e-03 9.92375985e-01 -1.66995404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58592000000002 meters 0.03295401016874439 Centerline is valid? [True, True] Translation: X:139.23, Y:-81.95, Z:-16.70 [[ 7.31285453e-01 6.76425061e-01 8.75826659e-02 1.39232198e+02] [-6.71111859e-01 7.36504759e-01 -8.46735692e-02 -8.19520683e+01] [-1.21780375e-01 3.14278367e-03 9.92552096e-01 -1.67023003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61592000000002 meters 0.03284719281532425 Centerline is valid? [True, True] Translation: X:139.26, Y:-81.97, Z:-16.71 [[ 7.30990368e-01 6.76830309e-01 8.69126785e-02 1.39256040e+02] [-6.71592737e-01 7.36132530e-01 -8.40957369e-02 -8.19735940e+01] [-1.20897794e-01 3.10325007e-03 9.92660110e-01 -1.67056021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64592000000002 meters 0.03306595424151789 Centerline is valid? [True, True] Translation: X:139.28, Y:-82.00, Z:-16.71 [[ 7.31104385e-01 6.76676842e-01 8.71483221e-02 1.39279195e+02] [-6.71401005e-01 7.36273236e-01 -8.43943841e-02 -8.19962284e+01] [-1.21272702e-01 3.18963323e-03 9.92614103e-01 -1.67096240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67592000000002 meters 0.033103460829877356 Centerline is valid? [True, True] Translation: X:139.30, Y:-82.02, Z:-16.71 [[ 7.31090763e-01 6.76707866e-01 8.70216089e-02 1.39303583e+02] [-6.71438820e-01 7.36244530e-01 -8.43439532e-02 -8.20186001e+01] [-1.21145400e-01 3.23339866e-03 9.92629506e-01 -1.67120014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70592000000002 meters 0.03262341186234129 Centerline is valid? [True, True] Translation: X:139.33, Y:-82.04, Z:-16.71 [[ 7.30069523e-01 6.78060122e-01 8.50468235e-02 1.39328168e+02] [-6.73029434e-01 7.35000361e-01 -8.24975745e-02 -8.20400449e+01] [-1.18447761e-01 2.98994937e-03 9.92955784e-01 -1.67138483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73592000000002 meters 0.032373511178672446 Centerline is valid? [True, True] Translation: X:139.35, Y:-82.06, Z:-16.72 [[ 7.29237401e-01 6.79042795e-01 8.43427281e-02 1.39352092e+02] [-6.74098075e-01 7.34093231e-01 -8.18468969e-02 -8.20614415e+01] [-1.17492971e-01 2.83054777e-03 9.93069680e-01 -1.67168201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76592 meters 0.03214053752437513 Centerline is valid? [True, True] Translation: X:139.38, Y:-82.08, Z:-16.72 [[ 7.27358843e-01 6.81098234e-01 8.39899314e-02 1.39375901e+02] [-6.76200465e-01 7.32187646e-01 -8.15731695e-02 -8.20836310e+01] [-1.17055732e-01 2.53893556e-03 9.93122102e-01 -1.67195969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79592 meters 0.03186987211349638 Centerline is valid? [True, True] Translation: X:139.40, Y:-82.10, Z:-16.72 [[ 7.25180623e-01 6.83335149e-01 8.46530486e-02 1.39401245e+02] [-6.78366241e-01 7.30101379e-01 -8.22874248e-02 -8.21034060e+01] [-1.18035197e-01 2.24747566e-03 9.93006869e-01 -1.67224269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82592 meters 0.03164166627351802 Centerline is valid? [True, True] Translation: X:139.43, Y:-82.12, Z:-16.73 [[ 7.23699318e-01 6.84947861e-01 8.42954593e-02 1.39428357e+02] [-6.80023683e-01 7.28589267e-01 -8.20089725e-02 -8.21221527e+01] [-1.17588637e-01 2.02692887e-03 9.93060322e-01 -1.67259613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85592 meters 0.03154397374856284 Centerline is valid? [True, True] Translation: X:139.45, Y:-82.14, Z:-16.73 [[ 7.22640591e-01 6.86007758e-01 8.47580873e-02 1.39453536e+02] [-6.81027802e-01 7.27591697e-01 -8.25315447e-02 -8.21434304e+01] [-1.18286560e-01 1.91803036e-03 9.92977649e-01 -1.67296506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88592 meters 0.0315572873699132 Centerline is valid? [True, True] Translation: X:139.48, Y:-82.17, Z:-16.73 [[ 7.22480357e-01 6.86152181e-01 8.49547965e-02 1.39478701e+02] [-6.81140305e-01 7.27455393e-01 -8.28041974e-02 -8.21653323e+01] [-1.18617106e-01 1.95827008e-03 9.92938139e-01 -1.67329100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91592 meters 0.031448745569196225 Centerline is valid? [True, True] Translation: X:139.51, Y:-82.19, Z:-16.74 [[ 7.22888265e-01 6.85772111e-01 8.45527484e-02 1.39505019e+02] [-6.80795580e-01 7.27813387e-01 -8.24927401e-02 -8.21856855e+01] [-1.18109843e-01 2.06989646e-03 9.92998379e-01 -1.67355150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94592 meters 0.031684099358203176 Centerline is valid? [True, True] Translation: X:139.53, Y:-82.21, Z:-16.74 [[ 7.23150244e-01 6.85491527e-01 8.45877648e-02 1.39531232e+02] [-6.80499331e-01 7.28077353e-01 -8.26076765e-02 -8.22068069e+01] [-1.18213298e-01 2.17584409e-03 9.92985842e-01 -1.67377138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97592 meters 0.031905407925301846 Centerline is valid? [True, True] Translation: X:139.56, Y:-82.22, Z:-16.74 [[ 7.24026691e-01 6.84457529e-01 8.54590110e-02 1.39559233e+02] [-6.79344728e-01 7.29048692e-01 -8.35388855e-02 -8.22247681e+01] [-1.19482599e-01 2.42825419e-03 9.92833325e-01 -1.67397968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00592 meters 0.03195359214270619 Centerline is valid? [True, True] Translation: X:139.58, Y:-82.25, Z:-16.74 [[ 7.23803982e-01 6.84623712e-01 8.60126049e-02 1.39583454e+02] [-6.79436638e-01 7.28892498e-01 -8.41521307e-02 -8.22458953e+01] [-1.20306487e-01 2.46953221e-03 9.92733726e-01 -1.67435593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03592 meters 0.031923233702020166 Centerline is valid? [True, True] Translation: X:139.61, Y:-82.27, Z:-16.75 [[ 7.23809858e-01 6.84578870e-01 8.63195263e-02 1.39608000e+02] [-6.79345486e-01 7.28934376e-01 -8.45244670e-02 -8.22662141e+01] [-1.20784934e-01 2.53886193e-03 9.92675452e-01 -1.67482361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06592 meters 0.03214853600302194 Centerline is valid? [True, True] Translation: X:139.63, Y:-82.29, Z:-16.75 [[ 7.24245501e-01 6.84009367e-01 8.71759089e-02 1.39632188e+02] [-6.78658988e-01 7.29468195e-01 -8.54291011e-02 -8.22865834e+01] [-1.22026358e-01 2.70892806e-03 9.92523163e-01 -1.67521234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09592 meters 0.03221556869882703 Centerline is valid? [True, True] Translation: X:139.66, Y:-82.31, Z:-16.76 [[ 7.24656306e-01 6.83455887e-01 8.80981803e-02 1.39655723e+02] [-6.77981465e-01 7.29986189e-01 -8.63787991e-02 -8.23076237e+01] [-1.23346554e-01 2.86600813e-03 9.92359518e-01 -1.67556254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12592 meters 0.03272171763255252 Centerline is valid? [True, True] Translation: X:139.68, Y:-82.33, Z:-16.76 [[ 7.26975238e-01 6.81028632e-01 8.77895529e-02 1.39680371e+02] [-6.75566614e-01 7.32249276e-01 -8.61437588e-02 -8.23281157e+01] [-1.22950203e-01 3.31668851e-03 9.92407299e-01 -1.67580295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15592 meters 0.032905032509627286 Centerline is valid? [True, True] Translation: X:139.70, Y:-82.35, Z:-16.76 [[ 7.27698096e-01 6.80251884e-01 8.78228649e-02 1.39704222e+02] [-6.74771145e-01 7.32970058e-01 -8.62484515e-02 -8.23496341e+01] [-1.23042202e-01 3.50249881e-03 9.92395258e-01 -1.67610108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18592 meters 0.03337088493608194 Centerline is valid? [True, True] Translation: X:139.73, Y:-82.37, Z:-16.77 [[ 7.29681707e-01 6.78279932e-01 8.66079707e-02 1.39729047e+02] [-6.72927990e-01 7.34793604e-01 -8.51250843e-02 -8.23703845e+01] [-1.21377619e-01 3.83328912e-03 9.92599002e-01 -1.67656919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21592 meters 0.033554677513544746 Centerline is valid? [True, True] Translation: X:139.75, Y:-82.39, Z:-16.77 [[ 7.30423017e-01 6.77296490e-01 8.80436252e-02 1.39752178e+02] [-6.71748858e-01 7.35698656e-01 -8.66080851e-02 -8.23926935e+01] [-1.23432929e-01 4.11733421e-03 9.92344376e-01 -1.67688174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24592 meters 0.03417116766690539 Centerline is valid? [True, True] Translation: X:139.78, Y:-82.41, Z:-16.77 [[ 7.31053280e-01 6.76494733e-01 8.89717798e-02 1.39775698e+02] [-6.70814052e-01 7.36434612e-01 -8.75932050e-02 -8.24144688e+01] [-1.24778240e-01 4.35177972e-03 9.92175112e-01 -1.67725518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.27592 meters 0.03438574660040741 Centerline is valid? [True, True] Translation: X:139.80, Y:-82.44, Z:-16.78 [[ 7.31474655e-01 6.75983308e-01 8.93946167e-02 1.39800175e+02] [-6.70235332e-01 7.36903108e-01 -8.80818365e-02 -8.24357691e+01] [-1.25417022e-01 4.51420030e-03 9.92093843e-01 -1.67761413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30592000000001 meters 0.03479267332402436 Centerline is valid? [True, True] Translation: X:139.82, Y:-82.46, Z:-16.78 [[ 7.33010229e-01 6.74410155e-01 8.86958139e-02 1.39824744e+02] [-6.68731790e-01 7.38341332e-01 -8.74635380e-02 -8.24566783e+01] [-1.24474084e-01 4.79795763e-03 9.92211259e-01 -1.67794729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.33592000000002 meters 0.03461032825330401 Centerline is valid? [True, True] Translation: X:139.85, Y:-82.48, Z:-16.78 [[ 7.32242468e-01 6.75133954e-01 8.95271545e-02 1.39846149e+02] [-6.69344177e-01 7.37679705e-01 -8.83573752e-02 -8.24819206e+01] [-1.25695429e-01 4.77454298e-03 9.92057389e-01 -1.67844473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36592000000002 meters 0.03439856773475738 Centerline is valid? [True, True] Translation: X:139.87, Y:-82.51, Z:-16.79 [[ 7.32258932e-01 6.75186309e-01 8.89960961e-02 1.39868583e+02] [-6.69455496e-01 7.37631641e-01 -8.79141743e-02 -8.25057297e+01] [-1.25004783e-01 4.79701374e-03 9.92144542e-01 -1.67865688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39592000000002 meters 0.03388179594695609 Centerline is valid? [True, True] Translation: X:139.89, Y:-82.53, Z:-16.79 [[ 7.31363213e-01 6.76397925e-01 8.71418295e-02 1.39891993e+02] [-6.70904677e-01 7.36522377e-01 -8.61493006e-02 -8.25284727e+01] [-1.22453116e-01 4.54256829e-03 9.92463903e-01 -1.67879509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42592000000002 meters 0.033701010819033886 Centerline is valid? [True, True] Translation: X:139.91, Y:-82.55, Z:-16.79 [[ 7.30659592e-01 6.77263579e-01 8.63168958e-02 1.39914643e+02] [-6.71876129e-01 7.35727435e-01 -8.53674917e-02 -8.25509353e+01] [-1.21322001e-01 4.38031477e-03 9.92603539e-01 -1.67911067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45592000000002 meters 0.03315485970314018 Centerline is valid? [True, True] Translation: X:139.93, Y:-82.58, Z:-16.79 [[ 7.28289983e-01 6.79720476e-01 8.70274393e-02 1.39934744e+02] [-6.74252290e-01 7.33460030e-01 -8.61407819e-02 -8.25764193e+01] [-1.22382802e-01 4.05701844e-03 9.92474680e-01 -1.67943819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48592000000002 meters 0.032619226226618815 Centerline is valid? [True, True] Translation: X:139.96, Y:-82.60, Z:-16.80 [[ 7.26913178e-01 6.81346995e-01 8.58108631e-02 1.39957367e+02] [-6.76034115e-01 7.31950806e-01 -8.50052573e-02 -8.26000236e+01] [-1.20727407e-01 3.78037088e-03 9.92678499e-01 -1.67953086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51592 meters 0.0325688828676883 Centerline is valid? [True, True] Translation: X:139.98, Y:-82.62, Z:-16.80 [[ 7.25826713e-01 6.82425759e-01 8.64330101e-02 1.39982010e+02] [-6.77033910e-01 7.30945642e-01 -8.56945369e-02 -8.26220867e+01] [-1.21657991e-01 3.68130532e-03 9.92565253e-01 -1.67986621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54592 meters 0.03176895059336234 Centerline is valid? [True, True] Translation: X:140.00, Y:-82.65, Z:-16.80 [[ 7.23244514e-01 6.85285945e-01 8.54432387e-02 1.40003784e+02] [-6.80029011e-01 7.28267019e-01 -8.47802719e-02 -8.26450389e+01] [-1.20324221e-01 3.21298544e-03 9.92729449e-01 -1.68010553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57592 meters 0.03155315025129257 Centerline is valid? [True, True] Translation: X:140.03, Y:-82.67, Z:-16.80 [[ 7.22486209e-01 6.86146945e-01 8.49473264e-02 1.40025438e+02] [-6.80953919e-01 7.27456489e-01 -8.43137994e-02 -8.26683787e+01] [-1.19647140e-01 3.07034239e-03 9.92811732e-01 -1.68046665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60592 meters 0.03118449428554101 Centerline is valid? [True, True] Translation: X:140.05, Y:-82.69, Z:-16.81 [[ 7.20677829e-01 6.88078906e-01 8.46810869e-02 1.40047551e+02] [-6.82923347e-01 7.25630500e-01 -8.41194405e-02 -8.26914099e+01] [-1.19327992e-01 2.79232448e-03 9.92850962e-01 -1.68062943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63592 meters 0.030926500853947873 Centerline is valid? [True, True] Translation: X:140.07, Y:-82.71, Z:-16.81 [[ 7.19490457e-01 6.89389926e-01 8.41130916e-02 1.40071627e+02] [-6.84304119e-01 7.24385757e-01 -8.36250399e-02 -8.27132861e+01] [-1.18580586e-01 2.60848308e-03 9.92941006e-01 -1.68086120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66592 meters 0.030794786948637565 Centerline is valid? [True, True] Translation: X:140.09, Y:-82.74, Z:-16.81 [[ 7.17743373e-01 6.90994982e-01 8.58509435e-02 1.40094880e+02] [-6.85698198e-01 7.22855409e-01 -8.54285641e-02 -8.27363256e+01] [-1.21088528e-01 2.44794860e-03 9.92638694e-01 -1.68112780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69592 meters 0.03071920827866546 Centerline is valid? [True, True] Translation: X:140.12, Y:-82.76, Z:-16.81 [[ 7.16590470e-01 6.92254380e-01 8.53344684e-02 1.40117274e+02] [-6.87020534e-01 7.21649967e-01 -8.49947706e-02 -8.27587548e+01] [-1.20419619e-01 2.27991064e-03 9.92720463e-01 -1.68140040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72592 meters 0.03045285734070384 Centerline is valid? [True, True] Translation: X:140.14, Y:-82.78, Z:-16.82 [[ 7.15977105e-01 6.92929310e-01 8.50044459e-02 1.40140473e+02] [-6.87733233e-01 7.21002162e-01 -8.47282843e-02 -8.27809110e+01] [-1.19999101e-01 2.20312925e-03 9.92771556e-01 -1.68169990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75592 meters 0.030354086003107208 Centerline is valid? [True, True] Translation: X:140.17, Y:-82.80, Z:-16.82 [[ 7.14059681e-01 6.94768719e-01 8.61115502e-02 1.40165540e+02] [-6.89444493e-01 7.19230586e-01 -8.58699907e-02 -8.28018130e+01] [-1.21593844e-01 1.94716418e-03 9.92578030e-01 -1.68228714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78592 meters 0.03018363432554267 Centerline is valid? [True, True] Translation: X:140.19, Y:-82.82, Z:-16.83 [[ 7.14138594e-01 6.94919964e-01 8.42158742e-02 1.40189009e+02] [-6.89820024e-01 7.19084486e-01 -8.40585327e-02 -8.28238079e+01] [-1.18972281e-01 1.93564592e-03 9.92895689e-01 -1.68256959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81592 meters 0.030100472695229995 Centerline is valid? [True, True] Translation: X:140.21, Y:-82.85, Z:-16.83 [[ 7.13850696e-01 6.95226046e-01 8.41304277e-02 1.40212503e+02] [-6.90129828e-01 7.18788563e-01 -8.40465471e-02 -8.28467518e+01] [-1.18903338e-01 1.93576862e-03 9.92903948e-01 -1.68283317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84592 meters 0.030569009525195 Centerline is valid? [True, True] Translation: X:140.24, Y:-82.87, Z:-16.83 [[ 7.14354140e-01 6.94499565e-01 8.58400692e-02 1.40237174e+02] [-6.89177982e-01 7.19489884e-01 -8.58371528e-02 -8.28678411e+01] [-1.21374927e-01 2.15903980e-03 9.92604385e-01 -1.68321698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87592 meters 0.03050949210356776 Centerline is valid? [True, True] Translation: X:140.27, Y:-82.87, Z:-16.83 [[ 6.66869782e-01 7.40926208e-01 7.94546932e-02 1.40270495e+02] [-7.35332879e-01 6.71582876e-01 -9.08955356e-02 -8.28704919e+01] [-1.20707296e-01 2.18983770e-03 9.92685727e-01 -1.68323580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90592 meters 0.030688319589724938 Centerline is valid? [True, True] Translation: X:140.30, Y:-82.87, Z:-16.83 [[ 6.15931573e-01 7.84349400e-01 7.36499565e-02 1.40296200e+02] [-7.78383861e-01 6.20315537e-01 -9.65774269e-02 -8.28719343e+01] [-1.21436659e-01 2.15714894e-03 9.92596839e-01 -1.68344168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93592 meters 0.030688319589724938 Centerline is valid? [True, True] Translation: X:140.10, Y:-83.29, Z:-14.85 [[ 6.43275646e-01 -7.64454384e-01 -4.24963404e-02 1.40101251e+02] [-7.62206045e-01 -6.44654701e-01 5.88409801e-02 -8.32944458e+01] [-7.23767108e-02 -5.46000197e-03 -9.97362422e-01 -1.48527680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96592 meters 0.030770924786299114 Centerline is valid? [True, True] Translation: X:140.13, Y:-83.33, Z:-14.85 [[ 6.96384133e-01 -7.16160007e-01 -4.65186307e-02 1.40127343e+02] [-7.14017976e-01 -6.97914302e-01 5.56233574e-02 -8.33288783e+01] [-7.23012417e-02 -5.52008496e-03 -9.97367565e-01 -1.48548658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.99592 meters 0.03103934791419212 Centerline is valid? [True, True] Translation: X:140.30, Y:-82.92, Z:-16.84 [[ 7.23729801e-01 6.84677636e-01 8.62073690e-02 1.40302553e+02] [-6.79415038e-01 7.28840720e-01 -8.47726978e-02 -8.29218415e+01] [-1.20873411e-01 2.78194478e-03 9.92664031e-01 -1.68404806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02592 meters 0.031136999889958546 Centerline is valid? [True, True] Translation: X:140.33, Y:-82.94, Z:-16.84 [[ 7.24027411e-01 6.84456412e-01 8.54618466e-02 1.40327853e+02] [-6.79274576e-01 7.29048225e-01 -8.41114530e-02 -8.29435351e+01] [-1.19876431e-01 2.84693798e-03 9.92784738e-01 -1.68430816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.05592000000001 meters 0.03155487879123871 Centerline is valid? [True, True] Translation: X:140.35, Y:-82.96, Z:-16.85 [[ 7.25286985e-01 6.82982607e-01 8.65652807e-02 1.40354824e+02] [-6.77645267e-01 7.30427669e-01 -8.52778511e-02 -8.29624764e+01] [-1.21472965e-01 3.19036270e-03 9.92589613e-01 -1.68459081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08592000000002 meters 0.031619352486881 Centerline is valid? [True, True] Translation: X:140.38, Y:-82.98, Z:-16.85 [[ 7.24882245e-01 6.83388755e-01 8.67498760e-02 1.40379858e+02] [-6.78022372e-01 7.30047722e-01 -8.55335444e-02 -8.29838095e+01] [-1.21784212e-01 3.18339103e-03 9.92551496e-01 -1.68494791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11592000000002 meters 0.031855813187276524 Centerline is valid? [True, True] Translation: X:140.41, Y:-83.00, Z:-16.85 [[ 7.25171463e-01 6.83060476e-01 8.69179784e-02 1.40406448e+02] [-6.77661052e-01 7.30354348e-01 -8.57789310e-02 -8.30021695e+01] [-1.22073121e-01 3.30350424e-03 9.92515612e-01 -1.68530996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14592000000002 meters 0.03179050471091506 Centerline is valid? [True, True] Translation: X:140.43, Y:-83.02, Z:-16.86 [[ 7.25392876e-01 6.82963996e-01 8.58216488e-02 1.40430865e+02] [-6.77691347e-01 7.30444455e-01 -8.47663597e-02 -8.30226724e+01] [-1.20580319e-01 3.32832467e-03 9.92697995e-01 -1.68551530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17592000000002 meters 0.03188572600189281 Centerline is valid? [True, True] Translation: X:140.46, Y:-83.04, Z:-16.86 [[ 7.25181858e-01 6.83047622e-01 8.69322695e-02 1.40455034e+02] [-6.77628882e-01 7.30365877e-01 -8.59347679e-02 -8.30438511e+01] [-1.22189902e-01 3.41051804e-03 9.92500880e-01 -1.68591031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20592000000002 meters 0.03269067351958669 Centerline is valid? [True, True] Translation: X:140.48, Y:-83.06, Z:-16.86 [[ 7.25966207e-01 6.82110518e-01 8.77400021e-02 1.40481832e+02] [-6.76574399e-01 7.31239961e-01 -8.68055422e-02 -8.30624712e+01] [-1.23369969e-01 3.65525097e-03 9.92354014e-01 -1.68641057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23592000000002 meters 0.03331130836288971 Centerline is valid? [True, True] Translation: X:140.51, Y:-83.08, Z:-16.87 [[ 7.26983735e-01 6.80985558e-01 8.80529303e-02 1.40507209e+02] [-6.75392446e-01 7.32286387e-01 -8.71876779e-02 -8.30819329e+01] [-1.23853512e-01 3.91373979e-03 9.92292795e-01 -1.68675643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26592 meters 0.03345232244396403 Centerline is valid? [True, True] Translation: X:140.53, Y:-83.10, Z:-16.87 [[ 7.27536823e-01 6.80341364e-01 8.84635475e-02 1.40531861e+02] [-6.74682002e-01 7.32883930e-01 -8.76660784e-02 -8.31027321e+01] [-1.24476372e-01 4.09553695e-03 9.92214120e-01 -1.68707468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29592 meters 0.03465413528472797 Centerline is valid? [True, True] Translation: X:140.56, Y:-83.12, Z:-16.87 [[ 7.30909924e-01 6.76558912e-01 8.96589222e-02 1.40555484e+02] [-6.70709265e-01 7.36372550e-01 -8.89075339e-02 -8.31221914e+01] [-1.26173554e-01 4.84832907e-03 9.91996335e-01 -1.68741885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32592 meters 0.035878510209232606 Centerline is valid? [True, True] Translation: X:140.58, Y:-83.14, Z:-16.88 [[ 7.32998437e-01 6.74149886e-01 9.07481222e-02 1.40578862e+02] [-6.68137058e-01 7.38575295e-01 -8.99966958e-02 -8.31443931e+01] [-1.27695583e-01 5.33525394e-03 9.91799059e-01 -1.68781149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35592 meters 0.03728298535734103 Centerline is valid? [True, True] Translation: X:140.60, Y:-83.17, Z:-16.88 [[ 7.37177871e-01 6.69739494e-01 8.95421515e-02 1.40599929e+02] [-6.63851520e-01 7.42571634e-01 -8.88173870e-02 -8.31664781e+01] [-1.25975974e-01 6.03151893e-03 9.92014957e-01 -1.68817251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38592 meters 0.038157494251739504 Centerline is valid? [True, True] Translation: X:140.62, Y:-83.19, Z:-16.88 [[ 7.38428361e-01 6.68403167e-01 8.92231032e-02 1.40623487e+02] [-6.62545032e-01 7.43772894e-01 -8.85209696e-02 -8.31879296e+01] [-1.25529422e-01 6.25207076e-03 9.92070197e-01 -1.68849185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41592 meters 0.038763294848781216 Centerline is valid? [True, True] Translation: X:140.65, Y:-83.21, Z:-16.89 [[ 7.40717896e-01 6.66126123e-01 8.72524336e-02 1.40645881e+02] [-6.60501852e-01 7.45810488e-01 -8.66257438e-02 -8.32102882e+01] [-1.22777451e-01 6.53484470e-03 9.92412713e-01 -1.68869238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44592 meters 0.03928763395086488 Centerline is valid? [True, True] Translation: X:140.67, Y:-83.23, Z:-16.89 [[ 7.40850156e-01 6.65934184e-01 8.75940037e-02 1.40667858e+02] [-6.60259001e-01 7.45981083e-01 -8.70073265e-02 -8.32335817e+01] [-1.23284623e-01 6.62466203e-03 9.92349241e-01 -1.68902612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47592 meters 0.039132423088046375 Centerline is valid? [True, True] Translation: X:140.69, Y:-83.26, Z:-16.89 [[ 7.40212732e-01 6.66582787e-01 8.80482773e-02 1.40689595e+02] [-6.60844034e-01 7.45401752e-01 -8.75293702e-02 -8.32584957e+01] [-1.23976912e-01 6.60417547e-03 9.92263126e-01 -1.68936345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50592 meters 0.038910222320109426 Centerline is valid? [True, True] Translation: X:140.71, Y:-83.28, Z:-16.90 [[ 7.39162318e-01 6.67785170e-01 8.77612403e-02 1.40710608e+02] [-6.62082919e-01 7.44326218e-01 -8.73194718e-02 -8.32831451e+01] [-1.23633640e-01 6.43804507e-03 9.92307047e-01 -1.68956574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53592 meters 0.03869766915820051 Centerline is valid? [True, True] Translation: X:140.73, Y:-83.31, Z:-16.90 [[ 7.38700487e-01 6.68298679e-01 8.77409046e-02 1.40732866e+02] [-6.62595380e-01 7.43865570e-01 -8.73577515e-02 -8.33069813e+01] [-1.23648508e-01 6.39449561e-03 9.92305476e-01 -1.68983267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56592 meters 0.038531084005865274 Centerline is valid? [True, True] Translation: X:140.75, Y:-83.33, Z:-16.90 [[ 7.37481948e-01 6.69687373e-01 8.74025132e-02 1.40754893e+02] [-6.64033603e-01 7.42617558e-01 -8.70547890e-02 -8.33305832e+01] [-1.23206134e-01 6.16312960e-03 9.92361962e-01 -1.69007648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59592 meters 0.03782810893283815 Centerline is valid? [True, True] Translation: X:140.78, Y:-83.35, Z:-16.90 [[ 7.36999444e-01 6.70264787e-01 8.70455932e-02 1.40776598e+02] [-6.64653671e-01 7.42097067e-01 -8.67608232e-02 -8.33546239e+01] [-1.22749004e-01 6.08750537e-03 9.92419077e-01 -1.69031951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62592 meters 0.03832189885908375 Centerline is valid? [True, True] Translation: X:140.80, Y:-83.38, Z:-16.91 [[ 7.36244078e-01 6.71132945e-01 8.67480710e-02 1.40800199e+02] [-6.65560814e-01 7.41313096e-01 -8.65083590e-02 -8.33767103e+01] [-1.22366091e-01 5.95515029e-03 9.92467166e-01 -1.69064996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65592 meters 0.03837948222370714 Centerline is valid? [True, True] Translation: X:140.82, Y:-83.40, Z:-16.91 [[ 7.35807367e-01 6.71628824e-01 8.66154781e-02 1.40822135e+02] [-6.66068673e-01 7.40864180e-01 -8.64453020e-02 -8.33998819e+01] [-1.22229462e-01 5.91523356e-03 9.92484241e-01 -1.69097426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68592 meters 0.03831811117421074 Centerline is valid? [True, True] Translation: X:140.84, Y:-83.42, Z:-16.91 [[ 7.35141310e-01 6.72165808e-01 8.80930197e-02 1.40844409e+02] [-6.66408533e-01 7.40376508e-01 -8.79903045e-02 -8.34235307e+01] [-1.24366076e-01 5.97936775e-03 9.92218386e-01 -1.69136806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71592 meters 0.03862576613027518 Centerline is valid? [True, True] Translation: X:140.87, Y:-83.45, Z:-16.92 [[ 7.35234690e-01 6.72123437e-01 8.76358117e-02 1.40867907e+02] [-6.66416853e-01 7.40414741e-01 -8.76047398e-02 -8.34464931e+01] [-1.23768046e-01 6.00806191e-03 9.92292988e-01 -1.69172461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74592 meters 0.038461198098627226 Centerline is valid? [True, True] Translation: X:140.70, Y:-83.93, Z:-14.93 [[ 7.20778481e-01 -6.91565963e-01 -4.70627261e-02 1.40702803e+02] [-6.89771884e-01 -7.22304792e-01 4.99052691e-02 -8.39281442e+01] [-6.85064180e-02 -3.50809885e-03 -9.97644508e-01 -1.49341258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.77592 meters 0.038984516470833036 Centerline is valid? [True, True] Translation: X:140.88, Y:-83.48, Z:-16.92 [[ 7.81700051e-01 6.16873769e-01 9.17157762e-02 1.40880653e+02] [-6.11759281e-01 7.87038947e-01 -7.95001775e-02 -8.34795363e+01] [-1.21225462e-01 6.03731551e-03 9.92606638e-01 -1.69205446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80592000000001 meters 0.039055280837047075 Centerline is valid? [True, True] Translation: X:140.90, Y:-83.50, Z:-16.92 [[ 7.82685987e-01 6.15630365e-01 9.16618746e-02 1.40903925e+02] [-6.10505666e-01 7.88010060e-01 -7.95171497e-02 -8.35022864e+01] [-1.21183651e-01 6.27686497e-03 9.92610258e-01 -1.69228339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.83592000000002 meters 0.03948283741846486 Centerline is valid? [True, True] Translation: X:140.93, Y:-83.53, Z:-16.93 [[ 7.84030376e-01 6.13884937e-01 9.18784756e-02 1.40925322e+02] [-6.08717379e-01 7.89367881e-01 -7.97590111e-02 -8.35262751e+01] [-1.21488773e-01 6.60546256e-03 9.92570827e-01 -1.69259986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86592000000002 meters 0.03978432927482612 Centerline is valid? [True, True] Translation: X:140.95, Y:-83.55, Z:-16.93 [[ 7.84702776e-01 6.13269279e-01 9.02349375e-02 1.40948763e+02] [-6.08278246e-01 7.89846319e-01 -7.83604931e-02 -8.35494906e+01] [-1.19327816e-01 6.60174687e-03 9.92832961e-01 -1.69284391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89592000000002 meters 0.04027337223772041 Centerline is valid? [True, True] Translation: X:140.97, Y:-83.57, Z:-16.93 [[ 7.85103975e-01 6.12583519e-01 9.13957353e-02 1.40971636e+02] [-6.07449385e-01 7.90376178e-01 -7.94401736e-02 -8.35721947e+01] [-1.20900753e-01 6.85051280e-03 9.92640961e-01 -1.69318439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92592000000002 meters 0.040870866946837996 Centerline is valid? [True, True] Translation: X:140.99, Y:-83.60, Z:-16.93 [[ 7.85739523e-01 6.11929381e-01 9.03096597e-02 1.40993119e+02] [-6.06905292e-01 7.90882159e-01 -7.85581123e-02 -8.35959624e+01] [-1.19496316e-01 6.91680330e-03 9.92810550e-01 -1.69349987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95592000000002 meters 0.04066614661407779 Centerline is valid? [True, True] Translation: X:141.02, Y:-83.62, Z:-16.94 [[ 7.85238338e-01 6.12562546e-01 9.03763229e-02 1.41015260e+02] [-6.07527677e-01 7.90392220e-01 -7.86782112e-02 -8.36186293e+01] [-1.19628068e-01 6.87503026e-03 9.92794973e-01 -1.69388741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98592000000002 meters 0.039919011273806745 Centerline is valid? [True, True] Translation: X:141.03, Y:-83.65, Z:-16.94 [[ 7.83700404e-01 6.14669416e-01 8.94158036e-02 1.41033516e+02] [-6.09748939e-01 7.88757856e-01 -7.78927243e-02 -8.36451751e+01] [-1.18405693e-01 6.52336813e-03 9.92943874e-01 -1.69412476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01592 meters 0.03877156481136537 Centerline is valid? [True, True] Translation: X:141.05, Y:-83.67, Z:-16.94 [[ 7.82304976e-01 6.16599040e-01 8.83433569e-02 1.41053518e+02] [-6.11807494e-01 7.87253228e-01 -7.69671661e-02 -8.36697059e+01] [-1.17006474e-01 6.16266929e-03 9.93112031e-01 -1.69419296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04592 meters 0.03854263362207325 Centerline is valid? [True, True] Translation: X:141.08, Y:-83.69, Z:-16.95 [[ 7.81223764e-01 6.17960150e-01 8.84006983e-02 1.41075309e+02] [-6.13168836e-01 7.86186698e-01 -7.70354082e-02 -8.36938770e+01] [-1.17104266e-01 5.97733825e-03 9.93101638e-01 -1.69455411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07592 meters 0.037311491816470525 Centerline is valid? [True, True] Translation: X:141.09, Y:-83.72, Z:-16.95 [[ 7.78260060e-01 6.21697081e-01 8.83403490e-02 1.41091709e+02] [-6.16929979e-01 7.83238787e-01 -7.70350756e-02 -8.37226130e+01] [-1.17084069e-01 5.45351288e-03 9.93107033e-01 -1.69479667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10592 meters 0.036950398376910734 Centerline is valid? [True, True] Translation: X:141.11, Y:-83.75, Z:-16.95 [[ 7.77397649e-01 6.22596002e-01 8.95941610e-02 1.41113031e+02] [-6.17695473e-01 7.82524718e-01 -7.81496564e-02 -8.37476650e+01] [-1.18765309e-01 5.41145154e-03 9.92907608e-01 -1.69512017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13592 meters 0.036672924590626335 Centerline is valid? [True, True] Translation: X:141.13, Y:-83.77, Z:-16.95 [[ 7.76458608e-01 6.23777489e-01 8.95191318e-02 1.41132621e+02] [-6.18884548e-01 7.81584126e-01 -7.81547871e-02 -8.37740665e+01] [-1.18717929e-01 5.28194972e-03 9.92913971e-01 -1.69540138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16592 meters 0.036420274111022014 Centerline is valid? [True, True] Translation: X:141.15, Y:-83.80, Z:-16.96 [[ 7.76081330e-01 6.24333158e-01 8.89150006e-02 1.41154930e+02] [-6.19503313e-01 7.81140842e-01 -7.76828807e-02 -8.37979269e+01] [-1.17955137e-01 5.20509595e-03 9.93005283e-01 -1.69574969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19592 meters 0.03636210183243811 Centerline is valid? [True, True] Translation: X:141.18, Y:-83.82, Z:-16.96 [[ 7.75073132e-01 6.25591771e-01 8.88626768e-02 1.41176857e+02] [-6.20772226e-01 7.80134340e-01 -7.76675901e-02 -8.38209963e+01] [-1.17913031e-01 5.03458067e-03 9.93011163e-01 -1.69602809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22592 meters 0.0352608137959375 Centerline is valid? [True, True] Translation: X:141.20, Y:-83.85, Z:-16.96 [[ 7.72256155e-01 6.29093074e-01 8.86698098e-02 1.41195808e+02] [-6.24310776e-01 7.77316758e-01 -7.75545808e-02 -8.38477198e+01] [-1.17713579e-01 4.53448464e-03 9.93037236e-01 -1.69619637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25592 meters 0.03471344740398964 Centerline is valid? [True, True] Translation: X:141.22, Y:-83.87, Z:-16.96 [[ 7.70762123e-01 6.30962749e-01 8.83841559e-02 1.41218966e+02] [-6.26221220e-01 7.75801483e-01 -7.73242694e-02 -8.38707814e+01] [-1.17357293e-01 4.25058417e-03 9.93080661e-01 -1.69645740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28592 meters 0.033510559876444135 Centerline is valid? [True, True] Translation: X:141.24, Y:-83.89, Z:-16.97 [[ 7.66787808e-01 6.35810734e-01 8.82109320e-02 1.41239269e+02] [-6.31117166e-01 7.71836981e-01 -7.71932509e-02 -8.38946776e+01] [-1.17164757e-01 3.51941026e-03 9.93106255e-01 -1.69685326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31592 meters 0.03309357561455894 Centerline is valid? [True, True] Translation: X:141.26, Y:-83.92, Z:-16.97 [[ 7.65049728e-01 6.38012940e-01 8.73979554e-02 1.41261481e+02] [-6.33417877e-01 7.70019127e-01 -7.65005619e-02 -8.39175538e+01] [-1.16106446e-01 3.16730668e-03 9.93231726e-01 -1.69706280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34592 meters 0.032826688734936826 Centerline is valid? [True, True] Translation: X:141.28, Y:-83.94, Z:-16.97 [[ 7.63927301e-01 6.39306589e-01 8.77619675e-02 1.41284670e+02] [-6.34673848e-01 7.68945954e-01 -7.68845051e-02 -8.39394130e+01] [-1.16636981e-01 3.03394690e-03 9.93169980e-01 -1.69735630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37592 meters 0.032344870306882496 Centerline is valid? [True, True] Translation: X:141.31, Y:-83.96, Z:-16.98 [[ 7.62849730e-01 6.40532502e-01 8.81952533e-02 1.41309902e+02] [-6.35853895e-01 7.67925535e-01 -7.73317325e-02 -8.39609933e+01] [-1.17260875e-01 2.91319593e-03 9.93096874e-01 -1.69764707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40592 meters 0.03240507978833134 Centerline is valid? [True, True] Translation: X:141.33, Y:-83.98, Z:-16.98 [[ 7.62546038e-01 6.40824139e-01 8.87015349e-02 1.41334923e+02] [-6.36084365e-01 7.67682066e-01 -7.78519487e-02 -8.39822796e+01] [-1.17983986e-01 2.94403561e-03 9.93011134e-01 -1.69813467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43592 meters 0.032578720314187674 Centerline is valid? [True, True] Translation: X:141.36, Y:-84.00, Z:-16.99 [[ 7.64252229e-01 6.38687644e-01 8.94238462e-02 1.41358471e+02] [-6.33846392e-01 7.69458774e-01 -7.85617369e-02 -8.40039857e+01] [-1.18984374e-01 3.36000025e-03 9.92890442e-01 -1.69854285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46592 meters 0.03260677778830169 Centerline is valid? [True, True] Translation: X:141.38, Y:-84.02, Z:-16.99 [[ 7.65247223e-01 6.37424694e-01 8.99246786e-02 1.41383144e+02] [-6.32512047e-01 7.70504115e-01 -7.90690818e-02 -8.40247818e+01] [-1.19687920e-01 3.62895273e-03 9.92804932e-01 -1.69877813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.49592 meters 0.03319875446581911 Centerline is valid? [True, True] Translation: X:141.41, Y:-84.05, Z:-16.99 [[ 7.67461562e-01 6.34899128e-01 8.89148324e-02 1.41408637e+02] [-6.30071880e-01 7.72584537e-01 -7.82467814e-02 -8.40450258e+01] [-1.18373038e-01 4.02866146e-03 9.92961023e-01 -1.69898033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52592 meters 0.03332172176819197 Centerline is valid? [True, True] Translation: X:141.43, Y:-84.07, Z:-16.99 [[ 7.67667126e-01 6.34790795e-01 8.79080824e-02 1.41432987e+02] [-6.30064139e-01 7.72673437e-01 -7.74270005e-02 -8.40674450e+01] [-1.17074187e-01 4.05043273e-03 9.93114912e-01 -1.69931139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.55592000000001 meters 0.03301946321340228 Centerline is valid? [True, True] Translation: X:141.46, Y:-84.09, Z:-17.00 [[ 7.68151774e-01 6.34235204e-01 8.76844195e-02 1.41456043e+02] [-6.29520584e-01 7.73128856e-01 -7.73020434e-02 -8.40895650e+01] [-1.16819032e-01 4.18055487e-03 9.93144419e-01 -1.69952083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58592000000002 meters 0.032982066844584455 Centerline is valid? [True, True] Translation: X:141.48, Y:-84.11, Z:-17.00 [[ 7.67628539e-01 6.34823242e-01 8.80106688e-02 1.41480809e+02] [-6.30069303e-01 7.72646205e-01 -7.76563893e-02 -8.41109512e+01] [-1.17299190e-01 4.15843996e-03 9.93087915e-01 -1.69987531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61592000000002 meters 0.03260741677955721 Centerline is valid? [True, True] Translation: X:141.50, Y:-84.13, Z:-17.00 [[ 7.67051557e-01 6.35325730e-01 8.94042818e-02 1.41503954e+02] [-6.30414802e-01 7.72232855e-01 -7.89531152e-02 -8.41328281e+01] [-1.19201869e-01 4.19932732e-03 9.92861158e-01 -1.70019872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64592000000002 meters 0.03285132430448709 Centerline is valid? [True, True] Translation: X:141.53, Y:-84.16, Z:-17.01 [[ 7.66732589e-01 6.35653480e-01 8.98097409e-02 1.41526315e+02] [-6.30695948e-01 7.71963127e-01 -7.93445185e-02 -8.41560854e+01] [-1.19765428e-01 4.19338842e-03 9.92793361e-01 -1.70078803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67592000000002 meters 0.03282014319329715 Centerline is valid? [True, True] Translation: X:141.55, Y:-84.18, Z:-17.01 [[ 7.66571319e-01 6.35840741e-01 8.98608089e-02 1.41549040e+02] [-6.30870016e-01 7.71808730e-01 -7.94626168e-02 -8.41795160e+01] [-1.19880926e-01 4.22327309e-03 9.92779295e-01 -1.70105929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70592000000002 meters 0.032934957889029885 Centerline is valid? [True, True] Translation: X:141.57, Y:-84.20, Z:-17.01 [[ 7.66092106e-01 6.36332321e-01 9.04658009e-02 1.41573356e+02] [-6.31288232e-01 7.71403426e-01 -8.00744779e-02 -8.42019717e+01] [-1.20739607e-01 4.23443000e-03 9.92675182e-01 -1.70135434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73592000000002 meters 0.032913958346204926 Centerline is valid? [True, True] Translation: X:141.60, Y:-84.22, Z:-17.02 [[ 7.66328783e-01 6.36055097e-01 9.04107895e-02 1.41596808e+02] [-6.31006163e-01 7.71631476e-01 -8.01004833e-02 -8.42237121e+01] [-1.20712132e-01 4.33354040e-03 9.92678096e-01 -1.70155748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76592 meters 0.0331592095722591 Centerline is valid? [True, True] Translation: X:141.62, Y:-84.25, Z:-17.02 [[ 7.66514070e-01 6.35738023e-01 9.10678166e-02 1.41619857e+02] [-6.30604662e-01 7.71891963e-01 -8.07499763e-02 -8.42457289e+01] [-1.21630346e-01 4.46820326e-03 9.92565411e-01 -1.70187992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79592 meters 0.03315993380612317 Centerline is valid? [True, True] Translation: X:141.64, Y:-84.27, Z:-17.02 [[ 7.66526287e-01 6.35635352e-01 9.16796041e-02 1.41642642e+02] [-6.30423393e-01 7.71975928e-01 -8.13603864e-02 -8.42689704e+01] [-1.22489985e-01 4.56790783e-03 9.92459237e-01 -1.70223661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82592 meters 0.03315993380612317 Centerline is valid? [True, True] Translation: X:141.67, Y:-84.29, Z:-17.03 [[ 7.66226666e-01 6.36001506e-01 9.16448650e-02 1.41667151e+02] [-6.30787483e-01 7.71674331e-01 -8.13995017e-02 -8.42902588e+01] [-1.22490196e-01 4.56203512e-03 9.92459238e-01 -1.70255006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85592 meters 0.03332689614768935 Centerline is valid? [True, True] Translation: X:141.69, Y:-84.31, Z:-17.03 [[ 7.66265316e-01 6.35866718e-01 9.22549879e-02 1.41688467e+02] [-6.30572256e-01 7.71784730e-01 -8.20180497e-02 -8.43146017e+01] [-1.23353539e-01 4.67415102e-03 9.92351781e-01 -1.70299066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88592 meters 0.033377752334001115 Centerline is valid? [True, True] Translation: X:141.71, Y:-84.34, Z:-17.03 [[ 7.66293194e-01 6.36021568e-01 9.09467194e-02 1.41709916e+02] [-6.30869722e-01 7.71657365e-01 -8.09215919e-02 -8.43386537e+01] [-1.21647584e-01 4.63413347e-03 9.92562537e-01 -1.70337584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91592 meters 0.033133078324418884 Centerline is valid? [True, True] Translation: X:141.73, Y:-84.36, Z:-17.04 [[ 7.65978728e-01 6.36243737e-01 9.20352954e-02 1.41731880e+02] [-6.30961579e-01 7.71473792e-01 -8.19492211e-02 -8.43628157e+01] [-1.23142497e-01 4.70062479e-03 9.92377866e-01 -1.70367151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94592 meters 0.03331546535109181 Centerline is valid? [True, True] Translation: X:141.75, Y:-84.39, Z:-17.04 [[ 7.65384374e-01 6.36740252e-01 9.35340167e-02 1.41754583e+02] [-6.31283133e-01 7.71063894e-01 -8.33191254e-02 -8.43860696e+01] [-1.25173344e-01 4.72470946e-03 9.92123637e-01 -1.70409643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97592 meters 0.03346216019164687 Centerline is valid? [True, True] Translation: X:141.78, Y:-84.41, Z:-17.04 [[ 7.65014865e-01 6.37213824e-01 9.33316645e-02 1.41776776e+02] [-6.31774868e-01 7.70672772e-01 -8.32105495e-02 -8.44103561e+01] [-1.24951085e-01 4.69270731e-03 9.92151805e-01 -1.70428213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00592 meters 0.03316196623495313 Centerline is valid? [True, True] Translation: X:141.80, Y:-84.43, Z:-17.05 [[ 7.64636018e-01 6.37673599e-01 9.32959879e-02 1.41800064e+02] [-6.32232260e-01 7.70292480e-01 -8.32578215e-02 -8.44336950e+01] [-1.24956513e-01 4.67719587e-03 9.92151195e-01 -1.70461626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03592 meters 0.03277001162057466 Centerline is valid? [True, True] Translation: X:141.82, Y:-84.46, Z:-17.05 [[ 7.63286717e-01 6.39375910e-01 9.26921379e-02 1.41819452e+02] [-6.34009250e-01 7.68881590e-01 -8.27850907e-02 -8.44605980e+01] [-1.24200071e-01 4.42108727e-03 9.92247346e-01 -1.70498138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06592 meters 0.03266129738867396 Centerline is valid? [True, True] Translation: X:141.84, Y:-84.48, Z:-17.05 [[ 7.62312529e-01 6.40700339e-01 9.15569956e-02 1.41841488e+02] [-6.35470147e-01 7.67779661e-01 -8.18051574e-02 -8.44845167e+01] [-1.22708191e-01 4.17935896e-03 9.92433994e-01 -1.70537322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09592 meters 0.03199685427370717 Centerline is valid? [True, True] Translation: X:141.86, Y:-84.51, Z:-17.06 [[ 7.61541184e-01 6.41687768e-01 9.10595030e-02 1.41862675e+02] [-6.36514257e-01 7.66955316e-01 -8.14195516e-02 -8.45086608e+01] [-1.22084500e-01 4.04366980e-03 9.92511473e-01 -1.70563483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12592 meters 0.03152620504434244 Centerline is valid? [True, True] Translation: X:141.88, Y:-84.53, Z:-17.06 [[ 7.59013692e-01 6.44616101e-01 9.14784028e-02 1.41884537e+02] [-6.39411479e-01 7.64497875e-01 -8.18288408e-02 -8.45329181e+01] [-1.22683233e-01 3.61686968e-03 9.92439289e-01 -1.70591013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15592 meters 0.031183426057665057 Centerline is valid? [True, True] Translation: X:141.91, Y:-84.56, Z:-17.06 [[ 7.56755894e-01 6.47452742e-01 9.01413546e-02 1.41905662e+02] [-6.42411331e-01 7.62099035e-01 -8.07015607e-02 -8.45568841e+01] [-1.20947086e-01 3.16355414e-03 9.92653915e-01 -1.70626441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18592 meters 0.03117315874736901 Centerline is valid? [True, True] Translation: X:141.93, Y:-84.58, Z:-17.06 [[ 7.55706193e-01 6.48769533e-01 8.94776133e-02 1.41928099e+02] [-6.43803185e-01 7.60979100e-01 -8.01764906e-02 -8.45794385e+01] [-1.20106658e-01 2.98389811e-03 9.92756509e-01 -1.70643417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21592 meters 0.030967766767830054 Centerline is valid? [True, True] Translation: X:141.95, Y:-84.60, Z:-17.07 [[ 7.54503241e-01 6.50047598e-01 9.03492103e-02 1.41951398e+02] [-6.44983816e-01 7.59888096e-01 -8.10306055e-02 -8.46023726e+01] [-1.21329040e-01 2.86407605e-03 9.92608211e-01 -1.70681621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24592 meters 0.03088411340237125 Centerline is valid? [True, True] Translation: X:141.97, Y:-84.63, Z:-17.07 [[ 7.53030772e-01 6.51707215e-01 9.06772487e-02 1.41973920e+02] [-6.46608713e-01 7.58465948e-01 -8.14037939e-02 -8.46258977e+01] [-1.21827045e-01 2.66686260e-03 9.92547762e-01 -1.70718213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.27592 meters 0.03087929246904978 Centerline is valid? [True, True] Translation: X:142.00, Y:-84.65, Z:-17.08 [[ 7.51704762e-01 6.53164853e-01 9.11900562e-02 1.41997773e+02] [-6.48009859e-01 7.57211609e-01 -8.19377902e-02 -8.46489070e+01] [-1.22569054e-01 2.50097157e-03 9.92456836e-01 -1.70753493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30592000000001 meters 0.03078680869875068 Centerline is valid? [True, True] Translation: X:142.02, Y:-84.67, Z:-17.08 [[ 7.49394212e-01 6.55805647e-01 9.12538679e-02 1.42020621e+02] [-6.50652966e-01 7.54926757e-01 -8.20750179e-02 -8.46719064e+01] [-1.22715247e-01 2.13194356e-03 9.92439632e-01 -1.70794589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.33592000000002 meters 0.030542797253222488 Centerline is valid? [True, True] Translation: X:142.04, Y:-84.69, Z:-17.08 [[ 7.48875596e-01 6.56438710e-01 9.09591215e-02 1.42044013e+02] [-6.51316413e-01 7.54376525e-01 -8.18717865e-02 -8.46936103e+01] [-1.22361236e-01 2.06861420e-03 9.92483475e-01 -1.70810679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36592000000002 meters 0.03057672246429905 Centerline is valid? [True, True] Translation: X:142.07, Y:-84.72, Z:-17.08 [[ 7.48368789e-01 6.57028248e-01 9.08737418e-02 1.42068461e+02] [-6.51915246e-01 7.53863307e-01 -8.18329221e-02 -8.47153637e+01] [-1.22272921e-01 1.99922712e-03 9.92494502e-01 -1.70840780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39592000000002 meters 0.030795450796524442 Centerline is valid? [True, True] Translation: X:142.09, Y:-84.74, Z:-17.09 [[ 7.48133459e-01 6.57258183e-01 9.11482773e-02 1.42091289e+02] [-6.52105462e-01 7.53662759e-01 -8.21639321e-02 -8.47389309e+01] [-1.22697979e-01 2.03129726e-03 9.92441978e-01 -1.70885619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42592000000002 meters 0.03082465280558726 Centerline is valid? [True, True] Translation: X:142.11, Y:-84.76, Z:-17.09 [[ 7.48247118e-01 6.57115254e-01 9.12457866e-02 1.42114761e+02] [-6.51940236e-01 7.53787139e-01 -8.23339380e-02 -8.47611311e+01] [-1.22882787e-01 2.11933216e-03 9.92418928e-01 -1.70926897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45592000000002 meters 0.030987980927164534 Centerline is valid? [True, True] Translation: X:142.14, Y:-84.78, Z:-17.10 [[ 7.47585288e-01 6.57755343e-01 9.20551246e-02 1.42137203e+02] [-6.52482948e-01 7.53228742e-01 -8.31412309e-02 -8.47833909e+01] [-1.24025155e-01 2.09076194e-03 9.92276872e-01 -1.70955068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48592000000002 meters 0.031009937906849583 Centerline is valid? [True, True] Translation: X:142.16, Y:-84.81, Z:-17.10 [[ 7.47234520e-01 6.58142921e-01 9.21328845e-02 1.42161856e+02] [-6.52855492e-01 7.52890136e-01 -8.32835460e-02 -8.48050244e+01] [-1.24178416e-01 2.08288079e-03 9.92257720e-01 -1.70987092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51592 meters 0.030759495941167746 Centerline is valid? [True, True] Translation: X:142.19, Y:-84.83, Z:-17.10 [[ 7.46766262e-01 6.58834683e-01 9.09780777e-02 1.42185971e+02] [-6.53674725e-01 7.52285084e-01 -8.23195404e-02 -8.48267538e+01] [-1.22676419e-01 2.00338550e-03 9.92444700e-01 -1.71007580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54592 meters 0.030546849695079828 Centerline is valid? [True, True] Translation: X:142.21, Y:-84.85, Z:-17.10 [[ 7.44379168e-01 6.61569739e-01 9.06925266e-02 1.42210170e+02] [-6.56453526e-01 7.49881932e-01 -8.21331673e-02 -8.48480438e+01] [-1.22345505e-01 1.60278997e-03 9.92486276e-01 -1.71045255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57592 meters 0.0306079251521532 Centerline is valid? [True, True] Translation: X:142.23, Y:-84.87, Z:-17.11 [[ 7.42794880e-01 6.63391735e-01 9.03724077e-02 1.42233605e+02] [-6.58316245e-01 7.48271058e-01 -8.19154724e-02 -8.48700549e+01] [-1.21965104e-01 1.35276938e-03 9.92533467e-01 -1.71073859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60592 meters 0.03030101713973809 Centerline is valid? [True, True] Translation: X:142.26, Y:-84.89, Z:-17.11 [[ 7.39757161e-01 6.66779069e-01 9.03604824e-02 1.42255968e+02] [-6.61721038e-01 7.45254957e-01 -8.19775367e-02 -8.48929582e+01] [-1.22002503e-01 8.50037552e-04 9.92529429e-01 -1.71109764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63592 meters 0.03056901948515474 Centerline is valid? [True, True] Translation: X:142.28, Y:-84.92, Z:-17.12 [[ 7.38034071e-01 6.68696171e-01 9.02836696e-02 1.42280256e+02] [-6.63651665e-01 7.43535529e-01 -8.19840536e-02 -8.49153364e+01] [-1.21951539e-01 5.90117249e-04 9.92535880e-01 -1.71152582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66592 meters 0.03068091514125659 Centerline is valid? [True, True] Translation: X:142.31, Y:-84.93, Z:-17.12 [[ 7.36826680e-01 6.70184738e-01 8.91002826e-02 1.42306227e+02] [-6.65273043e-01 7.42194217e-01 -8.09908759e-02 -8.49349959e+01] [-1.20408563e-01 4.00222015e-04 9.92724341e-01 -1.71176040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69592 meters 0.030715431875177533 Centerline is valid? [True, True] Translation: X:142.33, Y:-84.96, Z:-17.12 [[ 7.36018471e-01 6.71054462e-01 8.92340711e-02 1.42332098e+02] [-6.66125069e-01 7.41407991e-01 -8.11885679e-02 -8.49556398e+01] [-1.20640804e-01 3.15233792e-04 9.92696176e-01 -1.71206767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72592 meters 0.030495544878415378 Centerline is valid? [True, True] Translation: X:142.36, Y:-84.98, Z:-17.12 [[ 7.35884074e-01 6.71229832e-01 8.90232637e-02 1.42358151e+02] [-6.66314779e-01 7.41249209e-01 -8.10815927e-02 -8.49766000e+01] [-1.20412808e-01 3.49136473e-04 9.92723846e-01 -1.71230760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75592 meters 0.03062355962368651 Centerline is valid? [True, True] Translation: X:142.38, Y:-85.00, Z:-17.13 [[ 7.35822325e-01 6.71310382e-01 8.89262442e-02 1.42384336e+02] [-6.66396417e-01 7.41176235e-01 -8.10777661e-02 -8.49971852e+01] [-1.20338365e-01 3.98699907e-04 9.92732854e-01 -1.71264447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78592 meters 0.030844957838004314 Centerline is valid? [True, True] Translation: X:142.41, Y:-85.02, Z:-17.13 [[ 7.36369793e-01 6.70596218e-01 8.97788416e-02 1.42409079e+02] [-6.65571689e-01 7.41822332e-01 -8.19387242e-02 -8.50180435e+01] [-1.21547748e-01 5.82946156e-04 9.92585415e-01 -1.71304665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81592 meters 0.03099546184340426 Centerline is valid? [True, True] Translation: X:142.43, Y:-85.04, Z:-17.13 [[ 7.37775302e-01 6.69056375e-01 8.97283159e-02 1.42434516e+02] [-6.64016787e-01 7.43211120e-01 -8.19691306e-02 -8.50393602e+01] [-1.21529052e-01 8.93692064e-04 9.92587473e-01 -1.71333612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84592 meters 0.03119030552658067 Centerline is valid? [True, True] Translation: X:142.46, Y:-85.06, Z:-17.14 [[ 7.39275257e-01 6.67232536e-01 9.09551364e-02 1.42459749e+02] [-6.62029308e-01 7.44848387e-01 -8.31749756e-02 -8.50597760e+01] [-1.23244837e-01 1.27423552e-03 9.92375477e-01 -1.71361532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87592 meters 0.03150283412297923 Centerline is valid? [True, True] Translation: X:142.49, Y:-85.08, Z:-17.14 [[ 7.40954422e-01 6.65438986e-01 9.04295348e-02 1.42486506e+02] [-6.60273182e-01 7.46450486e-01 -8.27707513e-02 -8.50794950e+01] [-1.22580055e-01 1.62115743e-03 9.92457305e-01 -1.71395327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90592 meters 0.03159183598022472 Centerline is valid? [True, True] Translation: X:142.51, Y:-85.10, Z:-17.14 [[ 7.41427561e-01 6.65006871e-01 8.97275525e-02 1.42512195e+02] [-6.59907872e-01 7.46835207e-01 -8.22117592e-02 -8.51003580e+01] [-1.21683080e-01 1.74214586e-03 9.92567475e-01 -1.71426499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93592 meters 0.03161360993225909 Centerline is valid? [True, True] Translation: X:142.54, Y:-85.12, Z:-17.15 [[ 7.41854589e-01 6.64514950e-01 8.98423626e-02 1.42536284e+02] [-6.59389320e-01 7.47272590e-01 -8.23978180e-02 -8.51213267e+01] [-1.21891317e-01 1.88610503e-03 9.92541661e-01 -1.71465710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96592 meters 0.03185145419158897 Centerline is valid? [True, True] Translation: X:142.56, Y:-85.14, Z:-17.15 [[ 7.43069773e-01 6.63192291e-01 8.95728608e-02 1.42561017e+02] [-6.58079043e-01 7.48445961e-01 -8.22229667e-02 -8.51423209e+01] [-1.21570084e-01 2.15137865e-03 9.92580519e-01 -1.71502366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.99592 meters 0.03235405189081268 Centerline is valid? [True, True] Translation: X:142.59, Y:-85.16, Z:-17.15 [[ 7.43464674e-01 6.62513183e-01 9.13047744e-02 1.42585385e+02] [-6.57184986e-01 7.49046525e-01 -8.38880090e-02 -8.51631721e+01] [-1.23968436e-01 2.36364430e-03 9.92283347e-01 -1.71536988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02592 meters 0.032586127287128674 Centerline is valid? [True, True] Translation: X:142.61, Y:-85.18, Z:-17.16 [[ 7.44979120e-01 6.60849530e-01 9.10165349e-02 1.42608738e+02] [-6.55533534e-01 7.50513607e-01 -8.36965450e-02 -8.51847834e+01] [-1.23619970e-01 2.68778770e-03 9.92325994e-01 -1.71557792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.05592000000001 meters 0.032801738635839614 Centerline is valid? [True, True] Translation: X:142.63, Y:-85.21, Z:-17.16 [[ 7.45973933e-01 6.59601629e-01 9.19161715e-02 1.42632043e+02] [-6.54161842e-01 7.51609505e-01 -8.45898085e-02 -8.52058871e+01] [-1.24880644e-01 2.97374007e-03 9.92167315e-01 -1.71595007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08592000000002 meters 0.03296126050181088 Centerline is valid? [True, True] Translation: X:142.66, Y:-85.23, Z:-17.16 [[ 7.47683503e-01 6.57932623e-01 8.99669033e-02 1.42657197e+02] [-6.52704236e-01 7.53069922e-01 -8.28424595e-02 -8.52267998e+01] [-1.22256125e-01 3.21816140e-03 9.92493367e-01 -1.71621775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11592000000002 meters 0.033006637950956895 Centerline is valid? [True, True] Translation: X:142.68, Y:-85.25, Z:-17.16 [[ 7.47900297e-01 6.57772932e-01 8.93303737e-02 1.42681863e+02] [-6.52607598e-01 7.53209133e-01 -8.23366529e-02 -8.52479351e+01] [-1.21443275e-01 3.28192654e-03 9.92592948e-01 -1.71649167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14592000000002 meters 0.03316296591111569 Centerline is valid? [True, True] Translation: X:142.71, Y:-85.27, Z:-17.17 [[ 7.47434370e-01 6.58205456e-01 9.00413218e-02 1.42706465e+02] [-6.52950529e-01 7.52831123e-01 -8.30716943e-02 -8.52691376e+01] [-1.22464152e-01 3.29811078e-03 9.92467457e-01 -1.71689031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17592000000002 meters 0.03287433809365344 Centerline is valid? [True, True] Translation: X:142.73, Y:-85.29, Z:-17.17 [[ 7.46444643e-01 6.59346855e-01 8.99006138e-02 1.42730180e+02] [-6.54108550e-01 7.51832273e-01 -8.30074580e-02 -8.52915265e+01] [-1.22320889e-01 3.15571222e-03 9.92485588e-01 -1.71711046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20592000000002 meters 0.033205226939940685 Centerline is valid? [True, True] Translation: X:142.75, Y:-85.31, Z:-17.18 [[ 7.45899924e-01 6.59851008e-01 9.07190748e-02 1.42753814e+02] [-6.54513866e-01 7.51389904e-01 -8.38141506e-02 -8.53123081e+01] [-1.23470249e-01 3.14007619e-03 9.92343306e-01 -1.71754914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23592000000002 meters 0.03316224131548719 Centerline is valid? [True, True] Translation: X:142.78, Y:-85.33, Z:-17.18 [[ 7.45304119e-01 6.60697276e-01 8.94476440e-02 1.42777779e+02] [-6.55507125e-01 7.50646430e-01 -8.27063864e-02 -8.53340013e+01] [-1.21787439e-01 3.00784243e-03 9.92551647e-01 -1.71774020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26592 meters 0.03336967024803894 Centerline is valid? [True, True] Translation: X:142.80, Y:-85.36, Z:-17.18 [[ 7.44793084e-01 6.61129483e-01 9.05045230e-02 1.42801623e+02] [-6.55809635e-01 7.50265715e-01 -8.37560758e-02 -8.53557640e+01] [-1.23276052e-01 3.02720786e-03 9.92367800e-01 -1.71809927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29592 meters 0.03310404683441563 Centerline is valid? [True, True] Translation: X:142.83, Y:-85.38, Z:-17.18 [[ 7.44859371e-01 6.61229938e-01 8.92159607e-02 1.42825359e+02] [-6.56053194e-01 7.50177211e-01 -8.26338864e-02 -8.53775468e+01] [-1.21567780e-01 3.02020871e-03 9.92578538e-01 -1.71836677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32592 meters 0.03299264421848197 Centerline is valid? [True, True] Translation: X:142.85, Y:-85.40, Z:-17.19 [[ 7.44881435e-01 6.61464731e-01 8.72700270e-02 1.42848511e+02] [-6.56505561e-01 7.49970401e-01 -8.09002219e-02 -8.53992560e+01] [-1.18962581e-01 2.96781530e-03 9.92894303e-01 -1.71859361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35592 meters 0.032927728498114275 Centerline is valid? [True, True] Translation: X:142.87, Y:-85.42, Z:-17.19 [[ 7.43408719e-01 6.63093852e-01 8.74643976e-02 1.42871764e+02] [-6.58115199e-01 7.48531154e-01 -8.11510727e-02 -8.54209153e+01] [-1.19280604e-01 2.76676553e-03 9.92856728e-01 -1.71894117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38592 meters 0.03300092771333522 Centerline is valid? [True, True] Translation: X:142.90, Y:-85.44, Z:-17.19 [[ 7.42341303e-01 6.64171383e-01 8.83502295e-02 1.42896640e+02] [-6.59089546e-01 7.47575555e-01 -8.20473010e-02 -8.54425413e+01] [-1.20541941e-01 2.67638761e-03 9.92704627e-01 -1.71922569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41592 meters 0.033006180244614595 Centerline is valid? [True, True] Translation: X:142.92, Y:-85.46, Z:-17.20 [[ 7.41124724e-01 6.65317909e-01 8.99234340e-02 1.42920034e+02] [-6.60050872e-01 7.46555646e-01 -8.35913525e-02 -8.54641717e+01] [-1.22747671e-01 2.59757703e-03 9.92434513e-01 -1.71955258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44592 meters 0.032723876858925395 Centerline is valid? [True, True] Translation: X:142.94, Y:-85.49, Z:-17.20 [[ 7.39227114e-01 6.67589997e-01 8.86953813e-02 1.42942781e+02] [-6.62473957e-01 7.44525731e-01 -8.25208619e-02 -8.54868493e+01] [-1.21126096e-01 2.24327839e-03 9.92634594e-01 -1.71974555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47592 meters 0.03302386850739503 Centerline is valid? [True, True] Translation: X:142.97, Y:-85.51, Z:-17.20 [[ 7.38064412e-01 6.68696602e-01 9.00320974e-02 1.42966706e+02] [-6.63423552e-01 7.43532269e-01 -8.38388630e-02 -8.55084101e+01] [-1.23004533e-01 2.14906728e-03 9.92403782e-01 -1.72024863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50592 meters 0.03263002505394248 Centerline is valid? [True, True] Translation: X:142.99, Y:-85.53, Z:-17.21 [[ 7.36137891e-01 6.70931374e-01 8.91745336e-02 1.42990908e+02] [-6.65766115e-01 7.41517232e-01 -8.31124269e-02 -8.55299869e+01] [-1.21887188e-01 1.81282386e-03 9.92542305e-01 -1.72051360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53592 meters 0.032683287718505934 Centerline is valid? [True, True] Translation: X:143.01, Y:-85.55, Z:-17.21 [[ 7.34862568e-01 6.72466423e-01 8.81244369e-02 1.43014480e+02] [-6.67424858e-01 7.40125916e-01 -8.22051489e-02 -8.55525134e+01] [-1.20503382e-01 1.59304698e-03 9.92711638e-01 -1.72067200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56592 meters 0.03271792924661473 Centerline is valid? [True, True] Translation: X:143.04, Y:-85.57, Z:-17.21 [[ 7.34024225e-01 6.73159323e-01 8.98051390e-02 1.43037926e+02] [-6.67918695e-01 7.39495828e-01 -8.38483010e-02 -8.55740745e+01] [-1.22853791e-01 1.56415289e-03 9.92423548e-01 -1.72092466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59592 meters 0.03266949216219207 Centerline is valid? [True, True] Translation: X:143.06, Y:-85.59, Z:-17.21 [[ 7.31067030e-01 6.76366051e-01 8.98329698e-02 1.43062460e+02] [-6.71136987e-01 7.36564861e-01 -8.39484998e-02 -8.55944581e+01] [-1.22947724e-01 1.08175175e-03 9.92412559e-01 -1.72104403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62592 meters 0.032495813767502324 Centerline is valid? [True, True] Translation: X:143.09, Y:-85.61, Z:-17.21 [[ 7.29997186e-01 6.77598127e-01 8.92462084e-02 1.43086878e+02] [-6.72437498e-01 7.35431795e-01 -8.34738593e-02 -8.56148100e+01] [-1.22196230e-01 9.23185290e-04 9.92505531e-01 -1.72138202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65592 meters 0.03248170822170103 Centerline is valid? [True, True] Translation: X:143.11, Y:-85.64, Z:-17.22 [[ 7.27161889e-01 6.80611783e-01 8.94605368e-02 1.43112503e+02] [-6.75439309e-01 7.32644098e-01 -8.37518110e-02 -8.56359119e+01] [-1.22545204e-01 4.75961954e-04 9.92462819e-01 -1.72177022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68592 meters 0.03249404391464301 Centerline is valid? [True, True] Translation: X:143.14, Y:-85.66, Z:-17.22 [[ 7.25758278e-01 6.82063308e-01 8.98029273e-02 1.43137360e+02] [-6.76851248e-01 7.31293071e-01 -8.41595644e-02 -8.56569019e+01] [-1.23074409e-01 2.96277167e-04 9.92397401e-01 -1.72212907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71592 meters 0.0325404984336821 Centerline is valid? [True, True] Translation: X:143.16, Y:-85.68, Z:-17.22 [[ 7.24786657e-01 6.83067978e-01 9.00135499e-02 1.43163422e+02] [-6.77828219e-01 7.30354778e-01 -8.44440878e-02 -8.56770818e+01] [-1.23422879e-01 1.90223923e-04 9.92354149e-01 -1.72237949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74592 meters 0.0325404984336821 Centerline is valid? [True, True] Translation: X:143.19, Y:-85.70, Z:-17.23 [[ 7.24436155e-01 6.83445440e-01 8.99699280e-02 1.43187320e+02] [-6.78202812e-01 7.30001571e-01 -8.44905442e-02 -8.56990020e+01] [-1.23422866e-01 1.90146776e-04 9.92354151e-01 -1.72269265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.77592 meters 0.03239622375692555 Centerline is valid? [True, True] Translation: X:143.22, Y:-85.72, Z:-17.23 [[ 7.23339805e-01 6.84601268e-01 9.00035004e-02 1.43215388e+02] [-6.79352694e-01 7.28917760e-01 -8.46097902e-02 -8.57175957e+01] [-1.23529120e-01 5.75087683e-05 9.92340946e-01 -1.72300309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80592000000001 meters 0.03251735749522589 Centerline is valid? [True, True] Translation: X:143.24, Y:-85.74, Z:-17.23 [[ 7.22818688e-01 6.85217954e-01 8.94958094e-02 1.43240527e+02] [-6.80022857e-01 7.28338078e-01 -8.42173279e-02 -8.57380222e+01] [-1.22890431e-01 1.46625450e-05 9.92420245e-01 -1.72345798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.83592000000002 meters 0.03224949414455422 Centerline is valid? [True, True] Translation: X:143.27, Y:-85.76, Z:-17.24 [[ 7.23257799e-01 6.85061946e-01 8.71107772e-02 1.43267734e+02] [-6.80131096e-01 7.28484812e-01 -8.20461449e-02 -8.57560828e+01] [-1.19665570e-01 9.37657511e-05 9.92814254e-01 -1.72368753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86592000000002 meters 0.03244214336978845 Centerline is valid? [True, True] Translation: X:143.29, Y:-85.78, Z:-17.24 [[ 7.22545599e-01 6.85797935e-01 8.72298670e-02 1.43293876e+02] [-6.80849635e-01 7.27791998e-01 -8.22349203e-02 -8.57766506e+01] [-1.19881738e-01 2.80565866e-05 9.92788179e-01 -1.72408925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89592000000002 meters 0.03235734439557022 Centerline is valid? [True, True] Translation: X:143.32, Y:-85.80, Z:-17.24 [[ 7.21970939e-01 6.86348245e-01 8.76587083e-02 1.43319745e+02] [-6.81344565e-01 7.27273048e-01 -8.27254325e-02 -8.57970198e+01] [-1.20530271e-01 -4.26356513e-07 9.92709652e-01 -1.72442931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92592000000002 meters 0.03282171213611755 Centerline is valid? [True, True] Translation: X:143.35, Y:-85.81, Z:-17.25 [[ 7.21580259e-01 6.86359317e-01 9.07348788e-02 1.43346316e+02] [-6.80985859e-01 7.27262597e-01 -8.57168334e-02 -8.58148864e+01] [-1.24820631e-01 6.24055098e-05 9.92179322e-01 -1.72491169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95592000000002 meters 0.03279540684062454 Centerline is valid? [True, True] Translation: X:143.38, Y:-85.83, Z:-17.25 [[ 7.22173396e-01 6.85746849e-01 9.06468103e-02 1.43375194e+02] [-6.80368993e-01 7.27840097e-01 -8.57136327e-02 -8.58328548e+01] [-1.24754237e-01 2.26826240e-04 9.92187648e-01 -1.72516681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98592000000002 meters 0.03267592382523684 Centerline is valid? [True, True] Translation: X:143.40, Y:-85.85, Z:-17.25 [[ 7.21582683e-01 6.86463275e-01 8.99255444e-02 1.43401160e+02] [-6.81166020e-01 7.27164455e-01 -8.51158509e-02 -8.58523597e+01] [-1.23819565e-01 1.63898913e-04 9.92304736e-01 -1.72546166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01592 meters 0.03261827226180738 Centerline is valid? [True, True] Translation: X:143.43, Y:-85.87, Z:-17.26 [[ 7.21208686e-01 6.86941446e-01 8.92719508e-02 1.43426696e+02] [-6.81715586e-01 7.26712757e-01 -8.45720313e-02 -8.58714846e+01] [-1.22971099e-01 1.36003281e-04 9.92410243e-01 -1.72571894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04592 meters 0.03265112336312838 Centerline is valid? [True, True] Translation: X:143.45, Y:-85.89, Z:-17.26 [[ 7.20512533e-01 6.87714677e-01 8.89393750e-02 1.43453965e+02] [-6.82524115e-01 7.25981074e-01 -8.43345310e-02 -8.58902089e+01] [-1.22566398e-01 6.08184380e-05 9.92460314e-01 -1.72611204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07592 meters 0.032666714038822715 Centerline is valid? [True, True] Translation: X:143.48, Y:-85.91, Z:-17.26 [[ 7.20505971e-01 6.87718085e-01 8.89661830e-02 1.43480066e+02] [-6.82513663e-01 7.25977838e-01 -8.44468987e-02 -8.59111323e+01] [-1.22663137e-01 1.23859300e-04 9.92448356e-01 -1.72640299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10592 meters 0.032803630269257214 Centerline is valid? [True, True] Translation: X:143.51, Y:-85.93, Z:-17.27 [[ 7.20594539e-01 6.87560832e-01 8.94629119e-02 1.43507426e+02] [-6.82285854e-01 7.26126749e-01 -8.50056318e-02 -8.59296344e+01] [-1.23407956e-01 2.15314671e-04 9.92356000e-01 -1.72668547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13592 meters 0.03280646435541268 Centerline is valid? [True, True] Translation: X:143.53, Y:-85.95, Z:-17.27 [[ 7.20509150e-01 6.87564752e-01 9.01181267e-02 1.43532971e+02] [-6.82201235e-01 7.26123016e-01 -8.57137185e-02 -8.59498554e+01] [-1.24370578e-01 2.78821091e-04 9.92235799e-01 -1.72693891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16592 meters 0.032824831982397336 Centerline is valid? [True, True] Translation: X:143.56, Y:-85.97, Z:-17.27 [[ 7.20398409e-01 6.87678724e-01 9.01338139e-02 1.43559613e+02] [-6.82304364e-01 7.26015064e-01 -8.58072423e-02 -8.59697933e+01] [-1.24446322e-01 3.16706264e-04 9.92226291e-01 -1.72730140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19592 meters 0.03272124473764181 Centerline is valid? [True, True] Translation: X:143.59, Y:-85.99, Z:-17.28 [[ 7.20455327e-01 6.87802796e-01 8.87211134e-02 1.43587355e+02] [-6.82586974e-01 7.25897507e-01 -8.45448501e-02 -8.59871668e+01] [-1.22552619e-01 3.50911296e-04 9.92461955e-01 -1.72768046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22592 meters 0.03285943039764893 Centerline is valid? [True, True] Translation: X:143.61, Y:-86.01, Z:-17.28 [[ 7.20962258e-01 6.87262107e-01 8.87931255e-02 1.43613250e+02] [-6.82024186e-01 7.26409352e-01 -8.46903953e-02 -8.60071076e+01] [-1.22704656e-01 4.99519467e-04 9.92443106e-01 -1.72807206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25592 meters 0.032899361983198074 Centerline is valid? [True, True] Translation: X:143.64, Y:-86.03, Z:-17.28 [[ 7.21760607e-01 6.86438745e-01 8.86762417e-02 1.43640513e+02] [-6.81197866e-01 7.27187291e-01 -8.46646905e-02 -8.60259428e+01] [-1.22601360e-01 7.01571678e-04 9.92455749e-01 -1.72827324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28592 meters 0.03290858847203047 Centerline is valid? [True, True] Translation: X:143.67, Y:-86.05, Z:-17.28 [[ 7.22825262e-01 6.85370613e-01 8.82653041e-02 1.43666808e+02] [-6.80159975e-01 7.28193818e-01 -8.43573984e-02 -8.60460926e+01] [-1.22090331e-01 9.41131559e-04 9.92518547e-01 -1.72849753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31592 meters 0.032790235832884346 Centerline is valid? [True, True] Translation: X:143.69, Y:-86.07, Z:-17.29 [[ 7.22689237e-01 6.85549636e-01 8.79884235e-02 1.43692433e+02] [-6.80362751e-01 7.28025244e-01 -8.41770192e-02 -8.60668693e+01] [-1.21765318e-01 9.69779924e-04 9.92558445e-01 -1.72874767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34592 meters 0.0327972635333688 Centerline is valid? [True, True] Translation: X:143.72, Y:-86.09, Z:-17.29 [[ 7.24820135e-01 6.83342354e-01 8.76298977e-02 1.43718286e+02] [-6.78172605e-01 7.30096770e-01 -8.39084208e-02 -8.60855110e+01] [-1.21316483e-01 1.39031690e-03 9.92612904e-01 -1.72905636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37592 meters 0.033030357035014175 Centerline is valid? [True, True] Translation: X:143.74, Y:-86.11, Z:-17.29 [[ 7.25986896e-01 6.82148773e-01 8.72701498e-02 1.43744293e+02] [-6.77006997e-01 7.31211618e-01 -8.36127779e-02 -8.61065264e+01] [-1.20849301e-01 1.61927909e-03 9.92669544e-01 -1.72938717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40592 meters 0.03307905009939237 Centerline is valid? [True, True] Translation: X:143.77, Y:-86.12, Z:-17.30 [[ 7.27863000e-01 6.80328467e-01 8.58407246e-02 1.43772016e+02] [-6.75332102e-01 7.32904753e-01 -8.23235955e-02 -8.61246790e+01] [-1.18920161e-01 1.94930219e-03 9.92901906e-01 -1.72957888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43592 meters 0.03318459779719803 Centerline is valid? [True, True] Translation: X:143.80, Y:-86.14, Z:-17.30 [[ 7.28690205e-01 6.79398371e-01 8.61883909e-02 1.43797003e+02] [-6.74345167e-01 7.33766413e-01 -8.27372156e-02 -8.61449496e+01] [-1.19453676e-01 2.16907375e-03 9.92837406e-01 -1.72985980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46592 meters 0.03362550764052435 Centerline is valid? [True, True] Translation: X:143.82, Y:-86.17, Z:-17.30 [[ 7.30911067e-01 6.76896937e-01 8.70606088e-02 1.43820970e+02] [-6.71714120e-01 7.36073007e-01 -8.36460920e-02 -8.61655908e+01] [-1.20702748e-01 2.65801410e-03 9.92685137e-01 -1.73018129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.49592 meters 0.0340615022737985 Centerline is valid? [True, True] Translation: X:143.85, Y:-86.19, Z:-17.31 [[ 7.31998143e-01 6.75688650e-01 8.73130357e-02 1.43845212e+02] [-6.70458799e-01 7.37181351e-01 -8.39562654e-02 -8.61872495e+01] [-1.21093837e-01 2.91603740e-03 9.92636781e-01 -1.73054398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52592 meters 0.034255149704273 Centerline is valid? [True, True] Translation: X:143.87, Y:-86.21, Z:-17.31 [[ 7.32627640e-01 6.74913735e-01 8.80238139e-02 1.43869032e+02] [-6.69583570e-01 7.37890030e-01 -8.47121369e-02 -8.62090603e+01] [-1.22125279e-01 3.12315339e-03 9.92509779e-01 -1.73087990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.55592000000001 meters 0.035086985086479415 Centerline is valid? [True, True] Translation: X:143.89, Y:-86.23, Z:-17.31 [[ 7.35972150e-01 6.71477826e-01 8.63858943e-02 1.43894853e+02] [-6.66312960e-01 7.41015528e-01 -8.32047227e-02 -8.62286604e+01] [-1.19883415e-01 3.67631771e-03 9.92781170e-01 -1.73119238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58592000000002 meters 0.03519635316583711 Centerline is valid? [True, True] Translation: X:143.92, Y:-86.25, Z:-17.31 [[ 7.36766189e-01 6.70671433e-01 8.58802223e-02 1.43918707e+02] [-6.65553356e-01 7.41744640e-01 -8.27865898e-02 -8.62507724e+01] [-1.19223795e-01 3.83649006e-03 9.92859994e-01 -1.73146534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61592000000002 meters 0.0354019890761976 Centerline is valid? [True, True] Translation: X:143.94, Y:-86.27, Z:-17.32 [[ 7.36642929e-01 6.70644479e-01 8.71388436e-02 1.43941232e+02] [-6.65365922e-01 7.41768412e-01 -8.40702846e-02 -8.62738128e+01] [-1.21018114e-01 3.95056360e-03 9.92642438e-01 -1.73176439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64592000000002 meters 0.035562057869834164 Centerline is valid? [True, True] Translation: X:143.96, Y:-86.30, Z:-17.32 [[ 7.36202079e-01 6.70975835e-01 8.83058733e-02 1.43964130e+02] [-6.65548077e-01 7.41468420e-01 -8.52662885e-02 -8.62955096e+01] [-1.22687635e-01 4.00141465e-03 9.92437269e-01 -1.73210999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67592000000002 meters 0.035589270219252914 Centerline is valid? [True, True] Translation: X:143.99, Y:-86.32, Z:-17.32 [[ 7.36369888e-01 6.70855237e-01 8.78216326e-02 1.43987966e+02] [-6.65477890e-01 7.41577272e-01 -8.48665291e-02 -8.63178666e+01] [-1.22059682e-01 4.04980172e-03 9.92514500e-01 -1.73233558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70592000000002 meters 0.035456624355522 Centerline is valid? [True, True] Translation: X:144.01, Y:-86.34, Z:-17.33 [[ 7.35998124e-01 6.71318815e-01 8.73945666e-02 1.44010296e+02] [-6.65987675e-01 7.41157853e-01 -8.45307842e-02 -8.63402912e+01] [-1.21520275e-01 4.01079435e-03 9.92580846e-01 -1.73264320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73592000000002 meters 0.03532771990304697 Centerline is valid? [True, True] Translation: X:144.03, Y:-86.36, Z:-17.33 [[ 7.34879533e-01 6.72284447e-01 8.93627130e-02 1.44032654e+02] [-6.66707508e-01 7.40282160e-01 -8.65067724e-02 -8.63629764e+01] [-1.24310780e-01 3.99326480e-03 9.92235297e-01 -1.73301896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76592 meters 0.0350745674494893 Centerline is valid? [True, True] Translation: X:144.06, Y:-86.39, Z:-17.33 [[ 7.33601399e-01 6.73775849e-01 8.86289654e-02 1.44055222e+02] [-6.68293797e-01 7.38926255e-01 -8.58568054e-02 -8.63865869e+01] [-1.23338511e-01 3.75448474e-03 9.92357554e-01 -1.73320067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79592 meters 0.03472445203626266 Centerline is valid? [True, True] Translation: X:144.08, Y:-86.41, Z:-17.34 [[ 7.32247071e-01 6.75273794e-01 8.84281017e-02 1.44077657e+02] [-6.69824011e-01 7.37558774e-01 -8.56904260e-02 -8.64101366e+01] [-1.23085421e-01 3.51529771e-03 9.92389854e-01 -1.73354514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82592 meters 0.03459105102416522 Centerline is valid? [True, True] Translation: X:144.10, Y:-86.43, Z:-17.34 [[ 7.30991636e-01 6.76531888e-01 8.91954752e-02 1.44100145e+02] [-6.70989882e-01 7.36405631e-01 -8.64830865e-02 -8.64342417e+01] [-1.24192616e-01 3.36915146e-03 9.92252409e-01 -1.73392086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85592 meters 0.03435212338711679 Centerline is valid? [True, True] Translation: X:144.12, Y:-86.46, Z:-17.34 [[ 7.28940045e-01 6.78670753e-01 8.97352773e-02 1.44120717e+02] [-6.73066981e-01 7.34436177e-01 -8.70881252e-02 -8.64586106e+01] [-1.25008997e-01 3.08416978e-03 9.92150814e-01 -1.73425147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88592 meters 0.034572677624679395 Centerline is valid? [True, True] Translation: X:144.14, Y:-86.48, Z:-17.35 [[ 7.27994237e-01 6.79638973e-01 9.00847268e-02 1.44143543e+02] [-6.73988972e-01 7.33540694e-01 -8.75038086e-02 -8.64819828e+01] [-1.25551812e-01 2.98615594e-03 9.92082570e-01 -1.73458130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91592 meters 0.03427643545897486 Centerline is valid? [True, True] Translation: X:144.17, Y:-86.51, Z:-17.35 [[ 7.26125577e-01 6.81727976e-01 8.93790376e-02 1.44165571e+02] [-6.76172042e-01 7.31600894e-01 -8.68993750e-02 -8.65052963e+01] [-1.24631519e-01 2.66425252e-03 9.92199519e-01 -1.73489702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94592 meters 0.03349538679484552 Centerline is valid? [True, True] Translation: X:144.19, Y:-86.53, Z:-17.35 [[ 7.23013444e-01 6.85160816e-01 8.83527948e-02 1.44186212e+02] [-6.79748764e-01 7.28388796e-01 -8.59731388e-02 -8.65300402e+01] [-1.23260612e-01 2.10203208e-03 9.92372109e-01 -1.73502930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97592 meters 0.03279998707941938 Centerline is valid? [True, True] Translation: X:144.21, Y:-86.56, Z:-17.35 [[ 7.18607151e-01 6.89871847e-01 8.76390189e-02 1.44206591e+02] [-6.84574277e-01 7.23930289e-01 -8.53404665e-02 -8.65556754e+01] [-1.22318526e-01 1.33085143e-03 9.92490004e-01 -1.73535106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00592 meters 0.03270370571207122 Centerline is valid? [True, True] Translation: X:144.23, Y:-86.58, Z:-17.36 [[ 7.16366479e-01 6.92146777e-01 8.80449130e-02 1.44229067e+02] [-6.86812017e-01 7.21756113e-01 -8.57750958e-02 -8.65790570e+01] [-1.22915910e-01 9.76099094e-04 9.92416609e-01 -1.73574226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03592 meters 0.032699536589475366 Centerline is valid? [True, True] Translation: X:144.25, Y:-86.60, Z:-17.36 [[ 7.13449855e-01 6.95086746e-01 8.85647812e-02 1.44252359e+02] [-6.89700245e-01 7.18925676e-01 -8.63680727e-02 -8.66020721e+01] [-1.23704798e-01 5.36137608e-04 9.92318918e-01 -1.73600705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06592 meters 0.03239636660922383 Centerline is valid? [True, True] Translation: X:144.28, Y:-86.62, Z:-17.36 [[ 7.10103278e-01 6.98565978e-01 8.80846663e-02 1.44277408e+02] [-6.93255471e-01 7.15545647e-01 -8.59725441e-02 -8.66230123e+01] [-1.23086094e-01 -1.57914126e-05 9.92395996e-01 -1.73629450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09592 meters 0.032350151458454254 Centerline is valid? [True, True] Translation: X:144.30, Y:-86.64, Z:-17.37 [[ 7.08826494e-01 6.99986085e-01 8.70889339e-02 1.44301091e+02] [-6.94801556e-01 7.14156445e-01 -8.50374643e-02 -8.66448305e+01] [-1.21720165e-01 -2.32719102e-04 9.92564430e-01 -1.73657086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12592 meters 0.03227325504740018 Centerline is valid? [True, True] Translation: X:144.32, Y:-86.67, Z:-17.37 [[ 7.07110775e-01 7.01763501e-01 8.67314277e-02 1.44324962e+02] [-6.96625511e-01 7.12409824e-01 -8.47652044e-02 -8.66673149e+01] [-1.21273448e-01 -4.80935783e-04 9.92619020e-01 -1.73690610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15592 meters 0.03227880769382645 Centerline is valid? [True, True] Translation: X:144.35, Y:-86.69, Z:-17.37 [[ 7.07347961e-01 7.01489093e-01 8.70167491e-02 1.44349674e+02] [-6.96304436e-01 7.12680091e-01 -8.51306000e-02 -8.66887838e+01] [-1.21733292e-01 -3.73192121e-04 9.92562777e-01 -1.73718347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18592 meters 0.03218759563494827 Centerline is valid? [True, True] Translation: X:144.37, Y:-86.71, Z:-17.37 [[ 7.07570645e-01 7.01093636e-01 8.83826677e-02 1.44374823e+02] [-6.95730438e-01 7.13069178e-01 -8.65534798e-02 -8.67090347e+01] [-1.23705050e-01 -2.47810560e-04 9.92319001e-01 -1.73736765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21592 meters 0.03209994708822808 Centerline is valid? [True, True] Translation: X:144.40, Y:-86.73, Z:-17.38 [[ 7.07478999e-01 7.01253820e-01 8.78438729e-02 1.44398772e+02] [-6.95947910e-01 7.12911658e-01 -8.61015343e-02 -8.67310847e+01] [-1.23003951e-01 -2.19732434e-04 9.92406157e-01 -1.73755600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24592 meters 0.03192751871446767 Centerline is valid? [True, True] Translation: X:144.42, Y:-86.75, Z:-17.38 [[ 7.06897503e-01 7.01908079e-01 8.72981603e-02 1.44424126e+02] [-6.96663804e-01 7.12267486e-01 -8.56421182e-02 -8.67517070e+01] [-1.22292536e-01 -2.77268966e-04 9.92494060e-01 -1.73790680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.27592 meters 0.03183543144543231 Centerline is valid? [True, True] Translation: X:144.45, Y:-86.77, Z:-17.38 [[ 7.05670918e-01 7.03224747e-01 8.66228127e-02 1.44449320e+02] [-6.98062227e-01 7.10967479e-01 -8.50551083e-02 -8.67722056e+01] [-1.21398860e-01 -4.47197241e-04 9.92603706e-01 -1.73816466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30592000000001 meters 0.03185011757279433 Centerline is valid? [True, True] Translation: X:144.47, Y:-86.79, Z:-17.39 [[ 7.04393365e-01 7.04486861e-01 8.67654965e-02 1.44474808e+02] [-6.99307237e-01 7.09716768e-01 -8.52730692e-02 -8.67937577e+01] [-1.21652685e-01 -6.09955582e-04 9.92572543e-01 -1.73855649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.33592000000002 meters 0.031837120200206744 Centerline is valid? [True, True] Translation: X:144.50, Y:-86.82, Z:-17.39 [[ 7.02975702e-01 7.06102763e-01 8.51119868e-02 1.44499173e+02] [-7.01121354e-01 7.08108907e-01 -8.37294543e-02 -8.68153404e+01] [-1.19390155e-01 -8.14059618e-04 9.92847082e-01 -1.73865687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36592000000002 meters 0.03195608954325164 Centerline is valid? [True, True] Translation: X:144.52, Y:-86.84, Z:-17.39 [[ 7.02391570e-01 7.06566199e-01 8.60830368e-02 1.44523324e+02] [-7.01464333e-01 7.07646441e-01 -8.47602748e-02 -8.68364157e+01] [-1.20805100e-01 -8.49277417e-04 9.92675882e-01 -1.73892531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39592000000002 meters 0.03194806707747124 Centerline is valid? [True, True] Translation: X:144.55, Y:-86.85, Z:-17.39 [[ 7.02446529e-01 7.06665869e-01 8.48069843e-02 1.44551746e+02] [-7.01706590e-01 7.07546965e-01 -8.35772259e-02 -8.68539222e+01] [-1.19066097e-01 -8.01087614e-04 9.92886007e-01 -1.73923696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42592000000002 meters 0.03204500237415962 Centerline is valid? [True, True] Translation: X:144.58, Y:-86.87, Z:-17.40 [[ 7.03021015e-01 7.06046242e-01 8.52065480e-02 1.44577794e+02] [-7.01026084e-01 7.08165439e-01 -8.40484480e-02 -8.68746829e+01] [-1.19682423e-01 -6.44187420e-04 9.92812018e-01 -1.73976968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45592000000002 meters 0.032000326052849026 Centerline is valid? [True, True] Translation: X:144.60, Y:-86.90, Z:-17.40 [[ 7.03858424e-01 7.05133214e-01 8.58514358e-02 1.44602399e+02] [-7.00019158e-01 7.09074724e-01 -8.47715375e-02 -8.68958865e+01] [-1.20650310e-01 -4.30489045e-04 9.92694977e-01 -1.74022242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48592000000002 meters 0.03207753409946843 Centerline is valid? [True, True] Translation: X:144.63, Y:-86.91, Z:-17.41 [[ 7.06375368e-01 7.02594489e-01 8.59931612e-02 1.44631680e+02] [-6.97434085e-01 7.11590458e-01 -8.49983354e-02 -8.69136583e+01] [-1.20911275e-01 6.61687140e-05 9.92663316e-01 -1.74052328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51592 meters 0.0320551424250166 Centerline is valid? [True, True] Translation: X:144.66, Y:-86.93, Z:-17.41 [[ 7.06903469e-01 7.02110475e-01 8.56058835e-02 1.44658588e+02] [-6.96982685e-01 7.12068000e-01 -8.47012410e-02 -8.69337088e+01] [-1.20426839e-01 2.09782575e-04 9.92722183e-01 -1.74076616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54592 meters 0.03236758222994788 Centerline is valid? [True, True] Translation: X:144.68, Y:-86.95, Z:-17.41 [[ 7.08751830e-01 7.00085503e-01 8.68972497e-02 1.44683738e+02] [-6.94775521e-01 7.14058750e-01 -8.60643796e-02 -8.69530719e+01] [-1.22302166e-01 6.24204634e-04 9.92492716e-01 -1.74129375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57592 meters 0.03238144721452814 Centerline is valid? [True, True] Translation: X:144.71, Y:-86.97, Z:-17.42 [[ 7.09667725e-01 6.99195279e-01 8.65891586e-02 1.44708810e+02] [-6.93906932e-01 7.14930257e-01 -8.58364564e-02 -8.69748034e+01] [-1.21921655e-01 8.30545281e-04 9.92539380e-01 -1.74162332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60592 meters 0.03232750577969081 Centerline is valid? [True, True] Translation: X:144.73, Y:-87.00, Z:-17.42 [[ 7.10055877e-01 6.98861553e-01 8.60998331e-02 1.44734371e+02] [-6.93620267e-01 7.15256345e-01 -8.54358626e-02 -8.69959274e+01] [-1.21291292e-01 9.43647174e-04 9.92616508e-01 -1.74187195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63592 meters 0.03232750577969081 Centerline is valid? [True, True] Translation: X:144.76, Y:-87.02, Z:-17.42 [[ 7.09713728e-01 6.99214218e-01 8.60575519e-02 1.44757687e+02] [-6.93970353e-01 7.14911594e-01 -8.54784347e-02 -8.70185460e+01] [-1.21291278e-01 9.43828815e-04 9.92616510e-01 -1.74218509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66592 meters 0.032495253654346475 Centerline is valid? [True, True] Translation: X:144.78, Y:-87.04, Z:-17.42 [[ 7.10091763e-01 6.98776533e-01 8.64930341e-02 1.44784480e+02] [-6.93465841e-01 7.15339209e-01 -8.59938590e-02 -8.70369690e+01] [-1.21962349e-01 1.08356631e-03 9.92534136e-01 -1.74247221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69592 meters 0.032631083212666355 Centerline is valid? [True, True] Translation: X:144.81, Y:-87.06, Z:-17.43 [[ 7.10355767e-01 6.98387373e-01 8.74629168e-02 1.44808693e+02] [-6.92944108e-01 7.15718935e-01 -8.70337218e-02 -8.70579373e+01] [-1.23382118e-01 1.21799326e-03 9.92358488e-01 -1.74282471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72592 meters 0.032641816859053985 Centerline is valid? [True, True] Translation: X:144.83, Y:-87.08, Z:-17.43 [[ 7.10907228e-01 6.97947763e-01 8.64860347e-02 1.44833050e+02] [-6.92613607e-01 7.16147432e-01 -8.61350480e-02 -8.70796597e+01] [-1.22054516e-01 1.33262373e-03 9.92522503e-01 -1.74297494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75592 meters 0.03310772460942749 Centerline is valid? [True, True] Translation: X:144.86, Y:-87.10, Z:-17.43 [[ 7.12916123e-01 6.95550183e-01 8.92218778e-02 1.44859855e+02] [-6.89844795e-01 7.18475144e-01 -8.89248374e-02 -8.70979547e+01] [-1.25955388e-01 1.84670236e-03 9.92034188e-01 -1.74340282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78592 meters 0.03316854632800588 Centerline is valid? [True, True] Translation: X:144.89, Y:-87.12, Z:-17.44 [[ 7.13662617e-01 6.94891470e-01 8.83827763e-02 1.44885406e+02] [-6.89283756e-01 7.19111927e-01 -8.81245722e-02 -8.71193329e+01] [-1.24794122e-01 1.97040073e-03 9.92180702e-01 -1.74371199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81592 meters 0.03332104260118656 Centerline is valid? [True, True] Translation: X:144.91, Y:-87.14, Z:-17.44 [[ 7.15930456e-01 6.92749676e-01 8.68416333e-02 1.44912346e+02] [-6.87310628e-01 7.21174253e-01 -8.66706270e-02 -8.71385895e+01] [-1.22668999e-01 2.36296401e-03 9.92444826e-01 -1.74403295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84592 meters 0.03344375329206795 Centerline is valid? [True, True] Translation: X:144.94, Y:-87.16, Z:-17.44 [[ 7.16595231e-01 6.91975904e-01 8.75249873e-02 1.44936911e+02] [-6.86434555e-01 7.21916003e-01 -8.74350362e-02 -8.71589897e+01] [-1.23688627e-01 2.57535419e-03 9.92317737e-01 -1.74428388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87592 meters 0.033565101440510677 Centerline is valid? [True, True] Translation: X:144.96, Y:-87.18, Z:-17.45 [[ 7.17562258e-01 6.90955658e-01 8.76623266e-02 1.44961461e+02] [-6.85380080e-01 7.22891684e-01 -8.76456437e-02 -8.71794082e+01] [-1.23929620e-01 2.80919360e-03 9.92287034e-01 -1.74456919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90592 meters 0.03395266587299262 Centerline is valid? [True, True] Translation: X:144.78, Y:-87.68, Z:-15.48 [[ 7.36610280e-01 -6.74761601e-01 -4.58484097e-02 1.44778577e+02] [-6.73011998e-01 -7.38018063e-01 4.88281667e-02 -8.76810938e+01] [-6.67843264e-02 -5.11079977e-03 -9.97754345e-01 -1.54755888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93592 meters 0.03425451824522693 Centerline is valid? [True, True] Translation: X:144.78, Y:-87.77, Z:-15.48 [[ 7.85118822e-01 -6.17384186e-01 -4.92463494e-02 1.44780416e+02] [-6.15716228e-01 -7.86642207e-01 4.56898668e-02 -8.77709699e+01] [-6.69474582e-02 -5.55019785e-03 -9.97741065e-01 -1.54792200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96592 meters 0.03437917941791542 Centerline is valid? [True, True] Translation: X:144.79, Y:-87.86, Z:-15.48 [[ 8.30134373e-01 -5.55089009e-01 -5.24701338e-02 1.44786787e+02] [-5.53557969e-01 -8.31773073e-01 4.15587548e-02 -8.78576126e+01] [-6.67120525e-02 -5.45409015e-03 -9.97757363e-01 -1.54828659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.99592 meters 0.03419156214719366 Centerline is valid? [True, True] Translation: X:144.80, Y:-87.94, Z:-15.49 [[ 8.71250218e-01 -4.87769506e-01 -5.48084586e-02 1.44799286e+02] [-4.86402340e-01 -8.72955159e-01 3.69060222e-02 -8.79415211e+01] [-6.58469589e-02 -5.49541737e-03 -9.97814601e-01 -1.54855310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02592 meters 0.03432109329079699 Centerline is valid? [True, True] Translation: X:144.89, Y:-87.43, Z:-17.46 [[ 8.94145978e-01 4.33097121e-01 1.13709517e-01 1.44890067e+02] [-4.29068193e-01 9.01338240e-01 -5.90750697e-02 -8.74263290e+01] [-1.28075979e-01 4.03259899e-03 9.91756160e-01 -1.74647144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.05592000000001 meters 0.03460637279907895 Centerline is valid? [True, True] Translation: X:144.92, Y:-87.44, Z:-17.47 [[ 8.94410389e-01 4.32812194e-01 1.12710513e-01 1.44920132e+02] [-4.28848070e-01 9.01474953e-01 -5.85853350e-02 -8.74397603e+01] [-1.26962152e-01 4.06364629e-03 9.91899238e-01 -1.74671229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08592000000002 meters 0.035139600821142335 Centerline is valid? [True, True] Translation: X:144.95, Y:-87.45, Z:-17.47 [[ 8.94631901e-01 4.32135218e-01 1.13546970e-01 1.44949982e+02] [-4.28098776e-01 9.01798835e-01 -5.90787604e-02 -8.74505150e+01] [-1.27926538e-01 4.24442504e-03 9.91774564e-01 -1.74712654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11592000000002 meters 0.0351825279094898 Centerline is valid? [True, True] Translation: X:144.98, Y:-87.46, Z:-17.47 [[ 8.95104547e-01 4.31346840e-01 1.12817344e-01 1.44980040e+02] [-4.27350978e-01 9.02175620e-01 -5.87391898e-02 -8.74649383e+01] [-1.27118021e-01 4.36511354e-03 9.91877994e-01 -1.74745295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14592000000002 meters 0.03562194666685238 Centerline is valid? [True, True] Translation: X:145.01, Y:-87.48, Z:-17.48 [[ 8.95769961e-01 4.29878693e-01 1.13139237e-01 1.45008834e+02] [-4.25839944e-01 9.02874703e-01 -5.89712961e-02 -8.74794730e+01] [-1.27501059e-01 4.64550939e-03 9.91827555e-01 -1.74786169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17592000000002 meters 0.036269921321609125 Centerline is valid? [True, True] Translation: X:145.04, Y:-87.49, Z:-17.48 [[ 8.96374768e-01 4.27945876e-01 1.15648621e-01 1.45037836e+02] [-4.23702689e-01 9.03790110e-01 -6.03280086e-02 -8.74934346e+01] [-1.30339202e-01 5.07587320e-03 9.91456468e-01 -1.74813875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20592000000002 meters 0.036651693585742696 Centerline is valid? [True, True] Translation: X:145.07, Y:-87.51, Z:-17.48 [[ 8.96475955e-01 4.27633361e-01 1.16019699e-01 1.45066815e+02] [-4.23356417e-01 9.03937521e-01 -6.05499956e-02 -8.75069317e+01] [-1.30767757e-01 5.16393118e-03 9.91399580e-01 -1.74832292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23592000000002 meters 0.0373286951421462 Centerline is valid? [True, True] Translation: X:145.09, Y:-87.52, Z:-17.49 [[ 8.97227894e-01 4.26060808e-01 1.15992648e-01 1.45094898e+02] [-4.21765025e-01 9.04678137e-01 -6.05948160e-02 -8.75215960e+01] [-1.30753089e-01 5.44571681e-03 9.91400007e-01 -1.74878486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26592 meters 0.03799456013320577 Centerline is valid? [True, True] Translation: X:145.12, Y:-87.54, Z:-17.49 [[ 8.97361185e-01 4.25608561e-01 1.16620135e-01 1.45123330e+02] [-4.21254274e-01 9.04890068e-01 -6.09819702e-02 -8.75368813e+01] [-1.31482851e-01 5.59612267e-03 9.91302650e-01 -1.74922476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29592 meters 0.03820103407743636 Centerline is valid? [True, True] Translation: X:145.15, Y:-87.55, Z:-17.50 [[ 8.97824749e-01 4.24823239e-01 1.15913480e-01 1.45151123e+02] [-4.20507653e-01 9.05258191e-01 -6.06705945e-02 -8.75524236e+01] [-1.30705906e-01 5.72905579e-03 9.91404632e-01 -1.74951469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32592 meters 0.03846476685063712 Centerline is valid? [True, True] Translation: X:145.18, Y:-87.57, Z:-17.50 [[ 8.98361503e-01 4.23727334e-01 1.15765951e-01 1.45179152e+02] [-4.19406122e-01 9.05770356e-01 -6.06512023e-02 -8.75676251e+01] [-1.30556939e-01 5.93375664e-03 9.91423056e-01 -1.74989091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35592 meters 0.03847987707750686 Centerline is valid? [True, True] Translation: X:145.21, Y:-87.58, Z:-17.50 [[ 8.98222923e-01 4.24069292e-01 1.15588995e-01 1.45207935e+02] [-4.19756248e-01 9.05610331e-01 -6.06186472e-02 -8.75828168e+01] [-1.30385095e-01 5.92985555e-03 9.91445694e-01 -1.75015341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38592 meters 0.03889786923504253 Centerline is valid? [True, True] Translation: X:145.24, Y:-87.60, Z:-17.51 [[ 8.97626993e-01 4.24816618e-01 1.17459024e-01 1.45235255e+02] [-4.20359719e-01 9.05259694e-01 -6.16651772e-02 -8.75996840e+01] [-1.32527312e-01 5.97728513e-03 9.91161331e-01 -1.75065660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41592 meters 0.03850654775554421 Centerline is valid? [True, True] Translation: X:145.26, Y:-87.62, Z:-17.51 [[ 8.97130436e-01 4.26025760e-01 1.16871865e-01 1.45263100e+02] [-4.21615980e-01 9.04692297e-01 -6.14150852e-02 -8.76154224e+01] [-1.31897484e-01 5.82229638e-03 9.91246263e-01 -1.75092758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44592 meters 0.038577642975973804 Centerline is valid? [True, True] Translation: X:145.29, Y:-87.63, Z:-17.51 [[ 8.96725343e-01 4.26834925e-01 1.17028226e-01 1.45292007e+02] [-4.22411983e-01 9.04311170e-01 -6.15583043e-02 -8.76311950e+01] [-1.32105166e-01 5.76676641e-03 9.91218931e-01 -1.75145831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47592 meters 0.03835715447545447 Centerline is valid? [True, True] Translation: X:145.32, Y:-87.65, Z:-17.52 [[ 8.97079880e-01 4.26490181e-01 1.15558704e-01 1.45320417e+02] [-4.22166959e-01 9.04473588e-01 -6.08488933e-02 -8.76468031e+01] [-1.30471251e-01 5.80125146e-03 9.91435121e-01 -1.75164581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50592 meters 0.03879445877452197 Centerline is valid? [True, True] Translation: X:145.35, Y:-87.66, Z:-17.52 [[ 8.96911348e-01 4.26775799e-01 1.15812136e-01 1.45349260e+02] [-4.22427866e-01 9.04338683e-01 -6.10429772e-02 -8.76625736e+01] [-1.30785060e-01 5.82786548e-03 9.91393617e-01 -1.75206773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53592 meters 0.03847126581951764 Centerline is valid? [True, True] Translation: X:145.38, Y:-87.68, Z:-17.52 [[ 8.96809752e-01 4.27235102e-01 1.14901854e-01 1.45376114e+02] [-4.22950984e-01 9.04122138e-01 -6.06269297e-02 -8.76812770e+01] [-1.29787262e-01 5.77296973e-03 9.91525057e-01 -1.75228147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56592 meters 0.03848924699357555 Centerline is valid? [True, True] Translation: X:145.40, Y:-87.70, Z:-17.53 [[ 8.96690018e-01 4.27545543e-01 1.14681382e-01 1.45404497e+02] [-4.23272630e-01 9.03975386e-01 -6.05704723e-02 -8.76979988e+01] [-1.29565782e-01 5.77144781e-03 9.91554032e-01 -1.75268707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59592 meters 0.03803274266249954 Centerline is valid? [True, True] Translation: X:145.43, Y:-87.71, Z:-17.53 [[ 8.95959983e-01 4.29187686e-01 1.14252518e-01 1.45432909e+02] [-4.24951757e-01 9.03198146e-01 -6.04078882e-02 -8.77137818e+01] [-1.29118985e-01 5.57124210e-03 9.91613458e-01 -1.75293545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62592 meters 0.03797570112123254 Centerline is valid? [True, True] Translation: X:145.46, Y:-87.73, Z:-17.53 [[ 8.95063279e-01 4.31197881e-01 1.13710659e-01 1.45461218e+02] [-4.27010865e-01 9.02241768e-01 -6.01790052e-02 -8.77290832e+01] [-1.28543566e-01 5.30833076e-03 9.91689656e-01 -1.75327790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65592 meters 0.03725493140082379 Centerline is valid? [True, True] Translation: X:145.49, Y:-87.74, Z:-17.53 [[ 8.94349343e-01 4.33011288e-01 1.12429874e-01 1.45489034e+02] [-4.28925462e-01 9.01374399e-01 -5.95578791e-02 -8.77449334e+01] [-1.27130644e-01 5.04151447e-03 9.91873169e-01 -1.75348905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68592 meters 0.03656902992665076 Centerline is valid? [True, True] Translation: X:145.52, Y:-87.76, Z:-17.54 [[ 8.93128398e-01 4.35855516e-01 1.11137903e-01 1.45515273e+02] [-4.31879730e-01 9.00004777e-01 -5.89177437e-02 -8.77619342e+01] [-1.25704267e-01 4.62290264e-03 9.92056987e-01 -1.75378084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71592 meters 0.03654519047802786 Centerline is valid? [True, True] Translation: X:145.54, Y:-87.78, Z:-17.54 [[ 8.91745520e-01 4.38186877e-01 1.13058341e-01 1.45544491e+02] [-4.34087422e-01 8.98873171e-01 -5.99594233e-02 -8.77763797e+01] [-1.27898542e-01 4.39134309e-03 9.91777535e-01 -1.75415050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74592 meters 0.035663092165491336 Centerline is valid? [True, True] Translation: X:145.57, Y:-87.79, Z:-17.54 [[ 8.90524036e-01 4.40915662e-01 1.12072833e-01 1.45574137e+02] [-4.36900964e-01 8.97539526e-01 -5.95008059e-02 -8.77900189e+01] [-1.26824635e-01 4.02216894e-03 9.91917000e-01 -1.75424966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.77592 meters 0.035764753991589474 Centerline is valid? [True, True] Translation: X:145.60, Y:-87.80, Z:-17.55 [[ 8.90165256e-01 4.41747520e-01 1.11646526e-01 1.45602581e+02] [-4.37762602e-01 8.97130759e-01 -5.93321544e-02 -8.78049581e+01] [-1.26371365e-01 3.94074846e-03 9.91975175e-01 -1.75452778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80592000000001 meters 0.03529241793798901 Centerline is valid? [True, True] Translation: X:145.63, Y:-87.82, Z:-17.55 [[ 8.89167991e-01 4.43621657e-01 1.12161086e-01 1.45630347e+02] [-4.39607050e-01 8.96206339e-01 -5.96643967e-02 -8.78211348e+01] [-1.26987894e-01 3.74486784e-03 9.91897198e-01 -1.75484786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.83592000000002 meters 0.035524420628361836 Centerline is valid? [True, True] Translation: X:145.66, Y:-87.84, Z:-17.55 [[ 8.89239704e-01 4.44039622e-01 1.09916163e-01 1.45658661e+02] [-4.40180873e-01 8.95999670e-01 -5.85268379e-02 -8.78355519e+01] [-1.24473081e-01 3.66139539e-03 9.92216230e-01 -1.75510475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86592000000002 meters 0.03488554258249547 Centerline is valid? [True, True] Translation: X:145.69, Y:-87.85, Z:-17.55 [[ 8.88806125e-01 4.44938847e-01 1.09786587e-01 1.45687072e+02] [-4.41089610e-01 8.95553808e-01 -5.85092574e-02 -8.78500571e+01] [-1.24352838e-01 3.57766347e-03 9.92231612e-01 -1.75525140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89592000000002 meters 0.034633968936580765 Centerline is valid? [True, True] Translation: X:145.72, Y:-87.86, Z:-17.56 [[ 8.87821567e-01 4.47192259e-01 1.08590735e-01 1.45717239e+02] [-4.43438984e-01 8.94431921e-01 -5.79086036e-02 -8.78623124e+01] [-1.23023299e-01 3.25914212e-03 9.92398431e-01 -1.75556512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92592000000002 meters 0.034472005560594036 Centerline is valid? [True, True] Translation: X:145.75, Y:-87.88, Z:-17.56 [[ 8.87396459e-01 4.47994829e-01 1.08757338e-01 1.45746917e+02] [-4.44228588e-01 8.94030398e-01 -5.80569507e-02 -8.78767792e+01] [-1.23241579e-01 3.20641391e-03 9.92371519e-01 -1.75584810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95592000000002 meters 0.03413703796138714 Centerline is valid? [True, True] Translation: X:145.78, Y:-87.89, Z:-17.56 [[ 8.86655887e-01 4.49588476e-01 1.08219873e-01 1.45775921e+02] [-4.45863522e-01 8.93230676e-01 -5.78332038e-02 -8.78910756e+01] [-1.22666453e-01 3.02685668e-03 9.92443338e-01 -1.75606526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98592000000002 meters 0.03421687666942435 Centerline is valid? [True, True] Translation: X:145.81, Y:-87.90, Z:-17.56 [[ 8.86340038e-01 4.50090421e-01 1.08719591e-01 1.45807094e+02] [-4.46327142e-01 8.92977861e-01 -5.81603094e-02 -8.79034096e+01] [-1.23261586e-01 3.02530635e-03 9.92369603e-01 -1.75633240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01592 meters 0.033967435883991086 Centerline is valid? [True, True] Translation: X:145.84, Y:-87.92, Z:-17.57 [[ 8.86220692e-01 4.50806706e-01 1.06706136e-01 1.45836409e+02] [-4.47179605e-01 8.92616797e-01 -5.71459031e-02 -8.79176417e+01] [-1.21009446e-01 2.92707376e-03 9.92647040e-01 -1.75651310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04592 meters 0.03460151051670827 Centerline is valid? [True, True] Translation: X:145.87, Y:-87.93, Z:-17.57 [[ 8.86700677e-01 4.49460294e-01 1.08385209e-01 1.45865573e+02] [-4.45700392e-01 8.93294531e-01 -5.81037124e-02 -8.79309991e+01] [-1.22935226e-01 3.21327101e-03 9.92409495e-01 -1.75692829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07592 meters 0.0346540849915353 Centerline is valid? [True, True] Translation: X:145.90, Y:-87.95, Z:-17.57 [[ 8.86865452e-01 4.49340410e-01 1.07530772e-01 1.45895695e+02] [-4.45631735e-01 8.93354683e-01 -5.77041301e-02 -8.79456981e+01] [-1.21991916e-01 3.25667506e-03 9.92525751e-01 -1.75720976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10592 meters 0.03431851585548445 Centerline is valid? [True, True] Translation: X:145.92, Y:-87.96, Z:-17.57 [[ 8.87252844e-01 4.48938832e-01 1.06001487e-01 1.45924850e+02] [-4.45325006e-01 8.93556325e-01 -5.69449990e-02 -8.79592150e+01] [-1.20283121e-01 3.31949935e-03 9.92734079e-01 -1.75739602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13592 meters 0.03454651126504268 Centerline is valid? [True, True] Translation: X:145.96, Y:-87.97, Z:-17.58 [[ 8.87702495e-01 4.48026380e-01 1.06097331e-01 1.45955070e+02] [-4.44392731e-01 8.94013499e-01 -5.70522909e-02 -8.79711865e+01] [-1.20413378e-01 3.49657817e-03 9.92717680e-01 -1.75769249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16592 meters 0.03431205275639904 Centerline is valid? [True, True] Translation: X:145.98, Y:-87.99, Z:-17.58 [[ 8.87224365e-01 4.48927543e-01 1.06287285e-01 1.45983984e+02] [-4.45280228e-01 8.93561570e-01 -5.72122304e-02 -8.79866641e+01] [-1.20658380e-01 3.43245806e-03 9.92688155e-01 -1.75795183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19592 meters 0.034072493638343734 Centerline is valid? [True, True] Translation: X:146.01, Y:-88.00, Z:-17.58 [[ 8.85994858e-01 4.51393380e-01 1.06099613e-01 1.46012853e+02] [-4.47769016e-01 8.92319512e-01 -5.71733922e-02 -8.80013763e+01] [-1.20482446e-01 3.14721216e-03 9.92710469e-01 -1.75813609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22592 meters 0.03392488416781595 Centerline is valid? [True, True] Translation: X:146.04, Y:-88.01, Z:-17.58 [[ 8.85526235e-01 4.51895528e-01 1.07859721e-01 1.46041865e+02] [-4.48145990e-01 8.92065189e-01 -5.81796362e-02 -8.80145369e+01] [-1.22509019e-01 3.18269298e-03 9.92462297e-01 -1.75846310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25592 meters 0.033822713327090755 Centerline is valid? [True, True] Translation: X:146.07, Y:-88.03, Z:-17.59 [[ 8.85116781e-01 4.52635916e-01 1.08115738e-01 1.46071352e+02] [-4.48866633e-01 8.91689891e-01 -5.83770809e-02 -8.80284884e+01] [-1.22829274e-01 3.14098646e-03 9.92422845e-01 -1.75873531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28592 meters 0.033599041140931284 Centerline is valid? [True, True] Translation: X:146.10, Y:-88.04, Z:-17.59 [[ 8.85231525e-01 4.52630314e-01 1.07195834e-01 1.46101736e+02] [-4.48917196e-01 8.91692623e-01 -5.79449555e-02 -8.80425327e+01] [-1.21813378e-01 3.17264803e-03 9.92547951e-01 -1.75907132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31592 meters 0.03348159554593773 Centerline is valid? [True, True] Translation: X:146.13, Y:-88.06, Z:-17.59 [[ 8.85121852e-01 4.52936466e-01 1.06807606e-01 1.46130809e+02] [-4.49244592e-01 8.91537135e-01 -5.77999430e-02 -8.80578799e+01] [-1.21402649e-01 3.17725311e-03 9.92598258e-01 -1.75941529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34592 meters 0.03368006191805612 Centerline is valid? [True, True] Translation: X:146.16, Y:-88.07, Z:-17.60 [[ 8.85385005e-01 4.52322284e-01 1.07228473e-01 1.46159932e+02] [-4.48588822e-01 8.91848334e-01 -5.80914646e-02 -8.80720148e+01] [-1.21907599e-01 3.33181741e-03 9.92535862e-01 -1.75967158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37592 meters 0.03372753915671176 Centerline is valid? [True, True] Translation: X:146.19, Y:-88.09, Z:-17.60 [[ 8.85261774e-01 4.52447254e-01 1.07717569e-01 1.46188383e+02] [-4.48673332e-01 8.91784754e-01 -5.84139867e-02 -8.80866323e+01] [-1.22490134e-01 3.38166862e-03 9.92463970e-01 -1.75998911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40592 meters 0.03370901389234592 Centerline is valid? [True, True] Translation: X:146.22, Y:-88.10, Z:-17.60 [[ 8.85340199e-01 4.51880877e-01 1.09436760e-01 1.46217151e+02] [-4.47973330e-01 8.92071150e-01 -5.94050498e-02 -8.81014477e+01] [-1.24469382e-01 3.56892879e-03 9.92217031e-01 -1.76025336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43592 meters 0.033364084297007796 Centerline is valid? [True, True] Translation: X:146.25, Y:-88.12, Z:-17.60 [[ 8.85129012e-01 4.52222453e-01 1.09733701e-01 1.46245644e+02] [-4.48288602e-01 8.91897977e-01 -5.96265704e-02 -8.81173801e+01] [-1.24835740e-01 3.58484013e-03 9.92170946e-01 -1.76049012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46592 meters 0.0335073065267946 Centerline is valid? [True, True] Translation: X:146.27, Y:-88.13, Z:-17.61 [[ 8.85038496e-01 4.52450466e-01 1.09523679e-01 1.46274757e+02] [-4.48525090e-01 8.91782246e-01 -5.95790969e-02 -8.81329551e+01] [-1.24627862e-01 3.60567655e-03 9.92197004e-01 -1.76089443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49592 meters 0.033490482525728706 Centerline is valid? [True, True] Translation: X:146.30, Y:-88.15, Z:-17.61 [[ 8.85049173e-01 4.52597683e-01 1.08826922e-01 1.46303746e+02] [-4.48715125e-01 8.91707476e-01 -5.92664719e-02 -8.81486961e+01] [-1.23865647e-01 3.62145623e-03 9.92292390e-01 -1.76124970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52592 meters 0.033787575855207544 Centerline is valid? [True, True] Translation: X:146.33, Y:-88.16, Z:-17.62 [[ 8.84477026e-01 4.53307026e-01 1.10513032e-01 1.46332087e+02] [-4.49299833e-01 8.91347022e-01 -6.02507029e-02 -8.81642743e+01] [-1.25817529e-01 3.63687553e-03 9.92046734e-01 -1.76160995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.55592000000001 meters 0.033787575855207544 Centerline is valid? [True, True] Translation: X:146.36, Y:-88.18, Z:-17.62 [[ 8.84267634e-01 4.53721571e-01 1.10487498e-01 1.46360811e+02] [-4.49711757e-01 8.91136100e-01 -6.02974970e-02 -8.81795246e+01] [-1.25817673e-01 3.63159815e-03 9.92046735e-01 -1.76191976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58592000000002 meters 0.03406239561539921 Centerline is valid? [True, True] Translation: X:146.39, Y:-88.20, Z:-17.62 [[ 8.84716882e-01 4.52507874e-01 1.11860015e-01 1.46389073e+02] [-4.48379221e-01 8.91751828e-01 -6.11126078e-02 -8.81952439e+01] [-1.27405309e-01 3.91164924e-03 9.91843025e-01 -1.76229448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61592000000002 meters 0.03373206334700198 Centerline is valid? [True, True] Translation: X:146.42, Y:-88.21, Z:-17.63 [[ 8.84806441e-01 4.52234443e-01 1.12256718e-01 1.46416808e+02] [-4.48067733e-01 8.91890088e-01 -6.13789714e-02 -8.82113631e+01] [-1.27878339e-01 4.00989615e-03 9.91781756e-01 -1.76269451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64592000000002 meters 0.034214528612168345 Centerline is valid? [True, True] Translation: X:146.45, Y:-88.23, Z:-17.63 [[ 8.85295001e-01 4.51380019e-01 1.11842920e-01 1.46445435e+02] [-4.47233368e-01 8.92322191e-01 -6.11835113e-02 -8.82260911e+01] [-1.27416934e-01 4.14557108e-03 9.91840582e-01 -1.76306466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67592000000002 meters 0.0345786086592096 Centerline is valid? [True, True] Translation: X:146.47, Y:-88.24, Z:-17.63 [[ 8.85632504e-01 4.50531943e-01 1.12587904e-01 1.46473712e+02] [-4.46315023e-01 8.92749708e-01 -6.16511058e-02 -8.82417384e+01] [-1.28288611e-01 4.35055023e-03 9.91727334e-01 -1.76345133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70592000000002 meters 0.03476586368604866 Centerline is valid? [True, True] Translation: X:146.50, Y:-88.26, Z:-17.64 [[ 8.86148310e-01 4.49325592e-01 1.13347631e-01 1.46501516e+02] [-4.45033695e-01 8.93356177e-01 -6.21268992e-02 -8.82575450e+01] [-1.29175012e-01 4.61013174e-03 9.91611095e-01 -1.76372054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73592000000002 meters 0.035285536587118964 Centerline is valid? [True, True] Translation: X:146.53, Y:-88.27, Z:-17.64 [[ 8.86151305e-01 4.49004982e-01 1.14587917e-01 1.46530066e+02] [-4.44607553e-01 8.93516557e-01 -6.28672119e-02 -8.82726234e+01] [-1.30613892e-01 4.76320866e-03 9.91421869e-01 -1.76420455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76592 meters 0.03535608120029022 Centerline is valid? [True, True] Translation: X:146.56, Y:-88.29, Z:-17.65 [[ 8.86147101e-01 4.48832231e-01 1.15295031e-01 1.46557807e+02] [-4.44370766e-01 8.93602758e-01 -6.33145554e-02 -8.82874347e+01] [-1.31445571e-01 4.87226823e-03 9.91311416e-01 -1.76465435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79592 meters 0.03503065024866295 Centerline is valid? [True, True] Translation: X:146.59, Y:-88.30, Z:-17.65 [[ 8.85917073e-01 4.49381559e-01 1.14922383e-01 1.46585664e+02] [-4.44946130e-01 8.93326885e-01 -6.31665930e-02 -8.83035378e+01] [-1.31049156e-01 4.82609384e-03 9.91364125e-01 -1.76489764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82592 meters 0.03508911810271818 Centerline is valid? [True, True] Translation: X:146.61, Y:-88.32, Z:-17.65 [[ 8.85111564e-01 4.50982306e-01 1.14858519e-01 1.46613841e+02] [-4.46558702e-01 8.92520876e-01 -6.31807854e-02 -8.83195644e+01] [-1.31007042e-01 4.63097280e-03 9.91370621e-01 -1.76529922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85592 meters 0.03497696054934258 Centerline is valid? [True, True] Translation: X:146.64, Y:-88.33, Z:-17.66 [[ 8.84609143e-01 4.51624552e-01 1.16197796e-01 1.46642601e+02] [-4.47097757e-01 8.92196125e-01 -6.39505372e-02 -8.83347727e+01] [-1.32552856e-01 4.61945606e-03 9.91165173e-01 -1.76556446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88592 meters 0.03480365434166118 Centerline is valid? [True, True] Translation: X:146.67, Y:-88.35, Z:-17.66 [[ 8.84292297e-01 4.52138710e-01 1.16609262e-01 1.46671870e+02] [-4.47575556e-01 8.91935693e-01 -6.42405013e-02 -8.83504681e+01] [-1.33053580e-01 4.61592538e-03 9.91098097e-01 -1.76590060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91592 meters 0.03510800529292156 Centerline is valid? [True, True] Translation: X:146.70, Y:-88.37, Z:-17.66 [[ 8.84861180e-01 4.51033047e-01 1.16575649e-01 1.46699295e+02] [-4.46453973e-01 8.92494119e-01 -6.42891800e-02 -8.83670869e+01] [-1.33039626e-01 4.84133803e-03 9.91098895e-01 -1.76635466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94592 meters 0.034731331765691306 Centerline is valid? [True, True] Translation: X:146.73, Y:-88.38, Z:-17.67 [[ 8.84722245e-01 4.51790941e-01 1.14679966e-01 1.46727595e+02] [-4.47358806e-01 8.92111446e-01 -6.33029699e-02 -8.83831836e+01] [-1.30907019e-01 4.70245304e-03 9.91383498e-01 -1.76652136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97592 meters 0.034692277156698786 Centerline is valid? [True, True] Translation: X:146.76, Y:-88.40, Z:-17.67 [[ 8.84483537e-01 4.52307210e-01 1.14486068e-01 1.46756061e+02] [-4.47886224e-01 8.91849954e-01 -6.32581136e-02 -8.83993032e+01] [-1.30716496e-01 4.67402716e-03 9.91408771e-01 -1.76677837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00592 meters 0.03531561266727706 Centerline is valid? [True, True] Translation: X:146.78, Y:-88.41, Z:-17.67 [[ 8.84241548e-01 4.52329135e-01 1.16255054e-01 1.46784467e+02] [-4.47760850e-01 8.91838136e-01 -6.43036596e-02 -8.84140931e+01] [-1.32767109e-01 4.80550588e-03 9.91135612e-01 -1.76713804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03592 meters 0.03490664458503758 Centerline is valid? [True, True] Translation: X:146.81, Y:-88.43, Z:-17.67 [[ 8.83886810e-01 4.53429201e-01 1.14656301e-01 1.46812866e+02] [-4.48987621e-01 8.91280277e-01 -6.34790102e-02 -8.84300183e+01] [-1.30974137e-01 4.62900000e-03 9.91374978e-01 -1.76733280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06592 meters 0.03484028122475115 Centerline is valid? [True, True] Translation: X:146.84, Y:-88.45, Z:-17.68 [[ 8.83526221e-01 4.53956043e-01 1.15348721e-01 1.46840405e+02] [-4.49456779e-01 8.91012032e-01 -6.39230925e-02 -8.84467506e+01] [-1.31795373e-01 4.63346361e-03 9.91266115e-01 -1.76768654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09592 meters 0.034748977531744954 Centerline is valid? [True, True] Translation: X:146.87, Y:-88.46, Z:-17.68 [[ 8.83329662e-01 4.54450931e-01 1.14904570e-01 1.46868382e+02] [-4.49982612e-01 8.90759917e-01 -6.37371049e-02 -8.84630828e+01] [-1.31317771e-01 4.59581690e-03 9.91329673e-01 -1.76792455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12592 meters 0.03481101942161815 Centerline is valid? [True, True] Translation: X:146.90, Y:-88.48, Z:-17.68 [[ 8.84016394e-01 4.53316260e-01 1.14102513e-01 1.46896358e+02] [-4.48893142e-01 8.91336905e-01 -6.33519386e-02 -8.84792016e+01] [-1.30422245e-01 4.78431688e-03 9.91446997e-01 -1.76823560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15592 meters 0.034830841221254745 Centerline is valid? [True, True] Translation: X:146.93, Y:-88.50, Z:-17.69 [[ 8.83619912e-01 4.54018115e-01 1.14382702e-01 1.46925373e+02] [-4.49570687e-01 8.90979797e-01 -6.35704224e-02 -8.84955615e+01] [-1.30774800e-01 4.74898123e-03 9.91400726e-01 -1.76862720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18592 meters 0.03480797759297125 Centerline is valid? [True, True] Translation: X:146.95, Y:-88.51, Z:-17.69 [[ 8.83615267e-01 4.54236232e-01 1.13549569e-01 1.46953058e+02] [-4.49846798e-01 8.90868659e-01 -6.31735059e-02 -8.85117078e+01] [-1.29853448e-01 4.74116424e-03 9.91521862e-01 -1.76885081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21592 meters 0.03412270851004323 Centerline is valid? [True, True] Translation: X:146.98, Y:-88.53, Z:-17.69 [[ 8.82651332e-01 4.56482730e-01 1.12027426e-01 1.46979404e+02] [-4.52222851e-01 8.89721436e-01 -6.23719441e-02 -8.85289824e+01] [-1.28144918e-01 4.39131733e-03 9.91745732e-01 -1.76905687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24592 meters 0.0340242513971256 Centerline is valid? [True, True] Translation: X:147.01, Y:-88.54, Z:-17.69 [[ 8.81835620e-01 4.57970487e-01 1.12378697e-01 1.47006973e+02] [-4.53692894e-01 8.88957437e-01 -6.25894054e-02 -8.85446140e+01] [-1.28563979e-01 4.20815093e-03 9.91692288e-01 -1.76938779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.27592 meters 0.033545611853927834 Centerline is valid? [True, True] Translation: X:147.03, Y:-88.56, Z:-17.70 [[ 8.80566442e-01 4.60499077e-01 1.11997060e-01 1.47033083e+02] [-4.56263271e-01 8.87651707e-01 -6.24361598e-02 -8.85637092e+01] [-1.28166175e-01 3.87904231e-03 9.91745121e-01 -1.76972960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30592000000001 meters 0.03354652625580524 Centerline is valid? [True, True] Translation: X:147.06, Y:-88.58, Z:-17.70 [[ 8.80196469e-01 4.61237488e-01 1.11866683e-01 1.47060909e+02] [-4.57009555e-01 8.87268488e-01 -6.24251300e-02 -8.85806826e+01] [-1.28048593e-01 3.82223583e-03 9.91760530e-01 -1.77009903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.33592000000002 meters 0.03328052126274304 Centerline is valid? [True, True] Translation: X:147.09, Y:-88.60, Z:-17.70 [[ 8.79675994e-01 4.62287748e-01 1.11625198e-01 1.47089087e+02] [-4.58078066e-01 8.86722166e-01 -6.23561259e-02 -8.85971568e+01] [-1.27807010e-01 3.72013233e-03 9.91792079e-01 -1.77034839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36592000000002 meters 0.03309127567102861 Centerline is valid? [True, True] Translation: X:147.12, Y:-88.61, Z:-17.71 [[ 8.79637997e-01 4.62985997e-01 1.08999815e-01 1.47117360e+02] [-4.58970981e-01 8.86358351e-01 -6.09468042e-02 -8.86121409e+01] [-1.24830413e-01 3.58337283e-03 9.92171622e-01 -1.77066942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39592000000002 meters 0.03296821895329458 Centerline is valid? [True, True] Translation: X:147.15, Y:-88.63, Z:-17.71 [[ 8.79312934e-01 4.63900109e-01 1.07728603e-01 1.47145250e+02] [-4.59978258e-01 8.85880742e-01 -6.02935637e-02 -8.86280425e+01] [-1.23404886e-01 3.46409521e-03 9.92350359e-01 -1.77088634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42592000000002 meters 0.032961488080255515 Centerline is valid? [True, True] Translation: X:147.17, Y:-88.64, Z:-17.71 [[ 8.79686123e-01 4.63114789e-01 1.08060252e-01 1.47172114e+02] [-4.59155609e-01 8.86290848e-01 -6.05364292e-02 -8.86447420e+01] [-1.23808128e-01 3.63658591e-03 9.92299513e-01 -1.77117671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45592000000002 meters 0.03278950960372897 Centerline is valid? [True, True] Translation: X:147.20, Y:-88.66, Z:-17.71 [[ 8.79441968e-01 4.63781598e-01 1.07184203e-01 1.47199849e+02] [-4.59884839e-01 8.85942403e-01 -6.00998598e-02 -8.86610047e+01] [-1.22832240e-01 3.56194905e-03 9.92421057e-01 -1.77137311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48592000000002 meters 0.03322383011903458 Centerline is valid? [True, True] Translation: X:147.23, Y:-88.68, Z:-17.72 [[ 8.79231361e-01 4.63932972e-01 1.08251614e-01 1.47227892e+02] [-4.59951608e-01 8.85862870e-01 -6.07576711e-02 -8.86765785e+01] [-1.24083573e-01 3.62954584e-03 9.92265133e-01 -1.77183946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51592 meters 0.03344104742247604 Centerline is valid? [True, True] Translation: X:147.26, Y:-88.69, Z:-17.72 [[ 8.79604974e-01 4.63150595e-01 1.08566185e-01 1.47255834e+02] [-4.59132599e-01 8.86271435e-01 -6.09934362e-02 -8.86929134e+01] [-1.24468255e-01 3.80385504e-03 9.92216299e-01 -1.77221028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54592 meters 0.03389136944037734 Centerline is valid? [True, True] Translation: X:147.28, Y:-88.71, Z:-17.73 [[ 8.80057008e-01 4.62352792e-01 1.08303083e-01 1.47281688e+02] [-4.58341058e-01 8.86687218e-01 -6.09036294e-02 -8.87119259e+01] [-1.24189923e-01 3.95891605e-03 9.92250568e-01 -1.77255540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57592 meters 0.033770207055590286 Centerline is valid? [True, True] Translation: X:147.31, Y:-88.73, Z:-17.73 [[ 8.80812266e-01 4.61506492e-01 1.05742661e-01 1.47309583e+02] [-4.57670100e-01 8.87127677e-01 -5.95194383e-02 -8.87291067e+01] [-1.21275848e-01 4.03019695e-03 9.92610662e-01 -1.77261311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60592 meters 0.03392173061030242 Centerline is valid? [True, True] Translation: X:147.34, Y:-88.75, Z:-17.73 [[ 8.80302996e-01 4.62367762e-01 1.06219998e-01 1.47337822e+02] [-4.58495506e-01 8.86679308e-01 -5.98471059e-02 -8.87460531e+01] [-1.21854446e-01 3.98219504e-03 9.92539992e-01 -1.77304339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63592 meters 0.03364733587757897 Centerline is valid? [True, True] Translation: X:147.37, Y:-88.76, Z:-17.73 [[ 8.79772528e-01 4.63229363e-01 1.06859045e-01 1.47365504e+02] [-4.59308316e-01 8.86229648e-01 -6.02733931e-02 -8.87647831e+01] [-1.22622060e-01 3.94562729e-03 9.92445597e-01 -1.77333457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66592 meters 0.03381036865242045 Centerline is valid? [True, True] Translation: X:147.39, Y:-88.78, Z:-17.74 [[ 8.79498138e-01 4.63529940e-01 1.07810109e-01 1.47392005e+02] [-4.59532659e-01 8.86072243e-01 -6.08745841e-02 -8.87823978e+01] [-1.23744738e-01 3.99681715e-03 9.92306034e-01 -1.77365763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69592 meters 0.03345593500896891 Centerline is valid? [True, True] Translation: X:147.42, Y:-88.80, Z:-17.74 [[ 8.78335026e-01 4.65257480e-01 1.09831960e-01 1.47418236e+02] [-4.61113997e-01 8.85166896e-01 -6.20761523e-02 -8.88014888e+01] [-1.26101009e-01 3.87860499e-03 9.92009825e-01 -1.77383278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72592 meters 0.03308300593500406 Centerline is valid? [True, True] Translation: X:147.45, Y:-88.82, Z:-17.74 [[ 8.78046794e-01 4.66131723e-01 1.08420682e-01 1.47445542e+02] [-4.62093861e-01 8.84707359e-01 -6.13363850e-02 -8.88190884e+01] [-1.24511410e-01 3.75568467e-03 9.92211068e-01 -1.77415160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75592 meters 0.03269525773007599 Centerline is valid? [True, True] Translation: X:147.47, Y:-88.84, Z:-17.74 [[ 8.77052022e-01 4.68560974e-01 1.05973415e-01 1.47469678e+02] [-4.64715884e-01 8.83424713e-01 -5.99993713e-02 -8.88403570e+01] [-1.21732898e-01 3.37504065e-03 9.92557157e-01 -1.77449578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78592 meters 0.03249797705050799 Centerline is valid? [True, True] Translation: X:147.50, Y:-88.86, Z:-17.75 [[ 8.76005968e-01 4.70278303e-01 1.07013374e-01 1.47496938e+02] [-4.66366247e-01 8.82512391e-01 -6.06168567e-02 -8.88592701e+01] [-1.22947421e-01 3.19330263e-03 9.92408048e-01 -1.77483530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81592 meters 0.03216113285599038 Centerline is valid? [True, True] Translation: X:147.53, Y:-88.88, Z:-17.75 [[ 8.75187974e-01 4.71684459e-01 1.07516421e-01 1.47525065e+02] [-4.67737469e-01 8.81762067e-01 -6.09698088e-02 -8.88770763e+01] [-1.23562413e-01 3.07058485e-03 9.92332052e-01 -1.77501983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84592 meters 0.03152280066036935 Centerline is valid? [True, True] Translation: X:147.55, Y:-88.89, Z:-17.75 [[ 8.72807275e-01 4.75951373e-01 1.08063643e-01 1.47551699e+02] [-4.71988114e-01 8.79467933e-01 -6.13463503e-02 -8.88949817e+01] [-1.24236389e-01 2.53878562e-03 9.92249401e-01 -1.77516980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87592 meters 0.031215807642005305 Centerline is valid? [True, True] Translation: X:147.58, Y:-88.91, Z:-17.76 [[ 8.71229031e-01 4.78755653e-01 1.08411254e-01 1.47578161e+02] [-4.74780767e-01 8.77945435e-01 -6.16038662e-02 -8.89123712e+01] [-1.24672365e-01 2.19949828e-03 9.92195527e-01 -1.77555964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90592 meters 0.03084081378464745 Centerline is valid? [True, True] Translation: X:147.60, Y:-88.93, Z:-17.76 [[ 8.69524545e-01 4.82229113e-01 1.06687152e-01 1.47604735e+02] [-4.78399930e-01 8.76043451e-01 -6.06743655e-02 -8.89312535e+01] [-1.22721526e-01 1.71872420e-03 9.92439657e-01 -1.77593919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93592 meters 0.031022671037480878 Centerline is valid? [True, True] Translation: X:147.63, Y:-88.95, Z:-17.76 [[ 8.68966302e-01 4.82881779e-01 1.08271662e-01 1.47631815e+02] [-4.78939464e-01 8.75683955e-01 -6.16003417e-02 -8.89471235e+01] [-1.24557439e-01 1.67304959e-03 9.92210988e-01 -1.77641326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96592 meters 0.030922552713715266 Centerline is valid? [True, True] Translation: X:147.66, Y:-88.96, Z:-17.77 [[ 8.68361154e-01 4.83838151e-01 1.08855641e-01 1.47660642e+02] [-4.79855115e-01 8.75156067e-01 -6.19752190e-02 -8.89635994e+01] [-1.25251650e-01 1.58193637e-03 9.92123743e-01 -1.77667347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99592 meters 0.03108596979094987 Centerline is valid? [True, True] Translation: X:147.69, Y:-88.98, Z:-17.77 [[ 8.68102839e-01 4.84352145e-01 1.08629928e-01 1.47689460e+02] [-4.80380834e-01 8.74871731e-01 -6.19169537e-02 -8.89797495e+01] [-1.25026863e-01 1.56654766e-03 9.92152120e-01 -1.77697085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02592 meters 0.03107424889910616 Centerline is valid? [True, True] Translation: X:147.72, Y:-88.99, Z:-17.77 [[ 8.68163682e-01 4.84516972e-01 1.07401698e-01 1.47717916e+02] [-4.80628241e-01 8.74780427e-01 -6.12837589e-02 -8.89948005e+01] [-1.23645924e-01 1.58404467e-03 9.92325136e-01 -1.77719603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.05592000000001 meters 0.03125184142737496 Centerline is valid? [True, True] Translation: X:147.75, Y:-89.01, Z:-17.78 [[ 8.68259791e-01 4.84013728e-01 1.08883632e-01 1.47746771e+02] [-4.80004645e-01 8.75058686e-01 -6.21919370e-02 -8.90089292e+01] [-1.25381319e-01 1.73410904e-03 9.92107110e-01 -1.77765671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08592000000002 meters 0.03150538799807166 Centerline is valid? [True, True] Translation: X:147.77, Y:-89.02, Z:-17.78 [[ 8.67968789e-01 4.84237382e-01 1.10201362e-01 1.47774804e+02] [-4.80123950e-01 8.74934852e-01 -6.30079164e-02 -8.90243437e+01] [-1.26929800e-01 1.77859184e-03 9.91910108e-01 -1.77807362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11592000000002 meters 0.03127126230465104 Centerline is valid? [True, True] Translation: X:147.80, Y:-89.04, Z:-17.78 [[ 8.67527387e-01 4.85078056e-01 1.09979600e-01 1.47803747e+02] [-4.80979726e-01 8.74469187e-01 -6.29455671e-02 -8.90407382e+01] [-1.26707285e-01 1.70904555e-03 9.91938679e-01 -1.77830084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14592000000002 meters 0.03135695994565944 Centerline is valid? [True, True] Translation: X:147.83, Y:-89.06, Z:-17.79 [[ 8.67187350e-01 4.85627114e-01 1.10237947e-01 1.47832895e+02] [-4.81504727e-01 8.74164419e-01 -6.31645976e-02 -8.90569532e+01] [-1.27040532e-01 1.69544742e-03 9.91896078e-01 -1.77852691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17592000000002 meters 0.031594482135015756 Centerline is valid? [True, True] Translation: X:147.86, Y:-89.07, Z:-17.79 [[ 8.67571328e-01 4.84886781e-01 1.10475340e-01 1.47860617e+02] [-4.80731686e-01 8.74574935e-01 -6.33697792e-02 -8.90724948e+01] [-1.27346131e-01 1.86880711e-03 9.91856578e-01 -1.77895318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20592000000002 meters 0.03164242535421016 Centerline is valid? [True, True] Translation: X:147.89, Y:-89.09, Z:-17.79 [[ 8.68983418e-01 4.82819534e-01 1.08411793e-01 1.47887374e+02] [-4.78795175e-01 8.75717150e-01 -6.22467202e-02 -8.90893157e+01] [-1.24991999e-01 2.18432404e-03 9.92155345e-01 -1.77933167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23592000000002 meters 0.031734755554143804 Centerline is valid? [True, True] Translation: X:147.92, Y:-89.11, Z:-17.80 [[ 8.69110924e-01 4.82744494e-01 1.07721654e-01 1.47916163e+02] [-4.78763024e-01 8.75758388e-01 -6.19129474e-02 -8.91058570e+01] [-1.24226276e-01 2.23607411e-03 9.92251396e-01 -1.77962666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26592 meters 0.03206705739176863 Centerline is valid? [True, True] Translation: X:147.94, Y:-89.12, Z:-17.80 [[ 8.70274891e-01 4.80401774e-01 1.08792233e-01 1.47944622e+02] [-4.76313499e-01 8.77044511e-01 -6.25969333e-02 -8.91213129e+01] [-1.25487309e-01 2.65732991e-03 9.92091666e-01 -1.77985094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29592 meters 0.03259606107642331 Centerline is valid? [True, True] Translation: X:147.97, Y:-89.14, Z:-17.80 [[ 8.70987416e-01 4.78613735e-01 1.10949602e-01 1.47971773e+02] [-4.74339876e-01 8.78020373e-01 -6.38897952e-02 -8.91381343e+01] [-1.27994545e-01 3.01938702e-03 9.91770276e-01 -1.78023587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32592 meters 0.03276162859926457 Centerline is valid? [True, True] Translation: X:148.00, Y:-89.16, Z:-17.81 [[ 8.71182292e-01 4.78132705e-01 1.11492294e-01 1.47998692e+02] [-4.73809019e-01 8.78282022e-01 -6.42316352e-02 -8.91555896e+01] [-1.28632923e-01 3.13140874e-03 9.91687333e-01 -1.78051237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35592 meters 0.03307089325292829 Centerline is valid? [True, True] Translation: X:148.03, Y:-89.17, Z:-17.81 [[ 8.72496285e-01 4.75987270e-01 1.10391813e-01 1.48025363e+02] [-4.71723953e-01 8.79445334e-01 -6.36585854e-02 -8.91734033e+01] [-1.27384241e-01 3.46741670e-03 9.91847383e-01 -1.78103371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38592 meters 0.033359627754184905 Centerline is valid? [True, True] Translation: X:148.05, Y:-89.19, Z:-17.81 [[ 8.73337686e-01 4.74916172e-01 1.08332433e-01 1.48053063e+02] [-4.70795445e-01 8.80023645e-01 -6.25302656e-02 -8.91898461e+01] [-1.25031737e-01 3.60762132e-03 9.92146184e-01 -1.78130131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41592 meters 0.03366690445067428 Centerline is valid? [True, True] Translation: X:148.08, Y:-89.21, Z:-17.82 [[ 8.74204451e-01 4.73365760e-01 1.08126935e-01 1.48079280e+02] [-4.69241390e-01 8.80857446e-01 -6.24714156e-02 -8.92094243e+01] [-1.24816245e-01 3.87515633e-03 9.92172308e-01 -1.78165454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44592 meters 0.03366690445067428 Centerline is valid? [True, True] Translation: X:148.11, Y:-89.23, Z:-17.82 [[ 8.73983820e-01 4.73779085e-01 1.08100237e-01 1.48107585e+02] [-4.69652157e-01 8.80635227e-01 -6.25175855e-02 -8.92253688e+01] [-1.24816401e-01 3.86984885e-03 9.92172309e-01 -1.78196432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47592 meters 0.033880490483521916 Centerline is valid? [True, True] Translation: X:148.13, Y:-89.24, Z:-17.82 [[ 8.74072027e-01 4.73228323e-01 1.09786368e-01 1.48133791e+02] [-4.68958125e-01 8.80930407e-01 -6.35601723e-02 -8.92439919e+01] [-1.26792624e-01 4.07095919e-03 9.91920893e-01 -1.78226440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50592 meters 0.03407996682375053 Centerline is valid? [True, True] Translation: X:148.16, Y:-89.26, Z:-17.83 [[ 8.74229448e-01 4.73047748e-01 1.09310112e-01 1.48161369e+02] [-4.68805407e-01 8.81027092e-01 -6.33462911e-02 -8.92626413e+01] [-1.26270991e-01 4.13402130e-03 9.91987171e-01 -1.78252669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53592 meters 0.03469795658749817 Centerline is valid? [True, True] Translation: X:148.19, Y:-89.28, Z:-17.83 [[ 8.75688240e-01 4.70523289e-01 1.08526224e-01 1.48187386e+02] [-4.66314200e-01 8.82375978e-01 -6.29579344e-02 -8.92826726e+01] [-1.25384108e-01 4.52420336e-03 9.92097957e-01 -1.78277124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56592 meters 0.03489075148977383 Centerline is valid? [True, True] Translation: X:148.21, Y:-89.30, Z:-17.83 [[ 8.76099309e-01 4.69418126e-01 1.09984654e-01 1.48212944e+02] [-4.65078327e-01 8.82962960e-01 -6.38636084e-02 -8.93012515e+01] [-1.27091111e-01 4.79938422e-03 9.91879436e-01 -1.78324660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59592 meters 0.035348751638745395 Centerline is valid? [True, True] Translation: X:148.24, Y:-89.32, Z:-17.84 [[ 8.76520103e-01 4.68737708e-01 1.09532968e-01 1.48236906e+02] [-4.64421142e-01 8.83323653e-01 -6.36578879e-02 -8.93230483e+01] [-1.26591914e-01 4.92799223e-03 9.91942641e-01 -1.78357320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62592 meters 0.03510656953466486 Centerline is valid? [True, True] Translation: X:148.26, Y:-89.34, Z:-17.84 [[ 8.76339133e-01 4.69279552e-01 1.08657381e-01 1.48263452e+02] [-4.65029500e-01 8.83036302e-01 -6.32016974e-02 -8.93423921e+01] [-1.25607676e-01 4.85723329e-03 9.92068102e-01 -1.78373172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65592 meters 0.034960939346110324 Centerline is valid? [True, True] Translation: X:148.29, Y:-89.36, Z:-17.84 [[ 8.75962384e-01 4.70059648e-01 1.08322802e-01 1.48289959e+02] [-4.65836899e-01 8.82621789e-01 -6.30457019e-02 -8.93609618e+01] [-1.25243305e-01 4.76490530e-03 9.92114615e-01 -1.78400662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68592 meters 0.034716633922669535 Centerline is valid? [True, True] Translation: X:148.31, Y:-89.38, Z:-17.84 [[ 8.74692896e-01 4.72522038e-01 1.07866869e-01 1.48313811e+02] [-4.68346090e-01 8.81307640e-01 -6.28393519e-02 -8.93838650e+01] [-1.24756874e-01 4.44610826e-03 9.92177381e-01 -1.78430511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71592 meters 0.03437125814930294 Centerline is valid? [True, True] Translation: X:148.34, Y:-89.40, Z:-17.85 [[ 8.73375206e-01 4.74754771e-01 1.08736635e-01 1.48339579e+02] [-4.70520498e-01 8.80108031e-01 -6.34059534e-02 -8.94038624e+01] [-1.25802265e-01 4.21437194e-03 9.92046385e-01 -1.78459178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74592 meters 0.03325302356955156 Centerline is valid? [True, True] Translation: X:148.36, Y:-89.42, Z:-17.85 [[ 8.71724284e-01 4.78330436e-01 1.06286248e-01 1.48364763e+02] [-4.74306222e-01 8.78172324e-01 -6.20240070e-02 -8.94243697e+01] [-1.23005612e-01 3.65560442e-03 9.92399242e-01 -1.78466581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.77592 meters 0.03347086066316821 Centerline is valid? [True, True] Translation: X:148.39, Y:-89.44, Z:-17.85 [[ 8.71103245e-01 4.79330768e-01 1.06869788e-01 1.48392601e+02] [-4.75266345e-01 8.77627122e-01 -6.23901909e-02 -8.94425732e+01] [-1.23697362e-01 3.55668430e-03 9.92313616e-01 -1.78507904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80592000000001 meters 0.0330244118995824 Centerline is valid? [True, True] Translation: X:148.42, Y:-89.46, Z:-17.85 [[ 8.70819118e-01 4.80205282e-01 1.05247094e-01 1.48419259e+02] [-4.76262272e-01 8.77149404e-01 -6.15074939e-02 -8.94608985e+01] [-1.21853650e-01 3.43668133e-03 9.92542129e-01 -1.78529421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.83592000000002 meters 0.03304330102680122 Centerline is valid? [True, True] Translation: X:148.45, Y:-89.48, Z:-17.86 [[ 8.70899290e-01 4.79943879e-01 1.05774761e-01 1.48445412e+02] [-4.75951811e-01 8.77292036e-01 -6.18753384e-02 -8.94807033e+01] [-1.22492046e-01 3.54349902e-03 9.92463169e-01 -1.78555791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86592000000002 meters 0.03279902486351637 Centerline is valid? [True, True] Translation: X:148.47, Y:-89.50, Z:-17.86 [[ 8.70570974e-01 4.80691918e-01 1.05078346e-01 1.48472418e+02] [-4.76750654e-01 8.76882693e-01 -6.15268762e-02 -8.94976691e+01] [-1.21716855e-01 3.46734258e-03 9.92558807e-01 -1.78585002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89592000000002 meters 0.03295518501466958 Centerline is valid? [True, True] Translation: X:148.50, Y:-89.52, Z:-17.86 [[ 8.69936853e-01 4.81845692e-01 1.05045709e-01 1.48499648e+02] [-4.77907968e-01 8.76249655e-01 -6.15671739e-02 -8.95151722e+01] [-1.21712144e-01 3.35737231e-03 9.92559763e-01 -1.78624712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92592000000002 meters 0.03288663760289563 Centerline is valid? [True, True] Translation: X:148.53, Y:-89.53, Z:-17.87 [[ 8.69301385e-01 4.82970353e-01 1.05141522e-01 1.48525973e+02] [-4.79026293e-01 8.75630653e-01 -6.16828224e-02 -8.95330844e+01] [-1.21856114e-01 3.25540943e-03 9.92542437e-01 -1.78671052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95592000000002 meters 0.03278143335501648 Centerline is valid? [True, True] Translation: X:148.55, Y:-89.55, Z:-17.87 [[ 8.68745845e-01 4.83962055e-01 1.05173129e-01 1.48552802e+02] [-4.80015534e-01 8.75083243e-01 -6.17608663e-02 -8.95511066e+01] [-1.21925159e-01 3.16976012e-03 9.92534235e-01 -1.78700702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98592 meters 0.03248771735142624 Centerline is valid? [True, True] Translation: X:148.58, Y:-89.57, Z:-17.87 [[ 8.66556710e-01 4.87465996e-01 1.07034437e-01 1.48579719e+02] [-4.83396780e-01 8.73137547e-01 -6.29156444e-02 -8.95682633e+01] [-1.24125023e-01 2.77987179e-03 9.92262693e-01 -1.78734406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01592 meters 0.03220569014960464 Centerline is valid? [True, True] Translation: X:148.61, Y:-89.59, Z:-17.88 [[ 8.65367644e-01 4.89789954e-01 1.06040757e-01 1.48606643e+02] [-4.85806106e-01 8.71836950e-01 -6.23919882e-02 -8.95863916e+01] [-1.23009219e-01 2.47676059e-03 9.92402437e-01 -1.78771214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04592 meters 0.03214469701454115 Centerline is valid? [True, True] Translation: X:148.63, Y:-89.60, Z:-17.88 [[ 8.64898651e-01 4.90709196e-01 1.05616330e-01 1.48633772e+02] [-4.86756670e-01 8.71320134e-01 -6.22026467e-02 -8.96033610e+01] [-1.22549046e-01 2.38953196e-03 9.92459582e-01 -1.78794662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07592 meters 0.032069557828406495 Centerline is valid? [True, True] Translation: X:148.66, Y:-89.62, Z:-17.88 [[ 8.64961791e-01 4.90785549e-01 1.04740853e-01 1.48661538e+02] [-4.86891802e-01 8.71277070e-01 -6.17465841e-02 -8.96197660e+01] [-1.21562635e-01 2.41097324e-03 9.92580835e-01 -1.78824759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10592 meters 0.03196669018906733 Centerline is valid? [True, True] Translation: X:148.69, Y:-89.64, Z:-17.88 [[ 8.64621075e-01 4.91539314e-01 1.04016827e-01 1.48689750e+02] [-4.87697607e-01 8.70852239e-01 -6.13793281e-02 -8.96358847e+01] [-1.20753640e-01 2.34110303e-03 9.92679746e-01 -1.78844057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13592 meters 0.032010025047879975 Centerline is valid? [True, True] Translation: X:148.72, Y:-89.65, Z:-17.89 [[ 8.64204228e-01 4.91838490e-01 1.06046932e-01 1.48718245e+02] [-4.87839276e-01 8.70683147e-01 -6.26394296e-02 -8.96503435e+01] [-1.23141759e-01 2.39940122e-03 9.92386190e-01 -1.78878456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16592 meters 0.032253766302342286 Centerline is valid? [True, True] Translation: X:148.75, Y:-89.67, Z:-17.89 [[ 8.63873743e-01 4.92622912e-01 1.05094352e-01 1.48746459e+02] [-4.88693837e-01 8.70239786e-01 -6.21373366e-02 -8.96654902e+01] [-1.22067562e-01 2.31985170e-03 9.92519082e-01 -1.78910621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19592 meters 0.032322353472781534 Centerline is valid? [True, True] Translation: X:148.77, Y:-89.68, Z:-17.89 [[ 8.64375479e-01 4.91456767e-01 1.06420285e-01 1.48774346e+02] [-4.87411034e-01 8.70898180e-01 -6.29828937e-02 -8.96804641e+01] [-1.23634601e-01 2.57044807e-03 9.92324482e-01 -1.78945140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22592 meters 0.032468502638793445 Centerline is valid? [True, True] Translation: X:148.80, Y:-89.70, Z:-17.90 [[ 8.64414617e-01 4.91375283e-01 1.06478645e-01 1.48803182e+02] [-4.87316945e-01 8.70943959e-01 -6.30778512e-02 -8.96969131e+01] [-1.23731830e-01 2.63656842e-03 9.92312190e-01 -1.78976074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25592 meters 0.03262736232937373 Centerline is valid? [True, True] Translation: X:148.83, Y:-89.71, Z:-17.90 [[ 8.65093882e-01 4.90266339e-01 1.06073046e-01 1.48832638e+02] [-4.86222203e-01 8.71568027e-01 -6.29058314e-02 -8.97111518e+01] [-1.23290487e-01 2.84438004e-03 9.92366548e-01 -1.78996288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28592 meters 0.03257473167946951 Centerline is valid? [True, True] Translation: X:148.86, Y:-89.73, Z:-17.90 [[ 8.64791934e-01 4.90487247e-01 1.07504289e-01 1.48860844e+02] [-4.86326547e-01 8.71443522e-01 -6.38175366e-02 -8.97267529e+01] [-1.24985604e-01 2.90670117e-03 9.92154297e-01 -1.79019549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31592 meters 0.03270085727032498 Centerline is valid? [True, True] Translation: X:148.89, Y:-89.74, Z:-17.90 [[ 8.65307154e-01 4.89783492e-01 1.06562943e-01 1.48889856e+02] [-4.85682484e-01 8.71838809e-01 -6.33215227e-02 -8.97426619e+01] [-1.23919546e-01 3.03681174e-03 9.92287622e-01 -1.79048248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34592 meters 0.03247437758411008 Centerline is valid? [True, True] Translation: X:148.92, Y:-89.76, Z:-17.91 [[ 8.64630161e-01 4.91289895e-01 1.05113865e-01 1.48917675e+02] [-4.87303002e-01 8.70991488e-01 -6.25268889e-02 -8.97585386e+01] [-1.22272111e-01 2.84033184e-03 9.92492551e-01 -1.79078557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37592 meters 0.03254230456256105 Centerline is valid? [True, True] Translation: X:148.95, Y:-89.77, Z:-17.91 [[ 8.64036301e-01 4.92238256e-01 1.05559320e-01 1.48946193e+02] [-4.88216604e-01 8.70456092e-01 -6.28549005e-02 -8.97740213e+01] [-1.22824340e-01 2.77310292e-03 9.92424552e-01 -1.79114370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40592 meters 0.03248887527378541 Centerline is valid? [True, True] Translation: X:148.98, Y:-89.79, Z:-17.92 [[ 8.62980907e-01 4.93948060e-01 1.06203898e-01 1.48975387e+02] [-4.89881063e-01 8.69487502e-01 -6.33089835e-02 -8.97888810e+01] [-1.23614311e-01 2.60716570e-03 9.92326914e-01 -1.79152879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43592 meters 0.03258440162653465 Centerline is valid? [True, True] Translation: X:149.00, Y:-89.81, Z:-17.92 [[ 8.62176058e-01 4.95094338e-01 1.07396656e-01 1.49003115e+02] [-4.90935190e-01 8.68835535e-01 -6.40894038e-02 -8.98055831e+01] [-1.25040332e-01 2.53155170e-03 9.92148430e-01 -1.79187912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46592 meters 0.0324522306666664 Centerline is valid? [True, True] Translation: X:149.03, Y:-89.82, Z:-17.92 [[ 8.61537377e-01 4.96438148e-01 1.06313276e-01 1.49032071e+02] [-4.92365404e-01 8.68068872e-01 -6.35038732e-02 -8.98204479e+01] [-1.23812991e-01 2.36598120e-03 9.92302749e-01 -1.79210771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49592 meters 0.03227785170952329 Centerline is valid? [True, True] Translation: X:149.06, Y:-89.83, Z:-17.92 [[ 8.61164293e-01 4.97182200e-01 1.05858017e-01 1.49060902e+02] [-4.93142389e-01 8.67643105e-01 -6.32931812e-02 -8.98348509e+01] [-1.23315222e-01 2.30275206e-03 9.92364879e-01 -1.79242387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52592 meters 0.032081810985384776 Centerline is valid? [True, True] Translation: X:149.09, Y:-89.85, Z:-17.93 [[ 8.60760291e-01 4.98155111e-01 1.04561974e-01 1.49089189e+02] [-4.94214830e-01 8.67085190e-01 -6.25697660e-02 -8.98494768e+01] [-1.21833588e-01 2.18149151e-03 9.92548144e-01 -1.79263471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.55592000000001 meters 0.03214025885492334 Centerline is valid? [True, True] Translation: X:149.12, Y:-89.86, Z:-17.93 [[ 8.59031920e-01 5.00705084e-01 1.06576637e-01 1.49119286e+02] [-4.96626339e-01 8.65615890e-01 -6.38076061e-02 -8.98621582e+01] [-1.24203223e-01 1.88400533e-03 9.92255013e-01 -1.79302235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58592000000002 meters 0.03209448224353842 Centerline is valid? [True, True] Translation: X:149.15, Y:-89.88, Z:-17.93 [[ 8.58550385e-01 5.01635062e-01 1.06082524e-01 1.49148157e+02] [-4.97593461e-01 8.65077476e-01 -6.35744231e-02 -8.98768597e+01] [-1.23660762e-01 1.79587492e-03 9.92322927e-01 -1.79333069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61592000000002 meters 0.03215717472905171 Centerline is valid? [True, True] Translation: X:149.18, Y:-89.89, Z:-17.94 [[ 8.57445677e-01 5.03512630e-01 1.06122303e-01 1.49177446e+02] [-4.99474521e-01 8.63986421e-01 -6.36605673e-02 -8.98905697e+01] [-1.23742128e-01 1.58009202e-03 9.92313151e-01 -1.79375515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64592000000002 meters 0.032158426019372195 Centerline is valid? [True, True] Translation: X:149.21, Y:-89.91, Z:-17.94 [[ 8.56978692e-01 5.04334037e-01 1.05993872e-01 1.49206375e+02] [-5.00303966e-01 8.63507314e-01 -6.36479348e-02 -8.99061544e+01] [-1.23626304e-01 1.51576927e-03 9.92327688e-01 -1.79412518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67592000000002 meters 0.03206452991479008 Centerline is valid? [True, True] Translation: X:149.24, Y:-89.92, Z:-17.94 [[ 8.55583806e-01 5.06659437e-01 1.06172340e-01 1.49236035e+02] [-5.02624855e-01 8.62145389e-01 -6.38246298e-02 -8.99201312e+01] [-1.23873344e-01 1.24246261e-03 9.92297259e-01 -1.79432756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70592000000002 meters 0.032050051270855 Centerline is valid? [True, True] Translation: X:149.27, Y:-89.93, Z:-17.95 [[ 8.54873818e-01 5.07836592e-01 1.06267357e-01 1.49265757e+02] [-5.03795694e-01 8.61452680e-01 -6.39466852e-02 -8.99346091e+01] [-1.24018766e-01 1.12931013e-03 9.92279230e-01 -1.79457271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73592 meters 0.03216462546829237 Centerline is valid? [True, True] Translation: X:149.29, Y:-89.95, Z:-17.95 [[ 8.54075156e-01 5.08948446e-01 1.07364366e-01 1.49294659e+02] [-5.04823036e-01 8.60796374e-01 -6.46784784e-02 -8.99490265e+01] [-1.25336868e-01 1.04027658e-03 9.92113697e-01 -1.79495622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76592 meters 0.0322140276650984 Centerline is valid? [True, True] Translation: X:149.32, Y:-89.96, Z:-17.95 [[ 8.53580040e-01 5.09927623e-01 1.06653342e-01 1.49323723e+02] [-5.05856576e-01 8.60216790e-01 -6.43132803e-02 -8.99628952e+01] [-1.24540114e-01 9.45237732e-04 9.92214123e-01 -1.79538175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79592 meters 0.03219254044425175 Centerline is valid? [True, True] Translation: X:149.35, Y:-89.98, Z:-17.96 [[ 8.53536114e-01 5.10133068e-01 1.06020543e-01 1.49352000e+02] [-5.06104120e-01 8.60094950e-01 -6.39945007e-02 -8.99779114e+01] [-1.23833444e-01 9.64183982e-04 9.92302549e-01 -1.79566490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82592 meters 0.032253578943111615 Centerline is valid? [True, True] Translation: X:149.38, Y:-89.99, Z:-17.96 [[ 8.53612088e-01 5.09871630e-01 1.06664542e-01 1.49381020e+02] [-5.05783340e-01 8.60249841e-01 -6.44470567e-02 -8.99927487e+01] [-1.24617881e-01 1.06363857e-03 9.92204239e-01 -1.79602804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85592 meters 0.032409249782572404 Centerline is valid? [True, True] Translation: X:149.41, Y:-90.00, Z:-17.96 [[ 8.53778996e-01 5.09238241e-01 1.08341308e-01 1.49411417e+02] [-5.05006470e-01 8.60624714e-01 -6.55253154e-02 -9.00044854e+01] [-1.26609203e-01 1.23107666e-03 9.91951911e-01 -1.79617769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88592 meters 0.03264890431024803 Centerline is valid? [True, True] Translation: X:149.44, Y:-90.02, Z:-17.96 [[ 8.54075890e-01 5.08721747e-01 1.08427666e-01 1.49441114e+02] [-5.04470568e-01 8.60929914e-01 -6.56439586e-02 -9.00199793e+01] [-1.26743131e-01 1.36635610e-03 9.91934631e-01 -1.79646234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91592 meters 0.03287336858308869 Centerline is valid? [True, True] Translation: X:149.47, Y:-90.03, Z:-17.97 [[ 8.55060193e-01 5.07058645e-01 1.08460118e-01 1.49469785e+02] [-5.02782536e-01 8.61909929e-01 -6.57342813e-02 -9.00344516e+01] [-1.26813988e-01 1.67491423e-03 9.91925102e-01 -1.79689136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94592 meters 0.03293045588958055 Centerline is valid? [True, True] Translation: X:149.50, Y:-90.05, Z:-17.97 [[ 8.55794638e-01 5.06001212e-01 1.07602559e-01 1.49498881e+02] [-5.01776147e-01 8.62530732e-01 -6.52796687e-02 -9.00498303e+01] [-1.25842106e-01 1.87359297e-03 9.92048514e-01 -1.79718171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97592 meters 0.0330346876778044 Centerline is valid? [True, True] Translation: X:149.53, Y:-90.07, Z:-17.98 [[ 8.56044753e-01 5.05826453e-01 1.06428291e-01 1.49527063e+02] [-5.01683491e-01 8.62633087e-01 -6.46361472e-02 -9.00653930e+01] [-1.24503239e-01 1.93811799e-03 9.92217309e-01 -1.79752707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00592 meters 0.03315346067438983 Centerline is valid? [True, True] Translation: X:149.56, Y:-90.08, Z:-17.98 [[ 8.57173175e-01 5.03978553e-01 1.06112047e-01 1.49555535e+02] [-4.99838354e-01 8.63713226e-01 -6.45064638e-02 -9.00804064e+01] [-1.24160253e-01 2.25433934e-03 9.92259618e-01 -1.79784629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03592 meters 0.03326876834169871 Centerline is valid? [True, True] Translation: X:149.58, Y:-90.10, Z:-17.98 [[ 8.57278437e-01 5.03871206e-01 1.05770925e-01 1.49584356e+02] [-4.99748936e-01 8.63775686e-01 -6.43627706e-02 -9.00961905e+01] [-1.23792900e-01 2.31790821e-03 9.92305369e-01 -1.79809191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06592 meters 0.033512435058787815 Centerline is valid? [True, True] Translation: X:149.61, Y:-90.11, Z:-17.99 [[ 8.57464194e-01 5.03331314e-01 1.06830448e-01 1.49612603e+02] [-4.99112757e-01 8.64089946e-01 -6.50770425e-02 -9.01108183e+01] [-1.25066430e-01 2.48079413e-03 9.92145269e-01 -1.79857028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09592 meters 0.033592787436567906 Centerline is valid? [True, True] Translation: X:149.64, Y:-90.13, Z:-17.99 [[ 8.57673243e-01 5.03073454e-01 1.06365912e-01 1.49640728e+02] [-4.98881699e-01 8.64239858e-01 -6.48576756e-02 -9.01280750e+01] [-1.24553836e-01 2.56268603e-03 9.92209542e-01 -1.79892206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12592 meters 0.03353729414440578 Centerline is valid? [True, True] Translation: X:149.67, Y:-90.15, Z:-17.99 [[ 8.57940761e-01 5.02705665e-01 1.05946522e-01 1.49668687e+02] [-4.98535506e-01 8.64453529e-01 -6.46718208e-02 -9.01452806e+01] [-1.24096736e-01 2.66648821e-03 9.92266542e-01 -1.79915633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15592 meters 0.03362023014825889 Centerline is valid? [True, True] Translation: X:149.70, Y:-90.16, Z:-18.00 [[ 8.57803914e-01 5.03075917e-01 1.05295141e-01 1.49697059e+02] [-4.98951496e-01 8.64238145e-01 -6.43415398e-02 -9.01606721e+01] [-1.23368757e-01 2.65525642e-03 9.92357345e-01 -1.79952324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18592 meters 0.033369907200241654 Centerline is valid? [True, True] Translation: X:149.73, Y:-90.18, Z:-18.00 [[ 8.57575108e-01 5.03542914e-01 1.04926013e-01 1.49725852e+02] [-4.99443212e-01 8.63966203e-01 -6.41784905e-02 -9.01773362e+01] [-1.22969153e-01 2.63329100e-03 9.92407000e-01 -1.79979938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21592 meters 0.03347265642099648 Centerline is valid? [True, True] Translation: X:149.75, Y:-90.20, Z:-18.00 [[ 8.57771323e-01 5.03337007e-01 1.04308272e-01 1.49753503e+02] [-4.99275650e-01 8.64085951e-01 -6.38693514e-02 -9.01954982e+01] [-1.22279121e-01 2.70671753e-03 9.92492061e-01 -1.80024992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24592 meters 0.03339228335825932 Centerline is valid? [True, True] Translation: X:149.78, Y:-90.21, Z:-18.01 [[ 8.57285188e-01 5.04015180e-01 1.05027639e-01 1.49781539e+02] [-4.99893725e-01 8.63690607e-01 -6.43801068e-02 -9.02135044e+01] [-1.23159936e-01 2.68945437e-03 9.92383191e-01 -1.80061848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.27592 meters 0.03346223412689595 Centerline is valid? [True, True] Translation: X:149.81, Y:-90.23, Z:-18.01 [[ 8.56674153e-01 5.04836322e-01 1.06064530e-01 1.49809007e+02] [-5.00630348e-01 8.63210998e-01 -6.50847761e-02 -9.02305683e+01] [-1.24413228e-01 2.65732298e-03 9.92226933e-01 -1.80094749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30592000000001 meters 0.03350661979271222 Centerline is valid? [True, True] Translation: X:149.84, Y:-90.25, Z:-18.01 [[ 8.56086057e-01 5.05711948e-01 1.06639992e-01 1.49836365e+02] [-5.01458593e-01 8.62698477e-01 -6.55028037e-02 -9.02487959e+01] [-1.25123709e-01 2.60049669e-03 9.92137740e-01 -1.80105867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.33592000000002 meters 0.033468965879669896 Centerline is valid? [True, True] Translation: X:149.86, Y:-90.27, Z:-18.01 [[ 8.55551141e-01 5.06560461e-01 1.06905305e-01 1.49863057e+02] [-5.02283335e-01 8.62200685e-01 -6.57375791e-02 -9.02677846e+01] [-1.25473886e-01 2.54510763e-03 9.92093658e-01 -1.80142114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36592000000002 meters 0.033468965879669896 Centerline is valid? [True, True] Translation: X:149.89, Y:-90.28, Z:-18.02 [[ 8.55308935e-01 5.06976007e-01 1.06873542e-01 1.49890906e+02] [-5.02695666e-01 8.61956409e-01 -6.57891857e-02 -9.02844851e+01] [-1.25473873e-01 2.54521223e-03 9.92093659e-01 -1.80173074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39592000000002 meters 0.03319606699359843 Centerline is valid? [True, True] Translation: X:149.92, Y:-90.31, Z:-18.02 [[ 8.54724502e-01 5.08291230e-01 1.05290321e-01 1.49916445e+02] [-5.04139972e-01 8.61181991e-01 -6.48726939e-02 -9.03051646e+01] [-1.23648349e-01 2.36722171e-03 9.92323275e-01 -1.80198949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42592000000002 meters 0.033120152020600147 Centerline is valid? [True, True] Translation: X:149.94, Y:-90.32, Z:-18.02 [[ 8.53936336e-01 5.09643401e-01 1.05149120e-01 1.49943711e+02] [-5.05509644e-01 8.60382929e-01 -6.48167869e-02 -9.03227679e+01] [-1.23501955e-01 2.19551529e-03 9.92341900e-01 -1.80231100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45592000000002 meters 0.032909532246171026 Centerline is valid? [True, True] Translation: X:149.97, Y:-90.34, Z:-18.03 [[ 8.52536339e-01 5.11853619e-01 1.05771754e-01 1.49969391e+02] [-5.07679349e-01 8.59070485e-01 -6.52654696e-02 -9.03430966e+01] [-1.24271759e-01 1.94304933e-03 9.92246317e-01 -1.80271992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48592 meters 0.03291549810169045 Centerline is valid? [True, True] Translation: X:150.00, Y:-90.36, Z:-18.03 [[ 8.51665303e-01 5.13464881e-01 1.04976319e-01 1.49995319e+02] [-5.09357019e-01 8.58108815e-01 -6.48435798e-02 -9.03627878e+01] [-1.23376005e-01 1.75460230e-03 9.92358445e-01 -1.80297448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51592 meters 0.032856455526488304 Centerline is valid? [True, True] Translation: X:150.02, Y:-90.38, Z:-18.03 [[ 8.50470909e-01 5.15408900e-01 1.05132766e-01 1.50021050e+02] [-5.11295697e-01 8.56943013e-01 -6.50029418e-02 -9.03817105e+01] [-1.23595884e-01 1.52918017e-03 9.92331456e-01 -1.80319658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54592 meters 0.03264740271857915 Centerline is valid? [True, True] Translation: X:150.05, Y:-90.40, Z:-18.03 [[ 8.47882509e-01 5.19402373e-01 1.06378692e-01 1.50048293e+02] [-5.15213524e-01 8.54529193e-01 -6.58398281e-02 -9.04003189e+01] [-1.25101060e-01 1.01669812e-03 9.92143483e-01 -1.80348368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57592 meters 0.03246153370778931 Centerline is valid? [True, True] Translation: X:150.08, Y:-90.42, Z:-18.04 [[ 8.46832405e-01 5.21351416e-01 1.05202557e-01 1.50075918e+02] [-5.17261248e-01 8.53341720e-01 -6.51821341e-02 -9.04172668e+01] [-1.23756528e-01 7.81137741e-04 9.92312305e-01 -1.80373447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60592 meters 0.03227837895437916 Centerline is valid? [True, True] Translation: X:150.10, Y:-90.44, Z:-18.04 [[ 8.44337035e-01 5.25691255e-01 1.03651704e-01 1.50102714e+02] [-5.21746075e-01 8.50675417e-01 -6.42834897e-02 -9.04357315e+01] [-1.21967225e-01 1.97061356e-04 9.92534109e-01 -1.80402553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63592 meters 0.03209188170985394 Centerline is valid? [True, True] Translation: X:150.13, Y:-90.45, Z:-18.04 [[ 8.43280498e-01 5.27838358e-01 1.01314707e-01 1.50130319e+02] [-5.24078798e-01 8.49344844e-01 -6.28868038e-02 -9.04530983e+01] [-1.19245191e-01 -6.56747104e-05 9.92864835e-01 -1.80420672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66592 meters 0.0321369145125869 Centerline is valid? [True, True] Translation: X:150.16, Y:-90.47, Z:-18.04 [[ 8.41273416e-01 5.31075453e-01 1.01083638e-01 1.50158831e+02] [-5.27352455e-01 8.47324387e-01 -6.27755561e-02 -9.04698023e+01] [-1.18989189e-01 -4.95298384e-04 9.92895426e-01 -1.80447818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69592 meters 0.03202283429202019 Centerline is valid? [True, True] Translation: X:150.19, Y:-90.49, Z:-18.05 [[ 8.40868608e-01 5.31890352e-01 1.00163056e-01 1.50186582e+02] [-5.28232670e-01 8.46813058e-01 -6.22727168e-02 -9.04859631e+01] [-1.17941641e-01 -5.46225985e-04 9.93020378e-01 -1.80475386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72592 meters 0.03205606793899237 Centerline is valid? [True, True] Translation: X:150.22, Y:-90.50, Z:-18.05 [[ 8.39972646e-01 5.33199884e-01 1.00716626e-01 1.50215238e+02] [-5.29503197e-01 8.45989020e-01 -6.26812690e-02 -9.05025249e+01] [-1.18626805e-01 -6.79224087e-04 9.92938679e-01 -1.80503963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75592 meters 0.031865988344465204 Centerline is valid? [True, True] Translation: X:150.24, Y:-90.52, Z:-18.05 [[ 8.39849212e-01 5.33405783e-01 1.00655711e-01 1.50244379e+02] [-5.29707423e-01 8.45859234e-01 -6.27072703e-02 -9.05176712e+01] [-1.18588983e-01 -6.53425680e-04 9.92943214e-01 -1.80528036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78592 meters 0.03179226660219253 Centerline is valid? [True, True] Translation: X:150.27, Y:-90.53, Z:-18.06 [[ 8.40209388e-01 5.33043805e-01 9.95614745e-02 1.50272684e+02] [-5.29418788e-01 8.46087457e-01 -6.20625743e-02 -9.05333561e+01] [-1.17319785e-01 -5.64157597e-04 9.93094029e-01 -1.80559512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81592 meters 0.03159791364593141 Centerline is valid? [True, True] Translation: X:150.30, Y:-90.55, Z:-18.06 [[ 8.41542680e-01 5.30604520e-01 1.01315158e-01 1.50301413e+02] [-5.26824766e-01 8.47619498e-01 -6.32206635e-02 -9.05473732e+01] [-1.19421874e-01 -1.72448050e-04 9.92843586e-01 -1.80604503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84592 meters 0.031724656544783375 Centerline is valid? [True, True] Translation: X:150.33, Y:-90.56, Z:-18.06 [[ 8.42569787e-01 5.29014334e-01 1.01093957e-01 1.50329421e+02] [-5.25231887e-01 8.48612882e-01 -6.31477807e-02 -9.05638953e+01] [-1.19195715e-01 1.08642416e-04 9.92870772e-01 -1.80634759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87592 meters 0.031768251428447344 Centerline is valid? [True, True] Translation: X:150.36, Y:-90.58, Z:-18.07 [[ 8.45520989e-01 5.24488020e-01 1.00032864e-01 1.50358178e+02] [-5.20744757e-01 8.51417451e-01 -6.25557580e-02 -9.05803953e+01] [-1.17979472e-01 8.00616923e-04 9.93015711e-01 -1.80673220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90592 meters 0.03150696133655618 Centerline is valid? [True, True] Translation: X:150.39, Y:-90.60, Z:-18.07 [[ 8.46272240e-01 5.23561631e-01 9.85216459e-02 1.50385801e+02] [-5.19916880e-01 8.51987249e-01 -6.16779241e-02 -9.05974125e+01] [-1.16231381e-01 9.73248288e-04 9.93221687e-01 -1.80693851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93592 meters 0.031626519696025576 Centerline is valid? [True, True] Translation: X:150.41, Y:-90.61, Z:-18.07 [[ 8.46944717e-01 5.22231359e-01 9.97950568e-02 1.50412720e+02] [-5.18474912e-01 8.52802972e-01 -6.25368340e-02 -9.06142111e+01] [-1.17764217e-01 1.22400787e-03 9.93040831e-01 -1.80726889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96592 meters 0.03204891713920119 Centerline is valid? [True, True] Translation: X:150.44, Y:-90.63, Z:-18.08 [[ 8.49187742e-01 5.18322792e-01 1.01102243e-01 1.50438162e+02] [-5.14431749e-01 8.55183070e-01 -6.34183893e-02 -9.06331342e+01] [-1.19332123e-01 1.84391534e-03 9.92852680e-01 -1.80771421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99592 meters 0.0320925326875594 Centerline is valid? [True, True] Translation: X:150.46, Y:-90.65, Z:-18.08 [[ 8.49886365e-01 5.17194628e-01 1.01009323e-01 1.50464576e+02] [-5.13295466e-01 8.55865352e-01 -6.34213265e-02 -9.06514378e+01] [-1.19251550e-01 2.05329287e-03 9.92861950e-01 -1.80795136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02592 meters 0.03271638457739813 Centerline is valid? [True, True] Translation: X:150.49, Y:-90.67, Z:-18.08 [[ 8.51250115e-01 5.14549876e-01 1.03012949e-01 1.50491380e+02] [-5.10466913e-01 8.57456729e-01 -6.47417129e-02 -9.06687874e+01] [-1.21641987e-01 2.52668823e-03 9.92570825e-01 -1.80839727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.05592000000001 meters 0.032816169894170244 Centerline is valid? [True, True] Translation: X:150.52, Y:-90.69, Z:-18.09 [[ 8.51533021e-01 5.13923490e-01 1.03798655e-01 1.50518541e+02] [-5.09765570e-01 8.57831810e-01 -6.52966236e-02 -9.06862433e+01] [-1.22599257e-01 2.68925069e-03 9.92452614e-01 -1.80874540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08592000000002 meters 0.03270303936678213 Centerline is valid? [True, True] Translation: X:150.55, Y:-90.70, Z:-18.09 [[ 8.52264821e-01 5.13098243e-01 1.01857099e-01 1.50545452e+02] [-5.09081987e-01 8.58325300e-01 -6.41343061e-02 -9.07047268e+01] [-1.20333725e-01 2.80579863e-03 9.92729531e-01 -1.80892006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11592000000002 meters 0.03303998055379838 Centerline is valid? [True, True] Translation: X:150.57, Y:-90.73, Z:-18.09 [[ 8.52824490e-01 5.11793429e-01 1.03720177e-01 1.50570058e+02] [-5.07611022e-01 8.59102951e-01 -6.53694786e-02 -9.07251889e+01] [-1.22561980e-01 3.09918696e-03 9.92456022e-01 -1.80936934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14592000000002 meters 0.03317310322549241 Centerline is valid? [True, True] Translation: X:150.60, Y:-90.74, Z:-18.10 [[ 8.53242643e-01 5.11051800e-01 1.03937718e-01 1.50596234e+02] [-5.06838666e-01 8.59543711e-01 -6.55680907e-02 -9.07432378e+01] [-1.22847702e-01 3.26583682e-03 9.92420161e-01 -1.80963821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17592000000002 meters 0.03346859080646033 Centerline is valid? [True, True] Translation: X:150.62, Y:-90.76, Z:-18.10 [[ 8.55005039e-01 5.07905978e-01 1.04870876e-01 1.50620603e+02] [-5.03586472e-01 8.61404145e-01 -6.62084971e-02 -9.07642922e+01] [-1.23963899e-01 3.79704420e-03 9.92279464e-01 -1.80985145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20592000000002 meters 0.033715413139801136 Centerline is valid? [True, True] Translation: X:150.65, Y:-90.78, Z:-18.10 [[ 8.55457543e-01 5.06986247e-01 1.05628297e-01 1.50646012e+02] [-5.02593297e-01 8.61944937e-01 -6.67150971e-02 -9.07844028e+01] [-1.24869413e-01 3.98385896e-03 9.92165187e-01 -1.81015024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23592 meters 0.03421664176787844 Centerline is valid? [True, True] Translation: X:150.67, Y:-90.80, Z:-18.10 [[ 8.56081023e-01 5.05979468e-01 1.05404273e-01 1.50671681e+02] [-5.01589882e-01 8.62535416e-01 -6.66351727e-02 -9.08036409e+01] [-1.24630948e-01 4.17539006e-03 9.92194383e-01 -1.81046995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26592 meters 0.03427069070662432 Centerline is valid? [True, True] Translation: X:150.70, Y:-90.82, Z:-18.11 [[ 8.56846167e-01 5.04774527e-01 1.04963434e-01 1.50696867e+02] [-5.00405109e-01 8.63240086e-01 -6.64174762e-02 -9.08246011e+01] [-1.24134494e-01 4.38532116e-03 9.92255711e-01 -1.81074526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29592 meters 0.03384972660374322 Centerline is valid? [True, True] Translation: X:150.72, Y:-90.84, Z:-18.11 [[ 8.56519239e-01 5.05444120e-01 1.04408017e-01 1.50722548e+02] [-5.01118479e-01 8.62848538e-01 -6.61261663e-02 -9.08437144e+01] [-1.23511387e-01 4.31754681e-03 9.92333762e-01 -1.81109149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32592 meters 0.03391016401682564 Centerline is valid? [True, True] Translation: X:150.75, Y:-90.87, Z:-18.12 [[ 8.55706160e-01 5.06775066e-01 1.04623133e-01 1.50745584e+02] [-5.02433829e-01 8.62068154e-01 -6.63230354e-02 -9.08677221e+01] [-1.23803132e-01 4.18682863e-03 9.92297967e-01 -1.81161140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35592 meters 0.03392642275794668 Centerline is valid? [True, True] Translation: X:150.77, Y:-90.89, Z:-18.12 [[ 8.54989433e-01 5.07555227e-01 1.06680644e-01 1.50770401e+02] [-5.03038813e-01 8.61608941e-01 -6.76903698e-02 -9.08889690e+01] [-1.26273598e-01 4.21004645e-03 9.91986519e-01 -1.81198545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38592 meters 0.03355733313376959 Centerline is valid? [True, True] Translation: X:150.80, Y:-90.91, Z:-18.12 [[ 8.54032210e-01 5.09384072e-01 1.05625995e-01 1.50796122e+02] [-5.04964313e-01 8.60530247e-01 -6.70726253e-02 -9.09090973e+01] [-1.25060091e-01 3.94482435e-03 9.92141327e-01 -1.81228444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41592 meters 0.032696554125223036 Centerline is valid? [True, True] Translation: X:150.82, Y:-90.93, Z:-18.13 [[ 8.52577825e-01 5.11850180e-01 1.05453522e-01 1.50821157e+02] [-5.07460856e-01 8.59067202e-01 -6.69852348e-02 -9.09303183e+01] [-1.24878067e-01 3.59659131e-03 9.92165577e-01 -1.81259312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44592 meters 0.03289617700549721 Centerline is valid? [True, True] Translation: X:150.85, Y:-90.95, Z:-18.13 [[ 8.52253217e-01 5.12299741e-01 1.05893486e-01 1.50847085e+02] [-5.07872654e-01 8.58799273e-01 -6.72991522e-02 -9.09500859e+01] [-1.25418587e-01 3.57551327e-03 9.92097472e-01 -1.81297554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47592 meters 0.032498384152331174 Centerline is valid? [True, True] Translation: X:150.87, Y:-90.97, Z:-18.13 [[ 8.51566016e-01 5.13513282e-01 1.05543497e-01 1.50871177e+02] [-5.09116043e-01 8.58074727e-01 -6.71462354e-02 -9.09714989e+01] [-1.25044691e-01 3.44556451e-03 9.92145127e-01 -1.81312991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50592 meters 0.032656759914516345 Centerline is valid? [True, True] Translation: X:150.90, Y:-90.99, Z:-18.14 [[ 8.51343894e-01 5.13964621e-01 1.05137737e-01 1.50898626e+02] [-5.09596577e-01 8.57804558e-01 -6.69527413e-02 -9.09887961e+01] [-1.24598970e-01 3.42197653e-03 9.92201283e-01 -1.81359827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53592 meters 0.03229363817700289 Centerline is valid? [True, True] Translation: X:150.93, Y:-91.01, Z:-18.14 [[ 8.50345634e-01 5.15723141e-01 1.04603751e-01 1.50925278e+02] [-5.11404088e-01 8.56749293e-01 -6.66821443e-02 -9.10070595e+01] [-1.24008715e-01 3.20808446e-03 9.92275943e-01 -1.81393492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56592 meters 0.031858663834743964 Centerline is valid? [True, True] Translation: X:150.95, Y:-91.03, Z:-18.14 [[ 8.48950309e-01 5.18240814e-01 1.03488319e-01 1.50949187e+02] [-5.14024756e-01 8.55229948e-01 -6.60324714e-02 -9.10285920e+01] [-1.22727031e-01 2.86272929e-03 9.92436336e-01 -1.81426700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59592 meters 0.03174073596018726 Centerline is valid? [True, True] Translation: X:150.98, Y:-91.05, Z:-18.15 [[ 8.48072764e-01 5.19506024e-01 1.04336374e-01 1.50976055e+02] [-5.15221642e-01 8.54462335e-01 -6.66391581e-02 -9.10485138e+01] [-1.23770946e-01 2.75849712e-03 9.92306981e-01 -1.81456453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62592 meters 0.03176489945655451 Centerline is valid? [True, True] Translation: X:151.00, Y:-91.07, Z:-18.15 [[ 8.46744636e-01 5.21162797e-01 1.06830991e-01 1.51002670e+02] [-5.16673951e-01 8.53453201e-01 -6.83056594e-02 -9.10664940e+01] [-1.26773620e-01 2.64066026e-03 9.91928161e-01 -1.81479316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65592 meters 0.03176679336593247 Centerline is valid? [True, True] Translation: X:151.03, Y:-91.08, Z:-18.15 [[ 8.45789193e-01 5.22581964e-01 1.07465028e-01 1.51030692e+02] [-5.18042106e-01 8.52585383e-01 -6.87789304e-02 -9.10845582e+01] [-1.27565741e-01 2.50106649e-03 9.91826964e-01 -1.81515518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68592 meters 0.03137566127084994 Centerline is valid? [True, True] Translation: X:151.06, Y:-91.11, Z:-18.15 [[ 8.44717858e-01 5.24469681e-01 1.06692520e-01 1.51056008e+02] [-5.20000942e-01 8.51426121e-01 -6.83562829e-02 -9.11051314e+01] [-1.26691596e-01 2.26156218e-03 9.91939577e-01 -1.81529660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71592 meters 0.03137741998007871 Centerline is valid? [True, True] Translation: X:151.08, Y:-91.12, Z:-18.16 [[ 8.43975830e-01 5.25524707e-01 1.07371227e-01 1.51083078e+02] [-5.20998374e-01 8.50775557e-01 -6.88596025e-02 -9.11229557e+01] [-1.27536238e-01 2.17560547e-03 9.91831525e-01 -1.81568098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74592 meters 0.03138908872861126 Centerline is valid? [True, True] Translation: X:151.11, Y:-91.14, Z:-18.16 [[ 8.43988763e-01 5.25623091e-01 1.06786398e-01 1.51110891e+02] [-5.21137310e-01 8.50714680e-01 -6.85597326e-02 -9.11399537e+01] [-1.26881335e-01 2.21326769e-03 9.91915434e-01 -1.81594275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.77592 meters 0.03164237166487672 Centerline is valid? [True, True] Translation: X:151.14, Y:-91.16, Z:-18.16 [[ 8.44332073e-01 5.24772212e-01 1.08247286e-01 1.51137742e+02] [-5.20145792e-01 8.51239206e-01 -6.95713171e-02 -9.11566056e+01] [-1.28653428e-01 2.43692393e-03 9.91686622e-01 -1.81630046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80592000000001 meters 0.031872873325299235 Centerline is valid? [True, True] Translation: X:151.17, Y:-91.18, Z:-18.17 [[ 8.44525559e-01 5.24480951e-01 1.08149494e-01 1.51165169e+02] [-5.19852070e-01 8.51418408e-01 -6.95738445e-02 -9.11752141e+01] [-1.28570626e-01 2.53515159e-03 9.91697115e-01 -1.81665175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.83592000000002 meters 0.03175176484806879 Centerline is valid? [True, True] Translation: X:151.19, Y:-91.19, Z:-18.17 [[ 8.44421183e-01 5.24838315e-01 1.07226904e-01 1.51192347e+02] [-5.20282034e-01 8.51198207e-01 -6.90522782e-02 -9.11918760e+01] [-1.27512630e-01 2.52097454e-03 9.91833743e-01 -1.81685347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86592000000002 meters 0.031585579162391554 Centerline is valid? [True, True] Translation: X:151.22, Y:-91.21, Z:-18.17 [[ 8.44524157e-01 5.24780931e-01 1.06695467e-01 1.51221376e+02] [-5.20260828e-01 8.51233426e-01 -6.87773571e-02 -9.12086177e+01] [-1.26915794e-01 2.57466737e-03 9.91910153e-01 -1.81708817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89592000000002 meters 0.0318531046671897 Centerline is valid? [True, True] Translation: X:151.25, Y:-91.22, Z:-18.17 [[ 8.44637524e-01 5.24505731e-01 1.07150327e-01 1.51248976e+02] [-5.19935229e-01 8.51402667e-01 -6.91437328e-02 -9.12248578e+01] [-1.27494358e-01 2.69016161e-03 9.91835648e-01 -1.81749316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92592000000002 meters 0.031879543561496373 Centerline is valid? [True, True] Translation: X:151.28, Y:-91.24, Z:-18.18 [[ 8.45584490e-01 5.23365641e-01 1.05239139e-01 1.51275113e+02] [-5.18940562e-01 8.52103396e-01 -6.79742310e-02 -9.12430643e+01] [-1.25250004e-01 2.86509767e-03 9.92121075e-01 -1.81769439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95592000000002 meters 0.03219457227570442 Centerline is valid? [True, True] Translation: X:151.30, Y:-91.26, Z:-18.18 [[ 8.46809412e-01 5.21403231e-01 1.05130821e-01 1.51301766e+02] [-5.16964124e-01 8.53304390e-01 -6.79684654e-02 -9.12611096e+01] [-1.25147569e-01 3.20747346e-03 9.92132954e-01 -1.81806388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98592 meters 0.03246460857136868 Centerline is valid? [True, True] Translation: X:151.33, Y:-91.28, Z:-18.18 [[ 8.47864905e-01 5.19841295e-01 1.04355788e-01 1.51328326e+02] [-5.15447906e-01 8.54255820e-01 -6.75311062e-02 -9.12786375e+01] [-1.24251997e-01 3.46728252e-03 9.92244637e-01 -1.81841061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01592 meters 0.03270842537432248 Centerline is valid? [True, True] Translation: X:151.35, Y:-91.30, Z:-18.19 [[ 8.48355521e-01 5.19087586e-01 1.04120064e-01 1.51354812e+02] [-5.14700570e-01 8.54713371e-01 -6.74416592e-02 -9.12970538e+01] [-1.24000939e-01 3.62384747e-03 9.92275483e-01 -1.81878660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04592 meters 0.03310539881107191 Centerline is valid? [True, True] Translation: X:151.38, Y:-91.32, Z:-18.19 [[ 8.49455768e-01 5.17429555e-01 1.03399969e-01 1.51379424e+02] [-5.13083322e-01 8.55716954e-01 -6.70373003e-02 -9.13183885e+01] [-1.23168187e-01 3.89242163e-03 9.92378177e-01 -1.81919166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07592 meters 0.03291896126254817 Centerline is valid? [True, True] Translation: X:151.41, Y:-91.34, Z:-18.20 [[ 8.49017867e-01 5.17997949e-01 1.04147905e-01 1.51405038e+02] [-5.13584474e-01 8.55372996e-01 -6.75871795e-02 -9.13384662e+01] [-1.24095326e-01 3.89397600e-03 9.92262660e-01 -1.81964537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10592 meters 0.03255275880330997 Centerline is valid? [True, True] Translation: X:151.43, Y:-91.36, Z:-18.20 [[ 8.47683891e-01 5.20026147e-01 1.04903900e-01 1.51429479e+02] [-5.15554586e-01 8.54142394e-01 -6.81486623e-02 -9.13607135e+01] [-1.25041954e-01 3.68483650e-03 9.92144612e-01 -1.81976032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13592 meters 0.03243656505360142 Centerline is valid? [True, True] Translation: X:151.45, Y:-91.38, Z:-18.20 [[ 8.46422848e-01 5.22098302e-01 1.04793725e-01 1.51454889e+02] [-5.17643938e-01 8.52878419e-01 -6.81407040e-02 -9.13804428e+01] [-1.24952453e-01 3.43001215e-03 9.92156802e-01 -1.82007549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16592 meters 0.0322203164058366 Centerline is valid? [True, True] Translation: X:151.48, Y:-91.40, Z:-18.20 [[ 8.45543014e-01 5.23881414e-01 1.02981923e-01 1.51480270e+02] [-5.19586978e-01 8.51785361e-01 -6.70154513e-02 -9.14011465e+01] [-1.22826644e-01 3.15638033e-03 9.92423122e-01 -1.82034959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19592 meters 0.031471743562151815 Centerline is valid? [True, True] Translation: X:151.50, Y:-91.42, Z:-18.21 [[ 8.42400322e-01 5.28843284e-01 1.03375426e-01 1.51502835e+02] [-5.24548890e-01 8.48715897e-01 -6.73036984e-02 -9.14247729e+01] [-1.23329477e-01 2.47119193e-03 9.92362703e-01 -1.82068272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22592 meters 0.03138764053146766 Centerline is valid? [True, True] Translation: X:151.53, Y:-91.45, Z:-18.21 [[ 8.39628196e-01 5.33057470e-01 1.04279561e-01 1.51527895e+02] [-5.28711419e-01 8.46076845e-01 -6.79573981e-02 -9.14452800e+01] [-1.24453721e-01 1.92515285e-03 9.92223546e-01 -1.82096446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25592 meters 0.03138764053146766 Centerline is valid? [True, True] Translation: X:151.56, Y:-91.46, Z:-18.21 [[ 8.39361248e-01 5.33483764e-01 1.04248592e-01 1.51555238e+02] [-5.29135092e-01 8.45808129e-01 -6.80048776e-02 -9.14626809e+01] [-1.24453805e-01 1.91907050e-03 9.92223547e-01 -1.82127405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28592 meters 0.031189709064139034 Centerline is valid? [True, True] Translation: X:151.58, Y:-91.48, Z:-18.22 [[ 8.38421117e-01 5.35238835e-01 1.02807690e-01 1.51581343e+02] [-5.31014353e-01 8.44699067e-01 -6.71360017e-02 -9.14814549e+01] [-1.22775355e-01 1.69588276e-03 9.92433039e-01 -1.82153072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31592 meters 0.031226253839466884 Centerline is valid? [True, True] Translation: X:151.61, Y:-91.50, Z:-18.22 [[ 8.37720531e-01 5.36344078e-01 1.02758656e-01 1.51608161e+02] [-5.32123651e-01 8.43997927e-01 -6.71708165e-02 -9.15002396e+01] [-1.22754762e-01 1.59006092e-03 9.92435761e-01 -1.82181836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34592 meters 0.031215778315797974 Centerline is valid? [True, True] Translation: X:151.63, Y:-91.52, Z:-18.22 [[ 8.36648198e-01 5.38053589e-01 1.02557927e-01 1.51633854e+02] [-5.33853554e-01 8.42909473e-01 -6.71118628e-02 -9.15190793e+01] [-1.22556827e-01 1.39810503e-03 9.92460513e-01 -1.82214049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37592 meters 0.03127148256774056 Centerline is valid? [True, True] Translation: X:151.66, Y:-91.54, Z:-18.23 [[ 8.35907577e-01 5.39014344e-01 1.03547383e-01 1.51660862e+02] [-5.34731610e-01 8.42295541e-01 -6.78257075e-02 -9.15359430e+01] [-1.23776529e-01 1.32596375e-03 9.92309232e-01 -1.82255368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40592 meters 0.031238313520289978 Centerline is valid? [True, True] Translation: X:151.69, Y:-91.55, Z:-18.23 [[ 8.34559660e-01 5.40719584e-01 1.05510689e-01 1.51687604e+02] [-5.36277086e-01 8.41202119e-01 -6.91800679e-02 -9.15544658e+01] [-1.26162833e-01 1.15192899e-03 9.92008877e-01 -1.82280349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43592 meters 0.03127805135741543 Centerline is valid? [True, True] Translation: X:151.71, Y:-91.57, Z:-18.23 [[ 8.34309368e-01 5.41169798e-01 1.05181409e-01 1.51714435e+02] [-5.36749848e-01 8.40912571e-01 -6.90336761e-02 -9.15737676e+01] [-1.25807309e-01 1.13933759e-03 9.92054042e-01 -1.82314890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46592 meters 0.031331331829000074 Centerline is valid? [True, True] Translation: X:151.74, Y:-91.59, Z:-18.23 [[ 8.33655111e-01 5.42204275e-01 1.05041324e-01 1.51740603e+02] [-5.37794522e-01 8.40246051e-01 -6.90190184e-02 -9.15930847e+01] [-1.25682964e-01 1.04740885e-03 9.92069904e-01 -1.82340793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49592 meters 0.03141785981966094 Centerline is valid? [True, True] Translation: X:151.77, Y:-91.61, Z:-18.24 [[ 8.33886938e-01 5.41973162e-01 1.04391889e-01 1.51768806e+02] [-5.37606559e-01 8.40395021e-01 -6.86687421e-02 -9.16102552e+01] [-1.24947039e-01 1.14020299e-03 9.92162758e-01 -1.82385139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52592 meters 0.03170478039259479 Centerline is valid? [True, True] Translation: X:151.80, Y:-91.63, Z:-18.24 [[ 8.34804837e-01 5.40333837e-01 1.05547277e-01 1.51795329e+02] [-5.35846852e-01 8.41449461e-01 -6.95050770e-02 -9.16282611e+01] [-1.26368645e-01 1.46599809e-03 9.91982266e-01 -1.82429535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.55592000000001 meters 0.031572840266447515 Centerline is valid? [True, True] Translation: X:151.82, Y:-91.65, Z:-18.25 [[ 8.34939044e-01 5.40110180e-01 1.05630425e-01 1.51821349e+02] [-5.35605332e-01 8.41592869e-01 -6.96302445e-02 -9.16478990e+01] [-1.26505817e-01 1.56079067e-03 9.91964638e-01 -1.82465307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58592000000002 meters 0.03180400228713218 Centerline is valid? [True, True] Translation: X:151.85, Y:-91.67, Z:-18.25 [[ 8.35343580e-01 5.39533580e-01 1.05378462e-01 1.51847736e+02] [-5.35035891e-01 8.41962347e-01 -6.95413646e-02 -9.16671614e+01] [-1.26244598e-01 1.70967328e-03 9.91997671e-01 -1.82504751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61592000000002 meters 0.03187334957484526 Centerline is valid? [True, True] Translation: X:151.87, Y:-91.69, Z:-18.25 [[ 8.35330699e-01 5.39736278e-01 1.04438367e-01 1.51874095e+02] [-5.35311071e-01 8.41832388e-01 -6.89948438e-02 -9.16857880e+01] [-1.25158620e-01 1.72649725e-03 9.92135242e-01 -1.82532434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64592000000002 meters 0.03163055050839612 Centerline is valid? [True, True] Translation: X:151.90, Y:-91.71, Z:-18.26 [[ 8.35201792e-01 5.40055234e-01 1.03818640e-01 1.51899843e+02] [-5.35676788e-01 8.41627810e-01 -6.86513607e-02 -9.17056956e+01] [-1.24452181e-01 1.72450389e-03 9.92224108e-01 -1.82559006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67592000000002 meters 0.031696935643686856 Centerline is valid? [True, True] Translation: X:151.92, Y:-91.73, Z:-18.26 [[ 8.34437195e-01 5.41072357e-01 1.04667433e-01 1.51924796e+02] [-5.36620880e-01 8.40974434e-01 -6.92822649e-02 -9.17283840e+01] [-1.25509354e-01 1.64496871e-03 9.92091073e-01 -1.82587925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70592000000002 meters 0.031786767769050685 Centerline is valid? [True, True] Translation: X:151.95, Y:-91.75, Z:-18.26 [[ 8.34278264e-01 5.41110838e-01 1.05730030e-01 1.51950328e+02] [-5.36558741e-01 8.40949524e-01 -7.00615153e-02 -9.17473050e+01] [-1.26824664e-01 1.72042742e-03 9.91923659e-01 -1.82612175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73592 meters 0.03152404698368164 Centerline is valid? [True, True] Translation: X:151.98, Y:-91.77, Z:-18.26 [[ 8.33468340e-01 5.42561299e-01 1.04679338e-01 1.51976190e+02] [-5.38102525e-01 8.40014799e-01 -6.94320543e-02 -9.17659788e+01] [-1.25603339e-01 1.54120293e-03 9.92079345e-01 -1.82637484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76592 meters 0.031495432809370935 Centerline is valid? [True, True] Translation: X:152.00, Y:-91.79, Z:-18.27 [[ 8.32040422e-01 5.44632071e-01 1.05283633e-01 1.52002168e+02] [-5.40128963e-01 8.38674090e-01 -6.99033243e-02 -9.17855211e+01] [-1.26370248e-01 1.29565184e-03 9.91982299e-01 -1.82673238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79592 meters 0.03128476130722094 Centerline is valid? [True, True] Translation: X:152.03, Y:-91.80, Z:-18.27 [[ 8.30768264e-01 5.46873198e-01 1.03700519e-01 1.52027928e+02] [-5.42513187e-01 8.37214848e-01 -6.89256199e-02 -9.18048354e+01] [-1.24513189e-01 1.00231832e-03 9.92217447e-01 -1.82692282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82592 meters 0.031200416379955825 Centerline is valid? [True, True] Translation: X:152.05, Y:-91.82, Z:-18.27 [[ 8.29821048e-01 5.48635590e-01 1.01960866e-01 1.52053884e+02] [-5.44426335e-01 8.36061230e-01 -6.78349950e-02 -9.18235094e+01] [-1.22462219e-01 7.80726215e-04 9.92472869e-01 -1.82718682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85592 meters 0.031043743807564427 Centerline is valid? [True, True] Translation: X:152.08, Y:-91.84, Z:-18.27 [[ 8.28650195e-01 5.50628046e-01 1.00735337e-01 1.52080473e+02] [-5.46526455e-01 8.34750542e-01 -6.70847660e-02 -9.18408732e+01] [-1.21027631e-01 5.35278023e-04 9.92648994e-01 -1.82740033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88592 meters 0.031136615944427286 Centerline is valid? [True, True] Translation: X:152.11, Y:-91.86, Z:-18.28 [[ 8.27475039e-01 5.52406264e-01 1.00659720e-01 1.52108329e+02] [-5.48315625e-01 8.33574957e-01 -6.71026572e-02 -9.18582014e+01] [-1.20975350e-01 3.32476715e-04 9.92655456e-01 -1.82776240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91592 meters 0.031186407670925807 Centerline is valid? [True, True] Translation: X:152.14, Y:-91.88, Z:-18.28 [[ 8.25308910e-01 5.55783872e-01 9.98473374e-02 1.52135210e+02] [-5.51774930e-01 8.31326818e-01 -6.66344399e-02 -9.18756840e+01] [-1.20040116e-01 -9.92606806e-05 9.92769037e-01 -1.82810241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94592 meters 0.030984247947766278 Centerline is valid? [True, True] Translation: X:152.16, Y:-91.89, Z:-18.28 [[ 8.24030795e-01 5.57850898e-01 9.88717590e-02 1.52162020e+02] [-5.53927152e-01 8.29941118e-01 -6.60488617e-02 -9.18928272e+01] [-1.18903155e-01 -3.41455863e-04 9.92905798e-01 -1.82836983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97592 meters 0.031086058453493253 Centerline is valid? [True, True] Translation: X:152.19, Y:-91.91, Z:-18.28 [[ 8.21187991e-01 5.62240599e-01 9.76513805e-02 1.52191804e+02] [-5.58436413e-01 8.26973206e-01 -6.52999929e-02 -9.19076393e+01] [-1.17469382e-01 -9.08516648e-04 9.93076089e-01 -1.82849061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00592 meters 0.031351264446133266 Centerline is valid? [True, True] Translation: X:152.22, Y:-91.92, Z:-18.29 [[ 8.19765914e-01 5.64381584e-01 9.72485167e-02 1.52220819e+02] [-5.60615030e-01 8.25513240e-01 -6.51051344e-02 -9.19235425e+01] [-1.17024077e-01 -1.14801006e-03 9.93128414e-01 -1.82872368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03592 meters 0.03145737114548407 Centerline is valid? [True, True] Translation: X:152.25, Y:-91.94, Z:-18.29 [[ 8.17711065e-01 5.67460245e-01 9.66306617e-02 1.52250072e+02] [-5.63754299e-01 8.23399399e-01 -6.47651232e-02 -9.19385317e+01] [-1.16317261e-01 -1.51679301e-03 9.93210951e-01 -1.82914286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06592 meters 0.03161579508239591 Centerline is valid? [True, True] Translation: X:152.28, Y:-91.95, Z:-18.29 [[ 8.16282154e-01 5.69664288e-01 9.57394533e-02 1.52278003e+02] [-5.66033294e-01 8.21875613e-01 -6.42400727e-02 -9.19549505e+01] [-1.15281197e-01 -1.75369319e-03 9.93331350e-01 -1.82949120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09592 meters 0.03163478184312839 Centerline is valid? [True, True] Translation: X:152.31, Y:-91.97, Z:-18.30 [[ 8.15633369e-01 5.70424383e-01 9.67379515e-02 1.52306245e+02] [-5.66714145e-01 8.21348099e-01 -6.49798239e-02 -9.19703164e+01] [-1.16521609e-01 -1.82305283e-03 9.93186484e-01 -1.82988930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12592 meters 0.031698721958734216 Centerline is valid? [True, True] Translation: X:152.34, Y:-91.98, Z:-18.30 [[ 8.15033810e-01 5.71372605e-01 9.61937358e-02 1.52337309e+02] [-5.67702996e-01 8.20688591e-01 -6.46803315e-02 -9.19829428e+01] [-1.15901671e-01 -1.89281494e-03 9.93258889e-01 -1.83012626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15592 meters 0.03185828208865409 Centerline is valid? [True, True] Translation: X:152.37, Y:-92.00, Z:-18.30 [[ 8.14541900e-01 5.71923861e-01 9.70803269e-02 1.52365103e+02] [-5.68181334e-01 8.20304441e-01 -6.53497989e-02 -9.19984598e+01] [-1.17010533e-01 -1.92908021e-03 9.93128800e-01 -1.83044458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18592 meters 0.03186158680219962 Centerline is valid? [True, True] Translation: X:152.39, Y:-92.01, Z:-18.31 [[ 8.14439648e-01 5.71960550e-01 9.77199475e-02 1.52394883e+02] [-5.68160571e-01 8.20278948e-01 -6.58484111e-02 -9.20135981e+01] [-1.17820309e-01 -1.89106436e-03 9.93033131e-01 -1.83080200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21592 meters 0.03187354998570278 Centerline is valid? [True, True] Translation: X:152.42, Y:-92.03, Z:-18.31 [[ 8.14736035e-01 5.71520848e-01 9.78218481e-02 1.52423526e+02] [-5.67700748e-01 8.20585644e-01 -6.59928882e-02 -9.20294535e+01] [-1.17987516e-01 -1.76675232e-03 9.93013507e-01 -1.83112892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24592 meters 0.0320083585051049 Centerline is valid? [True, True] Translation: X:152.45, Y:-92.04, Z:-18.32 [[ 8.15086215e-01 5.70907555e-01 9.84836331e-02 1.52452224e+02] [-5.67021786e-01 8.21012740e-01 -6.65159679e-02 -9.20449045e+01] [-1.18830786e-01 -1.62611704e-03 9.92913189e-01 -1.83152951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.27592 meters 0.03184764258500463 Centerline is valid? [True, True] Translation: X:152.48, Y:-92.06, Z:-18.32 [[ 8.17100709e-01 5.67855356e-01 9.94320189e-02 1.52481799e+02] [-5.63862465e-01 8.23127582e-01 -6.72317190e-02 -9.20591036e+01] [-1.20023129e-01 -1.13089811e-03 9.92770452e-01 -1.83190996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30592000000001 meters 0.03155055791811875 Centerline is valid? [True, True] Translation: X:152.51, Y:-92.07, Z:-18.32 [[ 8.19829465e-01 5.63963257e-01 9.91216064e-02 1.52510090e+02] [-5.59958900e-01 8.25799728e-01 -6.70882908e-02 -9.20749826e+01] [-1.19689927e-01 -5.03068155e-04 9.92811195e-01 -1.83226610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.33592000000002 meters 0.03146586713734283 Centerline is valid? [True, True] Translation: X:152.54, Y:-92.09, Z:-18.33 [[ 8.20776269e-01 5.62551784e-01 9.93066297e-02 1.52538543e+02] [-5.58513774e-01 8.26762017e-01 -6.72824789e-02 -9.20920892e+01] [-1.19952828e-01 -2.40258572e-04 9.92779563e-01 -1.83262947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36592000000002 meters 0.031368284370364354 Centerline is valid? [True, True] Translation: X:152.57, Y:-92.11, Z:-18.33 [[ 8.21831126e-01 5.61334501e-01 9.74534626e-02 1.52565547e+02] [-5.57429274e-01 8.27589015e-01 -6.60986185e-02 -9.21089997e+01] [-1.17754850e-01 -1.51081320e-06 9.93042696e-01 -1.83278037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39592000000002 meters 0.03121400082468793 Centerline is valid? [True, True] Translation: X:152.60, Y:-92.12, Z:-18.33 [[ 8.23290533e-01 5.59290578e-01 9.68852309e-02 1.52595075e+02] [-5.55408974e-01 8.28971610e-01 -6.57794879e-02 -9.21243289e+01] [-1.17104954e-01 3.44703053e-04 9.93119485e-01 -1.83307295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42592000000002 meters 0.031443492380992845 Centerline is valid? [True, True] Translation: X:152.62, Y:-92.14, Z:-18.33 [[ 8.23788273e-01 5.58458561e-01 9.74521263e-02 1.52623778e+02] [-5.54516563e-01 8.29532252e-01 -6.62391448e-02 -9.21402521e+01] [-1.17831499e-01 5.28212532e-04 9.93033463e-01 -1.83342807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45592000000002 meters 0.03147280649812532 Centerline is valid? [True, True] Translation: X:152.65, Y:-92.16, Z:-18.34 [[ 8.23113190e-01 5.59216934e-01 9.87982666e-02 1.52650775e+02] [-5.55161387e-01 8.29021220e-01 -6.72283452e-02 -9.21581136e+01] [-1.19501089e-01 4.87554972e-04 9.92833950e-01 -1.83377953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48592 meters 0.031244644652725848 Centerline is valid? [True, True] Translation: X:152.68, Y:-92.18, Z:-18.34 [[ 8.23343203e-01 5.59104503e-01 9.75096137e-02 1.52677347e+02] [-5.55145982e-01 8.29097009e-01 -6.64160171e-02 -9.21753081e+01] [-1.17978423e-01 5.51105976e-04 9.93016006e-01 -1.83415415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51592 meters 0.03128997148124328 Centerline is valid? [True, True] Translation: X:152.71, Y:-92.19, Z:-18.35 [[ 8.23547659e-01 5.59014905e-01 9.62890938e-02 1.52705085e+02] [-5.55147141e-01 8.29157382e-01 -6.56482098e-02 -9.21913609e+01] [-1.16537141e-01 6.09814313e-04 9.93186147e-01 -1.83450345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54592 meters 0.03138561329025074 Centerline is valid? [True, True] Translation: X:152.73, Y:-92.21, Z:-18.35 [[ 8.23724651e-01 5.58664774e-01 9.68058384e-02 1.52733058e+02] [-5.54745008e-01 8.29393245e-01 -6.60667945e-02 -9.22080825e+01] [-1.17199299e-01 7.18291548e-04 9.93108155e-01 -1.83484182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57592 meters 0.031191618488838405 Centerline is valid? [True, True] Translation: X:152.76, Y:-92.22, Z:-18.35 [[ 8.24346046e-01 5.57651979e-01 9.73543364e-02 1.52760831e+02] [-5.53671859e-01 8.30074340e-01 -6.65136309e-02 -9.22240536e+01] [-1.17902794e-01 9.27892244e-04 9.93024708e-01 -1.83501680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60592 meters 0.03145369683974307 Centerline is valid? [True, True] Translation: X:152.79, Y:-92.24, Z:-18.35 [[ 8.24820422e-01 5.57011959e-01 9.69997413e-02 1.52788575e+02] [-5.53048714e-01 8.30503782e-01 -6.63369247e-02 -9.22425064e+01] [-1.17509112e-01 1.07046798e-03 9.93071227e-01 -1.83539708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63592 meters 0.031273679116608534 Centerline is valid? [True, True] Translation: X:152.82, Y:-92.26, Z:-18.36 [[ 8.25044774e-01 5.56613093e-01 9.73806239e-02 1.52816081e+02] [-5.52607051e-01 8.30770992e-01 -6.66708795e-02 -9.22600120e+01] [-1.18010882e-01 1.19324133e-03 9.93011585e-01 -1.83563960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66592 meters 0.031329095862608784 Centerline is valid? [True, True] Translation: X:152.84, Y:-92.28, Z:-18.36 [[ 8.25505771e-01 5.55922927e-01 9.74162297e-02 1.52844063e+02] [-5.51900392e-01 8.31232739e-01 -6.67689439e-02 -9.22768558e+01] [-1.18093946e-01 1.35409318e-03 9.93001504e-01 -1.83596978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69592 meters 0.0315533711081392 Centerline is valid? [True, True] Translation: X:152.87, Y:-92.29, Z:-18.36 [[ 8.25509933e-01 5.55800435e-01 9.80776572e-02 1.52870713e+02] [-5.51713325e-01 8.31314500e-01 -6.72949483e-02 -9.22943187e+01] [-1.18935940e-01 1.44189786e-03 9.92900883e-01 -1.83631753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72592 meters 0.03176237405709417 Centerline is valid? [True, True] Translation: X:152.90, Y:-92.31, Z:-18.37 [[ 8.25497613e-01 5.55466854e-01 1.00051317e-01 1.52896793e+02] [-5.51202351e-01 8.31537185e-01 -6.87159273e-02 -9.23129882e+01] [-1.21365810e-01 1.57631285e-03 9.92606596e-01 -1.83678942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75592 meters 0.03148918556346827 Centerline is valid? [True, True] Translation: X:152.92, Y:-92.33, Z:-18.37 [[ 8.25109817e-01 5.56181294e-01 9.92781884e-02 1.52923634e+02] [-5.51981094e-01 8.31059625e-01 -6.82405455e-02 -9.23316124e+01] [-1.20460209e-01 1.50626093e-03 9.92717014e-01 -1.83695232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78592 meters 0.031371250496390224 Centerline is valid? [True, True] Translation: X:152.95, Y:-92.35, Z:-18.37 [[ 8.23093746e-01 5.59270383e-01 9.86576143e-02 1.52950662e+02] [-5.55140957e-01 8.28984611e-01 -6.78456539e-02 -9.23490382e+01] [-1.19729709e-01 1.07445096e-03 9.92805944e-01 -1.83716621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81592 meters 0.03120594950493887 Centerline is valid? [True, True] Translation: X:152.98, Y:-92.37, Z:-18.37 [[ 8.21544087e-01 5.61612329e-01 9.82695539e-02 1.52977451e+02] [-5.57524294e-01 8.27400131e-01 -6.76438074e-02 -9.23671059e+01] [-1.19297838e-01 7.84706267e-04 9.92858202e-01 -1.83739708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84592 meters 0.031231586084088887 Centerline is valid? [True, True] Translation: X:153.00, Y:-92.38, Z:-18.38 [[ 8.19734131e-01 5.64268270e-01 9.81696196e-02 1.53004646e+02] [-5.60199449e-01 8.25591372e-01 -6.76421732e-02 -9.23849508e+01] [-1.19216323e-01 4.54031256e-04 9.92868200e-01 -1.83763085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87592 meters 0.031348442558855 Centerline is valid? [True, True] Translation: X:153.03, Y:-92.40, Z:-18.38 [[ 8.18891045e-01 5.65172069e-01 9.99899404e-02 1.53031561e+02] [-5.60947842e-01 8.24972956e-01 -6.89720226e-02 -9.24026130e+01] [-1.21470057e-01 3.91430334e-04 9.92595019e-01 -1.83802486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90592 meters 0.031311298026065665 Centerline is valid? [True, True] Translation: X:153.06, Y:-92.42, Z:-18.38 [[ 8.18570056e-01 5.65799264e-01 9.90669274e-02 1.53058088e+02] [-5.61650603e-01 8.24542950e-01 -6.83924340e-02 -9.24215292e+01] [-1.20381325e-01 3.42999066e-04 9.92727666e-01 -1.83828570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93592 meters 0.03153724797180861 Centerline is valid? [True, True] Translation: X:153.09, Y:-92.44, Z:-18.39 [[ 8.19553319e-01 5.64421911e-01 9.87940506e-02 1.53086215e+02] [-5.60281998e-01 8.25486268e-01 -6.82385800e-02 -9.24391765e+01] [-1.20068482e-01 5.72626560e-04 9.92765447e-01 -1.83869033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96592 meters 0.03156796141760421 Centerline is valid? [True, True] Translation: X:153.11, Y:-92.46, Z:-18.39 [[ 8.20837987e-01 5.62806611e-01 9.73330279e-02 1.53114401e+02] [-5.58768782e-01 8.26588159e-01 -6.73012892e-02 -9.24553597e+01] [-1.18331939e-01 8.56797228e-04 9.92973725e-01 -1.83903719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99592 meters 0.03155125901776078 Centerline is valid? [True, True] Translation: X:153.14, Y:-92.47, Z:-18.39 [[ 8.20635760e-01 5.63135261e-01 9.71371599e-02 1.53141355e+02] [-5.59108140e-01 8.26364286e-01 -6.72320964e-02 -9.24735428e+01] [-1.18131444e-01 8.62885717e-04 9.92997592e-01 -1.83932495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02592 meters 0.03141824050485467 Centerline is valid? [True, True] Translation: X:153.17, Y:-92.49, Z:-18.40 [[ 8.20028004e-01 5.64006991e-01 9.72120750e-02 1.53168342e+02] [-5.59970935e-01 8.25769626e-01 -6.73578241e-02 -9.24927864e+01] [-1.18265062e-01 7.99365515e-04 9.92981740e-01 -1.83955527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.05592000000001 meters 0.03161240668780783 Centerline is valid? [True, True] Translation: X:153.19, Y:-92.51, Z:-18.40 [[ 8.19402356e-01 5.64892656e-01 9.73450891e-02 1.53193960e+02] [-5.60842876e-01 8.25164074e-01 -6.75242184e-02 -9.25127257e+01] [-1.18469605e-01 7.34203882e-04 9.92957408e-01 -1.83998577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08592000000002 meters 0.031454657560488604 Centerline is valid? [True, True] Translation: X:153.22, Y:-92.53, Z:-18.40 [[ 8.19009929e-01 5.65633598e-01 9.63398623e-02 1.53220365e+02] [-5.61664896e-01 8.24656401e-01 -6.68906966e-02 -9.25318190e+01] [-1.17282910e-01 6.73425878e-04 9.93098316e-01 -1.84023407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11592000000002 meters 0.031655019703245274 Centerline is valid? [True, True] Translation: X:153.25, Y:-92.55, Z:-18.41 [[ 8.18817223e-01 5.65734523e-01 9.73796935e-02 1.53246383e+02] [-5.61676275e-01 8.24587151e-01 -6.76446059e-02 -9.25500057e+01] [-1.18566933e-01 6.92704790e-04 9.92945821e-01 -1.84058443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14592000000002 meters 0.03168739486724396 Centerline is valid? [True, True] Translation: X:153.27, Y:-92.57, Z:-18.41 [[ 8.18114535e-01 5.66804117e-01 9.70654420e-02 1.53273271e+02] [-5.62771642e-01 8.23852379e-01 -6.74932322e-02 -9.25692339e+01] [-1.18223037e-01 5.91516157e-04 9.92986890e-01 -1.84094950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17592000000002 meters 0.03168739486724396 Centerline is valid? [True, True] Translation: X:153.30, Y:-92.59, Z:-18.41 [[ 8.17823275e-01 5.67230293e-01 9.70303357e-02 1.53300086e+02] [-5.63194823e-01 8.23559011e-01 -6.75436701e-02 -9.25874422e+01] [-1.18223023e-01 5.91802759e-04 9.92986891e-01 -1.84125898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20592000000002 meters 0.031402342107696275 Centerline is valid? [True, True] Translation: X:153.33, Y:-92.61, Z:-18.42 [[ 8.17048866e-01 5.68389922e-01 9.67680053e-02 1.53326316e+02] [-5.64375606e-01 8.22759176e-01 -6.74352558e-02 -9.26065640e+01] [-1.17946284e-01 4.84397704e-04 9.93019859e-01 -1.84154073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23592 meters 0.03139709537944849 Centerline is valid? [True, True] Translation: X:153.35, Y:-92.63, Z:-18.42 [[ 8.17292194e-01 5.68115245e-01 9.63251671e-02 1.53352467e+02] [-5.64127086e-01 8.22948801e-01 -6.72004654e-02 -9.26264541e+01] [-1.17448290e-01 5.82779986e-04 9.93078829e-01 -1.84179371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26592 meters 0.03142522726682024 Centerline is valid? [True, True] Translation: X:153.38, Y:-92.64, Z:-18.42 [[ 8.17171514e-01 5.68282017e-01 9.63652744e-02 1.53379394e+02] [-5.64282867e-01 8.22833618e-01 -6.73029176e-02 -9.26447122e+01] [-1.17539625e-01 6.20753744e-04 9.93067999e-01 -1.84202544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29592 meters 0.03138093326097904 Centerline is valid? [True, True] Translation: X:153.41, Y:-92.66, Z:-18.42 [[ 8.16177460e-01 5.69565905e-01 9.72061407e-02 1.53406735e+02] [-5.65496425e-01 8.21945514e-01 -6.79659144e-02 -9.26638145e+01] [-1.18609219e-01 5.02522311e-04 9.92940885e-01 -1.84231734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32592 meters 0.03142423613716023 Centerline is valid? [True, True] Translation: X:153.43, Y:-92.68, Z:-18.43 [[ 8.15865581e-01 5.69852824e-01 9.81382284e-02 1.53433258e+02] [-5.65697670e-01 8.21746604e-01 -6.86925424e-02 -9.26821213e+01] [-1.19789395e-01 5.27313868e-04 9.92799186e-01 -1.84268518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35592 meters 0.03139543966267097 Centerline is valid? [True, True] Translation: X:153.46, Y:-92.70, Z:-18.43 [[ 8.15030746e-01 5.70997545e-01 9.84209701e-02 1.53459648e+02] [-5.66818370e-01 8.20951661e-01 -6.89587230e-02 -9.27008871e+01] [-1.20174120e-01 4.16665537e-04 9.92752742e-01 -1.84303045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38592 meters 0.03132490097295686 Centerline is valid? [True, True] Translation: X:153.49, Y:-92.72, Z:-18.43 [[ 8.14340163e-01 5.72131315e-01 9.75492535e-02 1.53486354e+02] [-5.68025446e-01 8.20161974e-01 -6.84209666e-02 -9.27192346e+01] [-1.19151966e-01 3.07482829e-04 9.92875981e-01 -1.84322678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41592 meters 0.031296908685370946 Centerline is valid? [True, True] Translation: X:153.51, Y:-92.74, Z:-18.44 [[ 8.14105212e-01 5.72333080e-01 9.83236960e-02 1.53513652e+02] [-5.68154876e-01 8.20021179e-01 -6.90311771e-02 -9.27364181e+01] [-1.20136339e-01 3.35553766e-04 9.92757346e-01 -1.84351850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44592 meters 0.031069630610402337 Centerline is valid? [True, True] Translation: X:153.54, Y:-92.75, Z:-18.44 [[ 8.14216087e-01 5.72405170e-01 9.69767200e-02 1.53540559e+02] [-5.68333774e-01 8.19970842e-01 -6.81508601e-02 -9.27533013e+01] [-1.18527987e-01 3.74381351e-04 9.92950641e-01 -1.84379205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47592 meters 0.03115441972975646 Centerline is valid? [True, True] Translation: X:153.57, Y:-92.77, Z:-18.44 [[ 8.13759548e-01 5.72810894e-01 9.84026292e-02 1.53566342e+02] [-5.68613197e-01 8.19687464e-01 -6.92206175e-02 -9.27715054e+01] [-1.20309725e-01 3.75904849e-04 9.92736334e-01 -1.84419329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50592 meters 0.031189316416540144 Centerline is valid? [True, True] Translation: X:153.59, Y:-92.79, Z:-18.44 [[ 8.13969487e-01 5.72665731e-01 9.75070981e-02 1.53592681e+02] [-5.68535366e-01 8.19788850e-01 -6.86569621e-02 -9.27898262e+01] [-1.19252721e-01 4.48438471e-04 9.92863831e-01 -1.84442172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53592 meters 0.03112633994500047 Centerline is valid? [True, True] Translation: X:153.62, Y:-92.81, Z:-18.45 [[ 8.13795379e-01 5.72744511e-01 9.84926767e-02 1.53620970e+02] [-5.68522284e-01 8.19733785e-01 -6.94185491e-02 -9.28053031e+01] [-1.20496868e-01 4.97212964e-04 9.92713583e-01 -1.84466020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56592 meters 0.030995916574116954 Centerline is valid? [True, True] Translation: X:153.65, Y:-92.82, Z:-18.45 [[ 8.13539768e-01 5.73487155e-01 9.62576151e-02 1.53648478e+02] [-5.69452665e-01 8.19214439e-01 -6.79070325e-02 -9.28219894e+01] [-1.17799439e-01 4.30916036e-04 9.93037314e-01 -1.84499491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59592 meters 0.030808354771373107 Centerline is valid? [True, True] Translation: X:153.68, Y:-92.84, Z:-18.45 [[ 8.12953070e-01 5.74215591e-01 9.68698145e-02 1.53675376e+02] [-5.70126494e-01 8.18704042e-01 -6.84066707e-02 -9.28403084e+01] [-1.18587885e-01 3.83365259e-04 9.92943486e-01 -1.84525703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62592 meters 0.030954783582985784 Centerline is valid? [True, True] Translation: X:153.70, Y:-92.86, Z:-18.46 [[ 8.12246131e-01 5.75335203e-01 9.61541832e-02 1.53702065e+02] [-5.71305738e-01 8.17917678e-01 -6.79737162e-02 -9.28581172e+01] [-1.17753878e-01 2.77951386e-04 9.93042772e-01 -1.84562249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65592 meters 0.030763483696166338 Centerline is valid? [True, True] Translation: X:153.73, Y:-92.88, Z:-18.46 [[ 8.11003165e-01 5.77070238e-01 9.62486741e-02 1.53730667e+02] [-5.73036929e-01 8.16694517e-01 -6.81083317e-02 -9.28755053e+01] [-1.17909056e-01 8.20279340e-05 9.93024394e-01 -1.84577404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68592 meters 0.030779351591695155 Centerline is valid? [True, True] Translation: X:153.76, Y:-92.89, Z:-18.46 [[ 8.10602942e-01 5.77635988e-01 9.62264879e-02 1.53758857e+02] [-5.73599532e-01 8.16294470e-01 -6.81682816e-02 -9.28932532e+01] [-1.17925603e-01 6.19411821e-05 9.93022431e-01 -1.84610221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71592 meters 0.030678455241684353 Centerline is valid? [True, True] Translation: X:153.79, Y:-92.91, Z:-18.46 [[ 8.11244916e-01 5.76795811e-01 9.58555093e-02 1.53787511e+02] [-5.72775806e-01 8.16888323e-01 -6.79804724e-02 -9.29093952e+01] [-1.17514098e-01 2.45096004e-04 9.93071184e-01 -1.84628442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74592 meters 0.030690809514711672 Centerline is valid? [True, True] Translation: X:153.81, Y:-92.93, Z:-18.47 [[ 8.11321308e-01 5.76529340e-01 9.68073103e-02 1.53814420e+02] [-5.72418021e-01 8.17076373e-01 -6.87299841e-02 -9.29274889e+01] [-1.18723818e-01 3.47851670e-04 9.92927255e-01 -1.84671853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.77592 meters 0.03084957322486285 Centerline is valid? [True, True] Translation: X:153.84, Y:-92.94, Z:-18.47 [[ 8.12147857e-01 5.75562397e-01 9.56231423e-02 1.53841491e+02] [-5.71537044e-01 8.17757690e-01 -6.79541590e-02 -9.29444679e+01] [-1.17308419e-01 5.36656541e-04 9.93095387e-01 -1.84705232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80592000000001 meters 0.030812074949187175 Centerline is valid? [True, True] Translation: X:153.87, Y:-92.96, Z:-18.47 [[ 8.12313010e-01 5.75363060e-01 9.54197173e-02 1.53869053e+02] [-5.71345662e-01 8.17897895e-01 -6.78761256e-02 -9.29625915e+01] [-1.17097001e-01 6.19018284e-04 9.93120289e-01 -1.84731067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.83592000000002 meters 0.030737107548329225 Centerline is valid? [True, True] Translation: X:153.90, Y:-92.98, Z:-18.48 [[ 8.13252213e-01 5.74178977e-01 9.45480863e-02 1.53896623e+02] [-5.70218316e-01 8.18729377e-01 -6.73296402e-02 -9.29805608e+01] [-1.16068560e-01 8.42928358e-04 9.93240846e-01 -1.84763095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86592000000002 meters 0.030779394839773745 Centerline is valid? [True, True] Translation: X:153.92, Y:-93.00, Z:-18.48 [[ 8.13904388e-01 5.73057547e-01 9.57324166e-02 1.53923680e+02] [-5.68980284e-01 8.19514423e-01 -6.82462164e-02 -9.29988254e+01] [-1.17563106e-01 1.07603740e-03 9.93064831e-01 -1.84779143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89592000000002 meters 0.030538931706658622 Centerline is valid? [True, True] Translation: X:153.95, Y:-93.02, Z:-18.48 [[ 8.13087957e-01 5.74341561e-01 9.49723428e-02 1.53949979e+02] [-5.70330267e-01 8.18615231e-01 -6.77679211e-02 -9.30167132e+01] [-1.16667740e-01 9.35678886e-04 9.93170561e-01 -1.84789596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92592000000002 meters 0.030508568906480713 Centerline is valid? [True, True] Translation: X:153.98, Y:-93.04, Z:-18.48 [[ 8.12063543e-01 5.75872894e-01 9.44627579e-02 1.53975821e+02] [-5.71907571e-01 8.17538883e-01 -6.74678002e-02 -9.30357061e+01] [-1.16079855e-01 7.64174388e-04 9.93239590e-01 -1.84830391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95592000000002 meters 0.030485925622764854 Centerline is valid? [True, True] Translation: X:154.00, Y:-93.05, Z:-18.49 [[ 8.11165016e-01 5.77255039e-01 9.37439937e-02 1.54001356e+02] [-5.73351908e-01 8.16563680e-01 -6.70175094e-02 -9.30545863e+01] [-1.15234135e-01 6.13961367e-04 9.93338169e-01 -1.84866015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98592 meters 0.030430368456924803 Centerline is valid? [True, True] Translation: X:154.03, Y:-93.08, Z:-18.49 [[ 8.09710273e-01 5.79266469e-01 9.39128998e-02 1.54027312e+02] [-5.75355021e-01 8.15138155e-01 -6.72040796e-02 -9.30752015e+01] [-1.15481058e-01 3.82575236e-04 9.93309609e-01 -1.84917737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01592 meters 0.03041074863195107 Centerline is valid? [True, True] Translation: X:154.05, Y:-93.09, Z:-18.49 [[ 8.09131339e-01 5.79982527e-01 9.44814505e-02 1.54053841e+02] [-5.76019571e-01 8.14628842e-01 -6.76853246e-02 -9.30943436e+01] [-1.16223620e-01 3.43152659e-04 9.93223012e-01 -1.84942307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04592 meters 0.030433444302188438 Centerline is valid? [True, True] Translation: X:154.08, Y:-93.11, Z:-18.50 [[ 8.08797151e-01 5.80218975e-01 9.58807040e-02 1.54080458e+02] [-5.76130136e-01 8.14460435e-01 -6.87623841e-02 -9.31119189e+01] [-1.17988280e-01 3.75057329e-04 9.93014917e-01 -1.84963326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07592 meters 0.030340390575886306 Centerline is valid? [True, True] Translation: X:154.11, Y:-93.13, Z:-18.50 [[ 8.08097553e-01 5.81329652e-01 9.50483018e-02 1.54107137e+02] [-5.77311744e-01 8.13668093e-01 -6.82303762e-02 -9.31294277e+01] [-1.17002111e-01 2.64299205e-04 9.93131631e-01 -1.84986397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10592 meters 0.030301137723111 Centerline is valid? [True, True] Translation: X:154.14, Y:-93.15, Z:-18.50 [[ 8.06467233e-01 5.83624283e-01 9.48330092e-02 1.54136545e+02] [-5.79632550e-01 8.12023828e-01 -6.81425783e-02 -9.31456624e+01] [-1.16776326e-01 -1.35423427e-05 9.93158240e-01 -1.85020333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13592 meters 0.030306979600512065 Centerline is valid? [True, True] Translation: X:154.16, Y:-93.16, Z:-18.51 [[ 8.05926923e-01 5.84567753e-01 9.36073598e-02 1.54164146e+02] [-5.80676897e-01 8.11344892e-01 -6.73335522e-02 -9.31620629e+01] [-1.15308877e-01 -8.97086460e-05 9.93329681e-01 -1.85056308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16592 meters 0.03033052928580592 Centerline is valid? [True, True] Translation: X:154.19, Y:-93.18, Z:-18.51 [[ 8.04745056e-01 5.86035371e-01 9.45935443e-02 1.54190776e+02] [-5.82064159e-01 8.10285433e-01 -6.81089766e-02 -9.31792986e+01] [-1.16562040e-01 -2.49149574e-04 9.93183381e-01 -1.85091280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19592 meters 0.030567133856353564 Centerline is valid? [True, True] Translation: X:154.22, Y:-93.20, Z:-18.51 [[ 8.02677862e-01 5.88628062e-01 9.60481860e-02 1.54218977e+02] [-5.84543755e-01 8.08403778e-01 -6.92237681e-02 -9.31952133e+01] [-1.18392769e-01 -5.79981160e-04 9.92966674e-01 -1.85119445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22592 meters 0.030775657850710028 Centerline is valid? [True, True] Translation: X:154.25, Y:-93.21, Z:-18.51 [[ 8.02154078e-01 5.89435829e-01 9.54685228e-02 1.54248468e+02] [-5.85399666e-01 8.07814944e-01 -6.88639701e-02 -9.32100427e+01] [-1.17711791e-01 -6.47726966e-04 9.93047589e-01 -1.85144473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25592 meters 0.030541501361913102 Centerline is valid? [True, True] Translation: X:154.28, Y:-93.23, Z:-18.52 [[ 8.02036172e-01 5.89521344e-01 9.59299938e-02 1.54276954e+02] [-5.85442472e-01 8.07752549e-01 -6.92309982e-02 -9.32267145e+01] [-1.18300848e-01 -6.35727967e-04 9.92977596e-01 -1.85175371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28592 meters 0.030438143468957454 Centerline is valid? [True, True] Translation: X:154.30, Y:-93.24, Z:-18.52 [[ 8.02984513e-01 5.88412954e-01 9.47948740e-02 1.54304705e+02] [-5.84414073e-01 8.08560468e-01 -6.84847529e-02 -9.32436908e+01] [-1.16944703e-01 -4.07262399e-04 9.93138344e-01 -1.85210981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31592 meters 0.03060764744587277 Centerline is valid? [True, True] Translation: X:154.33, Y:-93.26, Z:-18.53 [[ 8.04993227e-01 5.85636104e-01 9.49539786e-02 1.54333233e+02] [-5.81596348e-01 8.10574087e-01 -6.86683122e-02 -9.32593568e+01] [-1.17181877e-01 5.26390390e-05 9.93110470e-01 -1.85256979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34592 meters 0.030548329977599865 Centerline is valid? [True, True] Translation: X:154.36, Y:-93.28, Z:-18.53 [[ 8.06008576e-01 5.84237770e-01 9.49547453e-02 1.54361656e+02] [-5.80179297e-01 8.11582483e-01 -6.87448709e-02 -9.32771026e+01] [-1.17226958e-01 3.18178144e-04 9.93105100e-01 -1.85274143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37592 meters 0.030607035849606862 Centerline is valid? [True, True] Translation: X:154.39, Y:-93.29, Z:-18.53 [[ 8.08979259e-01 5.79961167e-01 9.59041369e-02 1.54389803e+02] [-5.75781954e-01 8.14643496e-01 -6.95062239e-02 -9.32930130e+01] [-1.18438592e-01 1.00922220e-03 9.92960866e-01 -1.85299117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40592 meters 0.030903397300326926 Centerline is valid? [True, True] Translation: X:154.42, Y:-93.31, Z:-18.53 [[ 8.10133190e-01 5.78491342e-01 9.50367379e-02 1.54417412e+02] [-5.74369750e-01 8.15687539e-01 -6.89436653e-02 -9.33115556e+01] [-1.17403596e-01 1.26732415e-03 9.93083476e-01 -1.85329844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43592 meters 0.031065093860186924 Centerline is valid? [True, True] Translation: X:154.44, Y:-93.33, Z:-18.54 [[ 8.11497157e-01 5.76375016e-01 9.62507376e-02 1.54443566e+02] [-5.72123395e-01 8.17183641e-01 -6.98979129e-02 -9.33299953e+01] [-1.18941939e-01 1.65465890e-03 9.92899832e-01 -1.85373257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46592 meters 0.031393658042304144 Centerline is valid? [True, True] Translation: X:154.47, Y:-93.35, Z:-18.54 [[ 8.12474766e-01 5.74673940e-01 9.81560815e-02 1.54469908e+02] [-5.70231100e-01 8.18380030e-01 -7.13485752e-02 -9.33481134e+01] [-1.21331144e-01 1.99726664e-03 9.92610077e-01 -1.85420552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49592 meters 0.03158330537532154 Centerline is valid? [True, True] Translation: X:154.50, Y:-93.37, Z:-18.54 [[ 8.13969477e-01 5.72344192e-01 9.93771450e-02 1.54495591e+02] [-5.67764084e-01 8.20009892e-01 -7.23029913e-02 -9.33677236e+01] [-1.22872439e-01 2.42965434e-03 9.92419498e-01 -1.85447254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52592 meters 0.0319324426013078 Centerline is valid? [True, True] Translation: X:154.52, Y:-93.39, Z:-18.55 [[ 8.14490855e-01 5.71611931e-01 9.93199225e-02 1.54520334e+02] [-5.67023525e-01 8.20520003e-01 -7.23273576e-02 -9.33874063e+01] [-1.22837164e-01 2.59323881e-03 9.92423451e-01 -1.85485002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.55592000000001 meters 0.0319871213607592 Centerline is valid? [True, True] Translation: X:154.54, Y:-93.41, Z:-18.55 [[ 8.16360074e-01 5.69164405e-01 9.80209684e-02 1.54543379e+02] [-5.64670265e-01 8.22218356e-01 -7.14455488e-02 -9.34097588e+01] [-1.21258903e-01 2.97576730e-03 9.92616453e-01 -1.85513547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58592000000002 meters 0.032466686865056535 Centerline is valid? [True, True] Translation: X:154.57, Y:-93.43, Z:-18.55 [[ 8.17019696e-01 5.68238698e-01 9.78958546e-02 1.54568316e+02] [-5.63741597e-01 8.22857692e-01 -7.14187060e-02 -9.34293229e+01] [-1.21137229e-01 3.16252406e-03 9.92630732e-01 -1.85538898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61592000000002 meters 0.03257061978022595 Centerline is valid? [True, True] Translation: X:154.59, Y:-93.45, Z:-18.56 [[ 8.17393681e-01 5.67698897e-01 9.79057341e-02 1.54593602e+02] [-5.63189156e-01 8.23229674e-01 -7.14904000e-02 -9.34494849e+01] [-1.21183927e-01 3.29635343e-03 9.92624597e-01 -1.85560451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64592000000002 meters 0.03295214669093302 Centerline is valid? [True, True] Translation: X:154.62, Y:-93.47, Z:-18.56 [[ 8.16975407e-01 5.68077465e-01 9.91926288e-02 1.54618280e+02] [-5.63442531e-01 8.22968317e-01 -7.24959533e-02 -9.34695364e+01] [-1.22815708e-01 3.33806513e-03 9.92423881e-01 -1.85594154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67592000000002 meters 0.032432438779104705 Centerline is valid? [True, True] Translation: X:154.64, Y:-93.49, Z:-18.56 [[ 8.16028482e-01 5.69460859e-01 9.90547618e-02 1.54642576e+02] [-5.64840943e-01 8.22012300e-01 -7.24602582e-02 -9.34904974e+01] [-1.22687513e-01 3.17944951e-03 9.92440258e-01 -1.85622641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70592000000002 meters 0.03201258109401673 Centerline is valid? [True, True] Translation: X:154.67, Y:-93.51, Z:-18.57 [[ 8.13902761e-01 5.72606469e-01 9.84079636e-02 1.54665162e+02] [-5.68061911e-01 8.19825787e-01 -7.20509912e-02 -9.35139046e+01] [-1.21934250e-01 2.74068491e-03 9.92534396e-01 -1.85666012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73592 meters 0.03183509301878636 Centerline is valid? [True, True] Translation: X:154.69, Y:-93.53, Z:-18.57 [[ 8.11894188e-01 5.75111961e-01 1.00369617e-01 1.54690330e+02] [-5.70393969e-01 8.18070982e-01 -7.35567115e-02 -9.35348642e+01] [-1.24412816e-01 2.47004228e-03 9.92227469e-01 -1.85711468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76592 meters 0.03105887369274978 Centerline is valid? [True, True] Translation: X:154.71, Y:-93.56, Z:-18.57 [[ 8.08792479e-01 5.79803515e-01 9.84002492e-02 1.54713989e+02] [-5.75296436e-01 8.14754421e-01 -7.21750889e-02 -9.35565694e+01] [-1.22019408e-01 1.76535634e-03 9.92526145e-01 -1.85720166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79592 meters 0.031018338562614888 Centerline is valid? [True, True] Translation: X:154.74, Y:-93.58, Z:-18.57 [[ 8.07625736e-01 5.81580869e-01 9.74903272e-02 1.54739394e+02] [-5.77166452e-01 8.13487199e-01 -7.15364438e-02 -9.35766432e+01] [-1.20911360e-01 1.50652682e-03 9.92662165e-01 -1.85748499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82592 meters 0.030816909690962586 Centerline is valid? [True, True] Translation: X:154.76, Y:-93.60, Z:-18.58 [[ 8.06296892e-01 5.83540527e-01 9.67769334e-02 1.54764656e+02] [-5.79197901e-01 8.12083056e-01 -7.10696966e-02 -9.35973534e+01] [-1.20062956e-01 1.25027883e-03 9.92765493e-01 -1.85774099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85592 meters 0.03063221925754764 Centerline is valid? [True, True] Translation: X:154.79, Y:-93.62, Z:-18.58 [[ 8.06152385e-01 5.83798817e-01 9.64223763e-02 1.54790987e+02] [-5.79485778e-01 8.11897417e-01 -7.08436152e-02 -9.36163602e+01] [-1.19643497e-01 1.23535360e-03 9.92816150e-01 -1.85799030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88592 meters 0.03089753365074946 Centerline is valid? [True, True] Translation: X:154.82, Y:-93.63, Z:-18.58 [[ 8.06227153e-01 5.83606248e-01 9.69614639e-02 1.54817616e+02] [-5.79234254e-01 8.12035697e-01 -7.13141363e-02 -9.36347104e+01] [-1.20355545e-01 1.33199183e-03 9.92729957e-01 -1.85840653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91592 meters 0.030974013640387814 Centerline is valid? [True, True] Translation: X:154.85, Y:-93.65, Z:-18.59 [[ 8.06498577e-01 5.83185039e-01 9.72381340e-02 1.54845036e+02] [-5.78776509e-01 8.12338040e-01 -7.15867358e-02 -9.36535933e+01] [-1.20738549e-01 1.45545282e-03 9.92683275e-01 -1.85881977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94592 meters 0.0311708672614633 Centerline is valid? [True, True] Translation: X:154.87, Y:-93.67, Z:-18.59 [[ 8.05651451e-01 5.84134503e-01 9.85526325e-02 1.54870799e+02] [-5.79603216e-01 8.11655679e-01 -7.26303702e-02 -9.36719760e+01] [-1.22416709e-01 1.39334038e-03 9.92477812e-01 -1.85927039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97592 meters 0.031198786147750873 Centerline is valid? [True, True] Translation: X:154.90, Y:-93.69, Z:-18.60 [[ 8.06583336e-01 5.82923544e-01 9.80992550e-02 1.54899464e+02] [-5.78416619e-01 8.12525382e-01 -7.23651754e-02 -9.36890187e+01] [-1.21891499e-01 1.62630518e-03 9.92542099e-01 -1.85955959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00592 meters 0.03135819664149268 Centerline is valid? [True, True] Translation: X:154.93, Y:-93.71, Z:-18.60 [[ 8.06592111e-01 5.82925901e-01 9.80130598e-02 1.54927105e+02] [-5.78417536e-01 8.12523567e-01 -7.23782270e-02 -9.37073337e+01] [-1.21829064e-01 1.68723438e-03 9.92549662e-01 -1.85993765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03592 meters 0.03146269546637233 Centerline is valid? [True, True] Translation: X:154.95, Y:-93.73, Z:-18.60 [[ 8.07099754e-01 5.82187798e-01 9.82209557e-02 1.54952311e+02] [-5.77645753e-01 8.13052212e-01 -7.26049909e-02 -9.37264583e+01] [-1.22128505e-01 1.86255233e-03 9.92512549e-01 -1.86017557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06592 meters 0.03151645813086333 Centerline is valid? [True, True] Translation: X:154.98, Y:-93.75, Z:-18.60 [[ 8.06923408e-01 5.82500850e-01 9.78129530e-02 1.54978615e+02] [-5.77990998e-01 8.12827964e-01 -7.23678653e-02 -9.37466479e+01] [-1.21659446e-01 1.86031819e-03 9.92570158e-01 -1.86049653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09592 meters 0.03151645813086333 Centerline is valid? [True, True] Translation: X:155.00, Y:-93.77, Z:-18.61 [[ 8.06632278e-01 5.82910040e-01 9.77765484e-02 1.55004892e+02] [-5.78397225e-01 8.12534568e-01 -7.24170242e-02 -9.37656478e+01] [-1.21659436e-01 1.86022492e-03 9.92570159e-01 -1.86080608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12592 meters 0.031776126519711935 Centerline is valid? [True, True] Translation: X:155.03, Y:-93.78, Z:-18.61 [[ 8.07147172e-01 5.81998009e-01 9.89533269e-02 1.55030604e+02] [-5.77359255e-01 8.13187539e-01 -7.33642761e-02 -9.37842148e+01] [-1.23165475e-01 2.08414896e-03 9.92383959e-01 -1.86111392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15592 meters 0.03204586793352266 Centerline is valid? [True, True] Translation: X:155.06, Y:-93.80, Z:-18.62 [[ 8.09416793e-01 5.79130302e-01 9.72242142e-02 1.55056971e+02] [-5.74624148e-01 8.15231064e-01 -7.21484567e-02 -9.38029494e+01] [-1.21043557e-01 2.53079121e-03 9.92643971e-01 -1.86151060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18592 meters 0.032419792279600367 Centerline is valid? [True, True] Translation: X:155.08, Y:-93.82, Z:-18.62 [[ 8.11080590e-01 5.76856745e-01 9.68739984e-02 1.55080961e+02] [-5.72358616e-01 8.16840125e-01 -7.19570987e-02 -9.38239449e+01] [-1.20639507e-01 2.91633838e-03 9.92692100e-01 -1.86194511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21592 meters 0.03235814172425036 Centerline is valid? [True, True] Translation: X:155.11, Y:-93.84, Z:-18.62 [[ 8.10852924e-01 5.76962482e-01 9.81418874e-02 1.55105729e+02] [-5.72338007e-01 8.16765165e-01 -7.29648689e-02 -9.38444876e+01] [-1.22256867e-01 2.99344509e-03 9.92493979e-01 -1.86215293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24592 meters 0.032594169312355634 Centerline is valid? [True, True] Translation: X:155.13, Y:-93.86, Z:-18.62 [[ 8.10660270e-01 5.77133630e-01 9.87253787e-02 1.55130397e+02] [-5.72446870e-01 8.16644068e-01 -7.34645985e-02 -9.38644436e+01] [-1.23022385e-01 3.03979721e-03 9.92399240e-01 -1.86243937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.27592 meters 0.032353642850532535 Centerline is valid? [True, True] Translation: X:155.15, Y:-93.89, Z:-18.63 [[ 8.10133280e-01 5.78019449e-01 9.78651427e-02 1.55154524e+02] [-5.73412778e-01 8.16017717e-01 -7.28894527e-02 -9.38866483e+01] [-1.21991212e-01 2.93304801e-03 9.92526847e-01 -1.86255641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30592000000001 meters 0.032190743704091036 Centerline is valid? [True, True] Translation: X:155.18, Y:-93.91, Z:-18.63 [[ 8.09455834e-01 5.78887050e-01 9.83414286e-02 1.55179599e+02] [-5.74233211e-01 8.15402682e-01 -7.33122430e-02 -9.39084951e+01] [-1.22627373e-01 2.87210842e-03 9.92448628e-01 -1.86292641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.33592000000002 meters 0.03166477752139664 Centerline is valid? [True, True] Translation: X:155.20, Y:-93.93, Z:-18.63 [[ 8.08102866e-01 5.81004922e-01 9.69692678e-02 1.55202059e+02] [-5.76487015e-01 8.13895975e-01 -7.23606504e-02 -9.39318494e+01] [-1.20964791e-01 2.57332523e-03 9.92653463e-01 -1.86320053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36592000000002 meters 0.03185834774325395 Centerline is valid? [True, True] Translation: X:155.23, Y:-93.95, Z:-18.64 [[ 8.07575637e-01 5.81634024e-01 9.75881741e-02 1.55227863e+02] [-5.77054196e-01 8.13446589e-01 -7.28910317e-02 -9.39528313e+01] [-1.21778671e-01 2.55135600e-03 9.92554001e-01 -1.86364989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39592000000002 meters 0.03151914277322639 Centerline is valid? [True, True] Translation: X:155.25, Y:-93.98, Z:-18.64 [[ 8.04802576e-01 5.85313321e-01 9.84943112e-02 1.55251018e+02] [-5.80665685e-01 8.10804542e-01 -7.36434412e-02 -9.39759102e+01] [-1.22964122e-01 2.07616448e-03 9.92408945e-01 -1.86404413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42592000000002 meters 0.031220219521736002 Centerline is valid? [True, True] Translation: X:155.28, Y:-94.00, Z:-18.64 [[ 8.03325562e-01 5.87512802e-01 9.74512700e-02 1.55275092e+02] [-5.82971438e-01 8.09212925e-01 -7.29297245e-02 -9.39969169e+01] [-1.21705974e-01 1.77500486e-03 9.92564610e-01 -1.86421048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45592000000002 meters 0.030969218313290848 Centerline is valid? [True, True] Translation: X:155.30, Y:-94.02, Z:-18.64 [[ 8.01195459e-01 5.90677614e-01 9.58425434e-02 1.55299537e+02] [-5.86301227e-01 8.06906573e-01 -7.17819934e-02 -9.40179900e+01] [-1.19735995e-01 1.31880637e-03 9.92804891e-01 -1.86430605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48592 meters 0.031000862468709887 Centerline is valid? [True, True] Translation: X:155.32, Y:-94.04, Z:-18.65 [[ 7.99117010e-01 5.93488467e-01 9.58302854e-02 1.55324930e+02] [-5.89129306e-01 8.04841962e-01 -7.18058317e-02 -9.40371259e+01] [-1.19744168e-01 9.24832018e-04 9.92804351e-01 -1.86483864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51592 meters 0.030784066010587332 Centerline is valid? [True, True] Translation: X:155.35, Y:-94.06, Z:-18.65 [[ 7.95272004e-01 5.98682328e-01 9.55086917e-02 1.55348929e+02] [-5.94382247e-01 8.00986538e-01 -7.16261938e-02 -9.40585139e+01] [-1.19382513e-01 1.93635970e-04 9.92848316e-01 -1.86520748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54592 meters 0.031016816995278272 Centerline is valid? [True, True] Translation: X:155.37, Y:-94.08, Z:-18.65 [[ 7.93191384e-01 6.01266468e-01 9.65715445e-02 1.55374067e+02] [-5.96883442e-01 7.99048565e-01 -7.24675654e-02 -9.40781323e+01] [-1.20737671e-01 -1.61307365e-04 9.92684436e-01 -1.86546422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57592 meters 0.031151721173858324 Centerline is valid? [True, True] Translation: X:155.40, Y:-94.09, Z:-18.66 [[ 7.89787149e-01 6.05716070e-01 9.66659324e-02 1.55402418e+02] [-6.01348916e-01 7.95680481e-01 -7.26089102e-02 -9.40944739e+01] [-1.20895579e-01 -7.84369418e-04 9.92664920e-01 -1.86566103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60592 meters 0.031056205388990198 Centerline is valid? [True, True] Translation: X:155.43, Y:-94.11, Z:-18.66 [[ 7.88032767e-01 6.08074132e-01 9.61780001e-02 1.55431201e+02] [-6.03759462e-01 7.93879515e-01 -7.23175462e-02 -9.41112660e+01] [-1.20328173e-01 -1.07978157e-03 9.92733582e-01 -1.86591519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63592 meters 0.0310738489843686 Centerline is valid? [True, True] Translation: X:155.46, Y:-94.13, Z:-18.66 [[ 7.86495418e-01 6.10345338e-01 9.43584967e-02 1.55458194e+02] [-6.06200330e-01 7.92134315e-01 -7.10238486e-02 -9.41280021e+01] [-1.18093678e-01 -1.34022033e-03 9.93001554e-01 -1.86624814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66592 meters 0.03155726347631447 Centerline is valid? [True, True] Translation: X:155.49, Y:-94.14, Z:-18.67 [[ 7.83546244e-01 6.13932000e-01 9.56179012e-02 1.55486164e+02] [-6.09693322e-01 7.89356749e-01 -7.20414860e-02 -9.41437533e+01] [-1.19705209e-01 -1.84976002e-03 9.92807756e-01 -1.86667396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69592 meters 0.031884640726410556 Centerline is valid? [True, True] Translation: X:155.52, Y:-94.16, Z:-18.67 [[ 7.80974527e-01 6.17086195e-01 9.63504886e-02 1.55516937e+02] [-6.12797437e-01 7.86892216e-01 -7.26632048e-02 -9.41560767e+01] [-1.20656910e-01 -2.29522052e-03 9.92691615e-01 -1.86695968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72592 meters 0.03195689049259222 Centerline is valid? [True, True] Translation: X:155.55, Y:-94.17, Z:-18.67 [[ 7.81047103e-01 6.17052512e-01 9.59771878e-02 1.55545344e+02] [-6.12788440e-01 7.86918827e-01 -7.24505876e-02 -9.41710402e+01] [-1.20232073e-01 -2.22638965e-03 9.92743316e-01 -1.86724464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75592 meters 0.03201367762742087 Centerline is valid? [True, True] Translation: X:155.57, Y:-94.19, Z:-18.67 [[ 7.80730805e-01 6.17392056e-01 9.63662753e-02 1.55574604e+02] [-6.13087046e-01 7.86652446e-01 -7.28162289e-02 -9.41865696e+01] [-1.20762928e-01 -2.23104200e-03 9.92678869e-01 -1.86749696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78592 meters 0.03222335837515665 Centerline is valid? [True, True] Translation: X:155.61, Y:-94.20, Z:-18.68 [[ 7.81232293e-01 6.16606331e-01 9.73279861e-02 1.55605754e+02] [-6.12198660e-01 7.87268925e-01 -7.36236393e-02 -9.41992776e+01] [-1.22020101e-01 -2.06689804e-03 9.92525477e-01 -1.86798758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81592 meters 0.0320538029904181 Centerline is valid? [True, True] Translation: X:155.63, Y:-94.22, Z:-18.68 [[ 7.82759937e-01 6.14958686e-01 9.54604456e-02 1.55634386e+02] [-6.10698865e-01 7.88557449e-01 -7.22775561e-02 -9.42153313e+01] [-1.19723756e-01 -1.72161056e-03 9.92805751e-01 -1.86827043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84592 meters 0.031837148701272355 Centerline is valid? [True, True] Translation: X:155.67, Y:-94.23, Z:-18.69 [[ 7.85574511e-01 6.11372466e-01 9.53750258e-02 1.55665394e+02] [-6.07089832e-01 7.91342147e-01 -7.22464009e-02 -9.42268390e+01] [-1.19643738e-01 -1.14627732e-03 9.92816228e-01 -1.86870693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87592 meters 0.031624604464586835 Centerline is valid? [True, True] Translation: X:155.69, Y:-94.24, Z:-18.69 [[ 7.87023571e-01 6.09700996e-01 9.41201022e-02 1.55693195e+02] [-6.05510828e-01 7.92631069e-01 -7.13626368e-02 -9.42429055e+01] [-1.18112388e-01 -8.26663691e-04 9.92999889e-01 -1.86899857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90592 meters 0.0317342924024951 Centerline is valid? [True, True] Translation: X:155.72, Y:-94.26, Z:-18.69 [[ 7.89423654e-01 6.06385120e-01 9.54325965e-02 1.55724442e+02] [-6.02043989e-01 7.95171057e-01 -7.24294546e-02 -9.42562399e+01] [-1.19805382e-01 -2.77096374e-04 9.92797358e-01 -1.86944568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93592 meters 0.031816850516381716 Centerline is valid? [True, True] Translation: X:155.75, Y:-94.27, Z:-18.70 [[ 7.89867227e-01 6.05674186e-01 9.62732816e-02 1.55752797e+02] [-6.01241166e-01 7.95712743e-01 -7.31456850e-02 -9.42725701e+01] [-1.20908330e-01 -1.08080666e-04 9.92663671e-01 -1.86983859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96592 meters 0.03180340814035178 Centerline is valid? [True, True] Translation: X:155.78, Y:-94.29, Z:-18.70 [[ 7.93063738e-01 6.01624354e-01 9.53836708e-02 1.55784265e+02] [-5.97235548e-01 7.98778957e-01 -7.25388061e-02 -9.42865123e+01] [-1.19831581e-01 5.61377759e-04 9.92794076e-01 -1.87005179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99592 meters 0.03200719679905695 Centerline is valid? [True, True] Translation: X:155.81, Y:-94.30, Z:-18.71 [[ 7.94359006e-01 5.99804856e-01 9.60619833e-02 1.55810923e+02] [-5.95330703e-01 8.00145811e-01 -7.31302650e-02 -9.43039460e+01] [-1.20727482e-01 9.03036577e-04 9.92685277e-01 -1.87050345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02592 meters 0.03200265551870491 Centerline is valid? [True, True] Translation: X:155.84, Y:-94.32, Z:-18.71 [[ 7.96066046e-01 5.97563969e-01 9.58965715e-02 1.55838187e+02] [-5.93080870e-01 8.01820195e-01 -7.30715865e-02 -9.43214749e+01] [-1.20556755e-01 1.29538692e-03 9.92705591e-01 -1.87069052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.05592000000001 meters 0.032451106983982694 Centerline is valid? [True, True] Translation: X:155.87, Y:-94.34, Z:-18.71 [[ 7.98761235e-01 5.93925683e-01 9.60873176e-02 1.55867305e+02] [-5.89390237e-01 8.04517657e-01 -7.32836097e-02 -9.43368185e+01] [-1.20828962e-01 1.90317963e-03 9.92671517e-01 -1.87102278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08592000000002 meters 0.03292255329273685 Centerline is valid? [True, True] Translation: X:155.89, Y:-94.35, Z:-18.71 [[ 8.02622386e-01 5.88876671e-01 9.49819550e-02 1.55894436e+02] [-5.84402205e-01 8.08218441e-01 -7.25052784e-02 -9.43542493e+01] [-1.19462835e-01 2.68669560e-03 9.92835038e-01 -1.87128735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11592000000002 meters 0.03323008904090726 Centerline is valid? [True, True] Translation: X:155.92, Y:-94.37, Z:-18.72 [[ 8.04607399e-01 5.86265698e-01 9.43369756e-02 1.55919997e+02] [-5.81826508e-01 8.10112885e-01 -7.20765457e-02 -9.43739375e+01] [-1.18679606e-01 3.10556886e-03 9.92927745e-01 -1.87154637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14592000000002 meters 0.03399140843009812 Centerline is valid? [True, True] Translation: X:155.95, Y:-94.39, Z:-18.72 [[ 8.06709709e-01 5.83362396e-01 9.43809297e-02 1.55946047e+02] [-5.78891648e-01 8.12204069e-01 -7.21734663e-02 -9.43932989e+01] [-1.18759861e-01 3.58670413e-03 9.92916528e-01 -1.87187581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17592000000002 meters 0.034931985393535356 Centerline is valid? [True, True] Translation: X:155.97, Y:-94.41, Z:-18.72 [[ 8.09742403e-01 5.78874174e-01 9.60308848e-02 1.55970195e+02] [-5.74207098e-01 8.15405197e-01 -7.34885931e-02 -9.44130789e+01] [-1.20844731e-01 4.36521432e-03 9.92661824e-01 -1.87218045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20592000000002 meters 0.03500577465611102 Centerline is valid? [True, True] Translation: X:155.99, Y:-94.43, Z:-18.72 [[ 8.10485005e-01 5.77916156e-01 9.55351983e-02 1.55994077e+02] [-5.73288268e-01 8.16083732e-01 -7.31293652e-02 -9.44340404e+01] [-1.20227363e-01 4.50104553e-03 9.92736179e-01 -1.87248921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23592 meters 0.03511068492423222 Centerline is valid? [True, True] Translation: X:156.02, Y:-94.46, Z:-18.73 [[ 8.10597248e-01 5.77835112e-01 9.50720012e-02 1.56015807e+02] [-5.73243934e-01 8.16140884e-01 -7.28385196e-02 -9.44592797e+01] [-1.19680801e-01 4.54325554e-03 9.92802027e-01 -1.87279384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26592 meters 0.034733914930442755 Centerline is valid? [True, True] Translation: X:156.04, Y:-94.48, Z:-18.73 [[ 8.09828612e-01 5.79056947e-01 9.41842372e-02 1.56039149e+02] [-5.74551494e-01 8.15275345e-01 -7.22266739e-02 -9.44819086e+01] [-1.18609444e-01 4.37753298e-03 9.92931336e-01 -1.87301103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29592 meters 0.034049242720179326 Centerline is valid? [True, True] Translation: X:156.06, Y:-94.51, Z:-18.73 [[ 8.08417527e-01 5.81005793e-01 9.43046684e-02 1.56059416e+02] [-5.76495484e-01 8.13888886e-01 -7.23729189e-02 -9.45084139e+01] [-1.18802607e-01 4.14132069e-03 9.92909256e-01 -1.87327950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32592 meters 0.03425481534125625 Centerline is valid? [True, True] Translation: X:156.08, Y:-94.53, Z:-18.74 [[ 8.07510704e-01 5.82069829e-01 9.55048556e-02 1.56083046e+02] [-5.77446862e-01 8.13128649e-01 -7.33274981e-02 -9.45320286e+01] [-1.20339459e-01 4.06376047e-03 9.92724484e-01 -1.87381645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35592 meters 0.03377132329125508 Centerline is valid? [True, True] Translation: X:156.10, Y:-94.56, Z:-18.74 [[ 8.05560233e-01 5.84670925e-01 9.60865219e-02 1.56102703e+02] [-5.80000822e-01 8.11261852e-01 -7.38461515e-02 -9.45589087e+01] [-1.21127027e-01 3.75726134e-03 9.92629904e-01 -1.87404820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38592 meters 0.033481521281899684 Centerline is valid? [True, True] Translation: X:156.13, Y:-94.58, Z:-18.74 [[ 8.04470975e-01 5.86094251e-01 9.65400411e-02 1.56125881e+02] [-5.81382033e-01 8.10234827e-01 -7.42593863e-02 -9.45807957e+01] [-1.21743103e-01 3.61287555e-03 9.92555069e-01 -1.87434450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41592 meters 0.033127677803902224 Centerline is valid? [True, True] Translation: X:156.15, Y:-94.61, Z:-18.75 [[ 8.03198574e-01 5.87992388e-01 9.55876721e-02 1.56145621e+02] [-5.83378628e-01 8.08859548e-01 -7.35908119e-02 -9.46071972e+01] [-1.20587838e-01 3.34423015e-03 9.92697028e-01 -1.87461528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44592 meters 0.032776331531395524 Centerline is valid? [True, True] Translation: X:156.17, Y:-94.63, Z:-18.75 [[ 8.02055548e-01 5.89565123e-01 9.54979748e-02 1.56167810e+02] [-5.84964053e-01 8.07714694e-01 -7.35800847e-02 -9.46306362e+01] [-1.20515369e-01 3.15243275e-03 9.92706456e-01 -1.87486948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47592 meters 0.03248797720136361 Centerline is valid? [True, True] Translation: X:156.19, Y:-94.65, Z:-18.75 [[ 7.98779047e-01 5.93949397e-01 9.57922131e-02 1.56189490e+02] [-5.89345904e-01 8.04498409e-01 -7.38492729e-02 -9.46547913e+01] [-1.20927414e-01 2.53450332e-03 9.92658117e-01 -1.87520013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50592 meters 0.03258365172765906 Centerline is valid? [True, True] Translation: X:156.21, Y:-94.68, Z:-18.76 [[ 7.97078293e-01 5.96052013e-01 9.68926837e-02 1.56214356e+02] [-5.91348481e-01 8.02942535e-01 -7.47680434e-02 -9.46755254e+01] [-1.22364900e-01 2.29864312e-03 9.92482518e-01 -1.87561138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53592 meters 0.03249490231480858 Centerline is valid? [True, True] Translation: X:156.24, Y:-94.70, Z:-18.76 [[ 7.95132449e-01 5.98569386e-01 9.73605596e-02 1.56238575e+02] [-5.93830353e-01 8.01068526e-01 -7.51979329e-02 -9.46973424e+01] [-1.23003660e-01 1.97666118e-03 9.92404248e-01 -1.87594189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56592 meters 0.03220577609789234 Centerline is valid? [True, True] Translation: X:156.26, Y:-94.72, Z:-18.76 [[ 7.92185796e-01 6.02420737e-01 9.76264337e-02 1.56261977e+02] [-5.97679179e-01 7.98177449e-01 -7.54477184e-02 -9.47199066e+01] [-1.23374488e-01 1.41932412e-03 9.92359169e-01 -1.87608529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59592 meters 0.032214725173644564 Centerline is valid? [True, True] Translation: X:156.29, Y:-94.74, Z:-18.76 [[ 7.90118649e-01 6.05081222e-01 9.79246400e-02 1.56287103e+02] [-6.00322203e-01 7.96163039e-01 -7.57473938e-02 -9.47397747e+01] [-1.23797305e-01 1.06309283e-03 9.92306957e-01 -1.87646565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62592 meters 0.032032237171998476 Centerline is valid? [True, True] Translation: X:156.31, Y:-94.76, Z:-18.77 [[ 7.87187848e-01 6.09042057e-01 9.69694063e-02 1.56312474e+02] [-6.04397098e-01 7.93137776e-01 -7.50774017e-02 -9.47599035e+01] [-1.22635394e-01 4.91990426e-04 9.92451670e-01 -1.87681795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65592 meters 0.032066715445246155 Centerline is valid? [True, True] Translation: X:156.34, Y:-94.78, Z:-18.77 [[ 7.85636912e-01 6.11080196e-01 9.67245421e-02 1.56338292e+02] [-6.06465217e-01 7.91568658e-01 -7.49599851e-02 -9.47803831e+01] [-1.22370678e-01 2.31260729e-04 9.92484440e-01 -1.87717392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68592 meters 0.032064278859078615 Centerline is valid? [True, True] Translation: X:156.36, Y:-94.80, Z:-18.77 [[ 7.83832786e-01 6.13573747e-01 9.55689316e-02 1.56363263e+02] [-6.09077829e-01 7.89637416e-01 -7.41414147e-02 -9.48009176e+01] [-1.20956030e-01 -9.44456871e-05 9.92657861e-01 -1.87745357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71592 meters 0.03248861650749062 Centerline is valid? [True, True] Translation: X:156.39, Y:-94.82, Z:-18.78 [[ 7.83194236e-01 6.14259910e-01 9.63926919e-02 1.56389860e+02] [-6.09682306e-01 7.89103759e-01 -7.48514775e-02 -9.48184899e+01] [-1.22042097e-01 -1.45672957e-04 9.92524914e-01 -1.87770896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74592 meters 0.032273226113277466 Centerline is valid? [True, True] Translation: X:156.42, Y:-94.83, Z:-18.78 [[ 7.80908380e-01 6.17458622e-01 9.44825531e-02 1.56418315e+02] [-6.13076284e-01 7.86603151e-01 -7.34367289e-02 -9.48345648e+01] [-1.19664415e-01 -5.77655600e-04 9.92814229e-01 -1.87786064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.77592 meters 0.03246784088435938 Centerline is valid? [True, True] Translation: X:156.45, Y:-94.85, Z:-18.78 [[ 7.79436472e-01 6.19253322e-01 9.48899840e-02 1.56445622e+02] [-6.14837466e-01 7.85190859e-01 -7.38255154e-02 -9.48530416e+01] [-1.20223444e-01 -7.99617920e-04 9.92746536e-01 -1.87823194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80592000000001 meters 0.03251302620108186 Centerline is valid? [True, True] Translation: X:156.47, Y:-94.87, Z:-18.79 [[ 7.78533144e-01 6.20311382e-01 9.53935740e-02 1.56472927e+02] [-6.15846461e-01 7.84355131e-01 -7.42978104e-02 -9.48720068e+01] [-1.20910217e-01 -9.04487071e-04 9.92663035e-01 -1.87854480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.83592000000002 meters 0.032536379838127995 Centerline is valid? [True, True] Translation: X:156.50, Y:-94.89, Z:-18.79 [[ 7.78398607e-01 6.20759909e-01 9.35561036e-02 1.56501387e+02] [-6.16460129e-01 7.84000213e-01 -7.29422732e-02 -9.48877306e+01] [-1.18627644e-01 -8.95443854e-04 9.92938407e-01 -1.87884083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86592000000002 meters 0.032388014260894916 Centerline is valid? [True, True] Translation: X:156.53, Y:-94.90, Z:-18.79 [[ 7.79845037e-01 6.18978892e-01 9.33105050e-02 1.56529181e+02] [-6.14680827e-01 7.85407416e-01 -7.28194531e-02 -9.49035009e+01] [-1.18360467e-01 -5.68289253e-04 9.92970532e-01 -1.87920143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89592000000002 meters 0.032448951561311855 Centerline is valid? [True, True] Translation: X:156.56, Y:-94.92, Z:-18.79 [[ 7.80440935e-01 6.18253337e-01 9.31383850e-02 1.56556500e+02] [-6.13957667e-01 7.85978785e-01 -7.27552939e-02 -9.49213098e+01] [-1.18185998e-01 -4.01816009e-04 9.92991394e-01 -1.87945472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92592000000002 meters 0.03229437912001981 Centerline is valid? [True, True] Translation: X:156.58, Y:-94.94, Z:-18.80 [[ 7.80868648e-01 6.17632683e-01 9.36697527e-02 1.56584278e+02] [-6.13273759e-01 7.86466660e-01 -7.32494963e-02 -9.49388872e+01] [-1.18909421e-01 -2.46966206e-04 9.92905075e-01 -1.87974413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95592000000002 meters 0.03249192847117655 Centerline is valid? [True, True] Translation: X:156.61, Y:-94.95, Z:-18.80 [[ 7.81899311e-01 6.16205972e-01 9.44651689e-02 1.56613812e+02] [-6.11752545e-01 7.87585043e-01 -7.39501495e-02 -9.49534367e+01] [-1.19967878e-01 3.22634670e-05 9.92777773e-01 -1.88008642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98592 meters 0.03249192847117655 Centerline is valid? [True, True] Translation: X:156.64, Y:-94.97, Z:-18.80 [[ 7.81583690e-01 6.16611602e-01 9.44302311e-02 1.56639567e+02] [-6.12155737e-01 7.87267510e-01 -7.39947410e-02 -9.49731405e+01] [-1.19967869e-01 2.70748796e-05 9.92777775e-01 -1.88039595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01592 meters 0.032148707390832754 Centerline is valid? [True, True] Translation: X:156.67, Y:-94.99, Z:-18.81 [[ 7.81761123e-01 6.16410698e-01 9.42729941e-02 1.56667442e+02] [-6.11958800e-01 7.87424813e-01 -7.39499235e-02 -9.49916838e+01] [-1.19816419e-01 1.19986981e-04 9.92796057e-01 -1.88063174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04592 meters 0.03226343088917447 Centerline is valid? [True, True] Translation: X:156.69, Y:-95.01, Z:-18.81 [[ 7.82942482e-01 6.15030983e-01 9.34770552e-02 1.56694426e+02] [-6.10635369e-01 7.88502847e-01 -7.34009946e-02 -9.50086992e+01] [-1.18850810e-01 3.88360845e-04 9.92912048e-01 -1.88084681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07592 meters 0.03227367192476062 Centerline is valid? [True, True] Translation: X:156.72, Y:-95.03, Z:-18.81 [[ 7.83389489e-01 6.14410912e-01 9.38090569e-02 1.56721522e+02] [-6.09970941e-01 7.88986019e-01 -7.37327115e-02 -9.50271847e+01] [-1.19316217e-01 5.40632459e-04 9.92856157e-01 -1.88116952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10592 meters 0.03237904312275096 Centerline is valid? [True, True] Translation: X:156.75, Y:-95.04, Z:-18.81 [[ 7.84732683e-01 6.12765696e-01 9.33424813e-02 1.56749321e+02] [-6.08348978e-01 7.90264184e-01 -7.34441286e-02 -9.50445809e+01] [-1.18769262e-01 8.49205037e-04 9.92921518e-01 -1.88134821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13592 meters 0.0324052368746445 Centerline is valid? [True, True] Translation: X:156.78, Y:-95.06, Z:-18.82 [[ 7.85588210e-01 6.11547545e-01 9.41316344e-02 1.56775703e+02] [-6.07037587e-01 7.91206916e-01 -7.41416541e-02 -9.50622206e+01] [-1.19818747e-01 1.10336919e-03 9.92795170e-01 -1.88167081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16592 meters 0.03263904476224244 Centerline is valid? [True, True] Translation: X:156.80, Y:-95.08, Z:-18.82 [[ 7.86862188e-01 6.09868298e-01 9.43851523e-02 1.56803814e+02] [-6.05313559e-01 7.92501514e-01 -7.44099906e-02 -9.50783036e+01] [-1.20180670e-01 1.41779555e-03 9.92751024e-01 -1.88196755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19592 meters 0.03252418735596362 Centerline is valid? [True, True] Translation: X:156.83, Y:-95.10, Z:-18.82 [[ 7.87149393e-01 6.09611734e-01 9.36448972e-02 1.56830827e+02] [-6.05118337e-01 7.92698734e-01 -7.38952982e-02 -9.50969086e+01] [-1.19279632e-01 1.50039463e-03 9.92859566e-01 -1.88237285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22592 meters 0.03261962363626846 Centerline is valid? [True, True] Translation: X:156.86, Y:-95.11, Z:-18.83 [[ 7.87991075e-01 6.08728221e-01 9.23039513e-02 1.56858497e+02] [-6.04348421e-01 7.93377066e-01 -7.29096472e-02 -9.51139612e+01] [-1.17613998e-01 1.66840404e-03 9.93057986e-01 -1.88257837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25592 meters 0.03276971681641405 Centerline is valid? [True, True] Translation: X:156.89, Y:-95.13, Z:-18.83 [[ 7.88182528e-01 6.08424160e-01 9.26733184e-02 1.56885668e+02] [-6.03999183e-01 7.93610040e-01 -7.32672558e-02 -9.51319243e+01] [-1.18124045e-01 1.77336231e-03 9.92997263e-01 -1.88298981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28592 meters 0.0331031557985231 Centerline is valid? [True, True] Translation: X:156.91, Y:-95.15, Z:-18.83 [[ 7.89503146e-01 6.06549226e-01 9.37166970e-02 1.56914876e+02] [-6.02002392e-01 7.95043076e-01 -7.41594677e-02 -9.51473623e+01] [-1.19490179e-01 2.13145731e-03 9.92833095e-01 -1.88322318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31592 meters 0.03348476623656653 Centerline is valid? [True, True] Translation: X:156.94, Y:-95.16, Z:-18.84 [[ 7.90810528e-01 6.04912226e-01 9.32733020e-02 1.56942208e+02] [-6.00389232e-01 7.96288479e-01 -7.38744157e-02 -9.51644371e+01] [-1.18959993e-01 2.42037953e-03 9.92896098e-01 -1.88356160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34592 meters 0.03370907376945939 Centerline is valid? [True, True] Translation: X:156.97, Y:-95.18, Z:-18.84 [[ 7.91780921e-01 6.03663216e-01 9.31326678e-02 1.56969255e+02] [-5.99137412e-01 7.97235010e-01 -7.38288594e-02 -9.51826506e+01] [-1.18816390e-01 2.65701677e-03 9.92912688e-01 -1.88383462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37592 meters 0.034251177696756716 Centerline is valid? [True, True] Translation: X:157.00, Y:-95.20, Z:-18.84 [[ 7.94420148e-01 6.00409376e-01 9.16799307e-02 1.56998778e+02] [-5.95995091e-01 7.99686617e-01 -7.27403985e-02 -9.51976905e+01] [-1.16989231e-01 3.14564944e-03 9.93128202e-01 -1.88412265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40592 meters 0.03475114204025861 Centerline is valid? [True, True] Translation: X:157.03, Y:-95.21, Z:-18.85 [[ 7.95920996e-01 5.98564749e-01 9.07193934e-02 1.57027186e+02] [-5.94223580e-01 8.01067081e-01 -7.20407472e-02 -9.52133270e+01] [-1.15793371e-01 3.43114059e-03 9.93267397e-01 -1.88451710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43592 meters 0.0350482342301971 Centerline is valid? [True, True] Translation: X:157.05, Y:-95.23, Z:-18.85 [[ 7.96514764e-01 5.97731778e-01 9.09997389e-02 1.57053900e+02] [-5.93350882e-01 8.01688007e-01 -7.23261375e-02 -9.52312706e+01] [-1.16185030e-01 3.61406096e-03 9.93221011e-01 -1.88474487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46592 meters 0.0350381272395691 Centerline is valid? [True, True] Translation: X:157.08, Y:-95.25, Z:-18.85 [[ 7.97371788e-01 5.96631534e-01 9.07140836e-02 1.57081648e+02] [-5.92263890e-01 8.02506248e-01 -7.21609777e-02 -9.52476214e+01] [-1.15852134e-01 3.81245184e-03 9.93259155e-01 -1.88487819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49592 meters 0.03576950012307071 Centerline is valid? [True, True] Translation: X:157.11, Y:-95.27, Z:-18.85 [[ 7.98135901e-01 5.95748795e-01 8.97911846e-02 1.57108325e+02] [-5.91457249e-01 8.03161113e-01 -7.14881045e-02 -9.52661192e+01] [-1.14705740e-01 3.94957569e-03 9.93391662e-01 -1.88519495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52592 meters 0.03616057060043593 Centerline is valid? [True, True] Translation: X:157.13, Y:-95.29, Z:-18.85 [[ 8.00500202e-01 5.92574176e-01 8.97511708e-02 1.57134036e+02] [-5.88260333e-01 8.05503614e-01 -7.15102042e-02 -9.52857060e+01] [-1.14669993e-01 4.44687937e-03 9.93393687e-01 -1.88545125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.55592000000001 meters 0.03713354882015057 Centerline is valid? [True, True] Translation: X:157.16, Y:-95.30, Z:-18.86 [[ 8.01452942e-01 5.91120048e-01 9.08309951e-02 1.57159778e+02] [-5.86689176e-01 8.06569709e-01 -7.23955425e-02 -9.53041137e+01] [-1.16055986e-01 4.73205882e-03 9.93231401e-01 -1.88580490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58592000000002 meters 0.037718682768710626 Centerline is valid? [True, True] Translation: X:157.19, Y:-95.32, Z:-18.86 [[ 8.03407069e-01 5.88436238e-01 9.09938263e-02 1.57185177e+02] [-5.83966371e-01 8.08527094e-01 -7.25755899e-02 -9.53233327e+01] [-1.16277081e-01 5.17040744e-03 9.93203356e-01 -1.88617463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61592000000002 meters 0.03884590433651971 Centerline is valid? [True, True] Translation: X:157.21, Y:-95.34, Z:-18.86 [[ 8.06736039e-01 5.84036837e-01 8.98773423e-02 1.57207616e+02] [-5.79647456e-01 8.11706819e-01 -7.16998339e-02 -9.53443343e+01] [-1.14829396e-01 5.74566718e-03 9.93368611e-01 -1.88645220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64592000000002 meters 0.03939169749835819 Centerline is valid? [True, True] Translation: X:157.23, Y:-95.37, Z:-18.87 [[ 8.07954512e-01 5.82420435e-01 8.94200439e-02 1.57231733e+02] [-5.78064389e-01 8.12865897e-01 -7.13484065e-02 -9.53653745e+01] [-1.14241274e-01 5.95572389e-03 9.93435182e-01 -1.88677581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67592000000002 meters 0.04043813688966242 Centerline is valid? [True, True] Translation: X:157.25, Y:-95.39, Z:-18.87 [[ 8.10265003e-01 5.79142367e-01 8.98039140e-02 1.57254463e+02] [-5.74722918e-01 8.15200610e-01 -7.17044900e-02 -9.53867477e+01] [-1.14735314e-01 6.48727132e-03 9.93374916e-01 -1.88697894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70592000000002 meters 0.04106248626098554 Centerline is valid? [True, True] Translation: X:157.28, Y:-95.41, Z:-18.87 [[ 8.10900943e-01 5.78140175e-01 9.05185027e-02 1.57278406e+02] [-5.73642013e-01 8.15910000e-01 -7.22890920e-02 -9.54087491e+01] [-1.15648180e-01 6.69407676e-03 9.93267682e-01 -1.88727424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73592 meters 0.04117871352427015 Centerline is valid? [True, True] Translation: X:157.30, Y:-95.44, Z:-18.88 [[ 8.11035413e-01 5.78042777e-01 8.99339026e-02 1.57299270e+02] [-5.73595254e-01 8.15978849e-01 -7.18818597e-02 -9.54359032e+01] [-1.14934952e-01 6.71307406e-03 9.93350337e-01 -1.88765212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76592 meters 0.04158677067117469 Centerline is valid? [True, True] Translation: X:157.32, Y:-95.46, Z:-18.88 [[ 8.11386466e-01 5.77462527e-01 9.04932778e-02 1.57322306e+02] [-5.72948030e-01 8.16388097e-01 -7.23949577e-02 -9.54582354e+01] [-1.15683010e-01 6.89234366e-03 9.93262270e-01 -1.88799069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79592 meters 0.041589660653164974 Centerline is valid? [True, True] Translation: X:157.34, Y:-95.48, Z:-18.88 [[ 8.11177383e-01 5.77443470e-01 9.24677884e-02 1.57343110e+02] [-5.72721650e-01 8.16399818e-01 -7.40354528e-02 -9.54838498e+01] [-1.18241974e-01 7.09758052e-03 9.92959445e-01 -1.88838080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82592 meters 0.041063699899031116 Centerline is valid? [True, True] Translation: X:157.37, Y:-95.51, Z:-18.89 [[ 8.11054557e-01 5.77650176e-01 9.22538887e-02 1.57365799e+02] [-5.72944314e-01 8.16253543e-01 -7.39254113e-02 -9.55085625e+01] [-1.18005590e-01 7.10120069e-03 9.92987540e-01 -1.88856013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85592 meters 0.041544876186119524 Centerline is valid? [True, True] Translation: X:157.39, Y:-95.53, Z:-18.89 [[ 8.10876747e-01 5.77788677e-01 9.29470039e-02 1.57387755e+02] [-5.73004328e-01 8.16154727e-01 -7.45486561e-02 -9.55316492e+01] [-1.18932506e-01 7.19073624e-03 9.92876303e-01 -1.88894520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88592 meters 0.0414146395421087 Centerline is valid? [True, True] Translation: X:157.41, Y:-95.56, Z:-18.89 [[ 8.10588392e-01 5.78398360e-01 9.16613158e-02 1.57407405e+02] [-5.73743682e-01 8.15724042e-01 -7.35695298e-02 -9.55592856e+01] [-1.17322834e-01 7.04450602e-03 9.93068843e-01 -1.88921418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91592 meters 0.03981397110428759 Centerline is valid? [True, True] Translation: X:157.43, Y:-95.59, Z:-18.90 [[ 8.08284400e-01 5.81682074e-01 9.12266031e-02 1.57425161e+02] [-5.77090067e-01 8.13389840e-01 -7.32394949e-02 -9.55865951e+01] [-1.16804893e-01 6.55237473e-03 9.93133266e-01 -1.88955146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94592 meters 0.03976880011066767 Centerline is valid? [True, True] Translation: X:157.45, Y:-95.61, Z:-18.90 [[ 8.07073481e-01 5.83355763e-01 9.12603448e-02 1.57448230e+02] [-5.78768783e-01 8.12192104e-01 -7.32849365e-02 -9.56096275e+01] [-1.16872122e-01 6.32769003e-03 9.93126813e-01 -1.88988441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97592 meters 0.03838176650043661 Centerline is valid? [True, True] Translation: X:157.47, Y:-95.63, Z:-18.90 [[ 8.05025699e-01 5.85898036e-01 9.30436254e-02 1.57469829e+02] [-5.81139558e-01 8.10361657e-01 -7.47716392e-02 -9.56341753e+01] [-1.19207543e-01 6.12175971e-03 9.92850485e-01 -1.89020268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00592 meters 0.03689124171217579 Centerline is valid? [True, True] Translation: X:157.49, Y:-95.66, Z:-18.90 [[ 8.00002349e-01 5.92762130e-01 9.28940192e-02 1.57490183e+02] [-5.88061716e-01 8.05361352e-01 -7.46760321e-02 -9.56584952e+01] [-1.19078377e-01 5.11358470e-03 9.92871689e-01 -1.89032373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03592 meters 0.03542142808904595 Centerline is valid? [True, True] Translation: X:157.51, Y:-95.68, Z:-18.91 [[ 7.95368008e-01 5.98996390e-01 9.26987358e-02 1.57509607e+02] [-5.94354051e-01 8.00740720e-01 -7.45490509e-02 -9.56835068e+01] [-1.18882265e-01 4.19806097e-03 9.92899483e-01 -1.89074188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06592 meters 0.03450964591852691 Centerline is valid? [True, True] Translation: X:157.53, Y:-95.71, Z:-18.91 [[ 7.92880685e-01 6.02514275e-01 9.11963190e-02 1.57532334e+02] [-5.98043416e-01 7.98099893e-01 -7.33527958e-02 -9.57060944e+01] [-1.16979879e-01 3.62065684e-03 9.93127685e-01 -1.89103962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09592 meters 0.03413431438304523 Centerline is valid? [True, True] Translation: X:157.56, Y:-95.73, Z:-18.91 [[ 7.90123719e-01 6.05977477e-01 9.21726966e-02 1.57556062e+02] [-6.01430520e-01 7.95475518e-01 -7.41621863e-02 -9.57273557e+01] [-1.18261738e-01 3.16182962e-03 9.92977424e-01 -1.89148560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12592 meters 0.0330856300298198 Centerline is valid? [True, True] Translation: X:157.58, Y:-95.75, Z:-18.92 [[ 7.85419672e-01 6.12083004e-01 9.20344188e-02 1.57578891e+02] [-6.07584668e-01 7.90790220e-01 -7.41060008e-02 -9.57484150e+01] [-1.18138942e-01 2.28560901e-03 9.92994444e-01 -1.89168226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15592 meters 0.032668409817263176 Centerline is valid? [True, True] Translation: X:157.60, Y:-95.77, Z:-18.92 [[ 7.83250508e-01 6.14910328e-01 9.16729539e-02 1.57604366e+02] [-6.10464745e-01 7.88594833e-01 -7.38307850e-02 -9.57686062e+01] [-1.17692130e-01 1.86489344e-03 9.93048380e-01 -1.89194535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18592 meters 0.032493849173649454 Centerline is valid? [True, True] Translation: X:157.63, Y:-95.79, Z:-18.92 [[ 7.79690802e-01 6.19294307e-01 9.25030512e-02 1.57629992e+02] [-6.14794233e-01 7.85157958e-01 -7.45320871e-02 -9.57881497e+01] [-1.18786804e-01 1.24164034e-03 9.92919007e-01 -1.89231597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21592 meters 0.032390637203347734 Centerline is valid? [True, True] Translation: X:157.65, Y:-95.81, Z:-18.93 [[ 7.78134843e-01 6.21217905e-01 9.27064235e-02 1.57654465e+02] [-6.16704134e-01 7.83637235e-01 -7.47575722e-02 -9.58081464e+01] [-1.19088948e-01 9.99037077e-04 9.92883087e-01 -1.89258118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24592 meters 0.03259037891418524 Centerline is valid? [True, True] Translation: X:157.68, Y:-95.83, Z:-18.93 [[ 7.77361527e-01 6.21982401e-01 9.40582238e-02 1.57679584e+02] [-6.17335616e-01 7.83030668e-01 -7.58927571e-02 -9.58283467e+01] [-1.20854433e-01 9.30617978e-04 9.92669804e-01 -1.89297300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.27592 meters 0.03280278544589899 Centerline is valid? [True, True] Translation: X:157.71, Y:-95.85, Z:-18.93 [[ 7.78028198e-01 6.21235381e-01 9.34811435e-02 1.57706618e+02] [-6.16631624e-01 7.83623250e-01 -7.54986244e-02 -9.58475074e+01] [-1.20156414e-01 1.09662939e-03 9.92754367e-01 -1.89336303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30592000000001 meters 0.03278406067103743 Centerline is valid? [True, True] Translation: X:157.73, Y:-95.87, Z:-18.94 [[ 7.78848301e-01 6.20239916e-01 9.32618418e-02 1.57732914e+02] [-6.15641096e-01 7.84411072e-01 -7.54009999e-02 -9.58670304e+01] [-1.19922331e-01 1.31011818e-03 9.92782412e-01 -1.89360607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.33592000000002 meters 0.032921976971913326 Centerline is valid? [True, True] Translation: X:157.76, Y:-95.89, Z:-18.94 [[ 7.79904535e-01 6.18959096e-01 9.29438199e-02 1.57759003e+02] [-6.14373146e-01 7.85421664e-01 -7.52226502e-02 -9.58865708e+01] [-1.19559833e-01 1.56429904e-03 9.92825765e-01 -1.89390149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36592000000002 meters 0.03323163674540319 Centerline is valid? [True, True] Translation: X:157.78, Y:-95.91, Z:-18.94 [[ 7.81327805e-01 6.17084228e-01 9.34554212e-02 1.57783986e+02] [-6.12424695e-01 7.86894756e-01 -7.57141743e-02 -9.59062788e+01] [-1.20261604e-01 1.92318181e-03 9.92740373e-01 -1.89418931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39592000000002 meters 0.03328621290211663 Centerline is valid? [True, True] Translation: X:157.81, Y:-95.93, Z:-18.94 [[ 7.81944365e-01 6.16417609e-01 9.26948852e-02 1.57809608e+02] [-6.11820827e-01 7.87416706e-01 -7.51678548e-02 -9.59271539e+01] [-1.19324291e-01 2.06441919e-03 9.92853187e-01 -1.89445198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42592000000002 meters 0.03324255712369046 Centerline is valid? [True, True] Translation: X:157.83, Y:-95.95, Z:-18.95 [[ 7.81695696e-01 6.16807647e-01 9.21963457e-02 1.57834928e+02] [-6.12253854e-01 7.87111240e-01 -7.48405958e-02 -9.59486597e+01] [-1.18731032e-01 2.05500368e-03 9.92924327e-01 -1.89477456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45592000000002 meters 0.0335824982419251 Centerline is valid? [True, True] Translation: X:157.86, Y:-95.97, Z:-18.95 [[ 7.83417501e-01 6.14523143e-01 9.28349348e-02 1.57858853e+02] [-6.09880647e-01 7.88894899e-01 -7.54349717e-02 -9.59697382e+01] [-1.19593542e-01 2.47884692e-03 9.92819843e-01 -1.89508096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48592 meters 0.03336033943637387 Centerline is valid? [True, True] Translation: X:157.88, Y:-95.99, Z:-18.95 [[ 7.83749749e-01 6.14332560e-01 9.12788926e-02 1.57883739e+02] [-6.09835946e-01 7.89043199e-01 -7.42357635e-02 -9.59908516e+01] [-1.17628436e-01 2.51711117e-03 9.93054488e-01 -1.89524759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51592 meters 0.03332757012765673 Centerline is valid? [True, True] Translation: X:157.91, Y:-96.01, Z:-18.96 [[ 7.83498227e-01 6.14535430e-01 9.20691789e-02 1.57907372e+02] [-6.09953746e-01 7.88885064e-01 -7.49452012e-02 -9.60119023e+01] [-1.18688481e-01 2.56149164e-03 9.92928237e-01 -1.89558121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54592 meters 0.033490431772739776 Centerline is valid? [True, True] Translation: X:157.93, Y:-96.04, Z:-18.96 [[ 7.82996418e-01 6.15125772e-01 9.23953125e-02 1.57930173e+02] [-6.10507260e-01 7.88424920e-01 -7.52796853e-02 -9.60351215e+01] [-1.19153241e-01 2.53571496e-03 9.92872638e-01 -1.89598919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57592 meters 0.03316989538908874 Centerline is valid? [True, True] Translation: X:157.95, Y:-96.06, Z:-18.96 [[ 7.82874397e-01 6.15450018e-01 9.12631055e-02 1.57954042e+02] [-6.10937941e-01 7.88171909e-01 -7.44303370e-02 -9.60565013e+01] [-1.17739168e-01 2.51351142e-03 9.93041374e-01 -1.89615175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60592 meters 0.03301074355073125 Centerline is valid? [True, True] Translation: X:157.98, Y:-96.08, Z:-18.96 [[ 7.82367050e-01 6.16165434e-01 9.07852272e-02 1.57977133e+02] [-6.11697753e-01 7.87612964e-01 -7.41058527e-02 -9.60784952e+01] [-1.17165087e-01 2.44485783e-03 9.93109443e-01 -1.89649292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63592 meters 0.03295317668940266 Centerline is valid? [True, True] Translation: X:158.00, Y:-96.10, Z:-18.97 [[ 7.81835585e-01 6.16888029e-01 9.04559431e-02 1.58000801e+02] [-6.12449910e-01 7.87047327e-01 -7.39027302e-02 -9.60997995e+01] [-1.16782818e-01 2.38005005e-03 9.93154625e-01 -1.89674394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66592 meters 0.03280150142508845 Centerline is valid? [True, True] Translation: X:158.03, Y:-96.12, Z:-18.97 [[ 7.80578399e-01 6.18253762e-01 9.19763522e-02 1.58025343e+02] [-6.13665668e-01 7.85975279e-01 -7.52150840e-02 -9.61219557e+01] [-1.18793148e-01 2.26854023e-03 9.92916432e-01 -1.89713266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69592 meters 0.03274134112821169 Centerline is valid? [True, True] Translation: X:158.05, Y:-96.14, Z:-18.97 [[ 7.79911631e-01 6.19258028e-01 9.08699271e-02 1.58050048e+02] [-6.14778107e-01 7.85184615e-01 -7.43841287e-02 -9.61426694e+01] [-1.17412638e-01 2.14820530e-03 9.93080892e-01 -1.89734583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72592 meters 0.03246965218277516 Centerline is valid? [True, True] Translation: X:158.07, Y:-96.16, Z:-18.98 [[ 7.78631422e-01 6.20943962e-01 9.03421582e-02 1.58074093e+02] [-6.16519615e-01 7.83852570e-01 -7.40183268e-02 -9.61642935e+01] [-1.16776166e-01 1.93528241e-03 9.93156373e-01 -1.89759208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75592 meters 0.03228163174543568 Centerline is valid? [True, True] Translation: X:158.10, Y:-96.19, Z:-18.98 [[ 7.77634397e-01 6.22071422e-01 9.11695646e-02 1.58098767e+02] [-6.17564793e-01 7.82958344e-01 -7.47660167e-02 -9.61853769e+01] [-1.17891774e-01 1.83751303e-03 9.93024750e-01 -1.89787412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78592 meters 0.032373335237064524 Centerline is valid? [True, True] Translation: X:158.12, Y:-96.21, Z:-18.98 [[ 7.77340657e-01 6.22683722e-01 8.94789678e-02 1.58123562e+02] [-6.18338723e-01 7.82471629e-01 -7.34532110e-02 -9.62057767e+01] [-1.15752873e-01 1.76985668e-03 9.93276467e-01 -1.89814590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81592 meters 0.03222848152963128 Centerline is valid? [True, True] Translation: X:158.15, Y:-96.23, Z:-18.98 [[ 7.76796107e-01 6.23425371e-01 8.90427709e-02 1.58148486e+02] [-6.19119920e-01 7.81881005e-01 -7.31615987e-02 -9.62257950e+01] [-1.15231648e-01 1.70349186e-03 9.93337186e-01 -1.89849762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84592 meters 0.0321416358083932 Centerline is valid? [True, True] Translation: X:158.17, Y:-96.25, Z:-18.99 [[ 7.76292467e-01 6.24095171e-01 8.87424599e-02 1.58174805e+02] [-6.19815287e-01 7.81346587e-01 -7.29830281e-02 -9.62461295e+01] [-1.14886973e-01 1.65224171e-03 9.93377196e-01 -1.89888500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87592 meters 0.03213916209361998 Centerline is valid? [True, True] Translation: X:158.20, Y:-96.27, Z:-18.99 [[ 7.75671123e-01 6.24936878e-01 8.82508250e-02 1.58200809e+02] [-6.20701359e-01 7.80673690e-01 -7.26526844e-02 -9.62656070e+01] [-1.14298439e-01 1.57718231e-03 9.93445207e-01 -1.89908990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90592 meters 0.03213916209361998 Centerline is valid? [True, True] Translation: X:158.23, Y:-96.29, Z:-18.99 [[ 7.75352937e-01 6.25336276e-01 8.82177180e-02 1.58226041e+02] [-6.21098762e-01 7.80353814e-01 -7.26928653e-02 -9.62859336e+01] [-1.14298518e-01 1.57071107e-03 9.93445208e-01 -1.89939940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93592 meters 0.032141253354980436 Centerline is valid? [True, True] Translation: X:158.25, Y:-96.31, Z:-19.00 [[ 7.74118474e-01 6.26662358e-01 8.96374826e-02 1.58252125e+02] [-6.22286565e-01 7.79289523e-01 -7.39409911e-02 -9.63052811e+01] [-1.16189587e-01 1.45888604e-03 9.93225982e-01 -1.89973353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96592 meters 0.032325827767393976 Centerline is valid? [True, True] Translation: X:158.28, Y:-96.32, Z:-19.00 [[ 7.73787142e-01 6.27056512e-01 8.97417919e-02 1.58279768e+02] [-6.22664038e-01 7.78972395e-01 -7.41046767e-02 -9.63235817e+01] [-1.16374199e-01 1.46225951e-03 9.93204364e-01 -1.90011913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99592 meters 0.032407409546601595 Centerline is valid? [True, True] Translation: X:158.31, Y:-96.34, Z:-19.00 [[ 7.74752577e-01 6.25817104e-01 9.00632980e-02 1.58306447e+02] [-6.21375641e-01 7.79967956e-01 -7.44466279e-02 -9.63409284e+01] [-1.16836460e-01 1.71457730e-03 9.93149688e-01 -1.90049798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02592 meters 0.032739733014338815 Centerline is valid? [True, True] Translation: X:158.33, Y:-96.36, Z:-19.01 [[ 7.75468093e-01 6.24932271e-01 9.00493969e-02 1.58333372e+02] [-6.20478282e-01 7.80676658e-01 -7.45027339e-02 -9.63589375e+01] [-1.16858625e-01 1.90079793e-03 9.93146741e-01 -1.90089038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.05592000000001 meters 0.032971866288377345 Centerline is valid? [True, True] Translation: X:158.36, Y:-96.38, Z:-19.01 [[ 7.75795114e-01 6.24356672e-01 9.12178049e-02 1.58359682e+02] [-6.19773681e-01 7.81136652e-01 -7.55388384e-02 -9.63777984e+01] [-1.18416748e-01 2.06826703e-03 9.92961830e-01 -1.90130932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08592000000002 meters 0.033229442852083714 Centerline is valid? [True, True] Translation: X:158.39, Y:-96.40, Z:-19.02 [[ 7.77438272e-01 6.22632097e-01 8.89887868e-02 1.58387466e+02] [-6.18252089e-01 7.82511253e-01 -7.37597042e-02 -9.63961162e+01] [-1.15559886e-01 2.32611366e-03 9.93297791e-01 -1.90169316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11592000000002 meters 0.033524357880437665 Centerline is valid? [True, True] Translation: X:158.41, Y:-96.41, Z:-19.02 [[ 7.78213481e-01 6.21615583e-01 8.93187833e-02 1.58413330e+02] [-6.17187539e-01 7.83318319e-01 -7.41077058e-02 -9.64147435e+01] [-1.16031544e-01 2.54517569e-03 9.93242268e-01 -1.90199446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14592000000002 meters 0.03389757159011106 Centerline is valid? [True, True] Translation: X:158.44, Y:-96.43, Z:-19.02 [[ 7.79897801e-01 6.19563025e-01 8.88880126e-02 1.58440206e+02] [-6.15156803e-01 7.84941598e-01 -7.38159538e-02 -9.64327573e+01] [-1.15505534e-01 2.88883434e-03 9.93302636e-01 -1.90223152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17592000000002 meters 0.03426713019052198 Centerline is valid? [True, True] Translation: X:158.47, Y:-96.45, Z:-19.03 [[ 7.81042939e-01 6.17955725e-01 9.00147203e-02 1.58465894e+02] [-6.13418172e-01 7.86206306e-01 -7.48183892e-02 -9.64522018e+01] [-1.17004593e-01 3.21970940e-03 9.93126155e-01 -1.90260506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20592000000002 meters 0.034616168153941265 Centerline is valid? [True, True] Translation: X:158.49, Y:-96.47, Z:-19.03 [[ 7.81927043e-01 6.16891595e-01 8.96373790e-02 1.58491939e+02] [-6.12377549e-01 7.87040717e-01 -7.45697454e-02 -9.64713107e+01] [-1.16549716e-01 3.41618208e-03 9.93178984e-01 -1.90294259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23592 meters 0.03479795235649573 Centerline is valid? [True, True] Translation: X:158.52, Y:-96.49, Z:-19.03 [[ 7.82565066e-01 6.16259121e-01 8.84116129e-02 1.58518932e+02] [-6.11856557e-01 7.87535619e-01 -7.36152365e-02 -9.64909829e+01] [-1.14993355e-01 3.51348736e-03 9.93360047e-01 -1.90329861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26592 meters 0.035398819570734694 Centerline is valid? [True, True] Translation: X:158.55, Y:-96.51, Z:-19.04 [[ 7.84427580e-01 6.13863340e-01 8.85729732e-02 1.58546042e+02] [-6.09421050e-01 7.89402533e-01 -7.38215678e-02 -9.65085741e+01] [-1.15236084e-01 3.92943949e-03 9.93330360e-01 -1.90363575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29592 meters 0.036029985698858256 Centerline is valid? [True, True] Translation: X:158.57, Y:-96.53, Z:-19.04 [[ 7.85862639e-01 6.12065973e-01 8.82901826e-02 1.58571293e+02] [-6.07633450e-01 7.90795390e-01 -7.36494461e-02 -9.65284925e+01] [-1.14897789e-01 4.23027983e-03 9.93368312e-01 -1.90397757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32592 meters 0.03634863145817724 Centerline is valid? [True, True] Translation: X:158.59, Y:-96.55, Z:-19.04 [[ 7.88917799e-01 6.08144594e-01 8.81411324e-02 1.58593706e+02] [-6.03696255e-01 7.93811528e-01 -7.35805031e-02 -9.65512128e+01] [-1.14715032e-01 4.83849700e-03 9.93386657e-01 -1.90419306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35592 meters 0.03698850190185925 Centerline is valid? [True, True] Translation: X:158.62, Y:-96.57, Z:-19.04 [[ 7.90509840e-01 6.05938407e-01 8.90664881e-02 1.58617502e+02] [-6.01379631e-01 7.95494376e-01 -7.43722954e-02 -9.65728115e+01] [-1.15916921e-01 5.22925968e-03 9.93245147e-01 -1.90448631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38592 meters 0.03781287830405315 Centerline is valid? [True, True] Translation: X:158.64, Y:-96.60, Z:-19.05 [[ 7.93206201e-01 6.02420573e-01 8.89571591e-02 1.58639142e+02] [-5.97848072e-01 7.98158073e-01 -7.43059383e-02 -9.65955976e+01] [-1.15765301e-01 5.75706500e-03 9.93259911e-01 -1.90472161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41592 meters 0.038297376399235826 Centerline is valid? [True, True] Translation: X:158.66, Y:-96.62, Z:-19.05 [[ 7.94165488e-01 6.01101600e-01 8.93199005e-02 1.58662132e+02] [-5.96476631e-01 7.99149940e-01 -7.46659321e-02 -9.66180344e+01] [-1.16261804e-01 6.01987309e-03 9.93200359e-01 -1.90516788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44592 meters 0.03975067384837292 Centerline is valid? [True, True] Translation: X:158.68, Y:-96.64, Z:-19.05 [[ 7.96179574e-01 5.98314870e-01 9.00966315e-02 1.58683077e+02] [-5.93584613e-01 8.01234487e-01 -7.53697835e-02 -9.66427204e+01] [-1.17283391e-01 6.52790790e-03 9.93077033e-01 -1.90545143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47592 meters 0.039930834403351795 Centerline is valid? [True, True] Translation: X:158.71, Y:-96.67, Z:-19.06 [[ 7.96514254e-01 5.97772467e-01 9.07365490e-02 1.58705107e+02] [-5.92968080e-01 8.01638022e-01 -7.59298223e-02 -9.66668694e+01] [-1.18126625e-01 6.67530849e-03 9.92976103e-01 -1.90574832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50592 meters 0.03968062418537522 Centerline is valid? [True, True] Translation: X:158.73, Y:-96.69, Z:-19.06 [[ 7.96462858e-01 5.97752946e-01 9.13144653e-02 1.58726192e+02] [-5.92879289e-01 8.01651768e-01 -7.64760895e-02 -9.66919643e+01] [-1.18916210e-01 6.77190953e-03 9.92881199e-01 -1.90612101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53592 meters 0.039599885904544406 Centerline is valid? [True, True] Translation: X:158.75, Y:-96.72, Z:-19.06 [[ 7.96616052e-01 5.97670905e-01 9.05116313e-02 1.58745334e+02] [-5.92874864e-01 8.01712911e-01 -7.58670162e-02 -9.67213494e+01] [-1.17907852e-01 6.77481178e-03 9.93001430e-01 -1.90625565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56592 meters 0.0393176831533588 Centerline is valid? [True, True] Translation: X:158.76, Y:-96.75, Z:-19.06 [[ 7.96249788e-01 5.98376471e-01 8.90610711e-02 1.58762640e+02] [-5.93729936e-01 8.01187753e-01 -7.47191214e-02 -9.67504758e+01] [-1.16064804e-01 6.61686054e-03 9.93219602e-01 -1.90647103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59592 meters 0.039483224030400346 Centerline is valid? [True, True] Translation: X:158.78, Y:-96.78, Z:-19.07 [[ 7.95498241e-01 5.99350297e-01 8.92287516e-02 1.58783056e+02] [-5.94684977e-01 8.00460172e-01 -7.49219054e-02 -9.67751638e+01] [-1.16328528e-01 6.53724590e-03 9.93189276e-01 -1.90690788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62592 meters 0.03947156212272289 Centerline is valid? [True, True] Translation: X:158.80, Y:-96.80, Z:-19.07 [[ 7.94866743e-01 6.00070404e-01 9.00131755e-02 1.58804334e+02] [-5.95319279e-01 7.99920446e-01 -7.56454674e-02 -9.68001184e+01] [-1.17395986e-01 6.54148755e-03 9.93063639e-01 -1.90726662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65592 meters 0.03812286009611212 Centerline is valid? [True, True] Translation: X:158.82, Y:-96.83, Z:-19.07 [[ 7.92715474e-01 6.03006266e-01 8.93623011e-02 1.58820796e+02] [-5.98335186e-01 7.97713041e-01 -7.51592243e-02 -9.68300609e+01] [-1.16606956e-01 6.11127100e-03 9.93159338e-01 -1.90749613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68592 meters 0.03663113854945157 Centerline is valid? [True, True] Translation: X:158.84, Y:-96.86, Z:-19.08 [[ 7.88370723e-01 6.08561497e-01 9.01360535e-02 1.58837103e+02] [-6.03841720e-01 7.93488622e-01 -7.58352468e-02 -9.68589248e+01] [-1.17672344e-01 5.35837878e-03 9.93038019e-01 -1.90787995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71592 meters 0.036035486395136825 Centerline is valid? [True, True] Translation: X:158.86, Y:-96.88, Z:-19.08 [[ 7.86845950e-01 6.10793283e-01 8.83460051e-02 1.58857636e+02] [-6.06268389e-01 7.91774563e-01 -7.43752757e-02 -9.68839483e+01] [-1.15378038e-01 4.96049426e-03 9.93309268e-01 -1.90800367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74592 meters 0.03571415191660755 Centerline is valid? [True, True] Translation: X:158.88, Y:-96.91, Z:-19.08 [[ 7.84590062e-01 6.13686998e-01 8.83555502e-02 1.58878540e+02] [-6.09176568e-01 7.89536271e-01 -7.44068963e-02 -9.69084853e+01] [-1.15422456e-01 4.55478051e-03 9.93306051e-01 -1.90841095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77592 meters 0.03438673631814637 Centerline is valid? [True, True] Translation: X:158.90, Y:-96.94, Z:-19.09 [[ 7.80166214e-01 6.19393324e-01 8.77074077e-02 1.58897102e+02] [-6.14978109e-01 7.85071967e-01 -7.39184087e-02 -9.69352158e+01] [-1.14641196e-01 3.73050928e-03 9.93399959e-01 -1.90864389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80592000000001 meters 0.034056247433343866 Centerline is valid? [True, True] Translation: X:158.92, Y:-96.96, Z:-19.09 [[ 7.77525714e-01 6.22545733e-01 8.88289043e-02 1.58919759e+02] [-6.18032761e-01 7.82576308e-01 -7.48987888e-02 -9.69580349e+01] [-1.16143317e-01 3.33656126e-03 9.93226861e-01 -1.90898482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.83592000000002 meters 0.033027877083870165 Centerline is valid? [True, True] Translation: X:158.94, Y:-96.98, Z:-19.09 [[ 7.71553748e-01 6.29986358e-01 8.84420863e-02 1.58941241e+02] [-6.25554253e-01 7.76602921e-01 -7.46309605e-02 -9.69824910e+01] [-1.15700870e-01 2.25647410e-03 9.93281540e-01 -1.90927127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86592000000002 meters 0.03258693211166077 Centerline is valid? [True, True] Translation: X:158.96, Y:-97.00, Z:-19.10 [[ 7.68048591e-01 6.34383727e-01 8.75137083e-02 1.58964441e+02] [-6.30069253e-01 7.73016635e-01 -7.38783988e-02 -9.70048022e+01] [-1.14516806e-01 1.60250330e-03 9.93420018e-01 -1.90956741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89592000000002 meters 0.03244249078713013 Centerline is valid? [True, True] Translation: X:158.99, Y:-97.03, Z:-19.10 [[ 7.62241954e-01 6.41320053e-01 8.77256746e-02 1.58987367e+02] [-6.37023025e-01 7.67273233e-01 -7.41178208e-02 -9.70274918e+01] [-1.14842807e-01 6.12437923e-04 9.93383488e-01 -1.90986823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92592000000002 meters 0.0324034386958222 Centerline is valid? [True, True] Translation: X:159.01, Y:-97.05, Z:-19.10 [[ 7.59891860e-01 6.44038697e-01 8.81959091e-02 1.59012594e+02] [-6.39709440e-01 7.64992878e-01 -7.45501742e-02 -9.70487562e+01] [-1.15482439e-01 2.30314842e-04 9.93309495e-01 -1.91026679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95592000000002 meters 0.032428215941382454 Centerline is valid? [True, True] Translation: X:159.04, Y:-97.07, Z:-19.10 [[ 7.56236009e-01 6.48297641e-01 8.84153090e-02 1.59038582e+02] [-6.43966069e-01 7.61386919e-01 -7.48175151e-02 -9.70693583e+01] [-1.15822278e-01 -3.56759972e-04 9.93269889e-01 -1.91049478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98592 meters 0.03234662739884698 Centerline is valid? [True, True] Translation: X:159.06, Y:-97.09, Z:-19.11 [[ 7.54764900e-01 6.50103625e-01 8.77224202e-02 1.59064823e+02] [-6.45842699e-01 7.59845350e-01 -7.43118565e-02 -9.70891990e+01] [-1.14965880e-01 -5.66903757e-04 9.93369279e-01 -1.91066550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01592 meters 0.032412617846518985 Centerline is valid? [True, True] Translation: X:159.09, Y:-97.11, Z:-19.11 [[ 7.52466470e-01 6.52937985e-01 8.64071737e-02 1.59093590e+02] [-6.48813845e-01 7.57410809e-01 -7.32766065e-02 -9.71065908e+01] [-1.13290807e-01 -9.23981171e-04 9.93561442e-01 -1.91093180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04592 meters 0.032428738539425975 Centerline is valid? [True, True] Translation: X:159.12, Y:-97.13, Z:-19.11 [[ 7.50759960e-01 6.54953711e-01 8.59948788e-02 1.59120073e+02] [-6.50873131e-01 7.55668106e-01 -7.30060317e-02 -9.71256761e+01] [-1.12799159e-01 -1.16175058e-03 9.93617130e-01 -1.91129235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07592 meters 0.032660475570786794 Centerline is valid? [True, True] Translation: X:159.15, Y:-97.14, Z:-19.12 [[ 7.49414139e-01 6.56189981e-01 8.82788586e-02 1.59147442e+02] [-6.51888150e-01 7.54594567e-01 -7.50258567e-02 -9.71427887e+01] [-1.15845963e-01 -1.32250401e-03 9.93266311e-01 -1.91170029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10592 meters 0.03278839083676747 Centerline is valid? [True, True] Translation: X:159.17, Y:-97.16, Z:-19.12 [[ 7.49087634e-01 6.56559827e-01 8.83001131e-02 1.59174722e+02] [-6.52249989e-01 7.54272788e-01 -7.51166700e-02 -9.71612485e+01] [-1.15920960e-01 -1.32477924e-03 9.93257558e-01 -1.91201871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13592 meters 0.0326376503877467 Centerline is valid? [True, True] Translation: X:159.21, Y:-97.18, Z:-19.12 [[ 7.48407453e-01 6.57348798e-01 8.81977398e-02 1.59205022e+02] [-6.53045012e-01 7.53585192e-01 -7.51103903e-02 -9.71762239e+01] [-1.15838236e-01 -1.38391815e-03 9.93267128e-01 -1.91238067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16592 meters 0.032501108435624385 Centerline is valid? [True, True] Translation: X:159.23, Y:-97.19, Z:-19.13 [[ 7.48672031e-01 6.57182533e-01 8.71854847e-02 1.59232434e+02] [-6.52967247e-01 7.53730370e-01 -7.43256653e-02 -9.71929175e+01] [-1.14559877e-01 -1.28371920e-03 9.93415516e-01 -1.91257718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19592 meters 0.03251768893099575 Centerline is valid? [True, True] Translation: X:159.26, Y:-97.21, Z:-19.13 [[ 7.49408422e-01 6.56235304e-01 8.79900114e-02 1.59263459e+02] [-6.51926606e-01 7.54555517e-01 -7.50844355e-02 -9.72068055e+01] [-1.15666406e-01 -1.09412113e-03 9.93287514e-01 -1.91291819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22592 meters 0.03232084599804892 Centerline is valid? [True, True] Translation: X:159.29, Y:-97.22, Z:-19.13 [[ 7.50763412e-01 6.54684275e-01 8.79931791e-02 1.59291042e+02] [-6.50355398e-01 7.55902023e-01 -7.51663966e-02 -9.72241350e+01] [-1.15724480e-01 -7.94658571e-04 9.93281034e-01 -1.91312063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25592 meters 0.03229381676956923 Centerline is valid? [True, True] Translation: X:159.32, Y:-97.24, Z:-19.14 [[ 7.53072727e-01 6.51817422e-01 8.95294119e-02 1.59320774e+02] [-6.47306537e-01 7.58375867e-01 -7.65525403e-02 -9.72385741e+01] [-1.17795225e-01 -3.03343261e-04 9.93037861e-01 -1.91355331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28592 meters 0.03234587215321168 Centerline is valid? [True, True] Translation: X:159.35, Y:-97.26, Z:-19.14 [[ 7.54247869e-01 6.50408255e-01 8.98846653e-02 1.59348551e+02] [-6.45842432e-01 7.59584821e-01 -7.69314747e-02 -9.72569230e+01] [-1.18311894e-01 -2.59299844e-05 9.92976483e-01 -1.91391376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31592 meters 0.03220363011121991 Centerline is valid? [True, True] Translation: X:159.38, Y:-97.27, Z:-19.14 [[ 7.56791788e-01 6.47522008e-01 8.93388934e-02 1.59379630e+02] [-6.42981864e-01 7.62046595e-01 -7.65461270e-02 -9.72717752e+01] [-1.17645701e-01 4.86192083e-04 9.93055513e-01 -1.91425428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34592 meters 0.0321995852986884 Centerline is valid? [True, True] Translation: X:159.41, Y:-97.29, Z:-19.14 [[ 7.57755722e-01 6.46348271e-01 8.96670374e-02 1.59408548e+02] [-6.41756615e-01 7.63042183e-01 -7.69095180e-02 -9.72888272e+01] [-1.18130066e-01 7.34212901e-04 9.92997859e-01 -1.91445140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37592 meters 0.032458860769511426 Centerline is valid? [True, True] Translation: X:159.44, Y:-97.30, Z:-19.15 [[ 7.59247986e-01 6.44524853e-01 9.01676708e-02 1.59438384e+02] [-6.39859148e-01 7.64582588e-01 -7.74192240e-02 -9.73036680e+01] [-1.18839245e-01 1.08578089e-03 9.92912914e-01 -1.91474403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40592 meters 0.0324191097331258 Centerline is valid? [True, True] Translation: X:159.46, Y:-97.32, Z:-19.15 [[ 7.60238494e-01 6.43314579e-01 9.04642668e-02 1.59464423e+02] [-6.38600935e-01 7.65600792e-01 -7.77449274e-02 -9.73233318e+01] [-1.19273960e-01 1.33412114e-03 9.92860485e-01 -1.91498994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43592 meters 0.032552196127454046 Centerline is valid? [True, True] Translation: X:159.49, Y:-97.34, Z:-19.15 [[ 7.63513235e-01 6.39508420e-01 8.98694671e-02 1.59490425e+02] [-6.34822064e-01 7.68781565e-01 -7.73036382e-02 -9.73422597e+01] [-1.18526317e-01 1.97123030e-03 9.92948955e-01 -1.91518972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46592 meters 0.033111287266575 Centerline is valid? [True, True] Translation: X:159.52, Y:-97.36, Z:-19.16 [[ 7.64199617e-01 6.38598388e-01 9.05043938e-02 1.59516435e+02] [-6.33830508e-01 7.69537093e-01 -7.79201515e-02 -9.73608678e+01] [-1.19406171e-01 2.18210403e-03 9.92843092e-01 -1.91561966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49592 meters 0.033660793550989276 Centerline is valid? [True, True] Translation: X:159.54, Y:-97.38, Z:-19.16 [[ 7.66267932e-01 6.35683948e-01 9.34846201e-02 1.59544121e+02] [-6.30565824e-01 7.71944437e-01 -8.05514003e-02 -9.73772801e+01] [-1.23370165e-01 2.77574841e-03 9.92356840e-01 -1.91593551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52592 meters 0.03361694585956461 Centerline is valid? [True, True] Translation: X:159.57, Y:-97.40, Z:-19.16 [[ 7.66825767e-01 6.35020267e-01 9.34211047e-02 1.59569896e+02] [-6.29898988e-01 7.72489982e-01 -8.05387677e-02 -9.73970407e+01] [-1.23310617e-01 2.91334303e-03 9.92363847e-01 -1.91623552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.55592000000001 meters 0.03397282192813782 Centerline is valid? [True, True] Translation: X:159.59, Y:-97.42, Z:-19.17 [[ 7.68033915e-01 6.33552535e-01 9.34617059e-02 1.59594298e+02] [-6.28407165e-01 7.73693033e-01 -8.06444382e-02 -9.74176756e+01] [-1.23403159e-01 3.20565797e-03 9.92351442e-01 -1.91659075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58592000000002 meters 0.034257962550334704 Centerline is valid? [True, True] Translation: X:159.62, Y:-97.44, Z:-19.17 [[ 7.69948331e-01 6.31248012e-01 9.33033537e-02 1.59618750e+02] [-6.26094538e-01 7.75572571e-01 -8.05780121e-02 -9.74387739e+01] [-1.23228232e-01 3.62418579e-03 9.92371739e-01 -1.91688346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61592000000002 meters 0.034588334239453254 Centerline is valid? [True, True] Translation: X:159.64, Y:-97.46, Z:-19.17 [[ 7.71666421e-01 6.29253941e-01 9.25765172e-02 1.59642413e+02] [-6.24157953e-01 7.77189648e-01 -8.00193775e-02 -9.74609681e+01] [-1.22302019e-01 3.96589719e-03 9.92485006e-01 -1.91723751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64592000000002 meters 0.03475858724094227 Centerline is valid? [True, True] Translation: X:159.67, Y:-97.48, Z:-19.17 [[ 7.72369028e-01 6.28454612e-01 9.21459974e-02 1.59666292e+02] [-6.23392025e-01 7.77835309e-01 -7.97158407e-02 -9.74824565e+01] [-1.21772198e-01 4.12696654e-03 9.92549495e-01 -1.91747612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67592000000002 meters 0.0349914674053808 Centerline is valid? [True, True] Translation: X:159.69, Y:-97.50, Z:-19.18 [[ 7.72212817e-01 6.28407482e-01 9.37624778e-02 1.59690132e+02] [-6.23155770e-01 7.77872649e-01 -8.11851438e-02 -9.75041663e+01] [-1.23952619e-01 4.26357952e-03 9.92278978e-01 -1.91790288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70592000000002 meters 0.034566049697201374 Centerline is valid? [True, True] Translation: X:159.71, Y:-97.53, Z:-19.18 [[ 7.71661736e-01 6.29303655e-01 9.22771614e-02 1.59713523e+02] [-6.24215709e-01 7.77148664e-01 -7.99668894e-02 -9.75266298e+01] [-1.22036528e-01 4.10653502e-03 9.92517114e-01 -1.91801932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73592 meters 0.0343593064948505 Centerline is valid? [True, True] Translation: X:159.74, Y:-97.55, Z:-19.18 [[ 7.70354203e-01 6.30786964e-01 9.30709853e-02 1.59736453e+02] [-6.25612832e-01 7.75945954e-01 -8.07246022e-02 -9.75484079e+01] [-1.23138081e-01 3.96013390e-03 9.92381645e-01 -1.91842821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76592 meters 0.0343593064948505 Centerline is valid? [True, True] Translation: X:159.76, Y:-97.57, Z:-19.19 [[ 7.70047384e-01 6.31166740e-01 9.30353282e-02 1.59761164e+02] [-6.25990410e-01 7.75637100e-01 -8.07656805e-02 -9.75693902e+01] [-1.23138263e-01 3.95417769e-03 9.92381647e-01 -1.91873790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79592 meters 0.03382996559321225 Centerline is valid? [True, True] Translation: X:159.78, Y:-97.59, Z:-19.19 [[ 7.66705797e-01 6.35053317e-01 9.41780517e-02 1.59781895e+02] [-6.29767581e-01 7.72460670e-01 -8.18370720e-02 -9.75941210e+01] [-1.24719745e-01 3.43467370e-03 9.92186065e-01 -1.91909055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82592 meters 0.03337311204121991 Centerline is valid? [True, True] Translation: X:159.80, Y:-97.62, Z:-19.19 [[ 7.64413281e-01 6.37661940e-01 9.51818587e-02 1.59804638e+02] [-6.32273303e-01 7.70310100e-01 -8.27817630e-02 -9.76165479e+01] [-1.26106327e-01 3.09853091e-03 9.92011892e-01 -1.91939412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85592 meters 0.03304825025985519 Centerline is valid? [True, True] Translation: X:159.83, Y:-97.64, Z:-19.20 [[ 7.61932493e-01 6.40731426e-01 9.44569521e-02 1.59828610e+02] [-6.35439283e-01 7.67760602e-01 -8.22227263e-02 -9.76382212e+01] [-1.25203011e-01 2.62650893e-03 9.92127667e-01 -1.91974625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88592 meters 0.032820734137614695 Centerline is valid? [True, True] Translation: X:159.85, Y:-97.66, Z:-19.20 [[ 7.60634231e-01 6.42388380e-01 9.36628857e-02 1.59852164e+02] [-6.37188723e-01 7.66375536e-01 -8.16031258e-02 -9.76594374e+01] [-1.24201844e-01 2.38919631e-03 9.92254097e-01 -1.92000651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91592 meters 0.032567644025165376 Centerline is valid? [True, True] Translation: X:159.88, Y:-97.68, Z:-19.20 [[ 7.59216689e-01 6.43997533e-01 9.41126814e-02 1.59875595e+02] [-6.38750437e-01 7.65024419e-01 -8.20701995e-02 -9.76824926e+01] [-1.24851505e-01 2.19454879e-03 9.92173012e-01 -1.92024056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94592 meters 0.03257685977871751 Centerline is valid? [True, True] Translation: X:159.90, Y:-97.70, Z:-19.21 [[ 7.57894660e-01 6.45314195e-01 9.57354416e-02 1.59899520e+02] [-6.39883608e-01 7.63914444e-01 -8.35684792e-02 -9.77042048e+01] [-1.27061613e-01 2.07656426e-03 9.91892653e-01 -1.92060727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97592 meters 0.03219249727847064 Centerline is valid? [True, True] Translation: X:159.92, Y:-97.73, Z:-19.21 [[ 7.55369455e-01 6.48173718e-01 9.63733284e-02 1.59923042e+02] [-6.42683609e-01 7.61490682e-01 -8.42004681e-02 -9.77260958e+01] [-1.27963922e-01 1.66490315e-03 9.91777426e-01 -1.92093281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00592 meters 0.032340410446127156 Centerline is valid? [True, True] Translation: X:159.95, Y:-97.75, Z:-19.21 [[ 7.53895610e-01 6.49646258e-01 9.79854497e-02 1.59946821e+02] [-6.43972302e-01 7.60235157e-01 -8.56865282e-02 -9.77470717e+01] [-1.30157916e-01 1.49878190e-03 9.91492143e-01 -1.92133007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03592 meters 0.03199022681868316 Centerline is valid? [True, True] Translation: X:159.97, Y:-97.77, Z:-19.22 [[ 7.50824281e-01 6.53325096e-01 9.71041591e-02 1.59971092e+02] [-6.47774955e-01 7.57076944e-01 -8.49829929e-02 -9.77684296e+01] [-1.29036842e-01 9.05652239e-04 9.91639387e-01 -1.92156303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06592 meters 0.0321054660345846 Centerline is valid? [True, True] Translation: X:160.00, Y:-97.79, Z:-19.22 [[ 7.49043195e-01 6.55166284e-01 9.84450762e-02 1.59996419e+02] [-6.49469916e-01 7.55484437e-01 -8.62095965e-02 -9.77882676e+01] [-1.30855344e-01 6.37596222e-04 9.91401267e-01 -1.92191454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09592 meters 0.03199095816545774 Centerline is valid? [True, True] Translation: X:160.02, Y:-97.81, Z:-19.22 [[ 7.45898223e-01 6.58655670e-01 9.90381252e-02 1.60023880e+02] [-6.52909599e-01 7.52444483e-01 -8.68121795e-02 -9.78074039e+01] [-1.31700025e-01 9.01077244e-05 9.91289612e-01 -1.92222046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12592 meters 0.03208139625143522 Centerline is valid? [True, True] Translation: X:160.05, Y:-97.83, Z:-19.23 [[ 7.44537018e-01 6.60132647e-01 9.94460529e-02 1.60049247e+02] [-6.54339751e-01 7.51149039e-01 -8.72617450e-02 -9.78282921e+01] [-1.32303134e-01 -1.01905998e-04 9.91209297e-01 -1.92258056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15592 meters 0.0318094865370473 Centerline is valid? [True, True] Translation: X:160.08, Y:-97.85, Z:-19.23 [[ 7.43445407e-01 6.61551383e-01 9.81768514e-02 1.60075490e+02] [-6.55906918e-01 7.49899785e-01 -8.62347240e-02 -9.78469905e+01] [-1.30671501e-01 -2.84066475e-04 9.91425680e-01 -1.92292919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18592 meters 0.031871301746724 Centerline is valid? [True, True] Translation: X:160.10, Y:-97.87, Z:-19.23 [[ 7.42992166e-01 6.62017627e-01 9.84647262e-02 1.60102956e+02] [-6.56332928e-01 7.49488205e-01 -8.65708902e-02 -9.78659867e+01] [-1.31109606e-01 -3.04148763e-04 9.91367832e-01 -1.92315898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21592 meters 0.031852964829559016 Centerline is valid? [True, True] Translation: X:160.13, Y:-97.88, Z:-19.23 [[ 7.43064870e-01 6.61987099e-01 9.81207454e-02 1.60133600e+02] [-6.56330008e-01 7.49515196e-01 -8.63590884e-02 -9.78816774e+01] [-1.30711592e-01 -2.29184833e-04 9.91420409e-01 -1.92343865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24592 meters 0.03183118397429337 Centerline is valid? [True, True] Translation: X:160.16, Y:-97.90, Z:-19.24 [[ 7.42000954e-01 6.63064194e-01 9.88962039e-02 1.60159688e+02] [-6.57314626e-01 7.48562455e-01 -8.71305524e-02 -9.79010912e+01] [-1.31803135e-01 -3.54968325e-04 9.91275848e-01 -1.92380094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27592 meters 0.031929219445678475 Centerline is valid? [True, True] Translation: X:160.19, Y:-97.92, Z:-19.24 [[ 7.43190002e-01 6.61870321e-01 9.79607022e-02 1.60187762e+02] [-6.56208744e-01 7.49618350e-01 -8.63852593e-02 -9.79170021e+01] [-1.30608979e-01 -8.20083292e-05 9.91433955e-01 -1.92421274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30592000000001 meters 0.03185330751936755 Centerline is valid? [True, True] Translation: X:160.21, Y:-97.94, Z:-19.25 [[ 7.43842859e-01 6.61105723e-01 9.81683486e-02 1.60214851e+02] [-6.55402464e-01 7.50292750e-01 -8.66510249e-02 -9.79357370e+01] [-1.30940489e-01 1.14968571e-04 9.91390223e-01 -1.92460157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.33592000000002 meters 0.031631964920617914 Centerline is valid? [True, True] Translation: X:160.24, Y:-97.95, Z:-19.25 [[ 7.45625209e-01 6.59420849e-01 9.59541096e-02 1.60242915e+02] [-6.53948221e-01 7.51773853e-01 -8.47808786e-02 -9.79524471e+01] [-1.28042070e-01 4.65741056e-04 9.91768628e-01 -1.92493547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36592000000002 meters 0.031734863428146 Centerline is valid? [True, True] Translation: X:160.27, Y:-97.97, Z:-19.25 [[ 7.46712915e-01 6.58274120e-01 9.53677357e-02 1.60269096e+02] [-6.52850954e-01 7.52777977e-01 -8.43264409e-02 -9.79719584e+01] [-1.27300645e-01 7.06725296e-04 9.91863925e-01 -1.92524766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39592000000002 meters 0.03170259126818187 Centerline is valid? [True, True] Translation: X:160.30, Y:-97.99, Z:-19.25 [[ 7.48608278e-01 6.56286009e-01 9.42036172e-02 1.60297443e+02] [-6.50974403e-01 7.54511463e-01 -8.33353405e-02 -9.79883409e+01] [-1.25769527e-01 1.06138229e-03 9.92058919e-01 -1.92540960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42592000000002 meters 0.03191646442496517 Centerline is valid? [True, True] Translation: X:160.32, Y:-98.01, Z:-19.26 [[ 7.48963927e-01 6.55729022e-01 9.52495937e-02 1.60323025e+02] [-6.50284083e-01 7.54995329e-01 -8.43366175e-02 -9.80070785e+01] [-1.27214966e-01 1.22578957e-03 9.91874412e-01 -1.92579892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45592000000002 meters 0.03186582783517602 Centerline is valid? [True, True] Translation: X:160.35, Y:-98.03, Z:-19.26 [[ 7.50539414e-01 6.54224592e-01 9.31706603e-02 1.60349713e+02] [-6.48994996e-01 7.56298831e-01 -8.25685947e-02 -9.80253423e+01] [-1.24483267e-01 1.50369231e-03 9.92220568e-01 -1.92603770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48592 meters 0.03209879414951007 Centerline is valid? [True, True] Translation: X:160.38, Y:-98.04, Z:-19.26 [[ 7.50402253e-01 6.54221542e-01 9.42901463e-02 1.60375266e+02] [-6.48855426e-01 7.56301314e-01 -8.36358703e-02 -9.80447856e+01] [-1.26028150e-01 1.57987254e-03 9.92025408e-01 -1.92645416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51592 meters 0.03216210843350459 Centerline is valid? [True, True] Translation: X:160.40, Y:-98.06, Z:-19.27 [[ 7.50653929e-01 6.54077879e-01 9.32781203e-02 1.60402120e+02] [-6.48816467e-01 7.56425430e-01 -8.28116037e-02 -9.80629424e+01] [-1.24723180e-01 1.64247524e-03 9.92190219e-01 -1.92685144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54592 meters 0.03211162660083555 Centerline is valid? [True, True] Translation: X:160.43, Y:-98.08, Z:-19.27 [[ 7.50624724e-01 6.54088724e-01 9.34369590e-02 1.60427868e+02] [-6.48799747e-01 7.56415921e-01 -8.30291700e-02 -9.80838338e+01] [-1.24985647e-01 1.70187246e-03 9.92157090e-01 -1.92729120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57592 meters 0.032077341503798686 Centerline is valid? [True, True] Translation: X:160.45, Y:-98.10, Z:-19.28 [[ 7.50645055e-01 6.54236528e-01 9.22310518e-02 1.60452628e+02] [-6.49074915e-01 7.56288054e-01 -8.20374016e-02 -9.81036952e+01] [-1.23425107e-01 1.71610775e-03 9.92352406e-01 -1.92752922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60592 meters 0.03219009838543449 Centerline is valid? [True, True] Translation: X:160.48, Y:-98.12, Z:-19.28 [[ 7.49405903e-01 6.55609448e-01 9.25583283e-02 1.60478692e+02] [-6.50411936e-01 7.55098563e-01 -8.24043299e-02 -9.81241561e+01] [-1.23915718e-01 1.55324974e-03 9.92291531e-01 -1.92787910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63592 meters 0.03188304479559822 Centerline is valid? [True, True] Translation: X:160.51, Y:-98.14, Z:-19.28 [[ 7.46413315e-01 6.59140075e-01 9.16598333e-02 1.60506017e+02] [-6.54059882e-01 7.52019496e-01 -8.16844428e-02 -9.81422843e+01] [-1.22771471e-01 1.01933596e-03 9.92434445e-01 -1.92814334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66592 meters 0.03192293320118416 Centerline is valid? [True, True] Translation: X:160.53, Y:-98.16, Z:-19.28 [[ 7.45060213e-01 6.60610418e-01 9.20823266e-02 1.60531332e+02] [-6.55484877e-01 7.50728429e-01 -8.21364893e-02 -9.81629163e+01] [-1.23389041e-01 8.38057791e-04 9.92358021e-01 -1.92835807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69592 meters 0.03169872700175731 Centerline is valid? [True, True] Translation: X:160.56, Y:-98.18, Z:-19.29 [[ 7.42966486e-01 6.62792489e-01 9.33108641e-02 1.60555434e+02] [-6.57535277e-01 7.48802924e-01 -8.33159027e-02 -9.81833493e+01] [-1.25092602e-01 5.45738568e-04 9.92144920e-01 -1.92876407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72592 meters 0.03194084626097772 Centerline is valid? [True, True] Translation: X:160.58, Y:-98.20, Z:-19.29 [[ 7.40730084e-01 6.65313495e-01 9.31498594e-02 1.60582084e+02] [-6.60084563e-01 7.46564078e-01 -8.32493095e-02 -9.82026315e+01] [-1.24929228e-01 1.78483801e-04 9.92165639e-01 -1.92908541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75592 meters 0.03192648561229306 Centerline is valid? [True, True] Translation: X:160.61, Y:-98.22, Z:-19.29 [[ 7.40275622e-01 6.65910768e-01 9.24924512e-02 1.60608112e+02] [-6.60751446e-01 7.46031388e-01 -8.27326693e-02 -9.82223462e+01] [-1.24094847e-01 1.30457308e-04 9.92270352e-01 -1.92940290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78592 meters 0.031945666942402216 Centerline is valid? [True, True] Translation: X:160.64, Y:-98.24, Z:-19.30 [[ 7.39485796e-01 6.66946809e-01 9.13384466e-02 1.60635088e+02] [-6.61919226e-01 7.45105331e-01 -8.17372870e-02 -9.82401300e+01] [-1.22571186e-01 -1.51111701e-05 9.92459724e-01 -1.92969837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81592 meters 0.03229912228926165 Centerline is valid? [True, True] Translation: X:160.66, Y:-98.26, Z:-19.30 [[ 7.38590139e-01 6.67714799e-01 9.29599616e-02 1.60660390e+02] [-6.62502834e-01 7.44417181e-01 -8.32649699e-02 -9.82600619e+01] [-1.24798245e-01 -8.75522865e-05 9.92182136e-01 -1.93012623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84592 meters 0.032149594999681876 Centerline is valid? [True, True] Translation: X:160.69, Y:-98.28, Z:-19.30 [[ 7.39635462e-01 6.66705455e-01 9.18869925e-02 1.60688278e+02] [-6.61596576e-01 7.45321284e-01 -8.23781167e-02 -9.82776025e+01] [-1.23407271e-01 1.37656867e-04 9.92356099e-01 -1.93033564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87592 meters 0.032168797172374156 Centerline is valid? [True, True] Translation: X:160.71, Y:-98.30, Z:-19.31 [[ 7.39947835e-01 6.66474538e-01 9.10433488e-02 1.60714018e+02] [-6.61448640e-01 7.45527758e-01 -8.16949166e-02 -9.82975369e+01] [-1.22322926e-01 2.29477430e-04 9.92490327e-01 -1.93061287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90592 meters 0.032257235117737176 Centerline is valid? [True, True] Translation: X:160.74, Y:-98.32, Z:-19.31 [[ 7.41454964e-01 6.64854452e-01 9.06261206e-02 1.60740381e+02] [-6.59853349e-01 7.46972726e-01 -8.13959736e-02 -9.83173057e+01] [-1.21811716e-01 5.51499570e-04 9.92553073e-01 -1.93106788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93592 meters 0.032184214204024744 Centerline is valid? [True, True] Translation: X:160.77, Y:-98.34, Z:-19.31 [[ 7.41969066e-01 6.64493397e-01 8.90529635e-02 1.60765705e+02] [-6.59652899e-01 7.47293844e-01 -8.00622458e-02 -9.83376155e+01] [-1.19749565e-01 6.59664198e-04 9.92803911e-01 -1.93128628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96592 meters 0.03224455611209222 Centerline is valid? [True, True] Translation: X:160.79, Y:-98.36, Z:-19.32 [[ 7.42908851e-01 6.63610826e-01 8.77901553e-02 1.60792547e+02] [-6.58892697e-01 7.48077510e-01 -7.89965333e-02 -9.83561825e+01] [-1.18096795e-01 8.42931573e-04 9.93001730e-01 -1.93168830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99592 meters 0.03250518153232929 Centerline is valid? [True, True] Translation: X:160.82, Y:-98.38, Z:-19.32 [[ 7.42652036e-01 6.63799076e-01 8.85366575e-02 1.60817009e+02] [-6.58992852e-01 7.47910438e-01 -7.97395630e-02 -9.83773362e+01] [-1.19148539e-01 8.73724397e-04 9.92876056e-01 -1.93217298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02592 meters 0.03231887723933037 Centerline is valid? [True, True] Translation: X:160.84, Y:-98.40, Z:-19.32 [[ 7.40828941e-01 6.65941821e-01 8.77152847e-02 1.60840504e+02] [-6.61232351e-01 7.46003462e-01 -7.90608220e-02 -9.83995947e+01] [-1.18085814e-01 5.70361100e-04 9.93003230e-01 -1.93229532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.05592000000001 meters 0.03216801840702118 Centerline is valid? [True, True] Translation: X:160.87, Y:-98.42, Z:-19.33 [[ 7.37599669e-01 6.69534960e-01 8.75766313e-02 1.60867136e+02] [-6.64861260e-01 7.42780544e-01 -7.89719445e-02 -9.84192947e+01] [-1.17924696e-01 2.33706549e-05 9.93022540e-01 -1.93254514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08592000000002 meters 0.03233751598381274 Centerline is valid? [True, True] Translation: X:160.89, Y:-98.44, Z:-19.33 [[ 7.35490019e-01 6.71653749e-01 8.90823991e-02 1.60891998e+02] [-6.66822854e-01 7.40865152e-01 -8.04121118e-02 -9.84392999e+01] [-1.20007142e-01 -2.59873924e-04 9.92772994e-01 -1.93289174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11592000000002 meters 0.03230897826815655 Centerline is valid? [True, True] Translation: X:160.92, Y:-98.46, Z:-19.33 [[ 7.32872465e-01 6.74589708e-01 8.84685050e-02 1.60916684e+02] [-6.69837741e-01 7.38192566e-01 -7.99320768e-02 -9.84608515e+01] [-1.19228149e-01 -6.79525378e-04 9.92866651e-01 -1.93323730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14592000000002 meters 0.03232922174850961 Centerline is valid? [True, True] Translation: X:160.94, Y:-98.48, Z:-19.34 [[ 7.32295345e-01 6.75182664e-01 8.87237239e-02 1.60941162e+02] [-6.70398904e-01 7.37650218e-01 -8.02338128e-02 -9.84811884e+01] [-1.19619554e-01 -7.25439678e-04 9.92819539e-01 -1.93352909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17592000000002 meters 0.032188045483193 Centerline is valid? [True, True] Translation: X:160.97, Y:-98.50, Z:-19.34 [[ 7.31623078e-01 6.76173845e-01 8.66983425e-02 1.60966503e+02] [-6.71609680e-01 7.36741625e-01 -7.84360556e-02 -9.85011598e+01] [-1.16910687e-01 -8.41817612e-04 9.93142076e-01 -1.93381209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20592000000002 meters 0.03212148549894554 Centerline is valid? [True, True] Translation: X:160.99, Y:-98.52, Z:-19.34 [[ 7.31132390e-01 6.76797559e-01 8.59679751e-02 1.60993444e+02] [-6.72306226e-01 7.36168655e-01 -7.78463262e-02 -9.85194274e+01] [-1.15973132e-01 -8.80834308e-04 9.93251960e-01 -1.93405992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23592 meters 0.03233619174059672 Centerline is valid? [True, True] Translation: X:161.02, Y:-98.54, Z:-19.34 [[ 7.32393011e-01 6.75264559e-01 8.72826017e-02 1.61018343e+02] [-6.70614886e-01 7.37575367e-01 -7.91091173e-02 -9.85391546e+01] [-1.17797080e-01 -5.94047367e-04 9.93037509e-01 -1.93436676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26592 meters 0.032172019721243776 Centerline is valid? [True, True] Translation: X:161.04, Y:-98.56, Z:-19.35 [[ 7.33056089e-01 6.74510431e-01 8.75468318e-02 1.61044079e+02] [-6.69818280e-01 7.38265198e-01 -7.94227256e-02 -9.85600109e+01] [-1.18204236e-01 -4.19155694e-04 9.92989216e-01 -1.93462795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29592 meters 0.03219979143444812 Centerline is valid? [True, True] Translation: X:161.07, Y:-98.58, Z:-19.35 [[ 7.33933184e-01 6.73560482e-01 8.75120515e-02 1.61070179e+02] [-6.68855548e-01 7.39132082e-01 -7.94733999e-02 -9.85799444e+01] [-1.18213106e-01 -2.04755682e-04 9.92988227e-01 -1.93495819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32592 meters 0.03223711807598158 Centerline is valid? [True, True] Translation: X:161.10, Y:-98.60, Z:-19.35 [[ 7.34729954e-01 6.72879864e-01 8.60498850e-02 1.61096770e+02] [-6.68317657e-01 7.39751774e-01 -7.82228994e-02 -9.85979214e+01] [-1.16290169e-01 -3.59502584e-05 9.93215281e-01 -1.93526665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35592 meters 0.03209104837249028 Centerline is valid? [True, True] Translation: X:161.12, Y:-98.62, Z:-19.36 [[ 7.34854627e-01 6.72774216e-01 8.58110284e-02 1.61122145e+02] [-6.68228245e-01 7.39847858e-01 -7.80779067e-02 -9.86184970e+01] [-1.16015908e-01 3.45581259e-05 9.93247355e-01 -1.93558775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38592 meters 0.03239901069355745 Centerline is valid? [True, True] Translation: X:161.15, Y:-98.64, Z:-19.36 [[ 7.34991993e-01 6.72480092e-01 8.69327170e-02 1.61147459e+02] [-6.67802496e-01 7.40115198e-01 -7.91790393e-02 -9.86388355e+01] [-1.17586553e-01 1.42074500e-04 9.93062628e-01 -1.93587416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41592 meters 0.03246305774058243 Centerline is valid? [True, True] Translation: X:161.17, Y:-98.66, Z:-19.36 [[ 7.35565653e-01 6.72075162e-01 8.51947641e-02 1.61172569e+02] [-6.67572621e-01 7.40482892e-01 -7.76652008e-02 -9.86592810e+01] [-1.15282118e-01 2.54162233e-04 9.93332758e-01 -1.93604381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44592 meters 0.03244688472865193 Centerline is valid? [True, True] Translation: X:161.20, Y:-98.68, Z:-19.36 [[ 7.36335275e-01 6.71277029e-01 8.48381539e-02 1.61198418e+02] [-6.66798710e-01 7.41206425e-01 -7.74113443e-02 -9.86792917e+01] [-1.14847042e-01 4.30731957e-04 9.93383094e-01 -1.93644189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47592 meters 0.032463246526048 Centerline is valid? [True, True] Translation: X:161.22, Y:-98.70, Z:-19.37 [[ 7.37565965e-01 6.69935234e-01 8.47539378e-02 1.61223359e+02] [-6.65447835e-01 7.42419218e-01 -7.74137171e-02 -9.87002975e+01] [-1.14785129e-01 6.98398432e-04 9.93390098e-01 -1.93681186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50592 meters 0.03276238581374676 Centerline is valid? [True, True] Translation: X:161.25, Y:-98.72, Z:-19.37 [[ 7.37805055e-01 6.69642631e-01 8.49849791e-02 1.61247908e+02] [-6.65119462e-01 7.42683040e-01 -7.77045920e-02 -9.87218271e+01] [-1.15151210e-01 8.05677183e-04 9.93347648e-01 -1.93704950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53592 meters 0.03279787180573847 Centerline is valid? [True, True] Translation: X:161.27, Y:-98.74, Z:-19.37 [[ 7.37977838e-01 6.69494534e-01 8.46509235e-02 1.61272794e+02] [-6.64996899e-01 7.42816455e-01 -7.74779866e-02 -9.87431611e+01] [-1.14751188e-01 8.84435438e-04 9.93393871e-01 -1.93740131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56592 meters 0.03282317958784167 Centerline is valid? [True, True] Translation: X:161.30, Y:-98.76, Z:-19.38 [[ 7.38227213e-01 6.69308059e-01 8.39482223e-02 1.61297337e+02] [-6.64874982e-01 7.42984384e-01 -7.69120529e-02 -9.87648615e+01] [-1.13850075e-01 9.63497655e-04 9.93497475e-01 -1.93775034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59592 meters 0.0329198967881887 Centerline is valid? [True, True] Translation: X:161.32, Y:-98.79, Z:-19.38 [[ 7.38710874e-01 6.68865285e-01 8.32194454e-02 1.61321117e+02] [-6.64497624e-01 7.43382852e-01 -7.63206517e-02 -9.87870982e+01] [-1.12912143e-01 1.07977153e-03 9.93604389e-01 -1.93806471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62592 meters 0.03307182976088508 Centerline is valid? [True, True] Translation: X:161.34, Y:-98.81, Z:-19.39 [[ 7.38610257e-01 6.68869399e-01 8.40750573e-02 1.61342906e+02] [-6.64402401e-01 7.43379048e-01 -7.71818654e-02 -9.88106893e+01] [-1.14124224e-01 1.14764751e-03 9.93465824e-01 -1.93850112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65592 meters 0.03309471458060601 Centerline is valid? [True, True] Translation: X:161.37, Y:-98.83, Z:-19.39 [[ 7.38824765e-01 6.68510839e-01 8.50366063e-02 1.61366648e+02] [-6.63930247e-01 7.43701316e-01 -7.81343725e-02 -9.88325891e+01] [-1.15475511e-01 1.26923447e-03 9.93309516e-01 -1.93880018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68592 meters 0.03323049900696963 Centerline is valid? [True, True] Translation: X:161.39, Y:-98.86, Z:-19.39 [[ 7.38887344e-01 6.68463312e-01 8.48663228e-02 1.61390502e+02] [-6.63892636e-01 7.43743934e-01 -7.80482443e-02 -9.88559949e+01] [-1.15291201e-01 1.32673320e-03 9.93330851e-01 -1.93910849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71592 meters 0.03323049900696963 Centerline is valid? [True, True] Translation: X:161.41, Y:-98.88, Z:-19.39 [[ 7.38556932e-01 6.68833311e-01 8.48272408e-02 1.61414629e+02] [-6.64260191e-01 7.43411219e-01 -7.80907016e-02 -9.88776938e+01] [-1.15291185e-01 1.32706977e-03 9.93330852e-01 -1.93941796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74592 meters 0.033206401873816266 Centerline is valid? [True, True] Translation: X:161.44, Y:-98.90, Z:-19.40 [[ 7.38669228e-01 6.68606847e-01 8.56309230e-02 1.61436446e+02] [-6.63935751e-01 7.43614705e-01 -7.89081090e-02 -9.89014989e+01] [-1.16434916e-01 1.43356083e-03 9.93197289e-01 -1.93977585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77592 meters 0.03356948999470272 Centerline is valid? [True, True] Translation: X:161.46, Y:-98.93, Z:-19.40 [[ 7.39308548e-01 6.67882110e-01 8.57692200e-02 1.61456700e+02] [-6.63182884e-01 7.44265357e-01 -7.91046200e-02 -9.89274644e+01] [-1.16667620e-01 1.60204300e-03 9.93169724e-01 -1.94001469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80592000000001 meters 0.033710868370276474 Centerline is valid? [True, True] Translation: X:161.48, Y:-98.95, Z:-19.40 [[ 7.38991462e-01 6.68134402e-01 8.65334643e-02 1.61479792e+02] [-6.63344113e-01 7.44038821e-01 -7.98800407e-02 -9.89501611e+01] [-1.17754860e-01 1.62920396e-03 9.93041358e-01 -1.94030733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.83592000000002 meters 0.033710247490395605 Centerline is valid? [True, True] Translation: X:161.50, Y:-98.97, Z:-19.41 [[ 7.38865145e-01 6.68215580e-01 8.69841165e-02 1.61502159e+02] [-6.63366984e-01 7.43965805e-01 -8.03686889e-02 -9.89741141e+01] [-1.18416818e-01 1.67923197e-03 9.92962556e-01 -1.94060747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86592000000002 meters 0.0336199374490084 Centerline is valid? [True, True] Translation: X:161.52, Y:-99.00, Z:-19.41 [[ 7.37706950e-01 6.69495492e-01 8.69726514e-02 1.61523150e+02] [-6.64647709e-01 7.42814539e-01 -8.04362110e-02 -9.89983625e+01] [-1.18456231e-01 1.53217840e-03 9.92958093e-01 -1.94105711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89592000000002 meters 0.03346382104052299 Centerline is valid? [True, True] Translation: X:161.55, Y:-99.02, Z:-19.41 [[ 7.36822137e-01 6.70544924e-01 8.63865885e-02 1.61545950e+02] [-6.65761436e-01 7.41867594e-01 -7.99636347e-02 -9.90210931e+01] [-1.17706620e-01 1.40611705e-03 9.93047418e-01 -1.94129461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92592000000002 meters 0.0333119981075785 Centerline is valid? [True, True] Translation: X:161.57, Y:-99.04, Z:-19.42 [[ 7.35348414e-01 6.72049562e-01 8.72473342e-02 1.61569486e+02] [-6.67171694e-01 7.40505145e-01 -8.08335466e-02 -9.90443321e+01] [-1.18931249e-01 1.23186848e-03 9.92901727e-01 -1.94158283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95592000000002 meters 0.03326949598222299 Centerline is valid? [True, True] Translation: X:161.59, Y:-99.07, Z:-19.42 [[ 7.32901090e-01 6.74708159e-01 8.73206335e-02 1.61592303e+02] [-6.69831260e-01 7.38084114e-01 -8.09810123e-02 -9.90669358e+01] [-1.19088522e-01 8.60982213e-04 9.92883267e-01 -1.94190039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98592 meters 0.03324552781329462 Centerline is valid? [True, True] Translation: X:161.62, Y:-99.09, Z:-19.42 [[ 7.31688988e-01 6.76084013e-01 8.68425692e-02 1.61615354e+02] [-6.71261744e-01 7.36824223e-01 -8.06085246e-02 -9.90890458e+01] [-1.18485843e-01 6.86275302e-04 9.92955505e-01 -1.94225912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01592 meters 0.033118014150067446 Centerline is valid? [True, True] Translation: X:161.64, Y:-99.11, Z:-19.43 [[ 7.30112548e-01 6.77887098e-01 8.60508548e-02 1.61638496e+02] [-6.73156781e-01 7.35165891e-01 -7.99441163e-02 -9.91109811e+01] [-1.17454738e-01 4.42486097e-04 9.93078138e-01 -1.94250881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04592 meters 0.03287062839245745 Centerline is valid? [True, True] Translation: X:161.66, Y:-99.13, Z:-19.43 [[ 7.27945913e-01 6.80231699e-01 8.59045034e-02 1.61663088e+02] [-6.75525165e-01 7.32997150e-01 -7.98807162e-02 -9.91327914e+01] [-1.17305151e-01 1.18187002e-04 9.93095911e-01 -1.94276074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07592 meters 0.03314320793693874 Centerline is valid? [True, True] Translation: X:161.69, Y:-99.15, Z:-19.43 [[ 7.26710424e-01 6.81446136e-01 8.67359398e-02 1.61687498e+02] [-6.76646638e-01 7.31868269e-01 -8.07351455e-02 -9.91536016e+01] [-1.18495935e-01 -1.85103108e-05 9.92954537e-01 -1.94313495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10592 meters 0.033170929020456215 Centerline is valid? [True, True] Translation: X:161.71, Y:-99.17, Z:-19.43 [[ 7.24188949e-01 6.84118045e-01 8.67920852e-02 1.61712359e+02] [-6.79322409e-01 7.29371195e-01 -8.08623859e-02 -9.91749273e+01] [-1.18623064e-01 -4.00162088e-04 9.92939277e-01 -1.94343458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13592 meters 0.03315122685485699 Centerline is valid? [True, True] Translation: X:161.74, Y:-99.20, Z:-19.44 [[ 7.23376503e-01 6.85158234e-01 8.53500456e-02 1.61736000e+02] [-6.80519785e-01 7.28394081e-01 -7.95919929e-02 -9.91961854e+01] [-1.16701577e-01 -5.07417189e-04 9.93166897e-01 -1.94359100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16592 meters 0.032827743563345335 Centerline is valid? [True, True] Translation: X:161.76, Y:-99.22, Z:-19.44 [[ 7.22851371e-01 6.85873108e-01 8.40474608e-02 1.61760633e+02] [-6.81375356e-01 7.27720924e-01 -7.84211823e-02 -9.92164641e+01] [-1.14950076e-01 -5.81009346e-04 9.93371100e-01 -1.94383649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19592 meters 0.03297010069819893 Centerline is valid? [True, True] Translation: X:161.79, Y:-99.24, Z:-19.44 [[ 7.21822706e-01 6.86943820e-01 8.41437393e-02 1.61785410e+02] [-6.82434420e-01 7.26710190e-01 -7.85847478e-02 -9.92384607e+01] [-1.15131420e-01 -6.98328628e-04 9.93350023e-01 -1.94413281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22592 meters 0.03300729983017817 Centerline is valid? [True, True] Translation: X:161.81, Y:-99.26, Z:-19.44 [[ 7.21378307e-01 6.87411439e-01 8.41359174e-02 1.61810682e+02] [-6.82896588e-01 7.26267861e-01 -7.86590442e-02 -9.92595220e+01] [-1.15176339e-01 -7.13202752e-04 9.93344805e-01 -1.94446696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25592 meters 0.03282652404149474 Centerline is valid? [True, True] Translation: X:161.84, Y:-99.28, Z:-19.45 [[ 7.21250273e-01 6.87628728e-01 8.34552375e-02 1.61836814e+02] [-6.83179222e-01 7.26062163e-01 -7.81017601e-02 -9.92790816e+01] [-1.14298704e-01 -6.83968475e-04 9.93446193e-01 -1.94469272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28592 meters 0.03289538304059184 Centerline is valid? [True, True] Translation: X:161.86, Y:-99.30, Z:-19.45 [[ 7.21243632e-01 6.87647374e-01 8.33589415e-02 1.61864156e+02] [-6.83199958e-01 7.26044550e-01 -7.80841116e-02 -9.92984258e+01] [-1.14216639e-01 -6.33157148e-04 9.93455665e-01 -1.94497220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31592 meters 0.032885503112067116 Centerline is valid? [True, True] Translation: X:161.89, Y:-99.32, Z:-19.45 [[ 7.20673800e-01 6.88265683e-01 8.31842797e-02 1.61889491e+02] [-6.83831831e-01 7.25458406e-01 -7.80008173e-02 -9.93192354e+01] [-1.14032021e-01 -6.70912924e-04 9.93476848e-01 -1.94524350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34592 meters 0.033008886646864306 Centerline is valid? [True, True] Translation: X:161.91, Y:-99.34, Z:-19.46 [[ 7.20308886e-01 6.88581732e-01 8.37275771e-02 1.61914969e+02] [-6.84082268e-01 7.25158434e-01 -7.85919635e-02 -9.93405218e+01] [-1.14832749e-01 -6.66061146e-04 9.93384616e-01 -1.94559121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37592 meters 0.032791158556222805 Centerline is valid? [True, True] Translation: X:161.94, Y:-99.36, Z:-19.46 [[ 7.21541118e-01 6.87448682e-01 8.24179946e-02 1.61940765e+02] [-6.83073080e-01 7.26232837e-01 -7.74405258e-02 -9.93601902e+01] [-1.13091041e-01 -4.20989838e-04 9.93584541e-01 -1.94573665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40592 meters 0.03267448590535448 Centerline is valid? [True, True] Translation: X:161.97, Y:-99.38, Z:-19.46 [[ 7.23668718e-01 6.85351915e-01 8.12178482e-02 1.61967657e+02] [-6.81082381e-01 7.28212023e-01 -7.63808834e-02 -9.93781416e+01] [-1.11491598e-01 -4.15895169e-05 9.93765376e-01 -1.94597211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43592 meters 0.032730033042014314 Centerline is valid? [True, True] Translation: X:161.99, Y:-99.40, Z:-19.46 [[ 7.24292173e-01 6.84580761e-01 8.21585619e-02 1.61992511e+02] [-6.80198440e-01 7.28937010e-01 -7.73363904e-02 -9.93990196e+01] [-1.12831421e-01 1.30016635e-04 9.93614137e-01 -1.94633849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46592 meters 0.0327492867084931 Centerline is valid? [True, True] Translation: X:162.02, Y:-99.42, Z:-19.47 [[ 7.26133602e-01 6.82571929e-01 8.26169120e-02 1.62018479e+02] [-6.78119178e-01 7.30818249e-01 -7.78400097e-02 -9.94191294e+01] [-1.13509353e-01 4.98134170e-04 9.93536803e-01 -1.94668597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49592 meters 0.03281297646261598 Centerline is valid? [True, True] Translation: X:162.04, Y:-99.44, Z:-19.47 [[ 7.27050834e-01 6.81618943e-01 8.24178474e-02 1.62043961e+02] [-6.77172545e-01 7.31706992e-01 -7.77317327e-02 -9.94402233e+01] [-1.13289137e-01 7.03817583e-04 9.93561813e-01 -1.94705207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52592 meters 0.03260448973238761 Centerline is valid? [True, True] Translation: X:162.07, Y:-99.46, Z:-19.47 [[ 7.28765482e-01 6.79922187e-01 8.12815616e-02 1.62070169e+02] [-6.75578727e-01 7.33283572e-01 -7.67371310e-02 -9.94609717e+01] [-1.11777712e-01 1.01127831e-03 9.93732721e-01 -1.94728060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.55592000000001 meters 0.03270994305858158 Centerline is valid? [True, True] Translation: X:162.09, Y:-99.48, Z:-19.48 [[ 7.29703267e-01 6.78899704e-01 8.14145801e-02 1.62094392e+02] [-6.74527049e-01 7.34229997e-01 -7.69387576e-02 -9.94822148e+01] [-1.12010727e-01 1.22612638e-03 9.93706241e-01 -1.94761609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58592000000002 meters 0.03316813251407535 Centerline is valid? [True, True] Translation: X:162.12, Y:-99.50, Z:-19.48 [[ 7.31943297e-01 6.76304632e-01 8.28918252e-02 1.62117935e+02] [-6.71746615e-01 7.36620076e-01 -7.84050372e-02 -9.95044545e+01] [-1.14085472e-01 1.70573849e-03 9.93469474e-01 -1.94790927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61592000000002 meters 0.033498844970081335 Centerline is valid? [True, True] Translation: X:162.14, Y:-99.53, Z:-19.48 [[ 7.32759546e-01 6.75353536e-01 8.34329006e-02 1.62141577e+02] [-6.70721478e-01 7.37491644e-01 -7.89859163e-02 -9.95262482e+01] [-1.14874485e-01 1.91744579e-03 9.93378164e-01 -1.94832265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64592000000002 meters 0.033847851100166026 Centerline is valid? [True, True] Translation: X:162.17, Y:-99.55, Z:-19.49 [[ 7.34639160e-01 6.73283318e-01 8.36353894e-02 1.62165772e+02] [-6.68607288e-01 7.39381019e-01 -7.92464660e-02 -9.95477981e+01] [-1.15193743e-01 2.29832626e-03 9.93340384e-01 -1.94870657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67592000000002 meters 0.03391407189279891 Centerline is valid? [True, True] Translation: X:162.19, Y:-99.57, Z:-19.49 [[ 7.36121506e-01 6.71740109e-01 8.30081589e-02 1.62189492e+02] [-6.67116716e-01 7.40782436e-01 -7.87189252e-02 -9.95694453e+01] [-1.14369646e-01 2.57056337e-03 9.93434938e-01 -1.94905339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70592000000002 meters 0.034572291593221297 Centerline is valid? [True, True] Translation: X:162.21, Y:-99.59, Z:-19.49 [[ 7.38901676e-01 6.68664542e-01 8.31386998e-02 1.62213824e+02] [-6.63999947e-01 7.43557751e-01 -7.89046387e-02 -9.95897807e+01] [-1.14579159e-01 3.09867748e-03 9.93409289e-01 -1.94931033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73592 meters 0.03483714080868824 Centerline is valid? [True, True] Translation: X:162.24, Y:-99.61, Z:-19.50 [[ 7.40020047e-01 6.67503999e-01 8.25151037e-02 1.62237410e+02] [-6.62897645e-01 7.44598974e-01 -7.83522773e-02 -9.96113554e+01] [-1.13741120e-01 3.28318795e-03 9.93504997e-01 -1.94958582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76592 meters 0.035095750624479276 Centerline is valid? [True, True] Translation: X:162.26, Y:-99.64, Z:-19.50 [[ 7.40061273e-01 6.67230764e-01 8.43351623e-02 1.62259201e+02] [-6.62408362e-01 7.44843068e-01 -8.01496503e-02 -9.96353827e+01] [-1.16294773e-01 3.45133549e-03 9.93208746e-01 -1.95006995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79592 meters 0.03531910167807394 Centerline is valid? [True, True] Translation: X:162.28, Y:-99.66, Z:-19.50 [[ 7.40536298e-01 6.66719344e-01 8.42098964e-02 1.62282402e+02] [-6.61900149e-01 7.45300290e-01 -8.00978836e-02 -9.96573342e+01] [-1.16164469e-01 3.57684729e-03 9.93223551e-01 -1.95039882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82592 meters 0.035432771295525176 Centerline is valid? [True, True] Translation: X:162.31, Y:-99.68, Z:-19.51 [[ 7.40742457e-01 6.66386939e-01 8.50238806e-02 1.62306248e+02] [-6.61463543e-01 7.45596835e-01 -8.09403508e-02 -9.96790518e+01] [-1.17331129e-01 3.71575693e-03 9.93085897e-01 -1.95070537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85592 meters 0.03580150642675433 Centerline is valid? [True, True] Translation: X:162.33, Y:-99.70, Z:-19.51 [[ 7.41768452e-01 6.65204256e-01 8.53396833e-02 1.62329610e+02] [-6.60228264e-01 7.46650888e-01 -8.13086106e-02 -9.97005376e+01] [-1.17805784e-01 3.96849123e-03 9.93028725e-01 -1.95103263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88592 meters 0.03598226989637138 Centerline is valid? [True, True] Translation: X:162.35, Y:-99.72, Z:-19.51 [[ 7.43030264e-01 6.63837063e-01 8.50081168e-02 1.62351362e+02] [-6.58882974e-01 7.47865329e-01 -8.10597117e-02 -9.97240957e+01] [-1.17385064e-01 4.21941816e-03 9.93077511e-01 -1.95125197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91592 meters 0.03611771615506118 Centerline is valid? [True, True] Translation: X:162.38, Y:-99.75, Z:-19.52 [[ 7.43516698e-01 6.63327818e-01 8.47297193e-02 1.62375235e+02] [-6.58395110e-01 7.48316382e-01 -8.08608211e-02 -9.97458871e+01] [-1.17041869e-01 4.33573781e-03 9.93117517e-01 -1.95157450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94592 meters 0.0363777434049418 Centerline is valid? [True, True] Translation: X:162.40, Y:-99.77, Z:-19.52 [[ 7.44415231e-01 6.62456374e-01 8.36511521e-02 1.62399077e+02] [-6.57635824e-01 7.49087192e-01 -7.98968203e-02 -9.97676127e+01] [-1.15590165e-01 4.46441563e-03 9.93286959e-01 -1.95197052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97592 meters 0.03592203366083317 Centerline is valid? [True, True] Translation: X:162.42, Y:-99.79, Z:-19.52 [[ 7.44016093e-01 6.62948061e-01 8.33061907e-02 1.62421488e+02] [-6.58162831e-01 7.48652350e-01 -7.96325677e-02 -9.97904142e+01] [-1.15159632e-01 4.41887350e-03 9.93337170e-01 -1.95222301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00592 meters 0.036016301493022866 Centerline is valid? [True, True] Translation: X:162.44, Y:-99.81, Z:-19.52 [[ 7.43703768e-01 6.63194007e-01 8.41333148e-02 1.62442849e+02] [-6.58306699e-01 7.48434154e-01 -8.04897950e-02 -9.98149036e+01] [-1.16348596e-01 4.47503913e-03 9.93198358e-01 -1.95247060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03592 meters 0.036030111012247935 Centerline is valid? [True, True] Translation: X:162.47, Y:-99.84, Z:-19.53 [[ 7.43201788e-01 6.63560297e-01 8.56669987e-02 1.62465599e+02] [-6.58486730e-01 7.48108963e-01 -8.20256435e-02 -9.98377659e+01] [-1.18517210e-01 4.55102304e-03 9.92941569e-01 -1.95277329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06592 meters 0.036067501960447085 Centerline is valid? [True, True] Translation: X:162.49, Y:-99.86, Z:-19.53 [[ 7.42257809e-01 6.64649152e-01 8.54098950e-02 1.62487508e+02] [-6.59605271e-01 7.47142568e-01 -8.18466211e-02 -9.98614982e+01] [-1.18212656e-01 4.41447674e-03 9.92978489e-01 -1.95317136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09592 meters 0.03546727731333947 Centerline is valid? [True, True] Translation: X:162.51, Y:-99.89, Z:-19.53 [[ 7.41380725e-01 6.65723401e-01 8.46579850e-02 1.62509556e+02] [-6.60767396e-01 7.46186469e-01 -8.11923718e-02 -9.98852899e+01] [-1.17222305e-01 4.25522317e-03 9.93096584e-01 -1.95346861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12592 meters 0.03558157019389726 Centerline is valid? [True, True] Translation: X:162.53, Y:-99.91, Z:-19.54 [[ 7.40565491e-01 6.66426850e-01 8.62438864e-02 1.62532367e+02] [-6.61279139e-01 7.45558169e-01 -8.27823507e-02 -9.99075604e+01] [-1.19468215e-01 4.27446928e-03 9.92828824e-01 -1.95382449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15592 meters 0.03495918814952922 Centerline is valid? [True, True] Translation: X:162.56, Y:-99.93, Z:-19.54 [[ 7.39420683e-01 6.67877561e-01 8.48328811e-02 1.62555876e+02] [-6.62900095e-01 7.44260322e-01 -8.14864232e-02 -9.99302877e+01] [-1.17560701e-01 4.01702176e-03 9.93057574e-01 -1.95398474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18592 meters 0.034368823668838866 Centerline is valid? [True, True] Translation: X:162.58, Y:-99.95, Z:-19.54 [[ 7.37187551e-01 6.70259705e-01 8.54777267e-02 1.62578047e+02] [-6.65217909e-01 7.42117448e-01 -8.21390657e-02 -9.99532765e+01] [-1.18489018e-01 3.69058204e-03 9.92948504e-01 -1.95434472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21592 meters 0.03389731538075676 Centerline is valid? [True, True] Translation: X:162.60, Y:-99.98, Z:-19.55 [[ 7.35780104e-01 6.71923199e-01 8.45390666e-02 1.62599975e+02] [-6.66994874e-01 7.40612865e-01 -8.13045090e-02 -9.99762872e+01] [-1.17241106e-01 3.43511603e-03 9.93097540e-01 -1.95459640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24592 meters 0.033439380007528566 Centerline is valid? [True, True] Translation: X:162.62, Y:-100.00, Z:-19.55 [[ 7.33601882e-01 6.74154757e-01 8.56950550e-02 1.62621749e+02] [-6.69098016e-01 7.38583329e-01 -8.24773410e-02 -9.99994694e+01] [-1.18895431e-01 3.16714131e-03 9.92901730e-01 -1.95498555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27592 meters 0.033171633293368946 Centerline is valid? [True, True] Translation: X:162.65, Y:-100.02, Z:-19.55 [[ 7.31762492e-01 6.76156585e-01 8.56500259e-02 1.62645169e+02] [-6.71114727e-01 7.36752373e-01 -8.24679622e-02 -1.00021500e+02] [-1.18864116e-01 2.86596784e-03 9.92906395e-01 -1.95520337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30592000000001 meters 0.03289593021357012 Centerline is valid? [True, True] Translation: X:162.67, Y:-100.04, Z:-19.56 [[ 7.29700615e-01 6.78275032e-01 8.64869511e-02 1.62668476e+02] [-6.73139882e-01 7.34803527e-01 -8.33455198e-02 -1.00042956e+02] [-1.20082102e-01 2.59946105e-03 9.92760561e-01 -1.95562931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.33592000000002 meters 0.032259708418859265 Centerline is valid? [True, True] Translation: X:162.69, Y:-100.06, Z:-19.56 [[ 7.26535072e-01 6.81753994e-01 8.57804213e-02 1.62692902e+02] [-6.76719453e-01 7.31578618e-01 -8.27254983e-02 -1.00064311e+02] [-1.19153561e-01 2.05369603e-03 9.92873714e-01 -1.95594015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36592000000002 meters 0.03196109885681275 Centerline is valid? [True, True] Translation: X:162.72, Y:-100.09, Z:-19.56 [[ 7.23414426e-01 6.85153519e-01 8.50659954e-02 1.62716397e+02] [-6.80223115e-01 7.28397147e-01 -8.20616239e-02 -1.00086877e+02] [-1.18186639e-01 1.50070618e-03 9.92990265e-01 -1.95629795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39592000000002 meters 0.03170224226708026 Centerline is valid? [True, True] Translation: X:162.74, Y:-100.11, Z:-19.57 [[ 7.22443640e-01 6.86230904e-01 8.46305702e-02 1.62739592e+02] [-6.81355413e-01 7.27382541e-01 -8.16666421e-02 -1.00109710e+02] [-1.17600973e-01 1.33604910e-03 9.93060032e-01 -1.95653890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42592000000002 meters 0.03143958510187632 Centerline is valid? [True, True] Translation: X:162.76, Y:-100.13, Z:-19.57 [[ 7.19915260e-01 6.88888518e-01 8.45850307e-02 1.62763033e+02] [-6.84032452e-01 7.24866712e-01 -8.16569337e-02 -1.00130972e+02] [-1.17565397e-01 9.27166715e-04 9.93064710e-01 -1.95687281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45592000000002 meters 0.03133137594667334 Centerline is valid? [True, True] Translation: X:162.79, Y:-100.15, Z:-19.57 [[ 7.19020572e-01 6.89997293e-01 8.31453685e-02 1.62787206e+02] [-6.85304935e-01 7.23811523e-01 -8.03369451e-02 -1.00152239e+02] [-1.15613850e-01 7.83984849e-04 9.93293926e-01 -1.95708271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48592 meters 0.031444878217156955 Centerline is valid? [True, True] Translation: X:162.81, Y:-100.17, Z:-19.57 [[ 7.18081580e-01 6.90785141e-01 8.47037994e-02 1.62812519e+02] [-6.85911334e-01 7.23059725e-01 -8.19162738e-02 -1.00172306e+02] [-1.17832451e-01 7.23271244e-04 9.93033227e-01 -1.95743948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51592 meters 0.03161626149728104 Centerline is valid? [True, True] Translation: X:162.84, Y:-100.19, Z:-19.58 [[ 7.16642141e-01 6.92170954e-01 8.55769383e-02 1.62837026e+02] [-6.87196449e-01 7.21733373e-01 -8.28370608e-02 -1.00194071e+02] [-1.19101140e-01 5.56360458e-04 9.92881971e-01 -1.95781856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54592 meters 0.03165796001633621 Centerline is valid? [True, True] Translation: X:162.86, Y:-100.21, Z:-19.58 [[ 7.15774730e-01 6.93079322e-01 8.54844374e-02 1.62862428e+02] [-6.88111981e-01 7.20861177e-01 -8.28315507e-02 -1.00214676e+02] [-1.19031247e-01 4.65865245e-04 9.92890399e-01 -1.95808858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57592 meters 0.03165796001633621 Centerline is valid? [True, True] Translation: X:162.89, Y:-100.24, Z:-19.58 [[ 7.15425660e-01 6.93444829e-01 8.54423429e-02 1.62885987e+02] [-6.88474901e-01 7.20509578e-01 -8.28749539e-02 -1.00236997e+02] [-1.19031235e-01 4.65960023e-04 9.92890401e-01 -1.95839806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60592 meters 0.03164162821254417 Centerline is valid? [True, True] Translation: X:162.91, Y:-100.26, Z:-19.59 [[ 7.14530184e-01 6.94389504e-01 8.52633137e-02 1.62911319e+02] [-6.89437114e-01 7.19599250e-01 -8.27851761e-02 -1.00258902e+02] [-1.18840574e-01 3.68814137e-04 9.92913280e-01 -1.95870443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63592 meters 0.0317523058481168 Centerline is valid? [True, True] Translation: X:162.94, Y:-100.28, Z:-19.59 [[ 7.14172644e-01 6.94720841e-01 8.55592617e-02 1.62938201e+02] [-6.89726078e-01 7.19279370e-01 -8.31572307e-02 -1.00279043e+02] [-1.19312073e-01 3.76165324e-04 9.92856731e-01 -1.95909150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66592 meters 0.031633056447193095 Centerline is valid? [True, True] Translation: X:162.97, Y:-100.30, Z:-19.59 [[ 7.15105379e-01 6.93842110e-01 8.48965518e-02 1.62966760e+02] [-6.88908564e-01 7.20126927e-01 -8.25966069e-02 -1.00296667e+02] [-1.18445297e-01 5.79316259e-04 9.92960410e-01 -1.95935962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69592 meters 0.03143684233949006 Centerline is valid? [True, True] Translation: X:162.99, Y:-100.32, Z:-19.60 [[ 7.15677757e-01 6.93396640e-01 8.37045298e-02 1.62992908e+02] [-6.88588703e-01 7.20555763e-01 -8.15168168e-02 -1.00316281e+02] [-1.16837268e-01 7.01778936e-04 9.93150825e-01 -1.95952914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72592 meters 0.03155130416574039 Centerline is valid? [True, True] Translation: X:163.02, Y:-100.33, Z:-19.60 [[ 7.16988346e-01 6.91919552e-01 8.47056408e-02 1.63021236e+02] [-6.86976423e-01 7.21973904e-01 -8.25655871e-02 -1.00332849e+02] [-1.18284006e-01 1.00778559e-03 9.92979294e-01 -1.95999922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75592 meters 0.03162325759246012 Centerline is valid? [True, True] Translation: X:163.05, Y:-100.35, Z:-19.60 [[ 7.20094585e-01 6.88790824e-01 8.38510014e-02 1.63048933e+02] [-6.83917566e-01 7.24958460e-01 -8.18046140e-02 -1.00351047e+02] [-1.17134760e-01 1.55988682e-03 9.93114804e-01 -1.96027116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78592 meters 0.03170447049286743 Centerline is valid? [True, True] Translation: X:163.07, Y:-100.37, Z:-19.61 [[ 7.21327385e-01 6.87471142e-01 8.40846806e-02 1.63073851e+02] [-6.82553177e-01 7.26209387e-01 -8.21041147e-02 -1.00371368e+02] [-1.17507294e-01 1.83168039e-03 9.93070330e-01 -1.96057362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81592 meters 0.03191251909235137 Centerline is valid? [True, True] Translation: X:163.10, Y:-100.39, Z:-19.61 [[ 7.22040624e-01 6.86626178e-01 8.48635844e-02 1.63098595e+02] [-6.81601923e-01 7.27007791e-01 -8.29366705e-02 -1.00392079e+02] [-1.18642976e-01 2.04046308e-03 9.92934882e-01 -1.96091717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84592 meters 0.03238408632760776 Centerline is valid? [True, True] Translation: X:163.13, Y:-100.41, Z:-19.61 [[ 7.23986167e-01 6.84746743e-01 8.34621377e-02 1.63125988e+02] [-6.79866839e-01 7.28777278e-01 -8.16379816e-02 -1.00410773e+02] [-1.16726652e-01 2.36162959e-03 9.93161272e-01 -1.96117184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87592 meters 0.03251554026568294 Centerline is valid? [True, True] Translation: X:163.15, Y:-100.43, Z:-19.62 [[ 7.24593672e-01 6.84003428e-01 8.42812088e-02 1.63150850e+02] [-6.79012468e-01 7.29474286e-01 -8.25186937e-02 -1.00431654e+02] [-1.17924044e-01 2.56453171e-03 9.93019306e-01 -1.96157521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90592 meters 0.03284409055993408 Centerline is valid? [True, True] Translation: X:163.18, Y:-100.45, Z:-19.62 [[ 7.25419041e-01 6.83111518e-01 8.44148584e-02 1.63175213e+02] [-6.78090326e-01 7.30308843e-01 -8.27194244e-02 -1.00452730e+02] [-1.18155509e-01 2.76534666e-03 9.92991253e-01 -1.96198206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93592 meters 0.03308097977837003 Centerline is valid? [True, True] Translation: X:163.20, Y:-100.47, Z:-19.62 [[ 7.25908288e-01 6.82549849e-01 8.47517594e-02 1.63198591e+02] [-6.77476127e-01 7.30833207e-01 -8.31199200e-02 -1.00474675e+02] [-1.18672889e-01 2.92014518e-03 9.92929110e-01 -1.96232302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96592 meters 0.033743174180206816 Centerline is valid? [True, True] Translation: X:163.22, Y:-100.50, Z:-19.63 [[ 7.27982321e-01 6.80378394e-01 8.44214488e-02 1.63222364e+02] [-6.75321473e-01 7.32853510e-01 -8.28651998e-02 -1.00496771e+02] [-1.18248247e-01 3.31278338e-03 9.92978538e-01 -1.96269607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99592 meters 0.03434679918187346 Centerline is valid? [True, True] Translation: X:163.25, Y:-100.52, Z:-19.63 [[ 7.29660122e-01 6.78634795e-01 8.39697650e-02 1.63245242e+02] [-6.73612529e-01 7.34466927e-01 -8.24893558e-02 -1.00518539e+02] [-1.17653162e-01 3.62610758e-03 9.93048128e-01 -1.96300091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02592 meters 0.03417397763438276 Centerline is valid? [True, True] Translation: X:163.27, Y:-100.54, Z:-19.63 [[ 7.29478121e-01 6.78964566e-01 8.28781641e-02 1.63267984e+02] [-6.74067234e-01 7.34162350e-01 -8.14801067e-02 -1.00541694e+02] [-1.16168133e-01 3.57250022e-03 9.93223138e-01 -1.96322149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.05592000000001 meters 0.03425201593158651 Centerline is valid? [True, True] Translation: X:163.29, Y:-100.56, Z:-19.64 [[ 7.28689367e-01 6.79634060e-01 8.43169673e-02 1.63290051e+02] [-6.74560742e-01 7.33542596e-01 -8.29642366e-02 -1.00564685e+02] [-1.18235408e-01 3.57824096e-03 9.92979146e-01 -1.96353000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08592000000002 meters 0.03390654377212046 Centerline is valid? [True, True] Translation: X:163.31, Y:-100.59, Z:-19.64 [[ 7.27516673e-01 6.80821038e-01 8.48658075e-02 1.63312683e+02] [-6.75680907e-01 7.32441635e-01 -8.35736932e-02 -1.00588023e+02] [-1.19057979e-01 3.45904935e-03 9.92881278e-01 -1.96378406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11592000000002 meters 0.033436892413861524 Centerline is valid? [True, True] Translation: X:163.33, Y:-100.61, Z:-19.64 [[ 7.25228931e-01 6.83376015e-01 8.39060146e-02 1.63333166e+02] [-6.78360835e-01 7.30060195e-01 -8.26963681e-02 -1.00612443e+02] [-1.17769156e-01 3.05524456e-03 9.93036299e-01 -1.96416254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14592000000002 meters 0.03327423206688985 Centerline is valid? [True, True] Translation: X:163.35, Y:-100.64, Z:-19.64 [[ 7.24389449e-01 6.84290700e-01 8.37028286e-02 1.63354965e+02] [-6.79297771e-01 7.29203356e-01 -8.25651524e-02 -1.00636308e+02] [-1.17534949e-01 2.95018032e-03 9.93064365e-01 -1.96448667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17592000000002 meters 0.03292257354308805 Centerline is valid? [True, True] Translation: X:163.38, Y:-100.66, Z:-19.65 [[ 7.23089981e-01 6.85679544e-01 8.35729772e-02 1.63376326e+02] [-6.80703225e-01 7.27898266e-01 -8.25059635e-02 -1.00660906e+02] [-1.17405277e-01 2.77084044e-03 9.93080220e-01 -1.96461132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20592000000002 meters 0.032726370487024814 Centerline is valid? [True, True] Translation: X:163.40, Y:-100.69, Z:-19.65 [[ 7.22395639e-01 6.86451353e-01 8.32411019e-02 1.63397243e+02] [-6.81511603e-01 7.27170771e-01 -8.22472242e-02 -1.00685283e+02] [-1.16989214e-01 2.68525933e-03 9.93129555e-01 -1.96483106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23592 meters 0.0327565344287059 Centerline is valid? [True, True] Translation: X:163.42, Y:-100.71, Z:-19.65 [[ 7.21805279e-01 6.87085460e-01 8.31306815e-02 1.63419476e+02] [-6.82154658e-01 7.26571847e-01 -8.22093299e-02 -1.00709385e+02] [-1.16885248e-01 2.63114667e-03 9.93141941e-01 -1.96520123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26592 meters 0.03254402866876488 Centerline is valid? [True, True] Translation: X:163.44, Y:-100.74, Z:-19.66 [[ 7.20204050e-01 6.88646139e-01 8.40988833e-02 1.63441060e+02] [-6.83600251e-01 7.25093384e-01 -8.32483104e-02 -1.00735037e+02] [-1.18308171e-01 2.46575257e-03 9.92973865e-01 -1.96555086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29592 meters 0.032607712221330534 Centerline is valid? [True, True] Translation: X:163.46, Y:-100.76, Z:-19.66 [[ 7.19333535e-01 6.89571794e-01 8.39643164e-02 1.63463294e+02] [-6.84539019e-01 7.24213461e-01 -8.31937193e-02 -1.00758151e+02] [-1.18176130e-01 2.36718145e-03 9.92989828e-01 -1.96591577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32592 meters 0.0324383770983393 Centerline is valid? [True, True] Translation: X:163.49, Y:-100.78, Z:-19.66 [[ 7.17572643e-01 6.91341660e-01 8.44760986e-02 1.63485807e+02] [-6.86250768e-01 7.22524827e-01 -8.37720525e-02 -1.00780908e+02] [-1.18951188e-01 2.14074549e-03 9.92897795e-01 -1.96624384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35592 meters 0.031921403586293605 Centerline is valid? [True, True] Translation: X:163.51, Y:-100.80, Z:-19.66 [[ 7.14413276e-01 6.94655938e-01 8.40642597e-02 1.63507262e+02] [-6.89629076e-01 7.19340295e-01 -8.34342658e-02 -1.00804654e+02] [-1.18428918e-01 1.63338941e-03 9.92961189e-01 -1.96643656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38592 meters 0.0315124898577828 Centerline is valid? [True, True] Translation: X:163.53, Y:-100.83, Z:-19.67 [[ 7.12848245e-01 6.96292319e-01 8.38116110e-02 1.63529482e+02] [-6.91298578e-01 7.17756938e-01 -8.32541569e-02 -1.00827734e+02] [-1.18125595e-01 1.40873213e-03 9.92997663e-01 -1.96670049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41592 meters 0.03136708294337718 Centerline is valid? [True, True] Translation: X:163.55, Y:-100.85, Z:-19.67 [[ 7.10585044e-01 6.98519243e-01 8.44971172e-02 1.63552423e+02] [-6.93449819e-01 7.15590423e-01 -8.40100906e-02 -1.00851491e+02] [-1.19147993e-01 1.10180333e-03 9.92875895e-01 -1.96702695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44592 meters 0.03132407598595957 Centerline is valid? [True, True] Translation: X:163.58, Y:-100.87, Z:-19.67 [[ 7.10146486e-01 6.99124242e-01 8.31700795e-02 1.63575630e+02] [-6.94208075e-01 7.14999447e-01 -8.27704060e-02 -1.00874370e+02] [-1.17333358e-01 1.04177225e-03 9.93092039e-01 -1.96725667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47592 meters 0.031703029373971056 Centerline is valid? [True, True] Translation: X:163.60, Y:-100.90, Z:-19.68 [[ 7.10007342e-01 6.99092479e-01 8.46125326e-02 1.63599293e+02] [-6.93994460e-01 7.15030386e-01 -8.42807038e-02 -1.00896254e+02] [-1.19420538e-01 1.11928963e-03 9.92843131e-01 -1.96768931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50592 meters 0.03151037067942438 Centerline is valid? [True, True] Translation: X:163.62, Y:-100.92, Z:-19.68 [[ 7.09869968e-01 6.99301528e-01 8.40357171e-02 1.63623190e+02] [-6.94265772e-01 7.14825922e-01 -8.37791172e-02 -1.00918453e+02] [-1.18657774e-01 1.12915728e-03 9.92934569e-01 -1.96797404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53592 meters 0.031486056552405176 Centerline is valid? [True, True] Translation: X:163.65, Y:-100.94, Z:-19.68 [[ 7.10079963e-01 6.99098471e-01 8.39510238e-02 1.63648377e+02] [-6.94062538e-01 7.15024370e-01 -8.37695880e-02 -1.00939516e+02] [-1.18590219e-01 1.21584539e-03 9.92942537e-01 -1.96821750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56592 meters 0.031452646705279086 Centerline is valid? [True, True] Translation: X:163.67, Y:-100.96, Z:-19.69 [[ 7.09525613e-01 6.99639863e-01 8.41276769e-02 1.63671316e+02] [-6.94576373e-01 7.14494681e-01 -8.40298294e-02 -1.00962526e+02] [-1.18899396e-01 1.18821948e-03 9.92905596e-01 -1.96858603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59592 meters 0.031477143352548885 Centerline is valid? [True, True] Translation: X:163.69, Y:-100.99, Z:-19.69 [[ 7.08417327e-01 7.00694869e-01 8.46852462e-02 1.63692480e+02] [-6.95561082e-01 7.13460256e-01 -8.46713964e-02 -1.00987241e+02] [-1.19748370e-01 1.07892288e-03 9.92803688e-01 -1.96898650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62592 meters 0.031608502868924394 Centerline is valid? [True, True] Translation: X:163.61, Y:-101.36, Z:-17.70 [[ 7.47323531e-01 -6.62728502e-01 -4.79423934e-02 1.63612363e+02] [-6.60825475e-01 -7.48834905e-01 5.05566581e-02 -1.01363899e+02] [-6.94062759e-02 -6.10062536e-03 -9.97569823e-01 -1.77004446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65592 meters 0.03127216751987068 Centerline is valid? [True, True] Translation: X:163.70, Y:-101.02, Z:-19.69 [[ 7.57137540e-01 6.47082332e-01 8.95946519e-02 1.63702030e+02] [-6.42406482e-01 7.62419118e-01 -7.76595168e-02 -1.01020328e+02] [-1.18560777e-01 1.24275030e-03 9.92946020e-01 -1.96923819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68592 meters 0.03143433745035833 Centerline is valid? [True, True] Translation: X:163.73, Y:-101.04, Z:-19.70 [[ 7.57011158e-01 6.47300151e-01 8.90877170e-02 1.63726291e+02] [-6.42670529e-01 7.62234176e-01 -7.72894030e-02 -1.01042691e+02] [-1.17935145e-01 1.25489024e-03 9.93020507e-01 -1.96958292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71592 meters 0.03144924346385803 Centerline is valid? [True, True] Translation: X:163.75, Y:-101.07, Z:-19.70 [[ 7.57793826e-01 6.46280373e-01 8.98342764e-02 1.63748898e+02] [-6.41556165e-01 7.63098601e-01 -7.80141796e-02 -1.01066105e+02] [-1.18971444e-01 1.48492976e-03 9.92896566e-01 -1.96992734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74592 meters 0.031369250686183875 Centerline is valid? [True, True] Translation: X:163.77, Y:-101.09, Z:-19.70 [[ 7.57911658e-01 6.46202573e-01 8.93988455e-02 1.63772412e+02] [-6.41515395e-01 7.63164369e-01 -7.77054940e-02 -1.01088683e+02] [-1.18439504e-01 1.54316406e-03 9.92960071e-01 -1.97031242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77592 meters 0.03148689614929192 Centerline is valid? [True, True] Translation: X:163.80, Y:-101.11, Z:-19.71 [[ 7.58481194e-01 6.45559931e-01 8.92112934e-02 1.63795543e+02] [-6.40878813e-01 7.63707724e-01 -7.76199687e-02 -1.01112436e+02] [-1.18239695e-01 1.69965867e-03 9.92983628e-01 -1.97058902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80592000000001 meters 0.03132488259406753 Centerline is valid? [True, True] Translation: X:163.82, Y:-101.13, Z:-19.71 [[ 7.58378484e-01 6.45824511e-01 8.81633481e-02 1.63819129e+02] [-6.41246178e-01 7.63484005e-01 -7.67822453e-02 -1.01134907e+02] [-1.16899162e-01 1.69559279e-03 9.93142342e-01 -1.97087156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.83592000000002 meters 0.031200047650493307 Centerline is valid? [True, True] Translation: X:163.84, Y:-101.16, Z:-19.71 [[ 7.57280338e-01 6.47021304e-01 8.88252289e-02 1.63842117e+02] [-6.42374134e-01 7.62470300e-01 -7.74242459e-02 -1.01159234e+02] [-1.17821735e-01 1.57282959e-03 9.93033516e-01 -1.97110688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86592000000002 meters 0.031329536811162476 Centerline is valid? [True, True] Translation: X:163.87, Y:-101.18, Z:-19.72 [[ 7.56652932e-01 6.47785826e-01 8.85994574e-02 1.63865803e+02] [-6.43160568e-01 7.61821034e-01 -7.72864582e-02 -1.01182283e+02] [-1.17562002e-01 1.49534782e-03 9.93064419e-01 -1.97150679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89592000000002 meters 0.03126684008618072 Centerline is valid? [True, True] Translation: X:163.89, Y:-101.20, Z:-19.72 [[ 7.56474213e-01 6.48092029e-01 8.78833714e-02 1.63890221e+02] [-6.43534624e-01 7.61560562e-01 -7.67378505e-02 -1.01203803e+02] [-1.16661699e-01 1.49421265e-03 9.93170587e-01 -1.97179019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92592000000002 meters 0.031292169281838964 Centerline is valid? [True, True] Translation: X:163.91, Y:-101.23, Z:-19.72 [[ 7.55167864e-01 6.49735852e-01 8.69759709e-02 1.63914777e+02] [-6.45276494e-01 7.60158999e-01 -7.60035678e-02 -1.01225179e+02] [-1.15497810e-01 1.27190243e-03 9.93306920e-01 -1.97213283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95592000000002 meters 0.03117794084350759 Centerline is valid? [True, True] Translation: X:163.94, Y:-101.25, Z:-19.73 [[ 7.53591120e-01 6.51435882e-01 8.79301748e-02 1.63939639e+02] [-6.46885262e-01 7.58702966e-01 -7.68717529e-02 -1.01247301e+02] [-1.16789903e-01 1.04913613e-03 9.93156089e-01 -1.97250728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98592 meters 0.031061866273140806 Centerline is valid? [True, True] Translation: X:163.96, Y:-101.27, Z:-19.73 [[ 7.52524783e-01 6.52785384e-01 8.70499451e-02 1.63964232e+02] [-6.48326025e-01 7.57542377e-01 -7.61768488e-02 -1.01268583e+02] [-1.15671156e-01 8.88221719e-04 9.93287166e-01 -1.97275791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01592 meters 0.030875478361036282 Centerline is valid? [True, True] Translation: X:163.99, Y:-101.29, Z:-19.73 [[ 7.50228197e-01 6.55611538e-01 8.56222185e-02 1.63989128e+02] [-6.51309272e-01 7.55098186e-01 -7.49864038e-02 -1.01289030e+02] [-1.13815133e-01 4.90369685e-04 9.93501824e-01 -1.97301116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04592 meters 0.03099745588321799 Centerline is valid? [True, True] Translation: X:164.02, Y:-101.31, Z:-19.73 [[ 7.47868647e-01 6.58136829e-01 8.68815336e-02 1.64015150e+02] [-6.53719848e-01 7.52898331e-01 -7.61213730e-02 -1.01307268e+02] [-1.15511241e-01 1.32605296e-04 9.93306164e-01 -1.97334197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07592 meters 0.031043393484491175 Centerline is valid? [True, True] Translation: X:164.04, Y:-101.33, Z:-19.74 [[ 7.47154375e-01 6.59010208e-01 8.64053566e-02 1.64040935e+02] [-6.54639765e-01 7.52133993e-01 -7.57709419e-02 -1.01327878e+02] [-1.14922230e-01 4.82084195e-05 9.93374491e-01 -1.97368156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10592 meters 0.031010514517905395 Centerline is valid? [True, True] Translation: X:164.07, Y:-101.35, Z:-19.74 [[ 7.45833035e-01 6.60427147e-01 8.70003911e-02 1.64068047e+02] [-6.55996384e-01 7.50890119e-01 -7.63725910e-02 -1.01346731e+02] [-1.15766266e-01 -1.10740631e-04 9.93276477e-01 -1.97391073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13592 meters 0.031111235615350424 Centerline is valid? [True, True] Translation: X:164.10, Y:-101.37, Z:-19.74 [[ 7.45802861e-01 6.60494782e-01 8.67452335e-02 1.64095211e+02] [-6.56081348e-01 7.50830633e-01 -7.62274664e-02 -1.01366227e+02] [-1.15478822e-01 -6.12671940e-05 9.93309940e-01 -1.97419473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16592 meters 0.03102227290011839 Centerline is valid? [True, True] Translation: X:164.12, Y:-101.38, Z:-19.75 [[ 7.46648805e-01 6.59512712e-01 8.69398959e-02 1.64123558e+02] [-6.55063449e-01 7.51693395e-01 -7.64782138e-02 -1.01384166e+02] [-1.15790500e-01 1.51218877e-04 9.93273647e-01 -1.97461093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19592 meters 0.03096221468654515 Centerline is valid? [True, True] Translation: X:164.15, Y:-101.40, Z:-19.75 [[ 7.47107715e-01 6.59148903e-01 8.57483933e-02 1.64148959e+02] [-6.54810109e-01 7.52012404e-01 -7.55053980e-02 -1.01403288e+02] [-1.14253156e-01 2.61750581e-04 9.93451633e-01 -1.97487281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22592 meters 0.030908937004983088 Centerline is valid? [True, True] Translation: X:164.18, Y:-101.42, Z:-19.75 [[ 7.47617164e-01 6.58594876e-01 8.55649819e-02 1.64175396e+02] [-6.54263166e-01 7.52497596e-01 -7.54127163e-02 -1.01422797e+02] [-1.14053872e-01 3.97825112e-04 9.93474487e-01 -1.97517547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25592 meters 0.031015178004620066 Centerline is valid? [True, True] Translation: X:164.20, Y:-101.44, Z:-19.75 [[ 7.48882910e-01 6.57142395e-01 8.56636424e-02 1.64203930e+02] [-6.52782799e-01 7.53766155e-01 -7.55724870e-02 -1.01439442e+02] [-1.14232239e-01 6.75191785e-04 9.93453844e-01 -1.97549078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28592 meters 0.031167115393964908 Centerline is valid? [True, True] Translation: X:164.23, Y:-101.46, Z:-19.76 [[ 7.50393183e-01 6.55222641e-01 8.71398977e-02 1.64230846e+02] [-6.50691802e-01 7.55435133e-01 -7.69281399e-02 -1.01457756e+02] [-1.16233599e-01 1.02513473e-03 9.93221375e-01 -1.97586279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31592 meters 0.03140642590379603 Centerline is valid? [True, True] Translation: X:164.26, Y:-101.48, Z:-19.76 [[ 7.51747174e-01 6.53647479e-01 8.72992529e-02 1.64256674e+02] [-6.49081412e-01 7.56798007e-01 -7.71368704e-02 -1.01477593e+02] [-1.16488221e-01 1.32310201e-03 9.93191192e-01 -1.97615593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34592 meters 0.03183830710743315 Centerline is valid? [True, True] Translation: X:164.28, Y:-101.50, Z:-19.77 [[ 7.54506024e-01 6.50412485e-01 8.76599124e-02 1.64283493e+02] [-6.45778679e-01 7.59578867e-01 -7.75231751e-02 -1.01495370e+02] [-1.17006658e-01 1.88280014e-03 9.93129346e-01 -1.97659875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37592 meters 0.03217950392686139 Centerline is valid? [True, True] Translation: X:164.31, Y:-101.52, Z:-19.77 [[ 7.56024565e-01 6.48641610e-01 8.76978838e-02 1.64308494e+02] [-6.43984010e-01 7.61090784e-01 -7.76235390e-02 -1.01515812e+02] [-1.17095908e-01 2.20926739e-03 9.93118154e-01 -1.97693777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40592 meters 0.032928572333223 Centerline is valid? [True, True] Translation: X:164.33, Y:-101.54, Z:-19.77 [[ 7.59083829e-01 6.45005913e-01 8.80858277e-02 1.64333298e+02] [-6.40274472e-01 7.64172320e-01 -7.80337502e-02 -1.01535881e+02] [-1.17644982e-01 2.83505109e-03 9.93051671e-01 -1.97733893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43592 meters 0.033249800748713386 Centerline is valid? [True, True] Translation: X:164.36, Y:-101.56, Z:-19.78 [[ 7.60615312e-01 6.43248221e-01 8.77272719e-02 1.64357996e+02] [-6.38536038e-01 7.65651252e-01 -7.77810331e-02 -1.01556577e+02] [-1.17201007e-01 3.14442015e-03 9.93103236e-01 -1.97765799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46592 meters 0.033475980106906326 Centerline is valid? [True, True] Translation: X:164.38, Y:-101.58, Z:-19.78 [[ 7.62055439e-01 6.41846075e-01 8.54700218e-02 1.64382774e+02] [-6.37357928e-01 7.66826303e-01 -7.58438753e-02 -1.01577715e+02] [-1.14220754e-01 3.32224166e-03 9.93449839e-01 -1.97789697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49592 meters 0.033907014312729064 Centerline is valid? [True, True] Translation: X:164.41, Y:-101.60, Z:-19.78 [[ 7.62555630e-01 6.41106534e-01 8.65524286e-02 1.64406097e+02] [-6.36490919e-01 7.67443779e-01 -7.68723381e-02 -1.01598861e+02] [-1.15707481e-01 3.52959945e-03 9.93277061e-01 -1.97824087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52592 meters 0.033907014312729064 Centerline is valid? [True, True] Translation: X:164.43, Y:-101.62, Z:-19.79 [[ 7.62253087e-01 6.41469007e-01 8.65317558e-02 1.64430604e+02] [-6.36853079e-01 7.67140940e-01 -7.68956020e-02 -1.01620174e+02] [-1.15708198e-01 3.50589493e-03 9.93277062e-01 -1.97855009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.55592000000001 meters 0.03371445823826551 Centerline is valid? [True, True] Translation: X:164.46, Y:-101.64, Z:-19.79 [[ 7.60852059e-01 6.42974690e-01 8.76794893e-02 1.64455115e+02] [-6.38236081e-01 7.65879970e-01 -7.79908702e-02 -1.01642415e+02] [-1.17298120e-01 3.37930047e-03 9.93090999e-01 -1.97888027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58592000000002 meters 0.03345116658903837 Centerline is valid? [True, True] Translation: X:164.48, Y:-101.66, Z:-19.79 [[ 7.59964119e-01 6.44160115e-01 8.66734373e-02 1.64479963e+02] [-6.39529326e-01 7.64883922e-01 -7.71675255e-02 -1.01663052e+02] [-1.16003361e-01 3.21434561e-03 9.93243620e-01 -1.97922687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61592000000002 meters 0.03358629468309277 Centerline is valid? [True, True] Translation: X:164.50, Y:-101.69, Z:-19.80 [[ 7.59448043e-01 6.44715045e-01 8.70699762e-02 1.64504116e+02] [-6.40037339e-01 7.64416310e-01 -7.75880711e-02 -1.01685238e+02] [-1.16579907e-01 3.19607289e-03 9.93176173e-01 -1.97970253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64592000000002 meters 0.0333858453574904 Centerline is valid? [True, True] Translation: X:164.53, Y:-101.71, Z:-19.80 [[ 7.58845016e-01 6.45552976e-01 8.61138604e-02 1.64527684e+02] [-6.40974828e-01 7.63709249e-01 -7.68078989e-02 -1.01707039e+02] [-1.15349519e-01 3.08847443e-03 9.93320165e-01 -1.98003615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67592000000002 meters 0.03324479118767366 Centerline is valid? [True, True] Translation: X:164.55, Y:-101.73, Z:-19.80 [[ 7.56886443e-01 6.47735315e-01 8.69590407e-02 1.64551581e+02] [-6.43073072e-01 7.61860176e-01 -7.76279332e-02 -1.01728387e+02] [-1.16532984e-01 2.83451277e-03 9.93182777e-01 -1.98033180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70592000000002 meters 0.032860573524322624 Centerline is valid? [True, True] Translation: X:164.58, Y:-101.75, Z:-19.80 [[ 7.55168021e-01 6.49851753e-01 8.61043493e-02 1.64576353e+02] [-6.45287194e-01 7.60056764e-01 -7.69295273e-02 -1.01749361e+02] [-1.15436981e-01 2.53268487e-03 9.93311577e-01 -1.98041445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73592 meters 0.032667250906124316 Centerline is valid? [True, True] Translation: X:164.60, Y:-101.77, Z:-19.81 [[ 7.53378125e-01 6.51877069e-01 8.64736265e-02 1.64599978e+02] [-6.47278721e-01 7.58321223e-01 -7.73251616e-02 -1.01770860e+02] [-1.15981286e-01 2.28254693e-03 9.93248776e-01 -1.98081887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76592 meters 0.03274313239712203 Centerline is valid? [True, True] Translation: X:164.63, Y:-101.79, Z:-19.81 [[ 7.51567676e-01 6.53843387e-01 8.73776499e-02 1.64625172e+02] [-6.49153043e-01 7.56627126e-01 -7.82030568e-02 -1.01791854e+02] [-1.17244852e-01 2.05342227e-03 9.93100915e-01 -1.98121649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79592 meters 0.0328586704011411 Centerline is valid? [True, True] Translation: X:164.65, Y:-101.81, Z:-19.82 [[ 7.51367961e-01 6.53975691e-01 8.81021152e-02 1.64649953e+02] [-6.49198770e-01 7.56512625e-01 -7.89278449e-02 -1.01812358e+02] [-1.18267254e-01 2.10806908e-03 9.92979563e-01 -1.98153851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82592 meters 0.03297575824443983 Centerline is valid? [True, True] Translation: X:164.67, Y:-101.83, Z:-19.82 [[ 7.50780513e-01 6.54559848e-01 8.87695204e-02 1.64674684e+02] [-6.49705622e-01 7.56007313e-01 -7.95961484e-02 -1.01834676e+02] [-1.19210849e-01 2.08518061e-03 9.92866771e-01 -1.98187312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85592 meters 0.032851924327483635 Centerline is valid? [True, True] Translation: X:164.70, Y:-101.86, Z:-19.82 [[ 7.51177401e-01 6.54293606e-01 8.73635423e-02 1.64697928e+02] [-6.49581957e-01 7.56237566e-01 -7.84093380e-02 -1.01856601e+02] [-1.17370321e-01 2.14954198e-03 9.93085891e-01 -1.98202299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88592 meters 0.03306908293136148 Centerline is valid? [True, True] Translation: X:164.72, Y:-101.88, Z:-19.82 [[ 7.51797600e-01 6.53445547e-01 8.83701683e-02 1.64722454e+02] [-6.48610307e-01 7.56969844e-01 -7.93808792e-02 -1.01877310e+02] [-1.18764635e-01 2.36055245e-03 9.92919629e-01 -1.98240114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91592 meters 0.03294008674624731 Centerline is valid? [True, True] Translation: X:164.75, Y:-101.90, Z:-19.83 [[ 7.51087995e-01 6.54349277e-01 8.77145812e-02 1.64746863e+02] [-6.49583934e-01 7.56189098e-01 -7.88591184e-02 -1.01898108e+02] [-1.17930217e-01 2.25215436e-03 9.93019331e-01 -1.98273296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94592 meters 0.03297573003215658 Centerline is valid? [True, True] Translation: X:164.77, Y:-101.92, Z:-19.83 [[ 7.50911956e-01 6.54384455e-01 8.89506597e-02 1.64771097e+02] [-6.49475242e-01 7.56158415e-01 -8.00397453e-02 -1.01918807e+02] [-1.19637555e-01 2.33155044e-03 9.92814897e-01 -1.98306047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97592 meters 0.03307568471134416 Centerline is valid? [True, True] Translation: X:164.79, Y:-101.94, Z:-19.83 [[ 7.50441436e-01 6.55029187e-01 8.81726506e-02 1.64794611e+02] [-6.50202188e-01 7.55600196e-01 -7.94069144e-02 -1.01940394e+02] [-1.18637119e-01 2.26018846e-03 9.92935106e-01 -1.98338757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00592 meters 0.03280158751872288 Centerline is valid? [True, True] Translation: X:164.82, Y:-101.96, Z:-19.84 [[ 7.49512764e-01 6.56183787e-01 8.74840204e-02 1.64818554e+02] [-6.51432035e-01 7.54598156e-01 -7.88538302e-02 -1.01962265e+02] [-1.17757885e-01 2.11205879e-03 9.93040090e-01 -1.98358814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03592 meters 0.032651140962776874 Centerline is valid? [True, True] Translation: X:164.84, Y:-101.98, Z:-19.84 [[ 7.48591050e-01 6.57200764e-01 8.77416407e-02 1.64842506e+02] [-6.52419548e-01 7.53712884e-01 -7.91556775e-02 -1.01984286e+02] [-1.18153177e-01 2.01087011e-03 9.92993345e-01 -1.98393495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06592 meters 0.03260466360221068 Centerline is valid? [True, True] Translation: X:164.87, Y:-102.01, Z:-19.84 [[ 7.47526670e-01 6.58501385e-01 8.70620655e-02 1.64865028e+02] [-6.53794178e-01 7.52577246e-01 -7.86171836e-02 -1.02007351e+02] [-1.17290454e-01 1.84776986e-03 9.93095935e-01 -1.98434030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09592 meters 0.03275023688924571 Centerline is valid? [True, True] Translation: X:164.89, Y:-102.03, Z:-19.85 [[ 7.47513443e-01 6.58447644e-01 8.75805494e-02 1.64888964e+02] [-6.53675528e-01 7.52624088e-01 -7.91535631e-02 -1.02028878e+02] [-1.18033708e-01 1.91909059e-03 9.93007735e-01 -1.98455693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12592 meters 0.032600844238706364 Centerline is valid? [True, True] Translation: X:164.91, Y:-102.05, Z:-19.85 [[ 7.47126742e-01 6.58904121e-01 8.74470738e-02 1.64914101e+02] [-6.54141422e-01 7.52224541e-01 -7.91027158e-02 -1.02050294e+02] [-1.17900940e-01 1.89700114e-03 9.93023549e-01 -1.98474785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15592 meters 0.032872128558303 Centerline is valid? [True, True] Translation: X:164.94, Y:-102.07, Z:-19.85 [[ 7.46869652e-01 6.59023497e-01 8.87341771e-02 1.64936441e+02] [-6.54110487e-01 7.52119784e-01 -8.03448977e-02 -1.02073030e+02] [-1.19687905e-01 1.96521000e-03 9.92809621e-01 -1.98517893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18592 meters 0.03282444467941887 Centerline is valid? [True, True] Translation: X:164.96, Y:-102.10, Z:-19.86 [[ 7.46261895e-01 6.59690039e-01 8.88945292e-02 1.64958924e+02] [-6.54755268e-01 7.51535350e-01 -8.05615110e-02 -1.02096930e+02] [-1.19953007e-01 1.91582460e-03 9.92777722e-01 -1.98551829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21592 meters 0.03275672133142703 Centerline is valid? [True, True] Translation: X:164.98, Y:-102.12, Z:-19.86 [[ 7.45750099e-01 6.60365169e-01 8.81738842e-02 1.64980677e+02] [-6.55505964e-01 7.50942356e-01 -7.99844334e-02 -1.02120150e+02] [-1.19032438e-01 1.84989211e-03 9.92888643e-01 -1.98579634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24592 meters 0.032778620883853506 Centerline is valid? [True, True] Translation: X:165.01, Y:-102.14, Z:-19.86 [[ 7.45257183e-01 6.60897867e-01 8.83500979e-02 1.65005742e+02] [-6.56014303e-01 7.50473643e-01 -8.02156223e-02 -1.02142132e+02] [-1.19318753e-01 1.82234087e-03 9.92854327e-01 -1.98606621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27592 meters 0.03261350329935359 Centerline is valid? [True, True] Translation: X:165.03, Y:-102.16, Z:-19.86 [[ 7.45931293e-01 6.60354696e-01 8.67074448e-02 1.65029638e+02] [-6.55639218e-01 7.50951364e-01 -7.87988900e-02 -1.02164506e+02] [-1.17148291e-01 1.92975664e-03 9.93112559e-01 -1.98619148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30592000000001 meters 0.03280264213332919 Centerline is valid? [True, True] Translation: X:165.05, Y:-102.19, Z:-19.87 [[ 7.46834759e-01 6.59324397e-01 8.67708656e-02 1.65053378e+02] [-6.54587079e-01 7.51855533e-01 -7.89241043e-02 -1.02185437e+02] [-1.17275743e-01 2.14417698e-03 9.93097076e-01 -1.98655195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.33592000000002 meters 0.03296462519011011 Centerline is valid? [True, True] Translation: X:165.08, Y:-102.21, Z:-19.87 [[ 7.47325495e-01 6.58753485e-01 8.68818122e-02 1.65077172e+02] [-6.53992132e-01 7.52355375e-01 -7.90928668e-02 -1.02206916e+02] [-1.17468700e-01 2.28809431e-03 9.93073949e-01 -1.98687165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36592000000002 meters 0.03348042188845403 Centerline is valid? [True, True] Translation: X:165.10, Y:-102.23, Z:-19.87 [[ 7.48998151e-01 6.56849788e-01 8.68914613e-02 1.65100903e+02] [-6.52066614e-01 7.54016840e-01 -7.91690422e-02 -1.02228764e+02] [-1.17519794e-01 2.63844524e-03 9.93067035e-01 -1.98719584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39592000000002 meters 0.033414294038614026 Centerline is valid? [True, True] Translation: X:165.12, Y:-102.25, Z:-19.88 [[ 7.49161853e-01 6.56662263e-01 8.68975902e-02 1.65124669e+02] [-6.51868965e-01 7.54179866e-01 -7.92438125e-02 -1.02251872e+02] [-1.17572834e-01 2.72059922e-03 9.93060535e-01 -1.98755943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42592000000002 meters 0.03362689013122226 Centerline is valid? [True, True] Translation: X:165.15, Y:-102.28, Z:-19.88 [[ 7.50375572e-01 6.55301693e-01 8.66959766e-02 1.65146708e+02] [-6.50512861e-01 7.55361364e-01 -7.91342418e-02 -1.02275313e+02] [-1.17343594e-01 2.98355413e-03 9.93086894e-01 -1.98781773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45592000000002 meters 0.03404344697249716 Centerline is valid? [True, True] Translation: X:165.17, Y:-102.30, Z:-19.88 [[ 7.50678181e-01 6.54908553e-01 8.70462903e-02 1.65169756e+02] [-6.50070148e-01 7.55701742e-01 -7.95215734e-02 -1.02297449e+02] [-1.17860392e-01 3.10891519e-03 9.93025308e-01 -1.98811127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48592 meters 0.034281384533265596 Centerline is valid? [True, True] Translation: X:165.19, Y:-102.32, Z:-19.88 [[ 7.51753919e-01 6.53864397e-01 8.56002082e-02 1.65193255e+02] [-6.49171461e-01 7.56604697e-01 -7.82671462e-02 -1.02321068e+02] [-1.15941620e-01 3.26842167e-03 9.93250652e-01 -1.98832177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51592 meters 0.034276637937602286 Centerline is valid? [True, True] Translation: X:165.22, Y:-102.34, Z:-19.89 [[ 7.52156203e-01 6.53413107e-01 8.55123259e-02 1.65215922e+02] [-6.48718344e-01 7.56993933e-01 -7.82604312e-02 -1.02343321e+02] [-1.15868703e-01 3.39065431e-03 9.93258751e-01 -1.98862167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54592 meters 0.0345210195636558 Centerline is valid? [True, True] Translation: X:165.24, Y:-102.37, Z:-19.89 [[ 7.52940282e-01 6.52469842e-01 8.58139622e-02 1.65235861e+02] [-6.47727917e-01 7.57806144e-01 -7.86027639e-02 -1.02369603e+02] [-1.16316281e-01 3.59908830e-03 9.93205703e-01 -1.98888802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57592 meters 0.03480529015988122 Centerline is valid? [True, True] Translation: X:165.26, Y:-102.39, Z:-19.89 [[ 7.52914846e-01 6.52424103e-01 8.63830101e-02 1.65257659e+02] [-6.47610622e-01 7.57845126e-01 -7.91912068e-02 -1.02393213e+02] [-1.17131195e-01 3.68168041e-03 9.93109626e-01 -1.98926179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60592 meters 0.03498593249393825 Centerline is valid? [True, True] Translation: X:165.28, Y:-102.42, Z:-19.90 [[ 7.52206865e-01 6.53113508e-01 8.73360024e-02 1.65279577e+02] [-6.48189077e-01 7.57251142e-01 -8.01350666e-02 -1.02418397e+02] [-1.18472582e-01 3.66790447e-03 9.92950550e-01 -1.98959557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63592 meters 0.03479007867472079 Centerline is valid? [True, True] Translation: X:165.30, Y:-102.44, Z:-19.90 [[ 7.51634939e-01 6.53945201e-01 8.60266915e-02 1.65302809e+02] [-6.49164636e-01 7.56533640e-01 -7.90071335e-02 -1.02441225e+02] [-1.16748422e-01 3.53903617e-03 9.93155215e-01 -1.98980484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66592 meters 0.034443639410797054 Centerline is valid? [True, True] Translation: X:165.32, Y:-102.47, Z:-19.90 [[ 7.50760524e-01 6.55129163e-01 8.46428687e-02 1.65323404e+02] [-6.50501734e-01 7.55509472e-01 -7.78005928e-02 -1.02465923e+02] [-1.14917926e-01 3.34928103e-03 9.93369343e-01 -1.99007002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69592 meters 0.03419588454246598 Centerline is valid? [True, True] Translation: X:165.34, Y:-102.49, Z:-19.90 [[ 7.49516857e-01 6.56521904e-01 8.48732574e-02 1.65344893e+02] [-6.51871283e-01 7.54300220e-01 -7.80705387e-02 -1.02490712e+02] [-1.15274935e-01 3.18874557e-03 9.93328506e-01 -1.99016592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72592 meters 0.03436789418753102 Centerline is valid? [True, True] Translation: X:165.37, Y:-102.51, Z:-19.90 [[ 7.48196618e-01 6.57880719e-01 8.59929153e-02 1.65369003e+02] [-6.53111026e-01 7.53115984e-01 -7.91347077e-02 -1.02512912e+02] [-1.16823837e-01 3.04539946e-03 9.93147983e-01 -1.99047688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75592 meters 0.03421781109497569 Centerline is valid? [True, True] Translation: X:165.39, Y:-102.54, Z:-19.91 [[ 7.47624305e-01 6.58502620e-01 8.62102006e-02 1.65392854e+02] [-6.53703642e-01 7.52572396e-01 -7.94124514e-02 -1.02535952e+02] [-1.17172725e-01 3.01475664e-03 9.93106975e-01 -1.99076962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78592 meters 0.03411451985112352 Centerline is valid? [True, True] Translation: X:165.42, Y:-102.56, Z:-19.91 [[ 7.46665907e-01 6.59682982e-01 8.54891027e-02 1.65415149e+02] [-6.54963279e-01 7.51538538e-01 -7.88221330e-02 -1.02559486e+02] [-1.16245975e-01 2.86157642e-03 9.93216333e-01 -1.99111741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81592 meters 0.03408298715149066 Centerline is valid? [True, True] Translation: X:165.44, Y:-102.58, Z:-19.91 [[ 7.46240792e-01 6.60281349e-01 8.45767197e-02 1.65438756e+02] [-6.55658415e-01 7.51013160e-01 -7.80466216e-02 -1.02581445e+02] [-1.15050958e-01 2.78813463e-03 9.93355678e-01 -1.99135394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84592 meters 0.033966785916102055 Centerline is valid? [True, True] Translation: X:165.46, Y:-102.60, Z:-19.92 [[ 7.45509576e-01 6.61065288e-01 8.49008658e-02 1.65462003e+02] [-6.56403784e-01 7.50323420e-01 -7.84145216e-02 -1.02604907e+02] [-1.15540226e-01 2.72952720e-03 9.93299052e-01 -1.99175533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87592 meters 0.03397097287125792 Centerline is valid? [True, True] Translation: X:165.49, Y:-102.63, Z:-19.92 [[ 7.44799016e-01 6.61863096e-01 8.49215336e-02 1.65485377e+02] [-6.57195501e-01 7.49619998e-01 -7.85107141e-02 -1.02627981e+02] [-1.15622224e-01 2.66465282e-03 9.93289686e-01 -1.99215108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90592 meters 0.033810228422080445 Centerline is valid? [True, True] Translation: X:165.51, Y:-102.65, Z:-19.92 [[ 7.43407124e-01 6.63415901e-01 8.50011180e-02 1.65507247e+02] [-6.58740745e-01 7.48246735e-01 -7.86603727e-02 -1.02651763e+02] [-1.15786351e-01 2.48298168e-03 9.93271038e-01 -1.99245125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93592 meters 0.03384146557262352 Centerline is valid? [True, True] Translation: X:165.53, Y:-102.67, Z:-19.93 [[ 7.41968931e-01 6.65091429e-01 8.44718663e-02 1.65529755e+02] [-6.60477505e-01 7.46758522e-01 -7.82379350e-02 -1.02674503e+02] [-1.15115466e-01 2.25834943e-03 9.93349550e-01 -1.99264885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96592 meters 0.033397989388639755 Centerline is valid? [True, True] Translation: X:165.55, Y:-102.70, Z:-19.93 [[ 7.39488338e-01 6.67789289e-01 8.49379969e-02 1.65551296e+02] [-6.63133833e-01 7.44347938e-01 -7.87379611e-02 -1.02698671e+02] [-1.15803790e-01 1.90054454e-03 9.93270291e-01 -1.99297362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99592 meters 0.03294748784554155 Centerline is valid? [True, True] Translation: X:165.57, Y:-102.72, Z:-19.93 [[ 7.38146931e-01 6.69249902e-01 8.51097940e-02 1.65574251e+02] [-6.64577136e-01 7.43035388e-01 -7.89660844e-02 -1.02721776e+02] [-1.16087633e-01 1.72654971e-03 9.93237474e-01 -1.99323874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02592 meters 0.032876383208315374 Centerline is valid? [True, True] Translation: X:165.60, Y:-102.74, Z:-19.93 [[ 7.34385736e-01 6.73425643e-01 8.47082946e-02 1.65598033e+02] [-6.68816627e-01 7.39254126e-01 -7.86616560e-02 -1.02743773e+02] [-1.15593733e-01 1.11368224e-03 9.93295952e-01 -1.99349908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.05592000000001 meters 0.03267329898416992 Centerline is valid? [True, True] Translation: X:165.62, Y:-102.77, Z:-19.94 [[ 7.31713604e-01 6.76353276e-01 8.45070911e-02 1.65621938e+02] [-6.71777587e-01 7.36577052e-01 -7.85437425e-02 -1.02765911e+02] [-1.15369302e-01 7.01555146e-04 9.93322421e-01 -1.99367633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08592000000002 meters 0.03252984828986666 Centerline is valid? [True, True] Translation: X:165.65, Y:-102.79, Z:-19.94 [[ 7.26482157e-01 6.81995578e-01 8.42953536e-02 1.65645505e+02] [-6.77472392e-01 7.31356282e-01 -7.84164968e-02 -1.02787206e+02] [-1.15129641e-01 -1.39589110e-04 9.93350465e-01 -1.99391441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11592000000002 meters 0.03255935630388204 Centerline is valid? [True, True] Translation: X:165.67, Y:-102.81, Z:-19.94 [[ 7.24079675e-01 6.84572511e-01 8.40779491e-02 1.65670786e+02] [-6.80081576e-01 7.28944603e-01 -7.82867563e-02 -1.02807855e+02] [-1.14881129e-01 -4.94015096e-04 9.93379123e-01 -1.99426950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14592000000002 meters 0.032407691486919014 Centerline is valid? [True, True] Translation: X:165.70, Y:-102.83, Z:-19.95 [[ 7.21763106e-01 6.87079415e-01 8.35457710e-02 1.65696880e+02] [-6.82652735e-01 7.26581855e-01 -7.78720223e-02 -1.02828517e+02] [-1.14207105e-01 -8.27596406e-04 9.93456618e-01 -1.99456102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17592000000002 meters 0.03267777595176975 Centerline is valid? [True, True] Translation: X:165.72, Y:-102.85, Z:-19.95 [[ 7.18573285e-01 6.90394263e-01 8.37149644e-02 1.65723006e+02] [-6.85962744e-01 7.23432150e-01 -7.81091412e-02 -1.02847608e+02] [-1.14488200e-01 -1.29820443e-03 9.93423760e-01 -1.99493043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20592000000002 meters 0.03287349777166711 Centerline is valid? [True, True] Translation: X:165.75, Y:-102.87, Z:-19.95 [[ 7.17324839e-01 6.91561873e-01 8.47776559e-02 1.65751190e+02] [-6.87016412e-01 7.22315770e-01 -7.91730916e-02 -1.02865164e+02] [-1.15989329e-01 -1.45081580e-03 9.93249400e-01 -1.99508075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23592 meters 0.03294938126670025 Centerline is valid? [True, True] Translation: X:165.78, Y:-102.88, Z:-19.95 [[ 7.16213538e-01 6.92757224e-01 8.44132489e-02 1.65779076e+02] [-6.88250580e-01 7.21169135e-01 -7.89063919e-02 -1.02883691e+02] [-1.15539203e-01 -1.58364142e-03 9.93301658e-01 -1.99531076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26592 meters 0.0326847823180059 Centerline is valid? [True, True] Translation: X:165.81, Y:-102.90, Z:-19.96 [[ 7.15528210e-01 6.93546171e-01 8.37441961e-02 1.65808717e+02] [-6.89106942e-01 7.20410317e-01 -7.83619660e-02 -1.02900374e+02] [-1.14677824e-01 -1.63850964e-03 9.93401385e-01 -1.99574615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29592 meters 0.032806435280201364 Centerline is valid? [True, True] Translation: X:165.83, Y:-102.92, Z:-19.96 [[ 7.14516244e-01 6.94626802e-01 8.34274715e-02 1.65834917e+02] [-6.90219162e-01 7.19368166e-01 -7.81469776e-02 -1.02920450e+02] [-1.14298052e-01 -1.74595455e-03 9.93444969e-01 -1.99617145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32592 meters 0.03283609955095989 Centerline is valid? [True, True] Translation: X:165.86, Y:-102.94, Z:-19.96 [[ 7.13042383e-01 6.96242301e-01 8.25664490e-02 1.65864464e+02] [-6.91927137e-01 7.17804255e-01 -7.74202088e-02 -1.02936986e+02] [-1.13169773e-01 -1.92607641e-03 9.93573798e-01 -1.99637493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35592 meters 0.0328314847632908 Centerline is valid? [True, True] Translation: X:165.89, Y:-102.95, Z:-19.97 [[ 7.11952200e-01 6.97226969e-01 8.36577450e-02 1.65891563e+02] [-6.92793970e-01 7.16847505e-01 -7.85249640e-02 -1.02954765e+02] [-1.14719568e-01 -2.05156036e-03 9.93395798e-01 -1.99675112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38592 meters 0.0328314847632908 Centerline is valid? [True, True] Translation: X:165.92, Y:-102.98, Z:-19.97 [[ 7.11592006e-01 6.97598989e-01 8.36209768e-02 1.65915465e+02] [-6.93163952e-01 7.16485463e-01 -7.85641021e-02 -1.02976737e+02] [-1.14719452e-01 -2.05745967e-03 9.93395799e-01 -1.99705992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41592 meters 0.03270911403663835 Centerline is valid? [True, True] Translation: X:165.94, Y:-102.99, Z:-19.97 [[ 7.12129909e-01 6.97021131e-01 8.38602190e-02 1.65944718e+02] [-6.92547068e-01 7.17048041e-01 -7.88711985e-02 -1.02993053e+02] [-1.15106698e-01 -1.91060932e-03 9.93351296e-01 -1.99737487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44592 meters 0.032622695886926935 Centerline is valid? [True, True] Translation: X:165.97, Y:-103.01, Z:-19.98 [[ 7.13851485e-01 6.95234767e-01 8.40516282e-02 1.65970689e+02] [-6.90719406e-01 7.18781012e-01 -7.91236975e-02 -1.03012815e+02] [-1.15424260e-01 -1.57352176e-03 9.93315038e-01 -1.99778247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47592 meters 0.03260992864858578 Centerline is valid? [True, True] Translation: X:166.00, Y:-103.03, Z:-19.98 [[ 7.14753139e-01 6.94380605e-01 8.34477473e-02 1.65996640e+02] [-6.89920460e-01 7.19606568e-01 -7.85884551e-02 -1.03032261e+02] [-1.14619846e-01 -1.40096329e-03 9.93408440e-01 -1.99811188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50592 meters 0.0323997321949854 Centerline is valid? [True, True] Translation: X:166.03, Y:-103.05, Z:-19.99 [[ 7.17405767e-01 6.91530410e-01 8.43484242e-02 1.66026187e+02] [-6.86944769e-01 7.22346787e-01 -7.95110357e-02 -1.03048427e+02] [-1.15913112e-01 -9.01033210e-04 9.93258948e-01 -1.99853836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53592 meters 0.03231614724429078 Centerline is valid? [True, True] Translation: X:166.05, Y:-103.07, Z:-19.99 [[ 7.18915321e-01 6.89991298e-01 8.40997564e-02 1.66052134e+02] [-6.85412957e-01 7.23817420e-01 -7.93562944e-02 -1.03067988e+02] [-1.15628021e-01 -5.92606832e-04 9.93292409e-01 -1.99889388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56592 meters 0.03210970104006569 Centerline is valid? [True, True] Translation: X:166.08, Y:-103.09, Z:-19.99 [[ 7.20765075e-01 6.88162436e-01 8.32476315e-02 1.66080173e+02] [-6.83656443e-01 7.25556615e-01 -7.86222956e-02 -1.03085383e+02] [-1.14505780e-01 -2.44574909e-04 9.93422552e-01 -1.99913454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59592 meters 0.031999705192053106 Centerline is valid? [True, True] Translation: X:166.11, Y:-103.10, Z:-19.99 [[ 7.20823366e-01 6.88026851e-01 8.38613518e-02 1.66109515e+02] [-6.83444535e-01 7.25685209e-01 -7.92751260e-02 -1.03101849e+02] [-1.15400358e-01 -1.71219343e-04 9.93319046e-01 -1.99942267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62592 meters 0.032116486033073204 Centerline is valid? [True, True] Translation: X:166.14, Y:-103.12, Z:-20.00 [[ 7.20606955e-01 6.88290577e-01 8.35565575e-02 1.66135530e+02] [-6.83733983e-01 7.25435082e-01 -7.90682156e-02 -1.03122435e+02] [-1.15036766e-01 -1.53351740e-04 9.93361223e-01 -1.99981700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65592 meters 0.032222512193943974 Centerline is valid? [True, True] Translation: X:166.16, Y:-103.14, Z:-20.00 [[ 7.20317780e-01 6.88651764e-01 8.30725246e-02 1.66161039e+02] [-6.84141193e-01 7.25092218e-01 -7.86899178e-02 -1.03144073e+02] [-1.14425192e-01 -1.51589217e-04 9.93431856e-01 -2.00010334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68592 meters 0.031997293960684695 Centerline is valid? [True, True] Translation: X:166.19, Y:-103.16, Z:-20.00 [[ 7.20384402e-01 6.88737834e-01 8.17710759e-02 1.66186967e+02] [-6.84359851e-01 7.25010472e-01 -7.75332794e-02 -1.03163749e+02] [-1.12684989e-01 -1.07076226e-04 9.93630757e-01 -2.00035730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71592 meters 0.03218947190395007 Centerline is valid? [True, True] Translation: X:166.21, Y:-103.18, Z:-20.01 [[ 7.20269229e-01 6.88812397e-01 8.21566737e-02 1.66212572e+02] [-6.84385272e-01 7.24939637e-01 -7.79700107e-02 -1.03184053e+02] [-1.13265339e-01 -6.74179643e-05 9.93564773e-01 -2.00076130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74592 meters 0.03208508003079333 Centerline is valid? [True, True] Translation: X:166.24, Y:-103.20, Z:-20.01 [[ 7.21276344e-01 6.87774869e-01 8.20132034e-02 1.66241277e+02] [-6.83347486e-01 7.25924036e-01 -7.79134579e-02 -1.03202356e+02] [-1.13122274e-01 1.53617725e-04 9.93581062e-01 -2.00093746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77592 meters 0.032016734895403645 Centerline is valid? [True, True] Translation: X:166.27, Y:-103.22, Z:-20.01 [[ 7.22213164e-01 6.86727104e-01 8.25471357e-02 1.66267737e+02] [-6.82225659e-01 7.26915223e-01 -7.85010108e-02 -1.03222756e+02] [-1.13913541e-01 3.78689351e-04 9.93490595e-01 -2.00136505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80592000000001 meters 0.031914897272992425 Centerline is valid? [True, True] Translation: X:166.29, Y:-103.24, Z:-20.02 [[ 7.23273146e-01 6.85628168e-01 8.24012834e-02 1.66293403e+02] [-6.81126549e-01 7.27951677e-01 -7.84409356e-02 -1.03243232e+02] [-1.13765467e-01 6.08520467e-04 9.93507447e-01 -2.00168378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.83592000000002 meters 0.03228161724790957 Centerline is valid? [True, True] Translation: X:166.32, Y:-103.26, Z:-20.02 [[ 7.24840141e-01 6.83873288e-01 8.32111556e-02 1.66318275e+02] [-6.79261883e-01 7.29600180e-01 -7.92897915e-02 -1.03263615e+02] [-1.14935045e-01 9.50257404e-04 9.93372555e-01 -2.00198970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86592000000002 meters 0.03222279482870126 Centerline is valid? [True, True] Translation: X:166.34, Y:-103.28, Z:-20.02 [[ 7.25221143e-01 6.83344784e-01 8.42270757e-02 1.66343191e+02] [-6.78607884e-01 7.30094994e-01 -8.03283307e-02 -1.03284587e+02] [-1.16385712e-01 1.09864625e-03 9.93203483e-01 -2.00236361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89592000000002 meters 0.032205955256260306 Centerline is valid? [True, True] Translation: X:166.37, Y:-103.31, Z:-20.03 [[ 7.25632105e-01 6.82980410e-01 8.36409448e-02 1.66369056e+02] [-6.78298809e-01 7.30435704e-01 -7.98398891e-02 -1.03305126e+02] [-1.15623413e-01 1.20083356e-03 9.93292396e-01 -2.00273459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92592000000002 meters 0.03216175959815647 Centerline is valid? [True, True] Translation: X:166.39, Y:-103.33, Z:-20.03 [[ 7.25354984e-01 6.83259150e-01 8.37680198e-02 1.66394345e+02] [-6.78555832e-01 7.30174947e-01 -8.00407979e-02 -1.03327139e+02] [-1.15853917e-01 1.21671328e-03 9.93265518e-01 -2.00302299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95592000000002 meters 0.03173369810593433 Centerline is valid? [True, True] Translation: X:166.42, Y:-103.35, Z:-20.03 [[ 7.24359864e-01 6.84497955e-01 8.22516732e-02 1.66418942e+02] [-6.79963297e-01 7.29014017e-01 -7.86668789e-02 -1.03347601e+02] [-1.13809940e-01 1.05501081e-03 9.93501980e-01 -2.00309655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98592 meters 0.03178709767012298 Centerline is valid? [True, True] Translation: X:166.44, Y:-103.37, Z:-20.03 [[ 7.23325880e-01 6.85502929e-01 8.29783454e-02 1.66443633e+02] [-6.80885887e-01 7.28069240e-01 -7.94329361e-02 -1.03369207e+02] [-1.14865491e-01 9.57114053e-04 9.93380593e-01 -2.00340099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01592 meters 0.03150754966088422 Centerline is valid? [True, True] Translation: X:166.47, Y:-103.39, Z:-20.04 [[ 7.22682550e-01 6.86323752e-01 8.17902154e-02 1.66468733e+02] [-6.81835094e-01 7.27295643e-01 -7.83706164e-02 -1.03389451e+02] [-1.13273283e-01 8.69637759e-04 9.93563489e-01 -2.00362106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04592 meters 0.03164660174250847 Centerline is valid? [True, True] Translation: X:166.49, Y:-103.41, Z:-20.04 [[ 7.23228299e-01 6.85717611e-01 8.20498972e-02 1.66493277e+02] [-6.81189534e-01 7.27866976e-01 -7.86796287e-02 -1.03410520e+02] [-1.13673418e-01 1.01180278e-03 9.93517655e-01 -2.00401359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07592 meters 0.031628033104218474 Centerline is valid? [True, True] Translation: X:166.52, Y:-103.43, Z:-20.04 [[ 7.24892035e-01 6.83905224e-01 8.24935292e-02 1.66519110e+02] [-6.79313898e-01 7.29569673e-01 -7.91247083e-02 -1.03430253e+02] [-1.14298578e-01 1.31786989e-03 9.93445569e-01 -2.00419644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10592 meters 0.03172867839831254 Centerline is valid? [True, True] Translation: X:166.54, Y:-103.45, Z:-20.04 [[ 7.26039498e-01 6.82632051e-01 8.29465486e-02 1.66543232e+02] [-6.77979412e-01 7.30760636e-01 -7.95789550e-02 -1.03451009e+02] [-1.14937218e-01 1.54141236e-03 9.93371562e-01 -2.00444301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13592 meters 0.032132622988174146 Centerline is valid? [True, True] Translation: X:166.57, Y:-103.47, Z:-20.05 [[ 7.27417410e-01 6.81091730e-01 8.35342270e-02 1.66568426e+02] [-6.76360258e-01 7.32195855e-01 -8.01625262e-02 -1.03471075e+02] [-1.15761448e-01 1.81238586e-03 9.93275391e-01 -2.00471706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16592 meters 0.03202641466877684 Centerline is valid? [True, True] Translation: X:166.59, Y:-103.49, Z:-20.05 [[ 7.28249176e-01 6.80305917e-01 8.26861335e-02 1.66592923e+02] [-6.75662883e-01 7.32925728e-01 -7.93696741e-02 -1.03493500e+02] [-1.14598453e-01 1.93294838e-03 9.93410015e-01 -2.00494494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19592 meters 0.03248273208467058 Centerline is valid? [True, True] Translation: X:166.62, Y:-103.51, Z:-20.05 [[ 7.29223161e-01 6.79044579e-01 8.44514086e-02 1.66616570e+02] [-6.74188300e-01 7.34093738e-01 -8.10957487e-02 -1.03514344e+02] [-1.17062879e-01 2.20074665e-03 9.93122067e-01 -2.00535305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22592 meters 0.032518684141318685 Centerline is valid? [True, True] Translation: X:166.64, Y:-103.54, Z:-20.06 [[ 7.29832539e-01 6.78307051e-01 8.51117525e-02 1.66639790e+02] [-6.73365276e-01 7.34774771e-01 -8.17633207e-02 -1.03536550e+02] [-1.17998605e-01 2.36223317e-03 9.93010951e-01 -2.00565841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25592 meters 0.032639134604274235 Centerline is valid? [True, True] Translation: X:166.66, Y:-103.56, Z:-20.06 [[ 7.30800088e-01 6.77314695e-01 8.47114773e-02 1.66661701e+02] [-6.72410496e-01 7.35689083e-01 -8.13983844e-02 -1.03559610e+02] [-1.17453631e-01 2.52506002e-03 9.93075158e-01 -2.00583035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28592 meters 0.03273310022464835 Centerline is valid? [True, True] Translation: X:166.68, Y:-103.58, Z:-20.06 [[ 7.31591666e-01 6.76546550e-01 8.40142849e-02 1.66684692e+02] [-6.71715490e-01 7.36395128e-01 -8.07497124e-02 -1.03583450e+02] [-1.16498649e-01 2.64212012e-03 9.93187336e-01 -2.00605658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31592 meters 0.03332125944303508 Centerline is valid? [True, True] Translation: X:166.71, Y:-103.61, Z:-20.06 [[ 7.33513222e-01 6.74528138e-01 8.34873903e-02 1.66707274e+02] [-6.69741492e-01 7.38243187e-01 -8.02703540e-02 -1.03606574e+02] [-1.15778610e-01 2.96439665e-03 9.93270621e-01 -2.00635586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34592 meters 0.03334129008050248 Centerline is valid? [True, True] Translation: X:166.73, Y:-103.63, Z:-20.07 [[ 7.34369812e-01 6.73579861e-01 8.36131056e-02 1.66729583e+02] [-6.68770355e-01 7.39107810e-01 -8.04105539e-02 -1.03629031e+02] [-1.15962029e-01 3.13311699e-03 9.93248706e-01 -2.00663337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37592 meters 0.033786910734481874 Centerline is valid? [True, True] Translation: X:166.75, Y:-103.65, Z:-20.07 [[ 7.35418350e-01 6.72409952e-01 8.38135255e-02 1.66750353e+02] [-6.67566443e-01 7.40171370e-01 -8.06311755e-02 -1.03653518e+02] [-1.16253577e-01 3.34654894e-03 9.93213928e-01 -2.00692816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40592 meters 0.03404334661546342 Centerline is valid? [True, True] Translation: X:166.77, Y:-103.68, Z:-20.07 [[ 7.35864167e-01 6.71893482e-01 8.40421067e-02 1.66770079e+02] [-6.67012223e-01 7.40639579e-01 -8.09179122e-02 -1.03678881e+02] [-1.16613128e-01 3.48747972e-03 9.93171292e-01 -2.00721875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43592 meters 0.034088696060810345 Centerline is valid? [True, True] Translation: X:166.79, Y:-103.70, Z:-20.08 [[ 7.35825002e-01 6.71973838e-01 8.37420318e-02 1.66792535e+02] [-6.67120084e-01 7.40566555e-01 -8.06967863e-02 -1.03703364e+02] [-1.16242677e-01 3.51272168e-03 9.93214630e-01 -2.00755883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46592 meters 0.03381382075434047 Centerline is valid? [True, True] Translation: X:166.81, Y:-103.73, Z:-20.08 [[ 7.35805086e-01 6.72067696e-01 8.31618117e-02 1.66812365e+02] [-6.67274177e-01 7.40481334e-01 -8.02032828e-02 -1.03728563e+02] [-1.15481805e-01 3.52225396e-03 9.93303351e-01 -2.00781841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49592 meters 0.03366915105348072 Centerline is valid? [True, True] Translation: X:166.84, Y:-103.75, Z:-20.08 [[ 7.34769573e-01 6.73121870e-01 8.37891523e-02 1.66835216e+02] [-6.68258326e-01 7.39523722e-01 -8.08422813e-02 -1.03752366e+02] [-1.16380773e-01 3.40764996e-03 9.93198824e-01 -2.00814549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52592 meters 0.03386087356565714 Centerline is valid? [True, True] Translation: X:166.86, Y:-103.78, Z:-20.09 [[ 7.34385847e-01 6.73680879e-01 8.26528967e-02 1.66857672e+02] [-6.68943786e-01 7.39014882e-01 -7.98198995e-02 -1.03775138e+02] [-1.14854861e-01 3.32846291e-03 9.93376707e-01 -2.00855347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.55592000000001 meters 0.033216119720175706 Centerline is valid? [True, True] Translation: X:166.88, Y:-103.80, Z:-20.09 [[ 7.32480156e-01 6.75766649e-01 8.25364034e-02 1.66878393e+02] [-6.71049295e-01 7.37109346e-01 -7.97662623e-02 -1.03800605e+02] [-1.14741734e-01 3.04120894e-03 9.93390701e-01 -2.00877940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58592000000002 meters 0.032498347821915984 Centerline is valid? [True, True] Translation: X:166.90, Y:-103.83, Z:-20.09 [[ 7.29311449e-01 6.79292036e-01 8.16525562e-02 1.66898819e+02] [-6.74694939e-01 7.33863881e-01 -7.89337968e-02 -1.03825012e+02] [-1.13540961e-01 2.47675532e-03 9.93530229e-01 -2.00903355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61592000000002 meters 0.032384093204264656 Centerline is valid? [True, True] Translation: X:166.92, Y:-103.85, Z:-20.09 [[ 7.27534406e-01 6.81097883e-01 8.24582401e-02 1.66921480e+02] [-6.76418104e-01 7.32188965e-01 -7.97362422e-02 -1.03847229e+02] [-1.14683199e-01 2.23461314e-03 9.93399603e-01 -2.00941796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64592000000002 meters 0.03169770632304542 Centerline is valid? [True, True] Translation: X:166.94, Y:-103.87, Z:-20.10 [[ 7.24347475e-01 6.84505781e-01 8.22956327e-02 1.66944693e+02] [-6.79859458e-01 7.29005364e-01 -7.96385356e-02 -1.03868870e+02] [-1.14506996e-01 1.73650791e-03 9.93420924e-01 -2.00969144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67592000000002 meters 0.03152316561808673 Centerline is valid? [True, True] Translation: X:166.97, Y:-103.89, Z:-20.10 [[ 7.23278222e-01 6.85731857e-01 8.14888594e-02 1.66968556e+02] [-6.81180681e-01 7.27852607e-01 -7.88889228e-02 -1.03890845e+02] [-1.13408526e-01 1.55000311e-03 9.93547233e-01 -2.00994861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70592000000002 meters 0.03133759101943217 Centerline is valid? [True, True] Translation: X:166.99, Y:-103.91, Z:-20.10 [[ 7.21804783e-01 6.87304011e-01 8.13083755e-02 1.66991977e+02] [-6.82775221e-01 7.26368621e-01 -7.87821286e-02 -1.03913007e+02] [-1.13207126e-01 1.34997318e-03 9.93570493e-01 -2.01016942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73592 meters 0.03146596507641121 Centerline is valid? [True, True] Translation: X:167.02, Y:-103.94, Z:-20.10 [[ 7.21860331e-01 6.87201378e-01 8.16818735e-02 1.67015869e+02] [-6.82622115e-01 7.26465580e-01 -7.92136904e-02 -1.03935127e+02] [-1.13774827e-01 1.42336749e-03 9.93505542e-01 -2.01046734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76592 meters 0.031590755538664424 Centerline is valid? [True, True] Translation: X:167.04, Y:-103.96, Z:-20.11 [[ 7.21949442e-01 6.87115783e-01 8.16143572e-02 1.67040184e+02] [-6.82534618e-01 7.26546401e-01 -7.92264047e-02 -1.03956940e+02] [-1.13734331e-01 1.49283457e-03 9.93510077e-01 -2.01082266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79592 meters 0.03202683211632788 Centerline is valid? [True, True] Translation: X:167.07, Y:-103.98, Z:-20.11 [[ 7.23808761e-01 6.84990441e-01 8.29998374e-02 1.67065058e+02] [-6.80228673e-01 7.28549532e-01 -8.06506784e-02 -1.03977160e+02] [-1.15714436e-01 1.91679837e-03 9.93280673e-01 -2.01119967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82592 meters 0.03219711268939064 Centerline is valid? [True, True] Translation: X:167.09, Y:-104.00, Z:-20.11 [[ 7.25306754e-01 6.83456765e-01 8.25649015e-02 1.67090525e+02] [-6.78727205e-01 7.29987679e-01 -8.02955207e-02 -1.03996440e+02] [-1.15149878e-01 2.19983872e-03 9.93345693e-01 -2.01140201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85592 meters 0.032098860904789916 Centerline is valid? [True, True] Translation: X:167.11, Y:-104.02, Z:-20.12 [[ 7.25295359e-01 6.83363558e-01 8.34319430e-02 1.67113983e+02] [-6.78526164e-01 7.30074680e-01 -8.11985615e-02 -1.04018160e+02] [-1.16399687e-01 2.28218357e-03 9.93199831e-01 -2.01176621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88592 meters 0.032251658281213694 Centerline is valid? [True, True] Translation: X:167.14, Y:-104.04, Z:-20.12 [[ 7.25804702e-01 6.82875707e-01 8.29958095e-02 1.67138776e+02] [-6.78080603e-01 7.30530700e-01 -8.08182685e-02 -1.04040499e+02] [-1.15819819e-01 2.38043071e-03 9.93267388e-01 -2.01206465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91592 meters 0.03253019464601301 Centerline is valid? [True, True] Translation: X:167.16, Y:-104.06, Z:-20.12 [[ 7.26912603e-01 6.81505907e-01 8.45444591e-02 1.67162138e+02] [-6.76510857e-01 7.31807607e-01 -8.24056230e-02 -1.04063080e+02] [-1.18030197e-01 2.70644143e-03 9.93006318e-01 -2.01241143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94592 meters 0.032901816932301334 Centerline is valid? [True, True] Translation: X:167.19, Y:-104.08, Z:-20.13 [[ 7.28428423e-01 6.79913689e-01 8.43173055e-02 1.67185450e+02] [-6.74926867e-01 7.33285985e-01 -8.22519782e-02 -1.04084604e+02] [-1.17752944e-01 3.00666398e-03 9.93038370e-01 -2.01265668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97592 meters 0.03313114533349827 Centerline is valid? [True, True] Translation: X:167.21, Y:-104.11, Z:-20.13 [[ 7.29070697e-01 6.79161647e-01 8.48255643e-02 1.67208934e+02] [-6.74101414e-01 7.33981774e-01 -8.28132754e-02 -1.04107123e+02] [-1.18504019e-01 3.19569958e-03 9.92948430e-01 -2.01300038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00592 meters 0.0338131830651789 Centerline is valid? [True, True] Translation: X:167.23, Y:-104.13, Z:-20.13 [[ 7.31075672e-01 6.76997974e-01 8.48652178e-02 1.67231663e+02] [-6.71910149e-01 7.35976074e-01 -8.29214663e-02 -1.04129697e+02] [-1.18596435e-01 3.60006554e-03 9.92936013e-01 -2.01339382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03592 meters 0.03371290537188933 Centerline is valid? [True, True] Translation: X:167.25, Y:-104.15, Z:-20.14 [[ 7.31653082e-01 6.76554422e-01 8.34139185e-02 1.67254725e+02] [-6.71628754e-01 7.36383542e-01 -8.15726468e-02 -1.04153957e+02] [-1.16612972e-01 3.65969228e-03 9.93170691e-01 -2.01355988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06592 meters 0.03430334050975535 Centerline is valid? [True, True] Translation: X:167.28, Y:-104.18, Z:-20.14 [[ 7.32898544e-01 6.75313436e-01 8.25317345e-02 1.67278415e+02] [-6.70475333e-01 7.37520698e-01 -8.07839637e-02 -1.04176092e+02] [-1.15423358e-01 3.87095720e-03 9.93308846e-01 -2.01392780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09592 meters 0.035114219708451834 Centerline is valid? [True, True] Translation: X:167.30, Y:-104.20, Z:-20.14 [[ 7.35378811e-01 6.72541543e-01 8.31016126e-02 1.67301760e+02] [-6.67611586e-01 7.40046405e-01 -8.14007854e-02 -1.04198285e+02] [-1.16244459e-01 4.38081338e-03 9.93210972e-01 -2.01417782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12592 meters 0.03553507401890145 Centerline is valid? [True, True] Translation: X:167.32, Y:-104.22, Z:-20.14 [[ 7.36417170e-01 6.71277338e-01 8.41218640e-02 1.67324550e+02] [-6.66213627e-01 7.41191633e-01 -8.24279447e-02 -1.04220177e+02] [-1.17682433e-01 4.65822157e-03 9.93040355e-01 -2.01447895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15592 meters 0.036475783936300334 Centerline is valid? [True, True] Translation: X:167.35, Y:-104.24, Z:-20.15 [[ 7.39047696e-01 6.68360949e-01 8.42742239e-02 1.67345640e+02] [-6.63253495e-01 7.43819117e-01 -8.26312471e-02 -1.04244468e+02] [-1.17912278e-01 5.17325922e-03 9.93010540e-01 -2.01463352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18592 meters 0.037451324553195504 Centerline is valid? [True, True] Translation: X:167.37, Y:-104.27, Z:-20.15 [[ 7.41777299e-01 6.65381380e-01 8.38692879e-02 1.67366009e+02] [-6.60300906e-01 7.46482286e-01 -8.22612326e-02 -1.04269114e+02] [-1.17342030e-01 5.64054809e-03 9.93075542e-01 -2.01496256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21592 meters 0.038416086859201774 Centerline is valid? [True, True] Translation: X:167.39, Y:-104.29, Z:-20.15 [[ 7.42925903e-01 6.64092334e-01 8.39194503e-02 1.67387872e+02] [-6.58990374e-01 7.47627338e-01 -8.23714178e-02 -1.04291769e+02] [-1.17442702e-01 5.89374999e-03 9.93062171e-01 -2.01534525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24592 meters 0.03872086078137809 Centerline is valid? [True, True] Translation: X:167.41, Y:-104.32, Z:-20.16 [[ 7.44615007e-01 6.62201484e-01 8.38909198e-02 1.67406722e+02] [-6.57083896e-01 7.49299878e-01 -8.24041619e-02 -1.04317785e+02] [-1.17427614e-01 6.23600315e-03 9.93061865e-01 -2.01566133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27592 meters 0.03864136923229555 Centerline is valid? [True, True] Translation: X:167.43, Y:-104.34, Z:-20.16 [[ 7.44483171e-01 6.62378287e-01 8.36648865e-02 1.67428580e+02] [-6.57282062e-01 7.49143569e-01 -8.22447782e-02 -1.04343157e+02] [-1.17154167e-01 6.23842416e-03 9.93094146e-01 -2.01595076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30592000000001 meters 0.038641503087910686 Centerline is valid? [True, True] Translation: X:167.45, Y:-104.37, Z:-20.16 [[ 7.44131746e-01 6.62766671e-01 8.37154970e-02 1.67450110e+02] [-6.57657899e-01 7.48799998e-01 -8.23689940e-02 -1.04368328e+02] [-1.17277588e-01 6.23722546e-03 9.93079586e-01 -2.01617272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.33592000000002 meters 0.038641503087910686 Centerline is valid? [True, True] Translation: X:167.47, Y:-104.39, Z:-20.16 [[ 7.43834137e-01 6.63105371e-01 8.36782166e-02 1.67473533e+02] [-6.57994489e-01 7.48500076e-01 -8.24068529e-02 -1.04390887e+02] [-1.17277578e-01 6.23722495e-03 9.93079587e-01 -2.01648184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36592000000002 meters 0.038057852590105745 Centerline is valid? [True, True] Translation: X:167.49, Y:-104.42, Z:-20.17 [[ 7.42543617e-01 6.64556847e-01 8.36251964e-02 1.67494112e+02] [-6.59452988e-01 7.47213145e-01 -8.24273783e-02 -1.04415719e+02] [-1.17263525e-01 6.05903801e-03 9.93082350e-01 -2.01681613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39592000000002 meters 0.03762430562787319 Centerline is valid? [True, True] Translation: X:167.52, Y:-104.44, Z:-20.17 [[ 7.41190215e-01 6.65959347e-01 8.44701902e-02 1.67515178e+02] [-6.60752495e-01 7.45964328e-01 -8.33268330e-02 -1.04439913e+02] [-1.18504032e-01 5.94714436e-03 9.92935761e-01 -2.01712919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42592000000002 meters 0.03769172069758782 Centerline is valid? [True, True] Translation: X:167.54, Y:-104.46, Z:-20.18 [[ 7.40465975e-01 6.66734607e-01 8.47059814e-02 1.67536747e+02] [-6.61495533e-01 7.45271945e-01 -8.36264772e-02 -1.04463490e+02] [-1.18885658e-01 5.88993266e-03 9.92890482e-01 -2.01752036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45592000000002 meters 0.037228481700549695 Centerline is valid? [True, True] Translation: X:167.56, Y:-104.49, Z:-20.18 [[ 7.39306904e-01 6.68082431e-01 8.42090675e-02 1.67558813e+02] [-6.62905640e-01 7.44065519e-01 -8.32022625e-02 -1.04487536e+02] [-1.18243033e-01 5.68934128e-03 9.92968386e-01 -2.01769406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48592 meters 0.03665290689593431 Centerline is valid? [True, True] Translation: X:167.58, Y:-104.51, Z:-20.18 [[ 7.37764549e-01 6.69751234e-01 8.44793169e-02 1.67580407e+02] [-6.64544914e-01 7.42565295e-01 -8.35274805e-02 -1.04511750e+02] [-1.18674042e-01 5.48331362e-03 9.92918126e-01 -2.01810593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51592 meters 0.036658000988789 Centerline is valid? [True, True] Translation: X:167.60, Y:-104.54, Z:-20.19 [[ 7.37128304e-01 6.70674210e-01 8.26920017e-02 1.67599629e+02] [-6.65688795e-01 7.41733516e-01 -8.17913139e-02 -1.04537814e+02] [-1.16190754e-01 5.24355358e-03 9.93213076e-01 -2.01850514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54592 meters 0.036522663244628634 Centerline is valid? [True, True] Translation: X:167.62, Y:-104.56, Z:-20.19 [[ 7.36484781e-01 6.71293438e-01 8.33983589e-02 1.67621889e+02] [-6.66217960e-01 7.41173152e-01 -8.25589958e-02 -1.04562797e+02] [-1.17233937e-01 5.24195936e-03 9.93090492e-01 -2.01883610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57592 meters 0.036364986349341925 Centerline is valid? [True, True] Translation: X:167.64, Y:-104.59, Z:-20.19 [[ 7.35418011e-01 6.72224225e-01 8.52932641e-02 1.67643168e+02] [-6.66911445e-01 7.40328868e-01 -8.45120779e-02 -1.04586828e+02] [-1.19956132e-01 5.26865024e-03 9.92765213e-01 -2.01910933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60592 meters 0.0362424507411812 Centerline is valid? [True, True] Translation: X:167.67, Y:-104.61, Z:-20.19 [[ 7.34816292e-01 6.72838356e-01 8.56362278e-02 1.67665347e+02] [-6.67478121e-01 7.39770953e-01 -8.49228735e-02 -1.04610819e+02] [-1.20490560e-01 5.24240262e-03 9.92700631e-01 -2.01948837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63592 meters 0.0359837753290064 Centerline is valid? [True, True] Translation: X:167.69, Y:-104.64, Z:-20.20 [[ 7.32662789e-01 6.75140058e-01 8.59717363e-02 1.67685046e+02] [-6.69743891e-01 7.37673024e-01 -8.53324719e-02 -1.04636041e+02] [-1.21030401e-01 4.94088164e-03 9.92636504e-01 -2.01991174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66592 meters 0.03494101348579481 Centerline is valid? [True, True] Translation: X:167.71, Y:-104.66, Z:-20.20 [[ 7.30014245e-01 6.78045602e-01 8.56350630e-02 1.67705477e+02] [-6.72704506e-01 7.35006152e-01 -8.50564746e-02 -1.04660378e+02] [-1.20614467e-01 4.48534531e-03 9.92689293e-01 -2.02011886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69592 meters 0.03417518629853075 Centerline is valid? [True, True] Translation: X:167.73, Y:-104.68, Z:-20.20 [[ 7.27442556e-01 6.80773729e-01 8.58746633e-02 1.67727491e+02] [-6.75417665e-01 7.32482479e-01 -8.53252335e-02 -1.04683998e+02] [-1.20988864e-01 4.06794139e-03 9.92645529e-01 -2.02042011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72592 meters 0.03291538614294196 Centerline is valid? [True, True] Translation: X:167.75, Y:-104.71, Z:-20.21 [[ 7.22923192e-01 6.85654066e-01 8.52089210e-02 1.67749259e+02] [-6.80407458e-01 7.27920189e-01 -8.47224236e-02 -1.04707148e+02] [-1.20115568e-01 3.27101950e-03 9.92754527e-01 -2.02063305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75592 meters 0.0324856871862053 Centerline is valid? [True, True] Translation: X:167.77, Y:-104.73, Z:-20.21 [[ 7.20486183e-01 6.88322913e-01 8.43280901e-02 1.67772817e+02] [-6.83200237e-01 7.25398964e-01 -8.38676292e-02 -1.04729541e+02] [-1.18899520e-01 2.81249688e-03 9.92902308e-01 -2.02097272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78592 meters 0.03170396559933811 Centerline is valid? [True, True] Translation: X:167.80, Y:-104.75, Z:-20.21 [[ 7.16906099e-01 6.92213690e-01 8.29810392e-02 1.67795421e+02] [-6.87277188e-01 7.21689398e-01 -8.25498659e-02 -1.04751475e+02] [-1.17028683e-01 2.14952704e-03 9.93126209e-01 -2.02127146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81592 meters 0.03181944062959775 Centerline is valid? [True, True] Translation: X:167.82, Y:-104.77, Z:-20.22 [[ 7.15502269e-01 6.93583893e-01 8.36533736e-02 1.67818718e+02] [-6.88573214e-01 7.20373199e-01 -8.32429134e-02 -1.04774574e+02] [-1.17997592e-01 1.95902110e-03 9.93011949e-01 -2.02168011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84592 meters 0.031636912219238665 Centerline is valid? [True, True] Translation: X:167.84, Y:-104.80, Z:-20.22 [[ 7.14812544e-01 6.94381291e-01 8.29315969e-02 1.67843303e+02] [-6.89453121e-01 7.19604844e-01 -8.26030411e-02 -1.04795550e+02] [-1.17035985e-01 1.86824164e-03 9.93125917e-01 -2.02190217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87592 meters 0.03170519784358851 Centerline is valid? [True, True] Translation: X:167.87, Y:-104.82, Z:-20.22 [[ 7.14520585e-01 6.94607119e-01 8.35540763e-02 1.67867166e+02] [-6.89597441e-01 7.19386788e-01 -8.32947666e-02 -1.04816976e+02] [-1.17964836e-01 1.89714814e-03 9.93015961e-01 -2.02219290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90592 meters 0.031702018658527516 Centerline is valid? [True, True] Translation: X:167.89, Y:-104.84, Z:-20.22 [[ 7.13757086e-01 6.95342694e-01 8.39604670e-02 1.67892143e+02] [-6.90280206e-01 7.18675977e-01 -8.37739620e-02 -1.04838481e+02] [-1.18591983e-01 1.83801050e-03 9.92941370e-01 -2.02241943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93592 meters 0.03172044785831181 Centerline is valid? [True, True] Translation: X:167.92, Y:-104.86, Z:-20.23 [[ 7.13989151e-01 6.95167472e-01 8.34366738e-02 1.67915821e+02] [-6.90157319e-01 7.18845270e-01 -8.33327852e-02 -1.04860834e+02] [-1.17908300e-01 1.91427344e-03 9.93022642e-01 -2.02270119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96592 meters 0.031579093022739986 Centerline is valid? [True, True] Translation: X:167.94, Y:-104.88, Z:-20.23 [[ 7.14477955e-01 6.94888116e-01 8.15583056e-02 1.67938690e+02] [-6.90091083e-01 7.19115165e-01 -8.15332854e-02 -1.04883732e+02] [-1.15306325e-01 1.97107558e-03 9.93328025e-01 -2.02290937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99592 meters 0.03191206217497166 Centerline is valid? [True, True] Translation: X:167.96, Y:-104.89, Z:-20.23 [[ 6.66675127e-01 7.41313591e-01 7.74495569e-02 1.67964536e+02] [-7.36037142e-01 6.71156218e-01 -8.83100058e-02 -1.04886508e+02] [-1.17446159e-01 1.86833382e-03 9.93077494e-01 -2.02314468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02592 meters 0.03218818457645899 Centerline is valid? [True, True] Translation: X:167.84, Y:-105.28, Z:-18.26 [[ 6.94109240e-01 -7.18456578e-01 -4.50833607e-02 1.67842295e+02] [-7.16419658e-01 -6.95550740e-01 5.43326901e-02 -1.05275504e+02] [-7.03934435e-02 -5.41421636e-03 -9.97504611e-01 -1.82589870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.05592000000001 meters 0.03222744734000713 Centerline is valid? [True, True] Translation: X:167.97, Y:-104.92, Z:-20.23 [[ 7.18543192e-01 6.90363801e-01 8.42229432e-02 1.67974646e+02] [-6.85286700e-01 7.23458545e-01 -8.36054618e-02 -1.04922422e+02] [-1.18649992e-01 2.35727256e-03 9.92933342e-01 -2.02336548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08592000000002 meters 0.03205657013542798 Centerline is valid? [True, True] Translation: X:168.00, Y:-104.95, Z:-20.24 [[ 7.17415484e-01 6.91492203e-01 8.45787031e-02 1.67997544e+02] [-6.86369928e-01 7.22380452e-01 -8.40404913e-02 -1.04946022e+02] [-1.19211346e-01 2.23967134e-03 9.92866375e-01 -2.02366419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11592000000002 meters 0.03168756461510035 Centerline is valid? [True, True] Translation: X:168.02, Y:-104.97, Z:-20.24 [[ 7.14848128e-01 6.94168370e-01 8.43944756e-02 1.68018467e+02] [-6.89077386e-01 7.19810293e-01 -8.39374666e-02 -1.04971114e+02] [-1.19014747e-01 1.84821626e-03 9.92890767e-01 -2.02392708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14592000000002 meters 0.031780708302345154 Centerline is valid? [True, True] Translation: X:168.04, Y:-104.99, Z:-20.24 [[ 7.13035624e-01 6.95939248e-01 8.51396673e-02 1.68041823e+02] [-6.90761001e-01 7.18098833e-01 -8.47543861e-02 -1.04994952e+02] [-1.20122599e-01 1.62173477e-03 9.92757740e-01 -2.02428974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17592000000002 meters 0.03128135557356768 Centerline is valid? [True, True] Translation: X:168.06, Y:-105.02, Z:-20.24 [[ 7.08955638e-01 7.00143529e-01 8.47404400e-02 1.68064597e+02] [-6.95033848e-01 7.14001475e-01 -8.44384028e-02 -1.05017578e+02] [-1.19623800e-01 9.65607700e-04 9.92818822e-01 -2.02449522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20592000000002 meters 0.031226119950010338 Centerline is valid? [True, True] Translation: X:168.09, Y:-105.04, Z:-20.25 [[ 7.06683531e-01 7.02455618e-01 8.45842336e-02 1.68087597e+02] [-6.97372499e-01 7.11727275e-01 -8.43557015e-02 -1.05040013e+02] [-1.19457042e-01 6.26066584e-04 9.92839173e-01 -2.02475758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23592 meters 0.031031853962087415 Centerline is valid? [True, True] Translation: X:168.11, Y:-105.06, Z:-20.25 [[ 7.02063380e-01 7.07268945e-01 8.29315966e-02 1.68110861e+02] [-7.02408037e-01 7.06944567e-01 -8.27787953e-02 -1.05062280e+02] [-1.17174913e-01 -1.35859107e-04 9.93111283e-01 -2.02499083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26592 meters 0.031110356583180777 Centerline is valid? [True, True] Translation: X:168.13, Y:-105.08, Z:-20.25 [[ 6.99987695e-01 7.09263199e-01 8.34442379e-02 1.68134606e+02] [-7.04347136e-01 7.04943642e-01 -8.33641006e-02 -1.05084064e+02] [-1.17950574e-01 -4.19865314e-04 9.93019378e-01 -2.02533965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29592 meters 0.031121104586177135 Centerline is valid? [True, True] Translation: X:168.16, Y:-105.10, Z:-20.26 [[ 6.97605940e-01 7.11606832e-01 8.34366231e-02 1.68160988e+02] [-7.06699303e-01 7.02577495e-01 -8.34323537e-02 -1.05104495e+02] [-1.17991726e-01 -7.61697923e-04 9.93014286e-01 -2.02561268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32592 meters 0.031198148426413615 Centerline is valid? [True, True] Translation: X:168.07, Y:-105.50, Z:-18.29 [[ 7.58192080e-01 -6.50164528e-01 -4.93037065e-02 1.68066189e+02] [-6.48145087e-01 -7.59758818e-01 5.17154237e-02 -1.05501175e+02] [-7.10824599e-02 -7.25426955e-03 -9.97444063e-01 -1.82936244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35592 meters 0.031341664394806394 Centerline is valid? [True, True] Translation: X:168.18, Y:-105.14, Z:-20.26 [[ 7.44393710e-01 6.61722248e-01 8.94520578e-02 1.68178474e+02] [-6.57162876e-01 7.49748327e-01 -7.75525701e-02 -1.05136517e+02] [-1.18384792e-01 -1.05492621e-03 9.92967234e-01 -2.02609046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38592 meters 0.031195487616254382 Centerline is valid? [True, True] Translation: X:168.21, Y:-105.15, Z:-20.26 [[ 7.43243010e-01 6.63188156e-01 8.81549635e-02 1.68205006e+02] [-6.58761791e-01 7.48451736e-01 -7.65042569e-02 -1.05154538e+02] [-1.16716453e-01 -1.21186751e-03 9.93164539e-01 -2.02639799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41592 meters 0.03135869959985434 Centerline is valid? [True, True] Translation: X:168.23, Y:-105.17, Z:-20.27 [[ 7.41934902e-01 6.64537824e-01 8.90060723e-02 1.68233791e+02] [-6.60026644e-01 7.47253345e-01 -7.73127953e-02 -1.05170729e+02] [-1.17887362e-01 -1.38531793e-03 9.93026007e-01 -2.02663484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44592 meters 0.03142372580800277 Centerline is valid? [True, True] Translation: X:168.26, Y:-105.19, Z:-20.27 [[ 7.42365804e-01 6.64212468e-01 8.78339965e-02 1.68261715e+02] [-6.59810446e-01 7.47542763e-01 -7.63543939e-02 -1.05188331e+02] [-1.16375209e-01 -1.27089743e-03 9.93204508e-01 -2.02688383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47592 meters 0.03135598474530717 Centerline is valid? [True, True] Translation: X:168.29, Y:-105.20, Z:-20.27 [[ 7.42860546e-01 6.63661100e-01 8.78188698e-02 1.68291414e+02] [-6.59253886e-01 7.48032476e-01 -7.63657526e-02 -1.05202964e+02] [-1.16372346e-01 -1.16582649e-03 9.93204973e-01 -2.02733328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50592 meters 0.03129128464293866 Centerline is valid? [True, True] Translation: X:168.32, Y:-105.22, Z:-20.28 [[ 7.43468277e-01 6.62848711e-01 8.88060048e-02 1.68318933e+02] [-6.58331463e-01 7.48752655e-01 -7.72602473e-02 -1.05221158e+02] [-1.17705587e-01 -1.02324405e-03 9.93048009e-01 -2.02784293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53592 meters 0.03130262416013886 Centerline is valid? [True, True] Translation: X:168.35, Y:-105.24, Z:-20.28 [[ 7.46265845e-01 6.59658794e-01 8.90930092e-02 1.68349434e+02] [-6.55080058e-01 7.51565075e-01 -7.75890177e-02 -1.05235755e+02] [-1.18141472e-01 -4.61019752e-04 9.92996667e-01 -2.02817158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56592 meters 0.03128434485962345 Centerline is valid? [True, True] Translation: X:168.38, Y:-105.25, Z:-20.29 [[ 7.48059663e-01 6.57366394e-01 9.09734249e-02 1.68376929e+02] [-6.52565870e-01 7.53571113e-01 -7.92992057e-02 -1.05253122e+02] [-1.20683578e-01 -4.56149693e-05 9.92691025e-01 -2.02855719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59592 meters 0.03156709783715224 Centerline is valid? [True, True] Translation: X:168.41, Y:-105.27, Z:-20.29 [[ 7.52414199e-01 6.52193872e-01 9.22823220e-02 1.68405145e+02] [-6.47205818e-01 7.58051731e-01 -8.05121268e-02 -1.05268819e+02] [-1.22464290e-01 8.52811634e-04 9.92472554e-01 -2.02900123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62592 meters 0.03169843554582667 Centerline is valid? [True, True] Translation: X:168.43, Y:-105.29, Z:-20.29 [[ 7.54445480e-01 6.49869122e-01 9.20985439e-02 1.68431176e+02] [-6.44875404e-01 7.60045056e-01 -8.04190631e-02 -1.05287273e+02] [-1.22260909e-01 1.27971293e-03 9.92497170e-01 -2.02928322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65592 meters 0.032552201620122984 Centerline is valid? [True, True] Translation: X:168.46, Y:-105.30, Z:-20.30 [[ 7.58567185e-01 6.44841616e-01 9.35687759e-02 1.68459807e+02] [-6.39640754e-01 7.64313137e-01 -8.17626711e-02 -1.05303124e+02] [-1.24239818e-01 2.17207691e-03 9.92249842e-01 -2.02973116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68592 meters 0.032711861126261725 Centerline is valid? [True, True] Translation: X:168.49, Y:-105.32, Z:-20.30 [[ 7.60646800e-01 6.42565715e-01 9.23349744e-02 1.68486212e+02] [-6.37480824e-01 7.66226384e-01 -8.07175846e-02 -1.05322329e+02] [-1.22615846e-01 2.53579687e-03 9.92450968e-01 -2.03004544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71592 meters 0.03324465652153568 Centerline is valid? [True, True] Translation: X:168.51, Y:-105.34, Z:-20.30 [[ 7.64178081e-01 6.38462544e-01 9.16375487e-02 1.68510846e+02] [-6.33415832e-01 7.69646122e-01 -8.01824820e-02 -1.05343553e+02] [-1.21721995e-01 3.22902111e-03 9.92558980e-01 -2.03029413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74592 meters 0.033824788254631824 Centerline is valid? [True, True] Translation: X:168.53, Y:-105.36, Z:-20.31 [[ 7.65748751e-01 6.36541781e-01 9.18880404e-02 1.68534817e+02] [-6.31445293e-01 7.71233834e-01 -8.04687232e-02 -1.05364610e+02] [-1.22088870e-01 3.59655359e-03 9.92512656e-01 -2.03065930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77592 meters 0.03461348126891183 Centerline is valid? [True, True] Translation: X:168.56, Y:-105.38, Z:-20.31 [[ 7.68223128e-01 6.33420656e-01 9.27981597e-02 1.68558937e+02] [-6.28192125e-01 7.73796349e-01 -8.13256716e-02 -1.05384933e+02] [-1.23320237e-01 4.18118871e-03 9.92358119e-01 -2.03084832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80592000000001 meters 0.035144060896300414 Centerline is valid? [True, True] Translation: X:168.58, Y:-105.41, Z:-20.31 [[ 7.68912536e-01 6.32486240e-01 9.34594517e-02 1.68582735e+02] [-6.27170624e-01 7.74559130e-01 -8.19460981e-02 -1.05405891e+02] [-1.24219651e-01 4.39435950e-03 9.92245014e-01 -2.03119049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.83592000000002 meters 0.035370099154961684 Centerline is valid? [True, True] Translation: X:168.61, Y:-105.43, Z:-20.32 [[ 7.69832530e-01 6.31555789e-01 9.21691997e-02 1.68605382e+02] [-6.26371511e-01 7.75317180e-01 -8.08826388e-02 -1.05429651e+02] [-1.22542263e-01 4.53392561e-03 9.92452940e-01 -2.03158153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86592000000002 meters 0.03554122421419402 Centerline is valid? [True, True] Translation: X:168.63, Y:-105.45, Z:-20.32 [[ 7.70188320e-01 6.31255212e-01 9.12513473e-02 1.68630729e+02] [-6.26162916e-01 7.75561576e-01 -8.01513930e-02 -1.05451209e+02] [-1.21367023e-01 4.59345708e-03 9.92597071e-01 -2.03181111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89592000000002 meters 0.035648306444236354 Centerline is valid? [True, True] Translation: X:168.66, Y:-105.47, Z:-20.32 [[ 7.69982337e-01 6.31593227e-01 9.06487521e-02 1.68655628e+02] [-6.26561841e-01 7.75286494e-01 -7.96938565e-02 -1.05471758e+02] [-1.20612853e-01 4.56581283e-03 9.92689122e-01 -2.03205417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92592000000002 meters 0.03509295099697128 Centerline is valid? [True, True] Translation: X:168.68, Y:-105.49, Z:-20.32 [[ 7.69306079e-01 6.32389876e-01 9.08361204e-02 1.68679043e+02] [-6.27335209e-01 7.74637197e-01 -7.99233963e-02 -1.05493853e+02] [-1.20907784e-01 4.50085803e-03 9.92653540e-01 -2.03222465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95592000000002 meters 0.03536311417255705 Centerline is valid? [True, True] Translation: X:168.70, Y:-105.51, Z:-20.33 [[ 7.68435047e-01 6.33337089e-01 9.16062748e-02 1.68704118e+02] [-6.28194306e-01 7.73863292e-01 -8.06691891e-02 -1.05514782e+02] [-1.21981523e-01 4.44249189e-03 9.92522429e-01 -2.03268821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98592 meters 0.035014407604559254 Centerline is valid? [True, True] Translation: X:168.73, Y:-105.53, Z:-20.33 [[ 7.67689808e-01 6.34382739e-01 9.06140140e-02 1.68729305e+02] [-6.29349669e-01 7.73007228e-01 -7.98675133e-02 -1.05534722e+02] [-1.20711860e-01 4.28557629e-03 9.92678337e-01 -2.03291016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01592 meters 0.03502791316025199 Centerline is valid? [True, True] Translation: X:168.75, Y:-105.56, Z:-20.33 [[ 7.66932607e-01 6.35125563e-01 9.18144672e-02 1.68754151e+02] [-6.29954786e-01 7.72397068e-01 -8.09922092e-02 -1.05555691e+02] [-1.22357448e-01 4.27660311e-03 9.92476884e-01 -2.03330319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04592 meters 0.034679343612299046 Centerline is valid? [True, True] Translation: X:168.78, Y:-105.58, Z:-20.34 [[ 7.66164783e-01 6.35955277e-01 9.24792474e-02 1.68777883e+02] [-6.30707937e-01 7.71714380e-01 -8.16358588e-02 -1.05577047e+02] [-1.23284320e-01 4.21912462e-03 9.92362421e-01 -2.03362051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07592 meters 0.034806321968085495 Centerline is valid? [True, True] Translation: X:168.80, Y:-105.60, Z:-20.34 [[ 7.65911280e-01 6.36284768e-01 9.23125358e-02 1.68803695e+02] [-6.31054295e-01 7.71442912e-01 -8.15249105e-02 -1.05597843e+02] [-1.23086910e-01 4.18662643e-03 9.92387064e-01 -2.03393956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10592 meters 0.03434943743843358 Centerline is valid? [True, True] Translation: X:168.83, Y:-105.62, Z:-20.34 [[ 7.65423616e-01 6.36999023e-01 9.14271983e-02 1.68827279e+02] [-6.31864803e-01 7.70853761e-01 -8.08167640e-02 -1.05620001e+02] [-1.21957199e-01 4.08943106e-03 9.92526936e-01 -2.03421663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13592 meters 0.034241582095068474 Centerline is valid? [True, True] Translation: X:168.85, Y:-105.64, Z:-20.34 [[ 7.65157070e-01 6.37421143e-01 9.07135340e-02 1.68849779e+02] [-6.32362029e-01 7.70505000e-01 -8.02515363e-02 -1.05642905e+02] [-1.21049258e-01 4.04123592e-03 9.92638275e-01 -2.03443932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16592 meters 0.03450642486361674 Centerline is valid? [True, True] Translation: X:168.87, Y:-105.67, Z:-20.35 [[ 7.64273821e-01 6.38447879e-01 9.09386137e-02 1.68872242e+02] [-6.33362576e-01 7.69654974e-01 -8.05174992e-02 -1.05666544e+02] [-1.21397583e-01 3.94030221e-03 9.92596142e-01 -2.03483756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19592 meters 0.03450642486361674 Centerline is valid? [True, True] Translation: X:168.90, Y:-105.69, Z:-20.35 [[ 7.63976527e-01 6.38808492e-01 9.09042139e-02 1.68896816e+02] [-6.33721118e-01 7.69355720e-01 -8.05563217e-02 -1.05687827e+02] [-1.21397739e-01 3.93521885e-03 9.92596143e-01 -2.03514561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22592 meters 0.0342543366283046 Centerline is valid? [True, True] Translation: X:168.92, Y:-105.71, Z:-20.35 [[ 7.63764149e-01 6.39164041e-01 9.01867745e-02 1.68920337e+02] [-6.34150568e-01 7.69060522e-01 -7.99935663e-02 -1.05709896e+02] [-1.20488099e-01 3.90422381e-03 9.92707094e-01 -2.03544315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25592 meters 0.034365636288785195 Centerline is valid? [True, True] Translation: X:168.94, Y:-105.73, Z:-20.36 [[ 7.63494362e-01 6.39380411e-01 9.09343151e-02 1.68941998e+02] [-6.34276620e-01 7.68880393e-01 -8.07224271e-02 -1.05732935e+02] [-1.21529951e-01 3.95360788e-03 9.92579891e-01 -2.03586964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28592 meters 0.034022132142590145 Centerline is valid? [True, True] Translation: X:168.96, Y:-105.76, Z:-20.36 [[ 7.62719991e-01 6.40529007e-01 8.93353618e-02 1.68963063e+02] [-6.35604328e-01 7.67924817e-01 -7.93637987e-02 -1.05757898e+02] [-1.19437657e-01 3.75041319e-03 9.92834619e-01 -2.03601052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31592 meters 0.03397138104012666 Centerline is valid? [True, True] Translation: X:168.99, Y:-105.78, Z:-20.36 [[ 7.62078207e-01 6.41347964e-01 8.89359055e-02 1.68985594e+02] [-6.36465161e-01 7.67241437e-01 -7.90738660e-02 -1.05780551e+02] [-1.18949175e-01 3.65586465e-03 9.92893614e-01 -2.03626209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34592 meters 0.03372582053717966 Centerline is valid? [True, True] Translation: X:169.01, Y:-105.81, Z:-20.36 [[ 7.61634218e-01 6.42063345e-01 8.75669928e-02 1.69007464e+02] [-6.37327427e-01 7.66643426e-01 -7.79205250e-02 -1.05805040e+02] [-1.17162572e-01 3.53809193e-03 9.93106446e-01 -2.03646890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37592 meters 0.034008144345639583 Centerline is valid? [True, True] Translation: X:169.03, Y:-105.83, Z:-20.37 [[ 7.60988189e-01 6.42516745e-01 8.98287708e-02 1.69030803e+02] [-6.37527003e-01 7.66263134e-01 -8.00008179e-02 -1.05827266e+02] [-1.20234341e-01 3.61141054e-03 9.92738969e-01 -2.03690882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40592 meters 0.03352127637491019 Centerline is valid? [True, True] Translation: X:169.05, Y:-105.85, Z:-20.37 [[ 7.58998635e-01 6.44947983e-01 8.92366026e-02 1.69052648e+02] [-6.40032802e-01 7.64219535e-01 -7.95393886e-02 -1.05851462e+02] [-1.19495123e-01 3.25593462e-03 9.92829449e-01 -2.03729821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43592 meters 0.03306920287190219 Centerline is valid? [True, True] Translation: X:169.08, Y:-105.87, Z:-20.37 [[ 7.57553421e-01 6.46604385e-01 8.95297892e-02 1.69075748e+02] [-6.41660139e-01 7.62819394e-01 -7.98676252e-02 -1.05873332e+02] [-1.19937816e-01 3.05629571e-03 9.92776702e-01 -2.03749740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46592 meters 0.03230060584665786 Centerline is valid? [True, True] Translation: X:169.10, Y:-105.89, Z:-20.38 [[ 7.53922650e-01 6.51044120e-01 8.79897192e-02 1.69098361e+02] [-6.46292704e-01 7.59036246e-01 -7.85475523e-02 -1.05894746e+02] [-1.17925308e-01 2.35166521e-03 9.93019683e-01 -2.03761903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49592 meters 0.03202526107243149 Centerline is valid? [True, True] Translation: X:169.12, Y:-105.92, Z:-20.38 [[ 7.51813165e-01 6.53495799e-01 8.78647001e-02 1.69122404e+02] [-6.48772078e-01 7.56927551e-01 -7.84568301e-02 -1.05916138e+02] [-1.17778421e-01 1.98071371e-03 9.93037925e-01 -2.03786871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52592 meters 0.03196280928812791 Centerline is valid? [True, True] Translation: X:169.15, Y:-105.94, Z:-20.38 [[ 7.49160377e-01 6.56242619e-01 9.00241828e-02 1.69145962e+02] [-6.51294153e-01 7.54548163e-01 -8.04549315e-02 -1.05938270e+02] [-1.20725537e-01 1.64142302e-03 9.92684567e-01 -2.03832473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.55592000000001 meters 0.03173579809099442 Centerline is valid? [True, True] Translation: X:169.17, Y:-105.96, Z:-20.39 [[ 7.46962516e-01 6.58787040e-01 8.97030362e-02 1.69169359e+02] [-6.53883841e-01 7.52328386e-01 -8.02366573e-02 -1.05961016e+02] [-1.20345010e-01 1.27840958e-03 9.92731305e-01 -2.03854924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58592000000002 meters 0.03175456439707946 Centerline is valid? [True, True] Translation: X:169.19, Y:-105.98, Z:-20.39 [[ 7.46369916e-01 6.59415043e-01 9.00208317e-02 1.69193454e+02] [-6.54473321e-01 7.51778081e-01 -8.05877705e-02 -1.05982933e+02] [-1.20816476e-01 1.23205476e-03 9.92674096e-01 -2.03889475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61592000000002 meters 0.03177528199276462 Centerline is valid? [True, True] Translation: X:169.22, Y:-106.00, Z:-20.39 [[ 7.45957538e-01 6.59941692e-01 8.95785446e-02 1.69217562e+02] [-6.55045320e-01 7.51315885e-01 -8.02500470e-02 -1.06004093e+02] [-1.20262135e-01 1.18512106e-03 9.92741464e-01 -2.03917035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64592000000002 meters 0.03193534810109419 Centerline is valid? [True, True] Translation: X:169.24, Y:-106.02, Z:-20.40 [[ 7.46678012e-01 6.59012247e-01 9.04146322e-02 1.69243307e+02] [-6.54008166e-01 7.52130902e-01 -8.10704925e-02 -1.06023493e+02] [-1.21430086e-01 1.40164640e-03 9.92598997e-01 -2.03953134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67592000000002 meters 0.03182048141951817 Centerline is valid? [True, True] Translation: X:169.27, Y:-106.04, Z:-20.40 [[ 7.47173042e-01 6.58541371e-01 8.97535915e-02 1.69268459e+02] [-6.53598388e-01 7.52542987e-01 -8.05493612e-02 -1.06044317e+02] [-1.20588523e-01 1.52150850e-03 9.92701412e-01 -2.03985813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70592000000002 meters 0.03194969495347733 Centerline is valid? [True, True] Translation: X:169.29, Y:-106.07, Z:-20.40 [[ 7.47828610e-01 6.57700772e-01 9.04547676e-02 1.69292776e+02] [-6.52664236e-01 7.53277308e-01 -8.12569480e-02 -1.06065145e+02] [-1.21580281e-01 1.72967865e-03 9.92580094e-01 -2.04027371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73592 meters 0.03229230709850707 Centerline is valid? [True, True] Translation: X:169.32, Y:-106.09, Z:-20.41 [[ 7.48819059e-01 6.56518523e-01 9.08484787e-02 1.69316728e+02] [-6.51420478e-01 7.54307293e-01 -8.16815074e-02 -1.06086872e+02] [-1.22153093e-01 1.98411011e-03 9.92509287e-01 -2.04066859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76592 meters 0.032170635734061204 Centerline is valid? [True, True] Translation: X:169.34, Y:-106.11, Z:-20.41 [[ 7.48811912e-01 6.56524885e-01 9.08614102e-02 1.69341080e+02] [-6.51416505e-01 7.54301611e-01 -8.17656228e-02 -1.06108755e+02] [-1.22218074e-01 2.03845003e-03 9.92501177e-01 -2.04086016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79592 meters 0.03232001010366147 Centerline is valid? [True, True] Translation: X:169.37, Y:-106.13, Z:-20.41 [[ 7.49686978e-01 6.55619086e-01 9.01834161e-02 1.69366107e+02] [-6.50570783e-01 7.55088500e-01 -8.12343080e-02 -1.06130012e+02] [-1.21355223e-01 2.22960724e-03 9.92606638e-01 -2.04115700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82592 meters 0.03234630601544324 Centerline is valid? [True, True] Translation: X:169.39, Y:-106.15, Z:-20.41 [[ 7.49840648e-01 6.55453880e-01 9.01066864e-02 1.69390296e+02] [-6.50403300e-01 7.55231655e-01 -8.12446537e-02 -1.06152294e+02] [-1.21303545e-01 2.31485754e-03 9.92612760e-01 -2.04149115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85592 meters 0.032544740957578026 Centerline is valid? [True, True] Translation: X:169.41, Y:-106.17, Z:-20.42 [[ 7.50315449e-01 6.54903800e-01 9.01539766e-02 1.69414219e+02] [-6.49834512e-01 7.55708239e-01 -8.13643917e-02 -1.06173206e+02] [-1.21415952e-01 2.46379468e-03 9.92598658e-01 -2.04186689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88592 meters 0.032602960764228826 Centerline is valid? [True, True] Translation: X:169.44, Y:-106.19, Z:-20.42 [[ 7.50393181e-01 6.54874186e-01 8.97210903e-02 1.69439400e+02] [-6.49844814e-01 7.55733748e-01 -8.10445597e-02 -1.06194598e+02] [-1.20879246e-01 2.51049971e-03 9.92664045e-01 -2.04212050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91592 meters 0.03258238220385529 Centerline is valid? [True, True] Translation: X:169.46, Y:-106.22, Z:-20.42 [[ 7.50483868e-01 6.54830469e-01 8.92805688e-02 1.69463630e+02] [-6.49840778e-01 7.55771447e-01 -8.07247390e-02 -1.06217523e+02] [-1.20336723e-01 2.56446013e-03 9.92729821e-01 -2.04231553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94592 meters 0.03261052071339754 Centerline is valid? [True, True] Translation: X:169.49, Y:-106.24, Z:-20.43 [[ 7.50351417e-01 6.54937378e-01 8.96090484e-02 1.69487092e+02] [-6.49901931e-01 7.55678624e-01 -8.11005395e-02 -1.06240466e+02] [-1.20831417e-01 2.61681113e-03 9.92669593e-01 -2.04273508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97592 meters 0.03306924042051118 Centerline is valid? [True, True] Translation: X:169.51, Y:-106.26, Z:-20.43 [[ 7.51614901e-01 6.53420145e-01 9.00952483e-02 1.69511015e+02] [-6.48309363e-01 7.56989760e-01 -8.16178565e-02 -1.06262096e+02] [-1.21531932e-01 2.93560414e-03 9.92583181e-01 -2.04311832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00592 meters 0.03291149254478334 Centerline is valid? [True, True] Translation: X:169.53, Y:-106.28, Z:-20.43 [[ 7.51746274e-01 6.53485975e-01 8.85077407e-02 1.69534788e+02] [-6.48546816e-01 7.56932978e-01 -8.02464591e-02 -1.06283272e+02] [-1.19434363e-01 2.92356323e-03 9.92837794e-01 -2.04329791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03592 meters 0.033014290369588285 Centerline is valid? [True, True] Translation: X:169.56, Y:-106.30, Z:-20.44 [[ 7.51761785e-01 6.53224504e-01 9.02882414e-02 1.69558554e+02] [-6.48073380e-01 7.57158021e-01 -8.19306155e-02 -1.06304652e+02] [-1.21881552e-01 3.07889997e-03 9.92539877e-01 -2.04363722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06592 meters 0.03314354677389814 Centerline is valid? [True, True] Translation: X:169.58, Y:-106.33, Z:-20.44 [[ 7.52839534e-01 6.52279585e-01 8.81134498e-02 1.69581012e+02] [-6.47360168e-01 7.57971689e-01 -8.00233249e-02 -1.06327485e+02] [-1.18985082e-01 3.20358497e-03 9.92890874e-01 -2.04383195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09592 meters 0.03344351813735375 Centerline is valid? [True, True] Translation: X:169.60, Y:-106.35, Z:-20.44 [[ 7.53446680e-01 6.51560025e-01 8.82475683e-02 1.69603574e+02] [-6.46612692e-01 7.58589584e-01 -8.02114077e-02 -1.06349511e+02] [-1.19206233e-01 3.37302115e-03 9.92863786e-01 -2.04424471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12592 meters 0.03346277486705419 Centerline is valid? [True, True] Translation: X:169.63, Y:-106.37, Z:-20.45 [[ 7.53059629e-01 6.51919826e-01 8.88917068e-02 1.69627103e+02] [-6.46894438e-01 7.58280324e-01 -8.08612176e-02 -1.06371850e+02] [-1.20119863e-01 3.38976784e-03 9.92753609e-01 -2.04453421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15592 meters 0.03324405111550721 Centerline is valid? [True, True] Translation: X:169.65, Y:-106.40, Z:-20.45 [[ 7.52400384e-01 6.52712152e-01 8.86595058e-02 1.69648287e+02] [-6.47711493e-01 7.57598812e-01 -8.07085001e-02 -1.06396934e+02] [-1.19847755e-01 3.29932566e-03 9.92786800e-01 -2.04487570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18592 meters 0.0333338319378154 Centerline is valid? [True, True] Translation: X:169.67, Y:-106.42, Z:-20.45 [[ 7.51739556e-01 6.53360199e-01 8.94879332e-02 1.69671533e+02] [-6.48265413e-01 7.57040197e-01 -8.14990448e-02 -1.06419736e+02] [-1.20994195e-01 3.25412382e-03 9.92647881e-01 -2.04518528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21592 meters 0.03282585748066896 Centerline is valid? [True, True] Translation: X:169.69, Y:-106.44, Z:-20.45 [[ 7.49524806e-01 6.55758508e-01 9.05170938e-02 1.69693894e+02] [-6.50553168e-01 7.54964911e-01 -8.25139933e-02 -1.06443274e+02] [-1.22446483e-01 2.96010272e-03 9.92470703e-01 -2.04546247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24592 meters 0.03263907139645448 Centerline is valid? [True, True] Translation: X:169.72, Y:-106.47, Z:-20.46 [[ 7.47734946e-01 6.57849999e-01 9.01433813e-02 1.69717929e+02] [-6.52694355e-01 7.53144280e-01 -8.22421533e-02 -1.06465113e+02] [-1.21993973e-01 2.65925589e-03 9.92527279e-01 -2.04580795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27592 meters 0.03229464756523466 Centerline is valid? [True, True] Translation: X:169.74, Y:-106.49, Z:-20.46 [[ 7.45835505e-01 6.59973286e-01 9.03585158e-02 1.69742013e+02] [-6.54799759e-01 7.51285325e-01 -8.25084002e-02 -1.06486828e+02] [-1.22338367e-01 2.37096003e-03 9.92485618e-01 -2.04603436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30592000000001 meters 0.03185108194898621 Centerline is valid? [True, True] Translation: X:169.77, Y:-106.51, Z:-20.46 [[ 7.43317278e-01 6.63020999e-01 8.87838957e-02 1.69765402e+02] [-6.58040196e-01 7.48598416e-01 -8.11388385e-02 -1.06509127e+02] [-1.20260237e-01 1.88852838e-03 9.92740605e-01 -2.04628318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.33592000000002 meters 0.032003890708381645 Centerline is valid? [True, True] Translation: X:169.79, Y:-106.53, Z:-20.47 [[ 7.41579872e-01 6.64553941e-01 9.18006121e-02 1.69788835e+02] [-6.59229930e-01 7.47238240e-01 -8.39697072e-02 -1.06531108e+02] [-1.24399328e-01 1.75253366e-03 9.92230687e-01 -2.04678122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36592000000002 meters 0.032087148762879714 Centerline is valid? [True, True] Translation: X:169.81, Y:-106.55, Z:-20.47 [[ 7.41352605e-01 6.64981320e-01 9.05326425e-02 1.69813601e+02] [-6.59798411e-01 7.46858032e-01 -8.28802572e-02 -1.06551286e+02] [-1.22728854e-01 1.71020084e-03 9.92438766e-01 -2.04708425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39592000000002 meters 0.031713799760675544 Centerline is valid? [True, True] Translation: X:169.84, Y:-106.57, Z:-20.47 [[ 7.40003214e-01 6.66514466e-01 9.02978953e-02 1.69838577e+02] [-6.61361063e-01 7.45490576e-01 -8.27365987e-02 -1.06572042e+02] [-1.22461370e-01 1.50583699e-03 9.92472138e-01 -2.04729733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42592000000002 meters 0.031688920599340635 Centerline is valid? [True, True] Translation: X:169.86, Y:-106.59, Z:-20.48 [[ 7.39032816e-01 6.67683751e-01 8.96041644e-02 1.69863057e+02] [-6.62609464e-01 7.44443802e-01 -8.21713124e-02 -1.06593392e+02] [-1.21569715e-01 1.35472904e-03 9.92581971e-01 -2.04750914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45592000000002 meters 0.03149935681368916 Centerline is valid? [True, True] Translation: X:169.89, Y:-106.61, Z:-20.48 [[ 7.37964748e-01 6.68869780e-01 8.95614192e-02 1.69888013e+02] [-6.63801154e-01 7.43378612e-01 -8.21965192e-02 -1.06614424e+02] [-1.21556811e-01 1.20716028e-03 9.92583742e-01 -2.04776297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48592 meters 0.03152820822180797 Centerline is valid? [True, True] Translation: X:169.91, Y:-106.64, Z:-20.48 [[ 7.37052566e-01 6.69822440e-01 8.99522856e-02 1.69912858e+02] [-6.64710307e-01 7.42520510e-01 -8.26044797e-02 -1.06635489e+02] [-1.22121751e-01 1.09163240e-03 9.92514527e-01 -2.04814261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51592 meters 0.03149746943139917 Centerline is valid? [True, True] Translation: X:169.94, Y:-106.66, Z:-20.49 [[ 7.35908064e-01 6.71012813e-01 9.04495783e-02 1.69937482e+02] [-6.65842394e-01 7.41445130e-01 -8.31446075e-02 -1.06657327e+02] [-1.22854496e-01 9.61623376e-04 9.92424228e-01 -2.04868026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54592 meters 0.03147960841709498 Centerline is valid? [True, True] Translation: X:169.96, Y:-106.68, Z:-20.49 [[ 7.35194818e-01 6.71899399e-01 8.96648123e-02 1.69961771e+02] [-6.66815417e-01 7.40641916e-01 -8.25030410e-02 -1.06678938e+02] [-1.21843262e-01 8.65929019e-04 9.92548976e-01 -2.04903282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57592 meters 0.0314014497439573 Centerline is valid? [True, True] Translation: X:169.99, Y:-106.70, Z:-20.49 [[ 7.34200912e-01 6.73026281e-01 8.93568504e-02 1.69986172e+02] [-6.67976807e-01 7.39618207e-01 -8.22915145e-02 -1.06700318e+02] [-1.21474305e-01 7.30201390e-04 9.92594308e-01 -2.04933376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60592 meters 0.031191037811318174 Centerline is valid? [True, True] Translation: X:170.01, Y:-106.72, Z:-20.50 [[ 7.31674743e-01 6.75956868e-01 8.79453381e-02 1.70011029e+02] [-6.71078803e-01 7.36941128e-01 -8.10617900e-02 -1.06721257e+02] [-1.19604810e-01 2.92612214e-04 9.92821537e-01 -2.04952998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63592 meters 0.031114280135848358 Centerline is valid? [True, True] Translation: X:170.04, Y:-106.74, Z:-20.50 [[ 7.30123754e-01 6.77793805e-01 8.66883013e-02 1.70035065e+02] [-6.73059256e-01 7.35252035e-01 -7.99730153e-02 -1.06742479e+02] [-1.17942964e-01 4.38345856e-05 9.93020370e-01 -2.04975483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66592 meters 0.03129490890345775 Centerline is valid? [True, True] Translation: X:170.06, Y:-106.76, Z:-20.50 [[ 7.27139127e-01 6.80911506e-01 8.73396282e-02 1.70060446e+02] [-6.76119001e-01 7.32365586e-01 -8.06457958e-02 -1.06762659e+02] [-1.18877188e-01 -4.11268548e-04 9.92908881e-01 -2.04998052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69592 meters 0.031308014767302265 Centerline is valid? [True, True] Translation: X:170.09, Y:-106.78, Z:-20.50 [[ 7.25244379e-01 6.83002647e-01 8.67639062e-02 1.70087872e+02] [-6.78279542e-01 7.30415567e-01 -8.01870398e-02 -1.06781042e+02] [-1.18141668e-01 -6.94982728e-04 9.92996507e-01 -2.05027453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72592 meters 0.03131579945873808 Centerline is valid? [True, True] Translation: X:170.11, Y:-106.80, Z:-20.51 [[ 7.24628149e-01 6.83609704e-01 8.71310445e-02 1.70112967e+02] [-6.78840931e-01 7.29847402e-01 -8.06086885e-02 -1.06801819e+02] [-1.18697248e-01 -7.36794639e-04 9.92930219e-01 -2.05068223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75592 meters 0.031290340102447904 Centerline is valid? [True, True] Translation: X:170.14, Y:-106.82, Z:-20.51 [[ 7.24598667e-01 6.83821010e-01 8.57064651e-02 1.70137463e+02] [-6.79199690e-01 7.29649460e-01 -7.93690489e-02 -1.06823024e+02] [-1.16809899e-01 -7.01097556e-04 9.93154044e-01 -2.05091263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78592 meters 0.03137973291041231 Centerline is valid? [True, True] Translation: X:170.16, Y:-106.84, Z:-20.51 [[ 7.24663874e-01 6.83601087e-01 8.69012320e-02 1.70164442e+02] [-6.78839324e-01 7.29855580e-01 -8.05481506e-02 -1.06841174e+02] [-1.18488152e-01 -6.21638740e-04 9.92955272e-01 -2.05135352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81592 meters 0.03118406172935321 Centerline is valid? [True, True] Translation: X:170.19, Y:-106.86, Z:-20.52 [[ 7.26094884e-01 6.82111472e-01 8.66611760e-02 1.70191791e+02] [-6.77356704e-01 7.31248135e-01 -8.03993778e-02 -1.06859586e+02] [-1.18212161e-01 -3.22951695e-04 9.92988308e-01 -2.05168713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84592 meters 0.03101096062183826 Centerline is valid? [True, True] Translation: X:170.22, Y:-106.88, Z:-20.52 [[ 7.26481992e-01 6.81718525e-01 8.65087737e-02 1.70217020e+02] [-6.76967989e-01 7.31614525e-01 -8.03400809e-02 -1.06880742e+02] [-1.18060397e-01 -1.98048569e-04 9.93006397e-01 -2.05211614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87592 meters 0.031064893997959885 Centerline is valid? [True, True] Translation: X:170.24, Y:-106.90, Z:-20.52 [[ 7.27006948e-01 6.81385761e-01 8.47014897e-02 1.70243666e+02] [-6.76821089e-01 7.31924476e-01 -7.87386581e-02 -1.06899672e+02] [-1.15646494e-01 -8.42028921e-05 9.93290432e-01 -2.05232847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90592 meters 0.03103296444493958 Centerline is valid? [True, True] Translation: X:170.27, Y:-106.92, Z:-20.53 [[ 7.26255468e-01 6.82149230e-01 8.50024929e-02 1.70269467e+02] [-6.77548761e-01 7.31212968e-01 -7.90902754e-02 -1.06920108e+02] [-1.16106296e-01 -1.53588770e-04 9.93236782e-01 -2.05262658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93592 meters 0.03095206140955004 Centerline is valid? [True, True] Translation: X:170.30, Y:-106.94, Z:-20.53 [[ 7.25924551e-01 6.82512820e-01 8.49105215e-02 1.70295487e+02] [-6.77915472e-01 7.30873605e-01 -7.90846748e-02 -1.06939966e+02] [-1.16035163e-01 -1.52649278e-04 9.93245094e-01 -2.05288996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96592 meters 0.031066152804221637 Centerline is valid? [True, True] Translation: X:170.32, Y:-106.96, Z:-20.53 [[ 7.25598192e-01 6.82698856e-01 8.61947609e-02 1.70320233e+02] [-6.77952677e-01 7.30699840e-01 -8.03611272e-02 -1.06960680e+02] [-1.17844948e-01 -1.26080366e-04 9.93032000e-01 -2.05326804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99592 meters 0.030889172799384926 Centerline is valid? [True, True] Translation: X:170.35, Y:-106.98, Z:-20.54 [[ 7.26171326e-01 6.82048980e-01 8.65123949e-02 1.70347521e+02] [-6.77254213e-01 7.31306494e-01 -8.07312980e-02 -1.06980259e+02] [-1.18329776e-01 3.38697568e-05 9.92974352e-01 -2.05359868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02592 meters 0.030896777063366358 Centerline is valid? [True, True] Translation: X:170.37, Y:-107.00, Z:-20.54 [[ 7.27226300e-01 6.80836575e-01 8.71978599e-02 1.70372780e+02] [-6.75946845e-01 7.32435302e-01 -8.14517651e-02 -1.07000731e+02] [-1.19322132e-01 2.92747441e-04 9.92855550e-01 -2.05384612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.05592000000001 meters 0.03113890251162754 Centerline is valid? [True, True] Translation: X:170.40, Y:-107.02, Z:-20.54 [[ 7.30784823e-01 6.76955518e-01 8.76628157e-02 1.70398808e+02] [-6.71976646e-01 7.36023270e-01 -8.19581213e-02 -1.07019489e+02] [-1.20003875e-01 9.86386339e-04 9.92772933e-01 -2.05420368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08592000000002 meters 0.031171050711147046 Centerline is valid? [True, True] Translation: X:170.42, Y:-107.04, Z:-20.54 [[ 7.32100516e-01 6.75526702e-01 8.77069541e-02 1.70423663e+02] [-6.70523911e-01 7.37334423e-01 -8.20709077e-02 -1.07040190e+02] [-1.20110446e-01 1.27454400e-03 9.92759717e-01 -2.05447642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11592000000002 meters 0.03185551697097643 Centerline is valid? [True, True] Translation: X:170.45, Y:-107.06, Z:-20.55 [[ 7.35295485e-01 6.71851374e-01 8.91979883e-02 1.70448104e+02] [-6.66640525e-01 7.40683389e-01 -8.35375868e-02 -1.07059979e+02] [-1.22192311e-01 1.96181662e-03 9.92504504e-01 -2.05496288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14592000000002 meters 0.03185551697097643 Centerline is valid? [True, True] Translation: X:170.47, Y:-107.08, Z:-20.55 [[ 7.34972576e-01 6.72209233e-01 8.91631073e-02 1.70472072e+02] [-6.66996493e-01 7.40358650e-01 -8.35748037e-02 -1.07081934e+02] [-1.22192432e-01 1.95370884e-03 9.92504505e-01 -2.05527089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17592000000002 meters 0.03181455796620789 Centerline is valid? [True, True] Translation: X:170.50, Y:-107.10, Z:-20.55 [[ 7.35780313e-01 6.71496543e-01 8.78619605e-02 1.70495074e+02] [-6.66421018e-01 7.41004715e-01 -8.24320280e-02 -1.07103883e+02] [-1.20458949e-01 2.09880621e-03 9.92716091e-01 -2.05543749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20592000000002 meters 0.031790261435985394 Centerline is valid? [True, True] Translation: X:170.52, Y:-107.13, Z:-20.56 [[ 7.36408092e-01 6.70892991e-01 8.72107580e-02 1.70519065e+02] [-6.65879948e-01 7.41550810e-01 -8.18919477e-02 -1.07126120e+02] [-1.19611942e-01 2.23399793e-03 9.92818207e-01 -2.05569688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23592 meters 0.031666491590163166 Centerline is valid? [True, True] Translation: X:170.54, Y:-107.15, Z:-20.56 [[ 7.36837834e-01 6.70476185e-01 8.67853187e-02 1.70543477e+02] [-6.65499825e-01 7.41927333e-01 -8.15709218e-02 -1.07147897e+02] [-1.19079761e-01 2.34892687e-03 9.92881913e-01 -2.05594372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26592 meters 0.03168213614373205 Centerline is valid? [True, True] Translation: X:170.57, Y:-107.17, Z:-20.56 [[ 7.36171144e-01 6.71290995e-01 8.61420098e-02 1.70567198e+02] [-6.66384936e-01 7.41190465e-01 -8.10420402e-02 -1.07169831e+02] [-1.18250428e-01 2.25707384e-03 9.92981239e-01 -2.05633287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29592 meters 0.03177960448708647 Centerline is valid? [True, True] Translation: X:170.59, Y:-107.19, Z:-20.57 [[ 7.36633506e-01 6.70573309e-01 8.77639690e-02 1.70589010e+02] [-6.65466365e-01 7.41839156e-01 -8.26388783e-02 -1.07193094e+02] [-1.20522175e-01 2.47059724e-03 9.92707561e-01 -2.05681163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32592 meters 0.03175809425533591 Centerline is valid? [True, True] Translation: X:170.61, Y:-107.22, Z:-20.57 [[ 7.36560461e-01 6.70593360e-01 8.82226334e-02 1.70612494e+02] [-6.65424304e-01 7.41820822e-01 -8.31406223e-02 -1.07215572e+02] [-1.21198936e-01 2.53261063e-03 9.92625007e-01 -2.05712621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35592 meters 0.031508195216807804 Centerline is valid? [True, True] Translation: X:170.64, Y:-107.24, Z:-20.57 [[ 7.36923542e-01 6.70452008e-01 8.62426681e-02 1.70637145e+02] [-6.65504977e-01 7.41948540e-01 -8.13356562e-02 -1.07237219e+02] [-1.18519276e-01 2.54323504e-03 9.92948495e-01 -2.05726069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38592 meters 0.03168876837312885 Centerline is valid? [True, True] Translation: X:170.66, Y:-107.26, Z:-20.58 [[ 7.36778335e-01 6.70608421e-01 8.62672058e-02 1.70661577e+02] [-6.65654196e-01 7.41807138e-01 -8.14043127e-02 -1.07258651e+02] [-1.18584047e-01 2.55280654e-03 9.92940737e-01 -2.05764910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41592 meters 0.03158598892264194 Centerline is valid? [True, True] Translation: X:170.69, Y:-107.28, Z:-20.58 [[ 7.36413194e-01 6.70960350e-01 8.66476533e-02 1.70685639e+02] [-6.65955123e-01 7.41488788e-01 -8.18422325e-02 -1.07281139e+02] [-1.19161156e-01 2.56625122e-03 9.92871610e-01 -2.05799353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44592 meters 0.03133762689479365 Centerline is valid? [True, True] Translation: X:170.71, Y:-107.30, Z:-20.58 [[ 7.36099861e-01 6.71331198e-01 8.64373610e-02 1.70711468e+02] [-6.66343492e-01 7.41153072e-01 -8.17219280e-02 -1.07301478e+02] [-1.18925796e-01 2.55852681e-03 9.92899848e-01 -2.05810502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47592 meters 0.03173161324373943 Centerline is valid? [True, True] Translation: X:170.74, Y:-107.32, Z:-20.58 [[ 7.36411763e-01 6.70850892e-01 8.75031171e-02 1.70736436e+02] [-6.65726105e-01 7.41587245e-01 -8.28076823e-02 -1.07321829e+02] [-1.20442803e-01 2.72744208e-03 9.92716522e-01 -2.05846715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50592 meters 0.03186597421043563 Centerline is valid? [True, True] Translation: X:170.76, Y:-107.34, Z:-20.59 [[ 7.37741951e-01 6.69466906e-01 8.68957686e-02 1.70760293e+02] [-6.64395457e-01 7.42835888e-01 -8.23013959e-02 -1.07343627e+02] [-1.19647356e-01 2.98403854e-03 9.92811969e-01 -2.05871550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53592 meters 0.031782062556437486 Centerline is valid? [True, True] Translation: X:170.78, Y:-107.37, Z:-20.59 [[ 7.38296012e-01 6.68814544e-01 8.72129850e-02 1.70783111e+02] [-6.63693123e-01 7.43422606e-01 -8.26696290e-02 -1.07365433e+02] [-1.20126755e-01 3.15199906e-03 9.92753558e-01 -2.05905139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56592 meters 0.03209755497567658 Centerline is valid? [True, True] Translation: X:170.81, Y:-107.39, Z:-20.59 [[ 7.38866994e-01 6.68340315e-01 8.60045872e-02 1.70808013e+02] [-6.63349363e-01 7.43848622e-01 -8.15895209e-02 -1.07387194e+02] [-1.18503960e-01 3.23271588e-03 9.92948317e-01 -2.05930803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59592 meters 0.03247764623708557 Centerline is valid? [True, True] Translation: X:170.83, Y:-107.41, Z:-20.60 [[ 7.40450479e-01 6.66648272e-01 8.55170747e-02 1.70831203e+02] [-6.61693751e-01 7.45364037e-01 -8.12024104e-02 -1.07409753e+02] [-1.17874799e-01 3.54024974e-03 9.93022154e-01 -2.05952085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62592 meters 0.03282609560440862 Centerline is valid? [True, True] Translation: X:170.85, Y:-107.43, Z:-20.60 [[ 7.40972339e-01 6.66075931e-01 8.54566958e-02 1.70852478e+02] [-6.61116699e-01 7.45874868e-01 -8.12120216e-02 -1.07434699e+02] [-1.17833375e-01 3.67901301e-03 9.93026566e-01 -2.05975314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65592 meters 0.03267230806782656 Centerline is valid? [True, True] Translation: X:170.88, Y:-107.46, Z:-20.60 [[ 7.40570261e-01 6.66451025e-01 8.60158118e-02 1.70875331e+02] [-6.61420656e-01 7.45539654e-01 -8.18128433e-02 -1.07458331e+02] [-1.18652452e-01 3.69552407e-03 9.92928970e-01 -2.06005073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68592 meters 0.03237794864319649 Centerline is valid? [True, True] Translation: X:170.90, Y:-107.48, Z:-20.60 [[ 7.39547574e-01 6.67701788e-01 8.51099780e-02 1.70897321e+02] [-6.62776738e-01 7.44420568e-01 -8.10247709e-02 -1.07481487e+02] [-1.17458003e-01 3.51275918e-03 9.93071638e-01 -2.06036391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71592 meters 0.03228785778021212 Centerline is valid? [True, True] Translation: X:170.92, Y:-107.50, Z:-20.61 [[ 7.38978178e-01 6.68299221e-01 8.53662916e-02 1.70919736e+02] [-6.63340122e-01 7.43884427e-01 -8.13378206e-02 -1.07504967e+02] [-1.17860657e-01 3.47998817e-03 9.93024046e-01 -2.06074350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74592 meters 0.03161760818069207 Centerline is valid? [True, True] Translation: X:170.94, Y:-107.53, Z:-20.61 [[ 7.37392168e-01 6.70275529e-01 8.35673728e-02 1.70939663e+02] [-6.65528162e-01 7.42105644e-01 -7.96961615e-02 -1.07530909e+02] [-1.15434206e-01 3.15088523e-03 9.93310131e-01 -2.06092896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77592 meters 0.03140156013119333 Centerline is valid? [True, True] Translation: X:170.96, Y:-107.55, Z:-20.61 [[ 7.36083214e-01 6.71713395e-01 8.35620506e-02 1.70961654e+02] [-6.66968142e-01 7.40805147e-01 -7.97573308e-02 -1.07553823e+02] [-1.15477265e-01 2.97480679e-03 9.93305669e-01 -2.06126490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80592000000001 meters 0.03131302536163951 Centerline is valid? [True, True] Translation: X:170.98, Y:-107.58, Z:-20.62 [[ 7.35027635e-01 6.72651420e-01 8.52903470e-02 1.70984489e+02] [-6.67705153e-01 7.39953669e-01 -8.14763534e-02 -1.07576419e+02] [-1.17916090e-01 2.93856709e-03 9.93019215e-01 -2.06164797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.83592000000002 meters 0.03072954210020809 Centerline is valid? [True, True] Translation: X:171.01, Y:-107.60, Z:-20.62 [[ 7.33478017e-01 6.74490473e-01 8.40987477e-02 1.71006859e+02] [-6.69686834e-01 7.38278791e-01 -8.03988251e-02 -1.07600410e+02] [-1.16316563e-01 2.65094671e-03 9.93208654e-01 -2.06184533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86592000000002 meters 0.0303527066374533 Centerline is valid? [True, True] Translation: X:171.03, Y:-107.62, Z:-20.62 [[ 7.31593966e-01 6.76447311e-01 8.47897654e-02 1.71028165e+02] [-6.71572043e-01 7.36487144e-01 -8.11028802e-02 -1.07623923e+02] [-1.17308397e-01 2.39194176e-03 9.93092654e-01 -2.06216776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89592000000002 meters 0.030596657764146152 Centerline is valid? [True, True] Translation: X:171.05, Y:-107.65, Z:-20.63 [[ 7.31376863e-01 6.76635964e-01 8.51566598e-02 1.71051992e+02] [-6.71711156e-01 7.36313721e-01 -8.15243977e-02 -1.07646093e+02] [-1.17864356e-01 2.42437981e-03 9.93026745e-01 -2.06252642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92592000000002 meters 0.030415807954131083 Centerline is valid? [True, True] Translation: X:171.07, Y:-107.67, Z:-20.63 [[ 7.29731790e-01 6.78336783e-01 8.57363627e-02 1.71074632e+02] [-6.73346814e-01 7.34747760e-01 -8.21571562e-02 -1.07669082e+02] [-1.18724821e-01 2.22238202e-03 9.92924709e-01 -2.06268770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95592000000002 meters 0.030203183611291567 Centerline is valid? [True, True] Translation: X:171.10, Y:-107.69, Z:-20.63 [[ 7.29266775e-01 6.78754662e-01 8.63833306e-02 1.71097258e+02] [-6.73684398e-01 7.34361763e-01 -8.28379921e-02 -1.07692060e+02] [-1.19663288e-01 2.21589319e-03 9.92812060e-01 -2.06299784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98592 meters 0.03030226234725477 Centerline is valid? [True, True] Translation: X:171.12, Y:-107.72, Z:-20.63 [[ 7.28675586e-01 6.79459657e-01 8.58281163e-02 1.71118644e+02] [-6.74455379e-01 7.33709831e-01 -8.23396978e-02 -1.07715535e+02] [-1.18919435e-01 2.11169285e-03 9.92901661e-01 -2.06344724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01592 meters 0.030272881021499755 Centerline is valid? [True, True] Translation: X:171.14, Y:-107.74, Z:-20.64 [[ 7.28591287e-01 6.79545760e-01 8.58620777e-02 1.71142204e+02] [-6.74529422e-01 7.33629967e-01 -8.24447059e-02 -1.07739043e+02] [-1.19015944e-01 2.15199670e-03 9.92890011e-01 -2.06383338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04592 meters 0.030465601676657947 Centerline is valid? [True, True] Translation: X:171.16, Y:-107.76, Z:-20.64 [[ 7.27768811e-01 6.80308394e-01 8.67931251e-02 1.71164571e+02] [-6.75178121e-01 7.32922947e-01 -8.34173762e-02 -1.07762304e+02] [-1.20362214e-01 2.10774559e-03 9.92727805e-01 -2.06424370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07592 meters 0.030455336129484437 Centerline is valid? [True, True] Translation: X:171.19, Y:-107.78, Z:-20.64 [[ 7.27770125e-01 6.80417006e-01 8.59263870e-02 1.71187660e+02] [-6.75381540e-01 7.32822083e-01 -8.26533088e-02 -1.07784603e+02] [-1.19207471e-01 2.11951330e-03 9.92867104e-01 -2.06448129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10592 meters 0.030519530696411907 Centerline is valid? [True, True] Translation: X:171.21, Y:-107.81, Z:-20.65 [[ 7.27170224e-01 6.80964045e-01 8.66685351e-02 1.71209055e+02] [-6.75836192e-01 7.32313840e-01 -8.34378883e-02 -1.07809329e+02] [-1.20286770e-01 2.09981520e-03 9.92736966e-01 -2.06473590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13592 meters 0.030533111083271204 Centerline is valid? [True, True] Translation: X:171.23, Y:-107.83, Z:-20.65 [[ 7.26513833e-01 6.81608863e-01 8.71034419e-02 1.71231769e+02] [-6.76424890e-01 7.31713828e-01 -8.39299841e-02 -1.07833900e+02] [-1.20942214e-01 2.05735834e-03 9.92657417e-01 -2.06498117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16592 meters 0.030444079648740865 Centerline is valid? [True, True] Translation: X:171.25, Y:-107.86, Z:-20.65 [[ 7.25637479e-01 6.82457420e-01 8.77617196e-02 1.71253985e+02] [-6.77190467e-01 7.30922638e-01 -8.46473191e-02 -1.07857889e+02] [-1.21915219e-01 1.99186740e-03 9.92538519e-01 -2.06531425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19592 meters 0.03054399529525413 Centerline is valid? [True, True] Translation: X:171.28, Y:-107.88, Z:-20.66 [[ 7.23879424e-01 6.84221921e-01 8.85378001e-02 1.71275937e+02] [-6.78863740e-01 7.29271707e-01 -8.54798144e-02 -1.07882052e+02] [-1.23055275e-01 1.77197671e-03 9.92398236e-01 -2.06574923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22592 meters 0.029955170605725303 Centerline is valid? [True, True] Translation: X:171.30, Y:-107.90, Z:-20.66 [[ 7.21811935e-01 6.86679121e-01 8.63673253e-02 1.71299109e+02] [-6.81589429e-01 7.26959344e-01 -8.34623404e-02 -1.07904548e+02] [-1.20097381e-01 1.37705748e-03 9.92761161e-01 -2.06597409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25592 meters 0.029870341370144413 Centerline is valid? [True, True] Translation: X:171.32, Y:-107.93, Z:-20.66 [[ 7.20372198e-01 6.88441224e-01 8.43360977e-02 1.71322689e+02] [-6.83592884e-01 7.25291289e-01 -8.15678491e-02 -1.07926775e+02] [-1.17322907e-01 1.10765452e-03 9.93093202e-01 -2.06624025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28592 meters 0.029590007325214825 Centerline is valid? [True, True] Translation: X:171.35, Y:-107.95, Z:-20.67 [[ 7.16850409e-01 6.91946197e-01 8.56501689e-02 1.71345118e+02] [-6.86962286e-01 7.21948830e-01 -8.29017746e-02 -1.07949539e+02] [-1.19198607e-01 5.89735145e-04 9.92870256e-01 -2.06674570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31592 meters 0.029879462126951622 Centerline is valid? [True, True] Translation: X:171.37, Y:-107.97, Z:-20.67 [[ 7.15379896e-01 6.93322789e-01 8.68050398e-02 1.71368656e+02] [-6.88208654e-01 7.20627058e-01 -8.40564833e-02 -1.07971310e+02] [-1.20832336e-01 3.92338681e-04 9.92672853e-01 -2.06707648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34592 meters 0.02986789984946457 Centerline is valid? [True, True] Translation: X:171.39, Y:-107.99, Z:-20.67 [[ 7.14129040e-01 6.94618908e-01 8.67426491e-02 1.71392890e+02] [-6.89512332e-01 7.19377871e-01 -8.40727248e-02 -1.07993351e+02] [-1.20799246e-01 2.28648039e-04 9.92676931e-01 -2.06735430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37592 meters 0.029989580106273686 Centerline is valid? [True, True] Translation: X:171.42, Y:-108.01, Z:-20.68 [[ 7.12469593e-01 6.96269113e-01 8.71573378e-02 1.71418687e+02] [-6.91115156e-01 7.17780831e-01 -8.45607430e-02 -1.08014028e+02] [-1.21436900e-01 1.12010277e-05 9.92599153e-01 -2.06768877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40592 meters 0.03006743478757208 Centerline is valid? [True, True] Translation: X:171.45, Y:-108.03, Z:-20.68 [[ 7.11220910e-01 6.97558294e-01 8.70473689e-02 1.71445531e+02] [-6.92416557e-01 7.16528021e-01 -8.45393809e-02 -1.08034176e+02] [-1.21343025e-01 -1.46864051e-04 9.92610623e-01 -2.06799449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43592 meters 0.030034013351835177 Centerline is valid? [True, True] Translation: X:171.47, Y:-108.06, Z:-20.68 [[ 7.09783303e-01 6.99049521e-01 8.68183733e-02 1.71471155e+02] [-6.93935583e-01 7.15073180e-01 -8.44023330e-02 -1.08055779e+02] [-1.21082901e-01 -3.38991845e-04 9.92642341e-01 -2.06826823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46592 meters 0.030002601812539758 Centerline is valid? [True, True] Translation: X:171.50, Y:-108.08, Z:-20.69 [[ 7.08416511e-01 7.00577107e-01 8.56607516e-02 1.71496897e+02] [-6.95600380e-01 7.13576509e-01 -8.33587323e-02 -1.08075077e+02] [-1.19524720e-01 -5.32948960e-04 9.92831082e-01 -2.06864683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49592 meters 0.029961925428577306 Centerline is valid? [True, True] Translation: X:171.52, Y:-108.10, Z:-20.69 [[ 7.07938951e-01 7.01015610e-01 8.60206737e-02 1.71522144e+02] [-6.95990821e-01 7.13145713e-01 -8.37852578e-02 -1.08095781e+02] [-1.20080048e-01 -5.54751801e-04 9.92764058e-01 -2.06901324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52592 meters 0.030072146985487814 Centerline is valid? [True, True] Translation: X:171.55, Y:-108.11, Z:-20.69 [[ 7.08023704e-01 7.00812613e-01 8.69719291e-02 1.71548619e+02] [-6.95664822e-01 7.13345260e-01 -8.47879510e-02 -1.08113772e+02] [-1.21461479e-01 -4.71432443e-04 9.92596034e-01 -2.06935360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55592000000001 meters 0.02993229513324776 Centerline is valid? [True, True] Translation: X:171.57, Y:-108.14, Z:-20.70 [[ 7.07892786e-01 7.00940078e-01 8.70104022e-02 1.71573846e+02] [-6.95782454e-01 7.13220021e-01 -8.48762563e-02 -1.08135033e+02] [-1.21550731e-01 -4.57021556e-04 9.92585115e-01 -2.06964503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58592000000002 meters 0.029823838515223924 Centerline is valid? [True, True] Translation: X:171.60, Y:-108.15, Z:-20.70 [[ 7.08811695e-01 7.00068060e-01 8.65487833e-02 1.71600286e+02] [-6.94948702e-01 7.14076082e-01 -8.45082945e-02 -1.08154829e+02] [-1.20963974e-01 -2.46497072e-04 9.92656867e-01 -2.06966784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61592000000002 meters 0.030003468153502993 Centerline is valid? [True, True] Translation: X:171.62, Y:-108.18, Z:-20.70 [[ 7.08916387e-01 6.99783343e-01 8.79819832e-02 1.71624523e+02] [-6.94480658e-01 7.14355130e-01 -8.59846801e-02 -1.08175312e+02] [-1.23021028e-01 -1.45836860e-04 9.92404054e-01 -2.07006296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64592000000002 meters 0.030331251802778784 Centerline is valid? [True, True] Translation: X:171.65, Y:-108.19, Z:-20.70 [[ 7.09916521e-01 6.98691366e-01 8.85940624e-02 1.71650312e+02] [-6.93296288e-01 7.15423207e-01 -8.66596354e-02 -1.08194339e+02] [-1.23930587e-01 9.91723885e-05 9.92290885e-01 -2.07046251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67592000000002 meters 0.03027822648007605 Centerline is valid? [True, True] Translation: X:171.67, Y:-108.22, Z:-20.71 [[ 7.10386019e-01 6.98324148e-01 8.77216520e-02 1.71674977e+02] [-6.93023191e-01 7.15781627e-01 -8.58808368e-02 -1.08215086e+02] [-1.22762209e-01 2.15406618e-04 9.92436090e-01 -2.07085181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70592000000002 meters 0.030265031652812798 Centerline is valid? [True, True] Translation: X:171.70, Y:-108.24, Z:-20.71 [[ 7.10572328e-01 6.98175822e-01 8.73927259e-02 1.71700218e+02] [-6.92904090e-01 7.15926277e-01 -8.56357895e-02 -1.08236451e+02] [-1.22355587e-01 2.95645124e-04 9.92486284e-01 -2.07120547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73592 meters 0.030254674294711327 Centerline is valid? [True, True] Translation: X:171.73, Y:-108.26, Z:-20.72 [[ 7.10868337e-01 6.97850750e-01 8.75816090e-02 1.71726002e+02] [-6.92543083e-01 7.16243087e-01 -8.59064552e-02 -1.08257362e+02] [-1.22679606e-01 4.14141465e-04 9.92446242e-01 -2.07164856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76592 meters 0.030246732509925434 Centerline is valid? [True, True] Translation: X:171.75, Y:-108.28, Z:-20.72 [[ 7.11132882e-01 6.97593389e-01 8.74842096e-02 1.71750891e+02] [-6.92285070e-01 7.16493680e-01 -8.58963872e-02 -1.08279816e+02] [-1.22602635e-01 5.19733251e-04 9.92455704e-01 -2.07186129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79592 meters 0.030471732407426684 Centerline is valid? [True, True] Translation: X:171.78, Y:-108.30, Z:-20.72 [[ 7.11859118e-01 6.96755139e-01 8.82545868e-02 1.71777094e+02] [-6.91335649e-01 7.17308680e-01 -8.67368377e-02 -1.08299086e+02] [-1.23740119e-01 7.30866710e-04 9.92314390e-01 -2.07203942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82592 meters 0.030657133870944975 Centerline is valid? [True, True] Translation: X:171.80, Y:-108.32, Z:-20.72 [[ 7.14515611e-01 6.94071662e-01 8.79316190e-02 1.71802916e+02] [-6.88663823e-01 7.19904853e-01 -8.64820311e-02 -1.08318181e+02] [-1.23327126e-01 1.23743643e-03 9.92365300e-01 -2.07239566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85592 meters 0.03090209271402622 Centerline is valid? [True, True] Translation: X:171.83, Y:-108.34, Z:-20.73 [[ 7.15186233e-01 6.93418308e-01 8.76339144e-02 1.71827503e+02] [-6.88037830e-01 7.20533947e-01 -8.62251492e-02 -1.08340359e+02] [-1.22933307e-01 1.37159135e-03 9.92413987e-01 -2.07279450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88592 meters 0.030878293189272755 Centerline is valid? [True, True] Translation: X:171.85, Y:-108.36, Z:-20.73 [[ 7.15533128e-01 6.93152553e-01 8.69015598e-02 1.71851590e+02] [-6.87850120e-01 7.20789426e-01 -8.55851412e-02 -1.08362295e+02] [-1.21961284e-01 1.46375557e-03 9.92533779e-01 -2.07314089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91592 meters 0.03090140946750904 Centerline is valid? [True, True] Translation: X:171.88, Y:-108.38, Z:-20.73 [[ 7.17741255e-01 6.91124192e-01 8.48224195e-02 1.71877662e+02] [-6.86052147e-01 7.22733756e-01 -8.35964637e-02 -1.08381567e+02] [-1.19079564e-01 1.80802771e-03 9.92883069e-01 -2.07341696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94592 meters 0.030883693600707366 Centerline is valid? [True, True] Translation: X:171.90, Y:-108.40, Z:-20.74 [[ 7.18345925e-01 6.90491528e-01 8.48562460e-02 1.71902246e+02] [-6.85408584e-01 7.23337909e-01 -8.36501182e-02 -1.08402618e+02] [-1.19139437e-01 1.92852206e-03 9.92875660e-01 -2.07367055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97592 meters 0.031154242528861925 Centerline is valid? [True, True] Translation: X:171.93, Y:-108.42, Z:-20.74 [[ 7.19555100e-01 6.89238737e-01 8.47963550e-02 1.71926401e+02] [-6.84151885e-01 7.24531120e-01 -8.36113243e-02 -1.08424339e+02] [-1.19065762e-01 2.14936867e-03 9.92884044e-01 -2.07399460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00592 meters 0.031154242528861925 Centerline is valid? [True, True] Translation: X:171.95, Y:-108.45, Z:-20.74 [[ 7.19430213e-01 6.89370473e-01 8.47851425e-02 1.71949537e+02] [-6.84283194e-01 7.24405795e-01 -8.36226929e-02 -1.08447052e+02] [-1.19065864e-01 2.14364365e-03 9.92884044e-01 -2.07430243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03592 meters 0.031218667887350067 Centerline is valid? [True, True] Translation: X:171.97, Y:-108.47, Z:-20.75 [[ 7.19215807e-01 6.89656686e-01 8.42750204e-02 1.71973020e+02] [-6.84629267e-01 7.24133433e-01 -8.31476868e-02 -1.08468983e+02] [-1.18369718e-01 2.10398515e-03 9.92967363e-01 -2.07458632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06592 meters 0.031370273354577226 Centerline is valid? [True, True] Translation: X:172.00, Y:-108.49, Z:-20.75 [[ 7.20126849e-01 6.88732087e-01 8.40561401e-02 1.71998854e+02] [-6.83722189e-01 7.25012403e-01 -8.29516973e-02 -1.08488721e+02] [-1.18073240e-01 2.26469625e-03 9.93002307e-01 -2.07478391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09592 meters 0.031236292830970406 Centerline is valid? [True, True] Translation: X:172.02, Y:-108.51, Z:-20.75 [[ 7.19927355e-01 6.88955209e-01 8.39364288e-02 1.72022959e+02] [-6.83958541e-01 7.24800455e-01 -8.28553867e-02 -1.08511620e+02] [-1.17920812e-01 2.24082199e-03 9.93020474e-01 -2.07507160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12592 meters 0.031184812486111862 Centerline is valid? [True, True] Translation: X:172.05, Y:-108.53, Z:-20.75 [[ 7.20151016e-01 6.88781732e-01 8.34400389e-02 1.72046786e+02] [-6.83839777e-01 7.24965204e-01 -8.23930399e-02 -1.08532722e+02] [-1.17241946e-01 2.27581384e-03 9.93100774e-01 -2.07538486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15592 meters 0.03141309609626986 Centerline is valid? [True, True] Translation: X:172.07, Y:-108.55, Z:-20.76 [[ 7.21183467e-01 6.87784917e-01 8.27424628e-02 1.72070957e+02] [-6.82916710e-01 7.25910459e-01 -8.17237510e-02 -1.08553944e+02] [-1.16271983e-01 2.43160752e-03 9.93214435e-01 -2.07564018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18592 meters 0.031418213239255706 Centerline is valid? [True, True] Translation: X:172.09, Y:-108.58, Z:-20.76 [[ 7.20950208e-01 6.87912987e-01 8.37049571e-02 1.72094163e+02] [-6.82929056e-01 7.25789022e-01 -8.26934173e-02 -1.08575466e+02] [-1.17638015e-01 2.45328907e-03 9.93053513e-01 -2.07588273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21592 meters 0.031489193708314794 Centerline is valid? [True, True] Translation: X:172.12, Y:-108.60, Z:-20.76 [[ 7.22016608e-01 6.86889031e-01 8.29184991e-02 1.72118819e+02] [-6.81990089e-01 7.26757638e-01 -8.19320136e-02 -1.08596544e+02] [-1.16539854e-01 2.60667999e-03 9.93182595e-01 -2.07611929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24592 meters 0.03151625251028397 Centerline is valid? [True, True] Translation: X:172.14, Y:-108.62, Z:-20.76 [[ 7.21468405e-01 6.87455242e-01 8.29977781e-02 1.72141582e+02] [-6.82548307e-01 7.26222335e-01 -8.20300552e-02 -1.08618507e+02] [-1.16666832e-01 2.53210019e-03 9.93167881e-01 -2.07649083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27592 meters 0.03156543246326486 Centerline is valid? [True, True] Translation: X:172.16, Y:-108.64, Z:-20.77 [[ 7.21749013e-01 6.87118569e-01 8.33452719e-02 1.72164662e+02] [-6.82165742e-01 7.26540604e-01 -8.23932746e-02 -1.08640733e+02] [-1.17167673e-01 2.61197534e-03 9.93108712e-01 -2.07682155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30592000000001 meters 0.03159857893646081 Centerline is valid? [True, True] Translation: X:172.19, Y:-108.66, Z:-20.77 [[ 7.22324462e-01 6.86605461e-01 8.25851822e-02 1.72187674e+02] [-6.81737171e-01 7.27025262e-01 -8.16621019e-02 -1.08662943e+02] [-1.16111159e-01 2.68514535e-03 9.93232596e-01 -2.07701506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.33592000000002 meters 0.03137936247315569 Centerline is valid? [True, True] Translation: X:172.21, Y:-108.68, Z:-20.77 [[ 7.21609094e-01 6.87353901e-01 8.26131421e-02 1.72210880e+02] [-6.82484663e-01 7.26318079e-01 -8.17112744e-02 -1.08684049e+02] [-1.16167982e-01 2.58139616e-03 9.93226226e-01 -2.07721663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36592000000002 meters 0.031341150487637096 Centerline is valid? [True, True] Translation: X:172.23, Y:-108.71, Z:-20.77 [[ 7.21153322e-01 6.87783254e-01 8.30185659e-02 1.72233117e+02] [-6.82867607e-01 7.25911692e-01 -8.21221435e-02 -1.08705324e+02] [-1.16746383e-01 2.53196704e-03 9.93158533e-01 -2.07749143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39592000000002 meters 0.031180584113020892 Centerline is valid? [True, True] Translation: X:172.26, Y:-108.73, Z:-20.78 [[ 7.20478837e-01 6.88598349e-01 8.21130831e-02 1.72255179e+02] [-6.83793663e-01 7.25139049e-01 -8.12378346e-02 -1.08727905e+02] [-1.15483642e-01 2.38173475e-03 9.93306527e-01 -2.07787076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42592000000002 meters 0.03081966719109445 Centerline is valid? [True, True] Translation: X:172.28, Y:-108.75, Z:-20.78 [[ 7.20039259e-01 6.89104168e-01 8.17246012e-02 1.72277216e+02] [-6.84346097e-01 7.24658637e-01 -8.08719898e-02 -1.08749464e+02] [-1.14951663e-01 2.30309575e-03 9.93368416e-01 -2.07818875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45592000000002 meters 0.03085896108419259 Centerline is valid? [True, True] Translation: X:172.30, Y:-108.77, Z:-20.79 [[ 7.18696710e-01 6.90345423e-01 8.30556215e-02 1.72300792e+02] [-6.85437585e-01 7.23476736e-01 -8.21993323e-02 -1.08767060e+02] [-1.16834743e-01 2.14694499e-03 9.93149049e-01 -2.07856821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48592 meters 0.030526934847529757 Centerline is valid? [True, True] Translation: X:172.32, Y:-108.79, Z:-20.79 [[ 7.18100114e-01 6.91096312e-01 8.19641014e-02 1.72323530e+02] [-6.86322861e-01 7.22759932e-01 -8.11110978e-02 -1.08787747e+02] [-1.15295949e-01 1.99205201e-03 9.93329188e-01 -2.07876101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51592 meters 0.030535363086761837 Centerline is valid? [True, True] Translation: X:172.35, Y:-108.81, Z:-20.79 [[ 7.17517164e-01 6.91687405e-01 8.20832078e-02 1.72345193e+02] [-6.86904079e-01 7.22194523e-01 -8.12271884e-02 -1.08807253e+02] [-1.15463866e-01 1.89861163e-03 9.93309867e-01 -2.07901754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54592 meters 0.030435197247009344 Centerline is valid? [True, True] Translation: X:172.37, Y:-108.83, Z:-20.79 [[ 7.16915483e-01 6.92240690e-01 8.26741633e-02 1.72366840e+02] [-6.87394117e-01 7.21664437e-01 -8.17909987e-02 -1.08826259e+02] [-1.16282061e-01 1.80749979e-03 9.93214587e-01 -2.07934251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57592 meters 0.030489283387694792 Centerline is valid? [True, True] Translation: X:172.39, Y:-108.85, Z:-20.80 [[ 7.16923801e-01 6.92222892e-01 8.27510227e-02 1.72388473e+02] [-6.87375256e-01 7.21681623e-01 -8.17978822e-02 -1.08845331e+02] [-1.16342259e-01 1.76184326e-03 9.93207619e-01 -2.07959907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60592 meters 0.030368669330775415 Centerline is valid? [True, True] Translation: X:172.41, Y:-108.86, Z:-20.80 [[ 7.17066624e-01 6.91937155e-01 8.38953518e-02 1.72411078e+02] [-6.86960523e-01 7.21955538e-01 -8.28579572e-02 -1.08863140e+02] [-1.17901213e-01 1.78188088e-03 9.93023730e-01 -2.07985701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63592 meters 0.030389810505299673 Centerline is valid? [True, True] Translation: X:172.43, Y:-108.88, Z:-20.80 [[ 7.17347817e-01 6.91604436e-01 8.42342814e-02 1.72432026e+02] [-6.86593713e-01 7.22274252e-01 -8.31202609e-02 -1.08881811e+02] [-1.18326594e-01 1.79140965e-03 9.92973115e-01 -2.08012761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66592 meters 0.02999580121186522 Centerline is valid? [True, True] Translation: X:172.45, Y:-108.90, Z:-20.80 [[ 7.16156384e-01 6.92981338e-01 8.30475693e-02 1.72454217e+02] [-6.88129465e-01 7.20953990e-01 -8.18729723e-02 -1.08899712e+02] [-1.16609918e-01 1.48637232e-03 9.93176680e-01 -2.08029326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69592 meters 0.030226372500663044 Centerline is valid? [True, True] Translation: X:172.48, Y:-108.92, Z:-20.81 [[ 7.17051985e-01 6.92011392e-01 8.34067373e-02 1.72476773e+02] [-6.87118995e-01 7.21884805e-01 -8.21572618e-02 -1.08917971e+02] [-1.17063817e-01 1.60067420e-03 9.93123104e-01 -2.08057101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72592 meters 0.03016619691472009 Centerline is valid? [True, True] Translation: X:172.50, Y:-108.94, Z:-20.81 [[ 7.16816218e-01 6.92150594e-01 8.42737511e-02 1.72498555e+02] [-6.87165011e-01 7.21751464e-01 -8.29401778e-02 -1.08937146e+02] [-1.18231796e-01 1.54289158e-03 9.92984825e-01 -2.08088053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75592 meters 0.030362041360110732 Centerline is valid? [True, True] Translation: X:172.52, Y:-108.95, Z:-20.81 [[ 7.16840060e-01 6.91902327e-01 8.60900608e-02 1.72522097e+02] [-6.86705767e-01 7.21989418e-01 -8.46550054e-02 -1.08953609e+02] [-1.20729108e-01 1.56555792e-03 9.92684256e-01 -2.08114541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78592 meters 0.030465292083886434 Centerline is valid? [True, True] Translation: X:172.55, Y:-108.97, Z:-20.81 [[ 7.18695712e-01 6.90081334e-01 8.52304326e-02 1.72545401e+02] [-6.84984353e-01 7.23729585e-01 -8.37372289e-02 -1.08969649e+02] [-1.19469284e-01 1.80007457e-03 9.92836265e-01 -2.08142947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81592 meters 0.030846240836269013 Centerline is valid? [True, True] Translation: X:172.57, Y:-108.99, Z:-20.82 [[ 7.20390786e-01 6.88212239e-01 8.60292354e-02 1.72567210e+02] [-6.83015370e-01 7.25506459e-01 -8.44415939e-02 -1.08988008e+02] [-1.20528504e-01 2.07165614e-03 9.92707705e-01 -2.08181577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84592 meters 0.030998752768626348 Centerline is valid? [True, True] Translation: X:172.59, Y:-109.00, Z:-20.82 [[ 7.22913600e-01 6.85703906e-01 8.48886303e-02 1.72592245e+02] [-6.80635446e-01 7.27876612e-01 -8.32527888e-02 -1.09003990e+02] [-1.18875211e-01 2.40636249e-03 9.92906286e-01 -2.08198878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87592 meters 0.03126198825545743 Centerline is valid? [True, True] Translation: X:172.61, Y:-109.02, Z:-20.82 [[ 7.24024713e-01 6.84524351e-01 8.49389660e-02 1.72614772e+02] [-6.79450105e-01 7.28985533e-01 -8.32324875e-02 -1.09021256e+02] [-1.18893942e-01 2.55058846e-03 9.92903684e-01 -2.08218126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90592 meters 0.0313316291128843 Centerline is valid? [True, True] Translation: X:172.64, Y:-109.04, Z:-20.83 [[ 7.24316334e-01 6.84107481e-01 8.58067776e-02 1.72636490e+02] [-6.78934286e-01 7.29376600e-01 -8.40119650e-02 -1.09039668e+02] [-1.20058669e-01 2.59407521e-03 9.92763409e-01 -2.08251360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93592 meters 0.031034841432240716 Centerline is valid? [True, True] Translation: X:172.66, Y:-109.06, Z:-20.83 [[ 7.24295674e-01 6.84239265e-01 8.49258798e-02 1.72658200e+02] [-6.79181217e-01 7.29253318e-01 -8.30811160e-02 -1.09057700e+02] [-1.18779841e-01 2.49523050e-03 9.92917481e-01 -2.08282829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96592 meters 0.03112711411349828 Centerline is valid? [True, True] Translation: X:172.68, Y:-109.08, Z:-20.83 [[ 7.23845820e-01 6.84670878e-01 8.52819900e-02 1.72679554e+02] [-6.79581783e-01 7.28848486e-01 -8.33575735e-02 -1.09075680e+02] [-1.19230152e-01 2.38194431e-03 9.92863786e-01 -2.08315289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99592 meters 0.030586797370898203 Centerline is valid? [True, True] Translation: X:172.70, Y:-109.09, Z:-20.83 [[ 7.21823659e-01 6.86723117e-01 8.59183682e-02 1.72703594e+02] [-6.81580649e-01 7.26916320e-01 -8.39075909e-02 -1.09091744e+02] [-1.20076746e-01 2.00618715e-03 9.92762585e-01 -2.08342524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02592 meters 0.030505674663458923 Centerline is valid? [True, True] Translation: X:172.73, Y:-109.11, Z:-20.84 [[ 7.21677518e-01 6.86916673e-01 8.55981582e-02 1.72725957e+02] [-6.81819377e-01 7.26733614e-01 -8.35499353e-02 -1.09109545e+02] [-1.19598902e-01 1.93362711e-03 9.92820409e-01 -2.08376366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05592000000001 meters 0.030535955125558373 Centerline is valid? [True, True] Translation: X:172.75, Y:-109.13, Z:-20.84 [[ 7.21647644e-01 6.86894121e-01 8.60299044e-02 1.72748181e+02] [-6.81753809e-01 7.26755035e-01 -8.38979313e-02 -1.09125717e+02] [-1.20151662e-01 1.89352939e-03 9.92753742e-01 -2.08408407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08592000000002 meters 0.030608113255278464 Centerline is valid? [True, True] Translation: X:172.77, Y:-109.14, Z:-20.84 [[ 7.21942484e-01 6.86562274e-01 8.62049534e-02 1.72769349e+02] [-6.81408248e-01 7.27068536e-01 -8.39889525e-02 -1.09143147e+02] [-1.20340555e-01 1.89442678e-03 9.92730861e-01 -2.08424715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11592000000002 meters 0.03064405323491146 Centerline is valid? [True, True] Translation: X:172.79, Y:-109.16, Z:-20.84 [[ 7.22827307e-01 6.85527497e-01 8.70214608e-02 1.72791677e+02] [-6.80277127e-01 7.28043909e-01 -8.47059484e-02 -1.09161081e+02] [-1.21423701e-01 2.02906330e-03 9.92598694e-01 -2.08448633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14592000000002 meters 0.03087740482182879 Centerline is valid? [True, True] Translation: X:172.82, Y:-109.18, Z:-20.85 [[ 7.25202112e-01 6.83129253e-01 8.61180627e-02 1.72815577e+02] [-6.77979185e-01 7.30293693e-01 -8.37576629e-02 -1.09177654e+02] [-1.20108788e-01 2.35498011e-03 9.92757943e-01 -2.08467447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17592000000002 meters 0.03107754113269269 Centerline is valid? [True, True] Translation: X:172.84, Y:-109.20, Z:-20.85 [[ 7.26332523e-01 6.82033395e-01 8.52731784e-02 1.72836961e+02] [-6.76985145e-01 7.31316895e-01 -8.28656353e-02 -1.09195698e+02] [-1.18878847e-01 2.45933089e-03 9.92905721e-01 -2.08495282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20592000000002 meters 0.031765372857187404 Centerline is valid? [True, True] Translation: X:172.86, Y:-109.21, Z:-20.85 [[ 7.29002190e-01 6.79219683e-01 8.49495673e-02 1.72861042e+02] [-6.74199825e-01 7.33929487e-01 -8.24748702e-02 -1.09212087e+02] [-1.18365548e-01 2.85137756e-03 9.92965995e-01 -2.08527340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23592 meters 0.03230829957672505 Centerline is valid? [True, True] Translation: X:172.88, Y:-109.23, Z:-20.86 [[ 7.29541826e-01 6.78471334e-01 8.62865754e-02 1.72883044e+02] [-6.73294856e-01 7.34620880e-01 -8.37030485e-02 -1.09230830e+02] [-1.20178039e-01 2.96856751e-03 9.92747917e-01 -2.08562453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26592 meters 0.03291836483254285 Centerline is valid? [True, True] Translation: X:172.91, Y:-109.25, Z:-20.86 [[ 7.31515998e-01 6.76247454e-01 8.70271556e-02 1.72906142e+02] [-6.70974133e-01 7.36667097e-01 -8.43522490e-02 -1.09248236e+02] [-1.21153036e-01 3.31204939e-03 9.92628315e-01 -2.08577465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29592 meters 0.03282412892462246 Centerline is valid? [True, True] Translation: X:172.93, Y:-109.27, Z:-20.86 [[ 7.33369811e-01 6.74411608e-01 8.56603937e-02 1.72927260e+02] [-6.69298891e-01 7.38347262e-01 -8.29597203e-02 -1.09266684e+02] [-1.19196115e-01 3.50774795e-03 9.92864533e-01 -2.08585397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32592 meters 0.03289085329306838 Centerline is valid? [True, True] Translation: X:172.95, Y:-109.29, Z:-20.86 [[ 7.34658954e-01 6.73153769e-01 8.44998527e-02 1.72948547e+02] [-6.68179622e-01 7.39493746e-01 -8.17617977e-02 -1.09285057e+02] [-1.17525375e-01 3.60595711e-03 9.93063333e-01 -2.08607168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35592 meters 0.034053721912130915 Centerline is valid? [True, True] Translation: X:172.97, Y:-109.30, Z:-20.86 [[ 7.37604898e-01 6.70025706e-01 8.36932943e-02 1.72971266e+02] [-6.65134756e-01 7.42327057e-01 -8.09091846e-02 -1.09302287e+02] [-1.16339030e-01 4.01169193e-03 9.93201458e-01 -2.08638090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38592 meters 0.03436003351122114 Centerline is valid? [True, True] Translation: X:172.99, Y:-109.32, Z:-20.87 [[ 7.38484187e-01 6.69013728e-01 8.40341384e-02 1.72991689e+02] [-6.64082984e-01 7.43238487e-01 -8.11809153e-02 -1.09321568e+02] [-1.16768553e-01 4.14518086e-03 9.93150504e-01 -2.08669787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41592 meters 0.03518739712369116 Centerline is valid? [True, True] Translation: X:173.01, Y:-109.34, Z:-20.87 [[ 7.40858751e-01 6.66211883e-01 8.53817225e-02 1.73013171e+02] [-6.61105173e-01 7.45748045e-01 -8.24609240e-02 -1.09340887e+02] [-1.18609700e-01 4.64559870e-03 9.92930087e-01 -2.08695238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44592 meters 0.035902418933241705 Centerline is valid? [True, True] Translation: X:173.03, Y:-109.36, Z:-20.87 [[ 7.41185177e-01 6.65753602e-01 8.61201203e-02 1.73033796e+02] [-6.60557790e-01 7.46156592e-01 -8.31489404e-02 -1.09360345e+02] [-1.19615802e-01 4.74144574e-03 9.92808934e-01 -2.08724515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47592 meters 0.03575968235865525 Centerline is valid? [True, True] Translation: X:173.05, Y:-109.38, Z:-20.87 [[ 7.42468465e-01 6.64446842e-01 8.51526402e-02 1.73054076e+02] [-6.59366691e-01 7.47319811e-01 -8.21502743e-02 -1.09380246e+02] [-1.18220745e-01 4.84717344e-03 9.92975508e-01 -2.08748565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50592 meters 0.03574983755345975 Centerline is valid? [True, True] Translation: X:173.07, Y:-109.40, Z:-20.88 [[ 7.43494826e-01 6.63482529e-01 8.37041006e-02 1.73072046e+02] [-6.58575768e-01 7.48175950e-01 -8.06889446e-02 -1.09401739e+02] [-1.16161100e-01 4.86632057e-03 9.93218464e-01 -2.08785867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53592 meters 0.03593988509080264 Centerline is valid? [True, True] Translation: X:173.09, Y:-109.42, Z:-20.88 [[ 7.43885582e-01 6.63025621e-01 8.38526482e-02 1.73088845e+02] [-6.58106980e-01 7.48580721e-01 -8.07595663e-02 -1.09424595e+02] [-1.16316137e-01 4.89186396e-03 9.93200194e-01 -2.08830717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56592 meters 0.036272713949683795 Centerline is valid? [True, True] Translation: X:173.11, Y:-109.45, Z:-20.89 [[ 7.44435835e-01 6.62212070e-01 8.53842005e-02 1.73108612e+02] [-6.57114838e-01 7.49299409e-01 -8.21613355e-02 -1.09445791e+02] [-1.18386559e-01 5.05661726e-03 9.92954709e-01 -2.08856626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59592 meters 0.03565395435722624 Centerline is valid? [True, True] Translation: X:173.13, Y:-109.47, Z:-20.89 [[ 7.43979064e-01 6.62653032e-01 8.59424868e-02 1.73127679e+02] [-6.57498711e-01 7.48910015e-01 -8.26391754e-02 -1.09467460e+02] [-1.19124289e-01 4.97474207e-03 9.92866887e-01 -2.08869387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62592 meters 0.03511808640762343 Centerline is valid? [True, True] Translation: X:173.15, Y:-109.49, Z:-20.89 [[ 7.43315690e-01 6.63286919e-01 8.67885323e-02 1.73145956e+02] [-6.58039689e-01 7.48349220e-01 -8.34099062e-02 -1.09489738e+02] [-1.20272830e-01 4.88959320e-03 9.92728834e-01 -2.08896300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65592 meters 0.03532022623171104 Centerline is valid? [True, True] Translation: X:173.17, Y:-109.51, Z:-20.89 [[ 7.42637704e-01 6.64053721e-01 8.67288711e-02 1.73165116e+02] [-6.58826953e-01 7.47670015e-01 -8.32862234e-02 -1.09510569e+02] [-1.20151103e-01 4.71217182e-03 9.92744432e-01 -2.08933130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68592 meters 0.034633657249234694 Centerline is valid? [True, True] Translation: X:173.18, Y:-109.53, Z:-20.90 [[ 7.41343724e-01 6.65448179e-01 8.71102959e-02 1.73182285e+02] [-6.60192851e-01 7.46430750e-01 -8.35854940e-02 -1.09533672e+02] [-1.20643618e-01 4.45598681e-03 9.92685883e-01 -2.08969052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71592 meters 0.03408289082061 Centerline is valid? [True, True] Translation: X:173.20, Y:-109.55, Z:-20.90 [[ 7.40274365e-01 6.66612416e-01 8.73026468e-02 1.73201149e+02] [-6.61349871e-01 7.45392532e-01 -8.37037684e-02 -1.09554918e+02] [-1.20872712e-01 4.22615979e-03 9.92659019e-01 -2.08994693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74592 meters 0.033228123062695694 Centerline is valid? [True, True] Translation: X:173.22, Y:-109.58, Z:-20.90 [[ 7.37063413e-01 6.70015464e-01 8.84126883e-02 1.73219896e+02] [-6.64650341e-01 7.42338090e-01 -8.46999690e-02 -1.09576660e+02] [-1.22382395e-01 3.66572480e-03 9.92476253e-01 -2.09026299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77592 meters 0.032994519604596075 Centerline is valid? [True, True] Translation: X:173.24, Y:-109.60, Z:-20.91 [[ 7.35976742e-01 6.71166605e-01 8.87334484e-02 1.73239004e+02] [-6.65779093e-01 7.41298578e-01 -8.49389086e-02 -1.09597241e+02] [-1.22786138e-01 3.43618643e-03 9.92427205e-01 -2.09066479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80592000000001 meters 0.03232852689009432 Centerline is valid? [True, True] Translation: X:173.26, Y:-109.62, Z:-20.91 [[ 7.34542931e-01 6.72782006e-01 8.83801747e-02 1.73258546e+02] [-6.67457479e-01 7.39834268e-01 -8.45326555e-02 -1.09618201e+02] [-1.22258731e-01 3.10285597e-03 9.92493413e-01 -2.09079725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.83592000000002 meters 0.03178368340577974 Centerline is valid? [True, True] Translation: X:173.28, Y:-109.64, Z:-20.91 [[ 7.31271812e-01 6.76173033e-01 8.96190134e-02 1.73277352e+02] [-6.70731617e-01 7.36738539e-01 -8.56470841e-02 -1.09639655e+02] [-1.23938030e-01 2.52099259e-03 9.92286758e-01 -2.09110976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86592000000002 meters 0.0314938410289385 Centerline is valid? [True, True] Translation: X:173.30, Y:-109.66, Z:-20.92 [[ 7.28712804e-01 6.78812872e-01 9.05026704e-02 1.73297296e+02] [-6.73292421e-01 7.34308464e-01 -8.64198726e-02 -1.09659787e+02] [-1.25119799e-01 2.04050559e-03 9.92139543e-01 -2.09150213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89592000000002 meters 0.03170338649961355 Centerline is valid? [True, True] Translation: X:173.32, Y:-109.68, Z:-20.92 [[ 7.28763960e-01 6.78650923e-01 9.13017788e-02 1.73317077e+02] [-6.73040157e-01 7.34458162e-01 -8.71100165e-02 -1.09679903e+02] [-1.26174630e-01 2.03287709e-03 9.92005963e-01 -2.09185969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92592000000002 meters 0.03147284015118146 Centerline is valid? [True, True] Translation: X:173.34, Y:-109.70, Z:-20.92 [[ 7.28500668e-01 6.79014223e-01 9.06998502e-02 1.73337245e+02] [-6.73489252e-01 7.34122646e-01 -8.64648390e-02 -1.09699727e+02] [-1.25295669e-01 1.90431870e-03 9.92117618e-01 -2.09206479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95592000000002 meters 0.03147284015118146 Centerline is valid? [True, True] Translation: X:173.36, Y:-109.72, Z:-20.92 [[ 7.28818424e-01 6.78668220e-01 9.07367210e-02 1.73356689e+02] [-6.73145396e-01 7.34442509e-01 -8.64261334e-02 -1.09718776e+02] [-1.25295575e-01 1.90995232e-03 9.92117620e-01 -2.09232477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98592 meters 0.03128582531074521 Centerline is valid? [True, True] Translation: X:173.38, Y:-109.74, Z:-20.93 [[ 7.28622591e-01 6.78788820e-01 9.14049105e-02 1.73377508e+02] [-6.73195142e-01 7.34331217e-01 -8.69825477e-02 -1.09738257e+02] [-1.26164260e-01 1.84410749e-03 9.92007651e-01 -2.09259933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01592 meters 0.03144393886430848 Centerline is valid? [True, True] Translation: X:173.40, Y:-109.76, Z:-20.93 [[ 7.29195643e-01 6.78326070e-01 9.02632617e-02 1.73398951e+02] [-6.72877113e-01 7.34758687e-01 -8.58257675e-02 -1.09757314e+02] [-1.24539571e-01 1.84769278e-03 9.92212921e-01 -2.09291134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04592 meters 0.03127329017786368 Centerline is valid? [True, True] Translation: X:173.42, Y:-109.78, Z:-20.93 [[ 7.29605350e-01 6.77969768e-01 8.96271556e-02 1.73420008e+02] [-6.72603759e-01 7.35087477e-01 -8.51503616e-02 -1.09776397e+02] [-1.23613171e-01 1.84259763e-03 9.92328771e-01 -2.09317074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07592 meters 0.0312883580055964 Centerline is valid? [True, True] Translation: X:173.44, Y:-109.80, Z:-20.94 [[ 7.29736809e-01 6.77743309e-01 9.02673595e-02 1.73440797e+02] [-6.72307303e-01 7.35296277e-01 -8.56870732e-02 -1.09795428e+02] [-1.24447094e-01 1.84160638e-03 9.92224536e-01 -2.09362529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10592 meters 0.03174952036802035 Centerline is valid? [True, True] Translation: X:173.46, Y:-109.81, Z:-20.94 [[ 7.30863935e-01 6.76406769e-01 9.11690308e-02 1.73462166e+02] [-6.70859985e-01 7.36525448e-01 -8.64704870e-02 -1.09814391e+02] [-1.25637534e-01 2.03650578e-03 9.92074122e-01 -2.09383440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13592 meters 0.03198905996380148 Centerline is valid? [True, True] Translation: X:173.48, Y:-109.83, Z:-20.94 [[ 7.33340641e-01 6.73791524e-01 9.06448352e-02 1.73484778e+02] [-6.68297548e-01 7.38917542e-01 -8.59025829e-02 -1.09832787e+02] [-1.24859491e-01 2.41813418e-03 9.92171487e-01 -2.09393071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16592 meters 0.03232074728588169 Centerline is valid? [True, True] Translation: X:173.51, Y:-109.85, Z:-20.94 [[ 7.34937047e-01 6.72055163e-01 9.06057128e-02 1.73505959e+02] [-6.66561658e-01 7.40496309e-01 -8.57949445e-02 -1.09852210e+02] [-1.24752131e-01 2.65958904e-03 9.92184374e-01 -2.09427866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19592 meters 0.033069413444062494 Centerline is valid? [True, True] Translation: X:173.53, Y:-109.87, Z:-20.95 [[ 7.38579183e-01 6.68069433e-01 9.04655933e-02 1.73526159e+02] [-6.62570913e-01 7.44091701e-01 -8.55998001e-02 -1.09871730e+02] [-1.24501307e-01 3.28235958e-03 9.92214015e-01 -2.09460292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22592 meters 0.03346467491061143 Centerline is valid? [True, True] Translation: X:173.55, Y:-109.89, Z:-20.95 [[ 7.40618386e-01 6.65980472e-01 8.91875378e-02 1.73546098e+02] [-6.60627384e-01 7.45960740e-01 -8.43447289e-02 -1.09890522e+02] [-1.22702344e-01 3.54752724e-03 9.92437177e-01 -2.09479055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25592 meters 0.03441063776715332 Centerline is valid? [True, True] Translation: X:173.57, Y:-109.91, Z:-20.95 [[ 7.43376613e-01 6.62982988e-01 8.85707032e-02 1.73566579e+02] [-6.57691941e-01 7.48623997e-01 -8.36864473e-02 -1.09910602e+02] [-1.21788845e-01 3.95831004e-03 9.92548139e-01 -2.09503759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28592 meters 0.03415706252241147 Centerline is valid? [True, True] Translation: X:173.59, Y:-109.93, Z:-20.95 [[ 7.43468727e-01 6.62873036e-01 8.86204821e-02 1.73585456e+02] [-6.57583755e-01 7.48721525e-01 -8.36641074e-02 -1.09930793e+02] [-1.21810743e-01 3.92625802e-03 9.92545579e-01 -2.09522351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31592 meters 0.03359966620455047 Centerline is valid? [True, True] Translation: X:173.60, Y:-109.95, Z:-20.95 [[ 7.43494335e-01 6.62943808e-01 8.78731004e-02 1.73604844e+02] [-6.57752928e-01 7.48659376e-01 -8.28868241e-02 -1.09951543e+02] [-1.20736327e-01 3.82709512e-03 9.92677235e-01 -2.09527587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34592 meters 0.033144425545458975 Centerline is valid? [True, True] Translation: X:173.62, Y:-109.97, Z:-20.95 [[ 7.42355251e-01 6.64363288e-01 8.67761689e-02 1.73624320e+02] [-6.59318553e-01 7.47401588e-01 -8.17918817e-02 -1.09973300e+02] [-1.19196170e-01 3.50549471e-03 9.92864535e-01 -2.09543093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37592 meters 0.0328265519748598 Centerline is valid? [True, True] Translation: X:173.64, Y:-109.99, Z:-20.96 [[ 7.42390089e-01 6.64480084e-01 8.55755385e-02 1.73643969e+02] [-6.59582466e-01 7.47298275e-01 -8.05993690e-02 -1.09994204e+02] [-1.17507128e-01 3.39204806e-03 9.93066246e-01 -2.09562519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40592 meters 0.03253256306950045 Centerline is valid? [True, True] Translation: X:173.66, Y:-110.02, Z:-20.96 [[ 7.41693938e-01 6.65253478e-01 8.56032254e-02 1.73661906e+02] [-6.60365511e-01 7.46610629e-01 -8.05602912e-02 -1.10016940e+02] [-1.17505292e-01 3.22166195e-03 9.93067031e-01 -2.09587334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43592 meters 0.03249952391688094 Centerline is valid? [True, True] Translation: X:173.68, Y:-110.04, Z:-20.96 [[ 7.41456062e-01 6.65454553e-01 8.60996279e-02 1.73680840e+02] [-6.60518960e-01 7.46431690e-01 -8.09594695e-02 -1.10037246e+02] [-1.18142338e-01 3.15745274e-03 9.92991651e-01 -2.09608696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46592 meters 0.03227861781677549 Centerline is valid? [True, True] Translation: X:173.70, Y:-110.06, Z:-20.96 [[ 7.41238559e-01 6.65636741e-01 8.65628514e-02 1.73700191e+02] [-6.60658030e-01 7.46269516e-01 -8.13189810e-02 -1.10057374e+02] [-1.18728119e-01 3.08832150e-03 9.92921999e-01 -2.09628855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49592 meters 0.03244251530563688 Centerline is valid? [True, True] Translation: X:173.72, Y:-110.08, Z:-20.96 [[ 7.41812602e-01 6.65124984e-01 8.55734790e-02 1.73719864e+02] [-6.60265027e-01 7.46725703e-01 -8.03169828e-02 -1.10078866e+02] [-1.17320748e-01 3.07897459e-03 9.93089302e-01 -2.09645489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52592 meters 0.03221993839903726 Centerline is valid? [True, True] Translation: X:173.74, Y:-110.10, Z:-20.97 [[ 7.41747800e-01 6.65221263e-01 8.53866043e-02 1.73737977e+02] [-6.60390869e-01 7.46640223e-01 -8.00767031e-02 -1.10101801e+02] [-1.17021799e-01 3.00818460e-03 9.93124790e-01 -2.09677335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55592000000001 meters 0.03229253447349949 Centerline is valid? [True, True] Translation: X:173.76, Y:-110.12, Z:-20.97 [[ 7.42130776e-01 6.64811968e-01 8.52464568e-02 1.73757255e+02] [-6.60002622e-01 7.47004647e-01 -7.98786417e-02 -1.10121793e+02] [-1.16783776e-01 3.01751335e-03 9.93152780e-01 -2.09695511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58592000000002 meters 0.03213768716214116 Centerline is valid? [True, True] Translation: X:173.78, Y:-110.14, Z:-20.97 [[ 7.42031230e-01 6.64993054e-01 8.46988331e-02 1.73776608e+02] [-6.60255096e-01 7.46843851e-01 -7.92935700e-02 -1.10143101e+02] [-1.15986476e-01 2.91546910e-03 9.93246514e-01 -2.09723366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61592000000002 meters 0.03214905945467062 Centerline is valid? [True, True] Translation: X:173.79, Y:-110.16, Z:-20.97 [[ 7.41711519e-01 6.65321980e-01 8.49157570e-02 1.73794304e+02] [-6.60569591e-01 7.46551206e-01 -7.94299237e-02 -1.10164520e+02] [-1.16240435e-01 2.82132248e-03 9.93217097e-01 -2.09745229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64592000000002 meters 0.03192255667131519 Centerline is valid? [True, True] Translation: X:173.81, Y:-110.18, Z:-20.98 [[ 7.41726455e-01 6.65286254e-01 8.50650737e-02 1.73813055e+02] [-6.60525597e-01 7.46583214e-01 -7.94949019e-02 -1.10184904e+02] [-1.16395022e-01 2.77581317e-03 9.93199121e-01 -2.09758952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67592000000002 meters 0.03184282482072635 Centerline is valid? [True, True] Translation: X:173.83, Y:-110.21, Z:-20.98 [[ 7.42073718e-01 6.65013258e-01 8.41662876e-02 1.73831018e+02] [-6.60359538e-01 7.46826544e-01 -7.85836706e-02 -1.10207467e+02] [-1.15116801e-01 2.73486572e-03 9.93348198e-01 -2.09777404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70592000000002 meters 0.032225029537093844 Centerline is valid? [True, True] Translation: X:173.85, Y:-110.23, Z:-20.98 [[ 7.42747219e-01 6.64239919e-01 8.43320689e-02 1.73850076e+02] [-6.59570317e-01 7.47514163e-01 -7.86738474e-02 -1.10228548e+02] [-1.15297726e-01 2.81185202e-03 9.93326999e-01 -2.09817426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73592 meters 0.03226463190693362 Centerline is valid? [True, True] Translation: X:173.87, Y:-110.25, Z:-20.99 [[ 7.43786458e-01 6.63089105e-01 8.42291143e-02 1.73868686e+02] [-6.58431082e-01 7.48534707e-01 -7.85130701e-02 -1.10250735e+02] [-1.15109577e-01 2.93789149e-03 9.93348456e-01 -2.09850890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76592 meters 0.03274365153393263 Centerline is valid? [True, True] Translation: X:173.89, Y:-110.27, Z:-20.99 [[ 7.45543196e-01 6.61127498e-01 8.41176215e-02 1.73886279e+02] [-6.56476766e-01 7.50266796e-01 -7.83453329e-02 -1.10273718e+02] [-1.14906912e-01 3.18856575e-03 9.93371146e-01 -2.09874076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79592 meters 0.032769239169249606 Centerline is valid? [True, True] Translation: X:173.91, Y:-110.29, Z:-20.99 [[ 7.46412580e-01 6.60186068e-01 8.38010489e-02 1.73905377e+02] [-6.55571785e-01 7.51094963e-01 -7.79871277e-02 -1.10294588e+02] [-1.14428561e-01 3.27297001e-03 9.93426088e-01 -2.09892206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82592 meters 0.03245743313791541 Centerline is valid? [True, True] Translation: X:173.92, Y:-110.32, Z:-20.99 [[ 7.46601536e-01 6.59901873e-01 8.43543948e-02 1.73922091e+02] [-6.55231851e-01 7.51344589e-01 -7.84380578e-02 -1.10319143e+02] [-1.15140639e-01 3.29028813e-03 9.93343751e-01 -2.09911773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85592 meters 0.03225404026421718 Centerline is valid? [True, True] Translation: X:173.94, Y:-110.34, Z:-20.99 [[ 7.46423655e-01 6.59998301e-01 8.51702408e-02 1.73939309e+02] [-6.55245623e-01 7.51260032e-01 -7.91298859e-02 -1.10341343e+02] [-1.16210588e-01 3.25699125e-03 9.93219256e-01 -2.09938843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88592 meters 0.03189180028005757 Centerline is valid? [True, True] Translation: X:173.96, Y:-110.36, Z:-21.00 [[ 7.46526040e-01 6.59843676e-01 8.54704317e-02 1.73956854e+02] [-6.55065121e-01 7.51395936e-01 -7.93336943e-02 -1.10363228e+02] [-1.16569971e-01 3.23597002e-03 9.93177210e-01 -2.09956959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91592 meters 0.031733187173458584 Centerline is valid? [True, True] Translation: X:173.97, Y:-110.39, Z:-21.00 [[ 7.45606792e-01 6.60644820e-01 8.72865038e-02 1.73974310e+02] [-6.55674805e-01 7.50692137e-01 -8.09435982e-02 -1.10386368e+02] [-1.19000261e-01 3.12053526e-03 9.92889319e-01 -2.09989361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94592 meters 0.031042611879963516 Centerline is valid? [True, True] Translation: X:173.99, Y:-110.41, Z:-21.00 [[ 7.44374544e-01 6.62067721e-01 8.70222449e-02 1.73991569e+02] [-6.57145521e-01 7.49438658e-01 -8.06316403e-02 -1.10410133e+02] [-1.18601441e-01 2.83386201e-03 9.92937897e-01 -2.10013095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97592 meters 0.03086013483660535 Centerline is valid? [True, True] Translation: X:174.01, Y:-110.43, Z:-21.00 [[ 7.43875677e-01 6.62636040e-01 8.69623832e-02 1.74011805e+02] [-6.57730860e-01 7.48936701e-01 -8.05228778e-02 -1.10433549e+02] [-1.18486681e-01 2.70116712e-03 9.92951968e-01 -2.10048369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00592 meters 0.030646594398903958 Centerline is valid? [True, True] Translation: X:174.03, Y:-110.46, Z:-21.01 [[ 7.42795278e-01 6.63744520e-01 8.77404515e-02 1.74031954e+02] [-6.58758528e-01 7.47955027e-01 -8.12433306e-02 -1.10456723e+02] [-1.19550727e-01 2.54739174e-03 9.92824826e-01 -2.10074922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03592 meters 0.03048645765261632 Centerline is valid? [True, True] Translation: X:174.05, Y:-110.48, Z:-21.01 [[ 7.42351533e-01 6.64301793e-01 8.72773098e-02 1.74052886e+02] [-6.59372089e-01 7.47460464e-01 -8.08164781e-02 -1.10480847e+02] [-1.18922870e-01 2.44601431e-03 9.92900482e-01 -2.10084708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06592 meters 0.030719607373807155 Centerline is valid? [True, True] Translation: X:174.08, Y:-110.50, Z:-21.01 [[ 7.41816465e-01 6.64800473e-01 8.80264976e-02 1.74075011e+02] [-6.59787752e-01 7.47017135e-01 -8.15200797e-02 -1.10503023e+02] [-1.19951890e-01 2.39413235e-03 9.92776819e-01 -2.10119321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09592 meters 0.03031296140354999 Centerline is valid? [True, True] Translation: X:174.10, Y:-110.53, Z:-21.01 [[ 7.40428167e-01 6.66150043e-01 8.94999997e-02 1.74096093e+02] [-6.60975545e-01 7.45814440e-01 -8.28984278e-02 -1.10527711e+02] [-1.21973183e-01 2.22301988e-03 9.92530907e-01 -2.10145934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12592 meters 0.03031840874960032 Centerline is valid? [True, True] Translation: X:174.12, Y:-110.55, Z:-21.02 [[ 7.40173365e-01 6.66436047e-01 8.94784071e-02 1.74119094e+02] [-6.61263069e-01 7.45558972e-01 -8.29033910e-02 -1.10549529e+02] [-1.21961237e-01 2.19411578e-03 9.92532439e-01 -2.10182426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15592 meters 0.030317308036658438 Centerline is valid? [True, True] Translation: X:174.14, Y:-110.57, Z:-21.02 [[ 7.39825274e-01 6.66875318e-01 8.90835249e-02 1.74142531e+02] [-6.61748802e-01 7.45166281e-01 -8.25574825e-02 -1.10571952e+02] [-1.21437586e-01 2.12719628e-03 9.92596790e-01 -2.10214652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18592 meters 0.0300265164749391 Centerline is valid? [True, True] Translation: X:174.17, Y:-110.59, Z:-21.02 [[ 7.39831635e-01 6.66866884e-01 8.90938325e-02 1.74165393e+02] [-6.61736681e-01 7.45173780e-01 -8.25869356e-02 -1.10594315e+02] [-1.21464880e-01 2.14377053e-03 9.92593415e-01 -2.10229205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21592 meters 0.030093005234797174 Centerline is valid? [True, True] Translation: X:174.19, Y:-110.62, Z:-21.03 [[ 7.40234933e-01 6.66467027e-01 8.87352630e-02 1.74188554e+02] [-6.61372929e-01 7.45531217e-01 -8.22742597e-02 -1.10616718e+02] [-1.20987990e-01 2.21518033e-03 9.92651499e-01 -2.10254557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24592 meters 0.030437019561115414 Centerline is valid? [True, True] Translation: X:174.21, Y:-110.64, Z:-21.03 [[ 7.40575816e-01 6.66133996e-01 8.83909456e-02 1.74211931e+02] [-6.61074742e-01 7.45828614e-01 -8.19747783e-02 -1.10638279e+02] [-1.20530683e-01 2.27551678e-03 9.92706994e-01 -2.10286983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27592 meters 0.030364213312049346 Centerline is valid? [True, True] Translation: X:174.24, Y:-110.66, Z:-21.03 [[ 7.40768358e-01 6.65870808e-01 8.87598240e-02 1.74235812e+02] [-6.60764769e-01 7.46063386e-01 -8.23367707e-02 -1.10659637e+02] [-1.21046107e-01 2.34310984e-03 9.92644120e-01 -2.10316459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30592000000001 meters 0.030205582559999895 Centerline is valid? [True, True] Translation: X:174.26, Y:-110.68, Z:-21.03 [[ 7.40676434e-01 6.65961638e-01 8.88454682e-02 1.74260399e+02] [-6.60843949e-01 7.45982303e-01 -8.24359120e-02 -1.10679789e+02] [-1.21176302e-01 2.34534726e-03 9.92628230e-01 -2.10346023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.33592000000002 meters 0.030397680312122782 Centerline is valid? [True, True] Translation: X:174.28, Y:-110.70, Z:-21.04 [[ 7.40727588e-01 6.65900582e-01 8.88766238e-02 1.74284169e+02] [-6.60776440e-01 7.46036723e-01 -8.24845642e-02 -1.10700617e+02] [-1.21231745e-01 2.37101322e-03 9.92621399e-01 -2.10379995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36592000000002 meters 0.030741822018138194 Centerline is valid? [True, True] Translation: X:174.31, Y:-110.72, Z:-21.04 [[ 7.40965441e-01 6.65428253e-01 9.04182236e-02 1.74308034e+02] [-6.60118193e-01 7.46457608e-01 -8.39345646e-02 -1.10721214e+02] [-1.23345802e-01 2.50589737e-03 9.92360587e-01 -2.10416944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39592000000002 meters 0.03075956294825276 Centerline is valid? [True, True] Translation: X:174.33, Y:-110.74, Z:-21.04 [[ 7.41200749e-01 6.65063707e-01 9.11686146e-02 1.74331953e+02] [-6.59659959e-01 7.46782099e-01 -8.46477185e-02 -1.10742731e+02] [-1.24379215e-01 2.60066784e-03 9.92231348e-01 -2.10439379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42592000000002 meters 0.03085005199584591 Centerline is valid? [True, True] Translation: X:174.36, Y:-110.76, Z:-21.05 [[ 7.40904432e-01 6.65393151e-01 9.11733372e-02 1.74355842e+02] [-6.59988788e-01 7.46488712e-01 -8.46723252e-02 -1.10764072e+02] [-1.24400252e-01 2.56072067e-03 9.92228814e-01 -2.10471685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45592 meters 0.030668519903119713 Centerline is valid? [True, True] Translation: X:174.38, Y:-110.78, Z:-21.05 [[ 7.40814620e-01 6.65548924e-01 9.07652417e-02 1.74379746e+02] [-6.60191681e-01 7.46349910e-01 -8.43134373e-02 -1.10784825e+02] [-1.23857347e-01 2.53816944e-03 9.92296788e-01 -2.10508149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48592 meters 0.030604226923496826 Centerline is valid? [True, True] Translation: X:174.40, Y:-110.81, Z:-21.05 [[ 7.40844794e-01 6.65584597e-01 9.02559503e-02 1.74403930e+02] [-6.60285346e-01 7.46318116e-01 -8.38601934e-02 -1.10806166e+02] [-1.23175704e-01 2.53270634e-03 9.92381646e-01 -2.10542576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51592 meters 0.03090936448836355 Centerline is valid? [True, True] Translation: X:174.43, Y:-110.83, Z:-21.06 [[ 7.41657205e-01 6.64587469e-01 9.09290252e-02 1.74428583e+02] [-6.59198561e-01 7.47205475e-01 -8.45058310e-02 -1.10826624e+02] [-1.24104182e-01 2.73407579e-03 9.92265427e-01 -2.10585677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54592 meters 0.030967527418534882 Centerline is valid? [True, True] Translation: X:174.45, Y:-110.85, Z:-21.06 [[ 7.41415492e-01 6.64731856e-01 9.18402312e-02 1.74451902e+02] [-6.59232472e-01 7.47076958e-01 -8.53731030e-02 -1.10848743e+02] [-1.25361942e-01 2.75287849e-03 9.92107255e-01 -2.10615015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57592 meters 0.03139348490093813 Centerline is valid? [True, True] Translation: X:174.47, Y:-110.87, Z:-21.07 [[ 7.42370981e-01 6.63538925e-01 9.27438452e-02 1.74474813e+02] [-6.57918420e-01 7.48135748e-01 -8.62337234e-02 -1.10871062e+02] [-1.26604418e-01 2.99952980e-03 9.91948751e-01 -2.10653399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60592 meters 0.03223988952941194 Centerline is valid? [True, True] Translation: X:174.50, Y:-110.89, Z:-21.07 [[ 7.44449507e-01 6.61082306e-01 9.36221986e-02 1.74497051e+02] [-6.55332487e-01 7.50305388e-01 -8.70698303e-02 -1.10893416e+02] [-1.27805564e-01 3.46542392e-03 9.91793188e-01 -2.10691053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63592 meters 0.0323235470366361 Centerline is valid? [True, True] Translation: X:174.52, Y:-110.92, Z:-21.07 [[ 7.44792839e-01 6.60759782e-01 9.31672555e-02 1.74520836e+02] [-6.55060974e-01 7.50589191e-01 -8.66659460e-02 -1.10915884e+02] [-1.27195707e-01 3.51794280e-03 9.91871401e-01 -2.10721709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66592 meters 0.03275829655636305 Centerline is valid? [True, True] Translation: X:174.54, Y:-110.94, Z:-21.08 [[ 7.46707572e-01 6.58570774e-01 9.33399083e-02 1.74543200e+02] [-6.52830098e-01 7.52508586e-01 -8.68544273e-02 -1.10938549e+02] [-1.27438870e-01 3.91975704e-03 9.91838681e-01 -2.10757308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69592 meters 0.0330915746618035 Centerline is valid? [True, True] Translation: X:174.57, Y:-110.96, Z:-21.08 [[ 7.47064489e-01 6.58140251e-01 9.35203651e-02 1.74565248e+02] [-6.52371291e-01 7.52884638e-01 -8.70426359e-02 -1.10962067e+02] [-1.27696308e-01 4.01646101e-03 9.91805183e-01 -2.10788133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72592 meters 0.032701284257800174 Centerline is valid? [True, True] Translation: X:174.58, Y:-110.99, Z:-21.08 [[ 7.47865514e-01 6.57513016e-01 9.15085069e-02 1.74584995e+02] [-6.51983344e-01 7.53432304e-01 -8.51908600e-02 -1.10988499e+02] [-1.24959565e-01 4.04928398e-03 9.92153572e-01 -2.10795837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75592 meters 0.03284732376945008 Centerline is valid? [True, True] Translation: X:174.61, Y:-111.01, Z:-21.08 [[ 7.47795643e-01 6.57617714e-01 9.13269872e-02 1.74607143e+02] [-6.52107865e-01 7.53340964e-01 -8.50454225e-02 -1.11012075e+02] [-1.24727737e-01 4.04154972e-03 9.92182774e-01 -2.10839982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78592 meters 0.03273228197628674 Centerline is valid? [True, True] Translation: X:174.63, Y:-111.04, Z:-21.09 [[ 7.47535434e-01 6.57964455e-01 9.09590634e-02 1.74628854e+02] [-6.52499159e-01 7.53038456e-01 -8.47226707e-02 -1.11036053e+02] [-1.24240179e-01 3.98248598e-03 9.92244183e-01 -2.10868597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81592 meters 0.03222068376264427 Centerline is valid? [True, True] Translation: X:174.65, Y:-111.06, Z:-21.09 [[ 7.45082741e-01 6.60510503e-01 9.26152463e-02 1.74647764e+02] [-6.54860409e-01 7.50807982e-01 -8.62856763e-02 -1.11062591e+02] [-1.26528862e-01 3.63991009e-03 9.91956248e-01 -2.10908206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84592 meters 0.03222068376264427 Centerline is valid? [True, True] Translation: X:174.67, Y:-111.08, Z:-21.09 [[ 7.44966704e-01 6.60642968e-01 9.26038804e-02 1.74671544e+02] [-6.54992378e-01 7.50691456e-01 -8.62978731e-02 -1.11084650e+02] [-1.26529025e-01 3.63420634e-03 9.91956248e-01 -2.10939003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87592 meters 0.031780317737106434 Centerline is valid? [True, True] Translation: X:174.69, Y:-111.11, Z:-21.10 [[ 7.43510566e-01 6.62396087e-01 9.17794231e-02 1.74693711e+02] [-6.56854289e-01 7.49146377e-01 -8.55695563e-02 -1.11108598e+02] [-1.25437162e-01 3.33616145e-03 9.92095957e-01 -2.10961235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90592 meters 0.031151398854999963 Centerline is valid? [True, True] Translation: X:174.71, Y:-111.13, Z:-21.10 [[ 7.40752618e-01 6.65525106e-01 9.14433819e-02 1.74713867e+02] [-6.60038799e-01 7.46370024e-01 -8.53262582e-02 -1.11133815e+02] [-1.25037366e-01 2.84946921e-03 9.92147941e-01 -2.11003986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93592 meters 0.030685668174570187 Centerline is valid? [True, True] Translation: X:174.74, Y:-111.16, Z:-21.10 [[ 7.38989527e-01 6.67532190e-01 9.10782863e-02 1.74736016e+02] [-6.62097485e-01 7.44576592e-01 -8.50448103e-02 -1.11157802e+02] [-1.24584908e-01 2.54451989e-03 9.92205687e-01 -2.11032872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96592 meters 0.0305160907084805 Centerline is valid? [True, True] Translation: X:174.76, Y:-111.18, Z:-21.11 [[ 7.37881219e-01 6.68779648e-01 9.09125361e-02 1.74758419e+02] [-6.63369649e-01 7.43456944e-01 -8.49263340e-02 -1.11180252e+02] [-1.24386560e-01 2.35692977e-03 9.92231036e-01 -2.11065184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99592 meters 0.03024107215929003 Centerline is valid? [True, True] Translation: X:174.78, Y:-111.20, Z:-21.11 [[ 7.35597180e-01 6.71191333e-01 9.16459627e-02 1.74780619e+02] [-6.65702776e-01 7.41281401e-01 -8.56837150e-02 -1.11203981e+02] [-1.25445615e-01 2.01972739e-03 9.92098442e-01 -2.11097456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02592 meters 0.03001593313751365 Centerline is valid? [True, True] Translation: X:174.80, Y:-111.23, Z:-21.11 [[ 7.33843843e-01 6.73116461e-01 9.15829908e-02 1.74804219e+02] [-6.67641290e-01 7.39534442e-01 -8.56966574e-02 -1.11226094e+02] [-1.25412607e-01 1.74337827e-03 9.92103139e-01 -2.11129651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05592000000001 meters 0.02962294961116178 Centerline is valid? [True, True] Translation: X:174.83, Y:-111.25, Z:-21.12 [[ 7.33153556e-01 6.74051497e-01 9.02244025e-02 1.74827416e+02] [-6.68736483e-01 7.38682598e-01 -8.44957731e-02 -1.11248153e+02] [-1.23601698e-01 1.61202681e-03 9.92330601e-01 -2.11152012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08592000000002 meters 0.02968364606382162 Centerline is valid? [True, True] Translation: X:174.85, Y:-111.27, Z:-21.12 [[ 7.32119318e-01 6.75037448e-01 9.12455375e-02 1.74850599e+02] [-6.69599373e-01 7.37781908e-01 -8.55250594e-02 -1.11270478e+02] [-1.25051925e-01 1.51659352e-03 9.92149039e-01 -2.11194657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11592000000002 meters 0.02965305194612802 Centerline is valid? [True, True] Translation: X:174.87, Y:-111.29, Z:-21.12 [[ 7.31892050e-01 6.75365732e-01 9.06374892e-02 1.74874290e+02] [-6.69993661e-01 7.37481434e-01 -8.50272253e-02 -1.11291736e+02] [-1.24267940e-01 1.50420710e-03 9.92247558e-01 -2.11223202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14592000000002 meters 0.02978886693401573 Centerline is valid? [True, True] Translation: X:174.90, Y:-111.31, Z:-21.12 [[ 7.31912157e-01 6.75425642e-01 9.00266367e-02 1.74898260e+02] [-6.70117563e-01 7.37426497e-01 -8.45258138e-02 -1.11313338e+02] [-1.23478930e-01 1.53704034e-03 9.92346004e-01 -2.11248600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17592000000002 meters 0.029827244061678294 Centerline is valid? [True, True] Translation: X:174.92, Y:-111.33, Z:-21.13 [[ 7.32286214e-01 6.75157365e-01 8.89911985e-02 1.74922866e+02] [-6.69960536e-01 7.37671960e-01 -8.36239176e-02 -1.11334035e+02] [-1.22105616e-01 1.61605099e-03 9.92515797e-01 -2.11276546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20592 meters 0.029610883368355084 Centerline is valid? [True, True] Translation: X:174.95, Y:-111.36, Z:-21.13 [[ 7.32476007e-01 6.75042390e-01 8.82987530e-02 1.74947385e+02] [-6.69917070e-01 7.37777045e-01 -8.30430679e-02 -1.11355486e+02] [-1.21202384e-01 1.67421298e-03 9.92626405e-01 -2.11297133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23592 meters 0.029906396766343497 Centerline is valid? [True, True] Translation: X:174.97, Y:-111.38, Z:-21.13 [[ 7.32113367e-01 6.75413969e-01 8.84646139e-02 1.74972392e+02] [-6.70263102e-01 7.37436900e-01 -8.32717946e-02 -1.11377480e+02] [-1.21480004e-01 1.66982730e-03 9.92592474e-01 -2.11337077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26592 meters 0.029895951210293033 Centerline is valid? [True, True] Translation: X:175.00, Y:-111.40, Z:-21.13 [[ 7.33033867e-01 6.74585164e-01 8.71562169e-02 1.74997615e+02] [-6.69571012e-01 7.38194745e-01 -8.21168556e-02 -1.11398335e+02] [-1.19733074e-01 1.83715981e-03 9.92804420e-01 -2.11346838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29592 meters 0.030135500406423373 Centerline is valid? [True, True] Translation: X:175.02, Y:-111.42, Z:-21.14 [[ 7.34141692e-01 6.73315658e-01 8.76470253e-02 1.75021462e+02] [-6.68228419e-01 7.39352158e-01 -8.26387678e-02 -1.11419290e+02] [-1.20443994e-01 2.10033171e-03 9.92717902e-01 -2.11384850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32592 meters 0.03035405971468935 Centerline is valid? [True, True] Translation: X:175.05, Y:-111.44, Z:-21.14 [[ 7.35465764e-01 6.71995112e-01 8.66757169e-02 1.75045085e+02] [-6.67008642e-01 7.40551988e-01 -8.17448744e-02 -1.11441630e+02] [-1.19120030e-01 2.30710422e-03 9.92877181e-01 -2.11417135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35592 meters 0.0306780552532438 Centerline is valid? [True, True] Translation: X:175.07, Y:-111.46, Z:-21.15 [[ 7.36653131e-01 6.70536977e-01 8.78767761e-02 1.75068221e+02] [-6.65397007e-01 7.41871554e-01 -8.29060951e-02 -1.11464283e+02] [-1.20784883e-01 2.60009069e-03 9.92675300e-01 -2.11457746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38592 meters 0.03090709018827617 Centerline is valid? [True, True] Translation: X:175.09, Y:-111.49, Z:-21.15 [[ 7.36775480e-01 6.70368663e-01 8.81348321e-02 1.75091794e+02] [-6.65194688e-01 7.42023471e-01 -8.31696831e-02 -1.11486262e+02] [-1.21152463e-01 2.65056105e-03 9.92630372e-01 -2.11491084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41592 meters 0.031247182950307553 Centerline is valid? [True, True] Translation: X:175.12, Y:-111.51, Z:-21.15 [[ 7.37499675e-01 6.69454747e-01 8.90200592e-02 1.75116235e+02] [-6.64166732e-01 7.42847393e-01 -8.40256050e-02 -1.11507346e+02] [-1.22379659e-01 2.84469462e-03 9.92479283e-01 -2.11520613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44592 meters 0.03126657581673786 Centerline is valid? [True, True] Translation: X:175.14, Y:-111.53, Z:-21.15 [[ 7.37453833e-01 6.69593821e-01 8.83513421e-02 1.75139896e+02] [-6.64382482e-01 7.42722118e-01 -8.34252522e-02 -1.11529100e+02] [-1.21481529e-01 2.82318802e-03 9.92589677e-01 -2.11545205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47592 meters 0.031231069463476983 Centerline is valid? [True, True] Translation: X:175.16, Y:-111.55, Z:-21.16 [[ 7.37095473e-01 6.70136290e-01 8.72216526e-02 1.75162786e+02] [-6.65053423e-01 7.42232979e-01 -8.24266360e-02 -1.11551838e+02] [-1.19975867e-01 2.74924161e-03 9.92773002e-01 -2.11586552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50592 meters 0.031317852494331416 Centerline is valid? [True, True] Translation: X:175.19, Y:-111.57, Z:-21.16 [[ 7.37061230e-01 6.70091583e-01 8.78522294e-02 1.75186420e+02] [-6.64925885e-01 7.42273042e-01 -8.30921141e-02 -1.11573745e+02] [-1.20889668e-01 2.82875443e-03 9.92661919e-01 -2.11621656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53592 meters 0.031302541460248516 Centerline is valid? [True, True] Translation: X:175.21, Y:-111.60, Z:-21.17 [[ 7.36622388e-01 6.70519907e-01 8.82638726e-02 1.75210126e+02] [-6.65299790e-01 7.41886159e-01 -8.35530752e-02 -1.11597124e+02] [-1.21505746e-01 2.82512988e-03 9.92586708e-01 -2.11650850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56592 meters 0.0311822914823272 Centerline is valid? [True, True] Translation: X:175.23, Y:-111.62, Z:-21.17 [[ 7.36836237e-01 6.70311109e-01 8.80646159e-02 1.75234337e+02] [-6.65103486e-01 7.42074482e-01 -8.34434935e-02 -1.11620294e+02] [-1.21283605e-01 2.91210676e-03 9.92613624e-01 -2.11672453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59592 meters 0.031105906890689174 Centerline is valid? [True, True] Translation: X:175.26, Y:-111.64, Z:-21.17 [[ 7.36408477e-01 6.70786473e-01 8.80230841e-02 1.75258387e+02] [-6.65577456e-01 7.41644892e-01 -8.34835567e-02 -1.11643263e+02] [-1.21281511e-01 2.89181848e-03 9.92613939e-01 -2.11695753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62592 meters 0.03142127434634569 Centerline is valid? [True, True] Translation: X:175.28, Y:-111.67, Z:-21.17 [[ 7.35770584e-01 6.71404682e-01 8.86419849e-02 1.75283201e+02] [-6.66116386e-01 7.41085363e-01 -8.41513218e-02 -1.11665472e+02] [-1.22190869e-01 2.87018855e-03 9.92502470e-01 -2.11736304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65592 meters 0.03132413168178567 Centerline is valid? [True, True] Translation: X:175.31, Y:-111.69, Z:-21.18 [[ 7.35275743e-01 6.71950941e-01 8.86087711e-02 1.75307278e+02] [-6.66660668e-01 7.40590222e-01 -8.42002204e-02 -1.11688518e+02] [-1.22201207e-01 2.83839710e-03 9.92501289e-01 -2.11768431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68592 meters 0.031212238395854068 Centerline is valid? [True, True] Translation: X:175.33, Y:-111.71, Z:-21.18 [[ 7.34522784e-01 6.72947210e-01 8.72830566e-02 1.75330767e+02] [-6.67812466e-01 7.39685625e-01 -8.30161805e-02 -1.11710949e+02] [-1.20427529e-01 2.68856283e-03 9.92718481e-01 -2.11801866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71592 meters 0.03085676411133768 Centerline is valid? [True, True] Translation: X:175.35, Y:-111.73, Z:-21.18 [[ 7.33171163e-01 6.74384384e-01 8.75542570e-02 1.75354365e+02] [-6.69219268e-01 7.38376186e-01 -8.33437491e-02 -1.11732879e+02] [-1.20853701e-01 2.51223778e-03 9.92667150e-01 -2.11835767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74592 meters 0.030846357460530105 Centerline is valid? [True, True] Translation: X:175.38, Y:-111.76, Z:-21.19 [[ 7.31809118e-01 6.75695178e-01 8.88337834e-02 1.75377829e+02] [-6.70379460e-01 7.37177309e-01 -8.46226635e-02 -1.11755257e+02] [-1.22665375e-01 2.37529303e-03 9.92445245e-01 -2.11867526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77592 meters 0.030724150094303977 Centerline is valid? [True, True] Translation: X:175.40, Y:-111.78, Z:-21.19 [[ 7.30609551e-01 6.76901521e-01 8.95210327e-02 1.75401803e+02] [-6.71507011e-01 7.36070246e-01 -8.53166267e-02 -1.11777919e+02] [-1.23644723e-01 2.21914127e-03 9.92324069e-01 -2.11911558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80592000000001 meters 0.030660162462533426 Centerline is valid? [True, True] Translation: X:175.42, Y:-111.80, Z:-21.19 [[ 7.29526693e-01 6.77943906e-01 9.04591870e-02 1.75424884e+02] [-6.72432934e-01 7.35110567e-01 -8.62925504e-02 -1.11800175e+02] [-1.24999013e-01 2.12498243e-03 9.92154590e-01 -2.11949152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.83592000000002 meters 0.030405081864620345 Centerline is valid? [True, True] Translation: X:175.45, Y:-111.82, Z:-21.20 [[ 7.27090777e-01 6.80554035e-01 9.04721380e-02 1.75448576e+02] [-6.75053821e-01 7.32695870e-01 -8.63660859e-02 -1.11822623e+02] [-1.25065350e-01 1.72242210e-03 9.92147011e-01 -2.11973824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86592000000002 meters 0.030071748790297365 Centerline is valid? [True, True] Translation: X:175.47, Y:-111.84, Z:-21.20 [[ 7.25310709e-01 6.82402837e-01 9.08336010e-02 1.75473150e+02] [-6.76867674e-01 7.30974894e-01 -8.67516933e-02 -1.11844388e+02] [-1.25596683e-01 1.43960396e-03 9.92080340e-01 -2.12004085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89592000000002 meters 0.02960351453858734 Centerline is valid? [True, True] Translation: X:175.50, Y:-111.87, Z:-21.20 [[ 7.23367703e-01 6.84639634e-01 8.94859698e-02 1.75498041e+02] [-6.79276593e-01 7.28880918e-01 -8.55331440e-02 -1.11865632e+02] [-1.23783996e-01 1.08618923e-03 9.92308592e-01 -2.12024946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92592000000002 meters 0.029410732549244676 Centerline is valid? [True, True] Translation: X:175.52, Y:-111.89, Z:-21.21 [[ 7.21858725e-01 6.86179201e-01 8.98781717e-02 1.75522523e+02] [-6.80775715e-01 7.27432040e-01 -8.59479647e-02 -1.11888145e+02] [-1.24355968e-01 8.55411604e-04 9.92237301e-01 -2.12052044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95592 meters 0.029653508824546947 Centerline is valid? [True, True] Translation: X:175.55, Y:-111.91, Z:-21.21 [[ 7.20999879e-01 6.86862689e-01 9.15358966e-02 1.75547454e+02] [-6.81251979e-01 7.26786754e-01 -8.76170967e-02 -1.11908202e+02] [-1.26707992e-01 8.12905409e-04 9.91939728e-01 -2.12098779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98592 meters 0.02975823662269691 Centerline is valid? [True, True] Translation: X:175.57, Y:-111.93, Z:-21.21 [[ 7.21368447e-01 6.86362242e-01 9.23820130e-02 1.75571677e+02] [-6.80633106e-01 7.27259199e-01 -8.85021604e-02 -1.11928631e+02] [-1.27930210e-01 9.64409516e-04 9.91782704e-01 -2.12127813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01592 meters 0.02962008741118233 Centerline is valid? [True, True] Translation: X:175.60, Y:-111.95, Z:-21.21 [[ 7.21841724e-01 6.86096269e-01 9.06445545e-02 1.75596009e+02] [-6.80570573e-01 7.27510014e-01 -8.69072700e-02 -1.11949648e+02] [-1.25571575e-01 1.04327713e-03 9.92084014e-01 -2.12148250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04592 meters 0.02971026125267714 Centerline is valid? [True, True] Translation: X:175.62, Y:-111.97, Z:-21.22 [[ 7.24491094e-01 6.83406367e-01 8.98242295e-02 1.75620925e+02] [-6.77952063e-01 7.30036545e-01 -8.61837744e-02 -1.11971134e+02] [-1.24473510e-01 1.54285532e-03 9.92221732e-01 -2.12175467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07592 meters 0.0301063217207622 Centerline is valid? [True, True] Translation: X:175.64, Y:-111.99, Z:-21.22 [[ 7.25943412e-01 6.81776126e-01 9.04846774e-02 1.75644639e+02] [-6.76224630e-01 7.31558515e-01 -8.68469211e-02 -1.11993200e+02] [-1.25404994e-01 1.85798265e-03 9.92103893e-01 -2.12217115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10592 meters 0.03065008329092217 Centerline is valid? [True, True] Translation: X:175.67, Y:-112.01, Z:-21.23 [[ 7.28969013e-01 6.78642749e-01 8.97117432e-02 1.75667607e+02] [-6.73159202e-01 7.34464620e-01 -8.61301928e-02 -1.12014804e+02] [-1.24341732e-01 2.39595617e-03 9.92236561e-01 -2.12251294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13592 meters 0.03109257922863302 Centerline is valid? [True, True] Translation: X:175.69, Y:-112.04, Z:-21.23 [[ 7.30791660e-01 6.76587204e-01 9.04063341e-02 1.75691194e+02] [-6.70997927e-01 7.36357216e-01 -8.68322056e-02 -1.12036991e+02] [-1.25320916e-01 2.79378886e-03 9.92112324e-01 -2.12284014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16592 meters 0.03203217135408782 Centerline is valid? [True, True] Translation: X:175.71, Y:-112.06, Z:-21.23 [[ 7.34364067e-01 6.72675307e-01 9.06495974e-02 1.75714179e+02] [-6.67023342e-01 7.39929568e-01 -8.70867131e-02 -1.12059538e+02] [-1.25655399e-01 3.48795541e-03 9.92067818e-01 -2.12321131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19592 meters 0.032071782533622556 Centerline is valid? [True, True] Translation: X:175.74, Y:-112.08, Z:-21.23 [[ 7.35284762e-01 6.71866639e-01 8.91713997e-02 1.75736107e+02] [-6.66388355e-01 7.40663440e-01 -8.56984771e-02 -1.12082781e+02] [-1.23623943e-01 3.59000192e-03 9.92322645e-01 -2.12343510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22592 meters 0.03285611225247423 Centerline is valid? [True, True] Translation: X:175.76, Y:-112.11, Z:-21.24 [[ 7.36398816e-01 6.70520353e-01 9.01068249e-02 1.75758894e+02] [-6.64906993e-01 7.41880830e-01 -8.66690561e-02 -1.12105888e+02] [-1.24961892e-01 3.91033236e-03 9.92153836e-01 -2.12379584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25592 meters 0.03370279084004658 Centerline is valid? [True, True] Translation: X:175.78, Y:-112.13, Z:-21.24 [[ 7.39624592e-01 6.66915787e-01 9.04366950e-02 1.75780692e+02] [-6.61226737e-01 7.45119012e-01 -8.70451622e-02 -1.12129914e+02] [-1.25437894e-01 4.58158189e-03 9.92090895e-01 -2.12407405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28592 meters 0.03445262889184772 Centerline is valid? [True, True] Translation: X:175.80, Y:-112.15, Z:-21.24 [[ 7.40933333e-01 6.65473381e-01 9.03491825e-02 1.75803600e+02] [-6.59780778e-01 7.46405860e-01 -8.69920501e-02 -1.12151744e+02] [-1.25328053e-01 4.84465578e-03 9.92103527e-01 -2.12438847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31592 meters 0.035330590261565445 Centerline is valid? [True, True] Translation: X:175.82, Y:-112.18, Z:-21.25 [[ 7.44048012e-01 6.62131020e-01 8.93032335e-02 1.75823818e+02] [-6.56539338e-01 7.49368740e-01 -8.60383026e-02 -1.12176780e+02] [-1.23889681e-01 5.38554225e-03 9.92281383e-01 -2.12458567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34592 meters 0.03581686316000894 Centerline is valid? [True, True] Translation: X:175.84, Y:-112.20, Z:-21.25 [[ 7.45350868e-01 6.60768520e-01 8.85270982e-02 1.75844616e+02] [-6.55260814e-01 7.50568965e-01 -8.53199496e-02 -1.12200701e+02] [-1.22822429e-01 5.58496005e-03 9.92412948e-01 -2.12498613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37592 meters 0.03669450813523389 Centerline is valid? [True, True] Translation: X:175.87, Y:-112.22, Z:-21.25 [[ 7.46721532e-01 6.59218386e-01 8.85328954e-02 1.75866403e+02] [-6.53691201e-01 7.51928480e-01 -8.53895495e-02 -1.12224701e+02] [-1.22860766e-01 5.88904053e-03 9.92406445e-01 -2.12532979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40592 meters 0.03712724289372527 Centerline is valid? [True, True] Translation: X:175.89, Y:-112.25, Z:-21.26 [[ 7.48405012e-01 6.57395532e-01 8.78695250e-02 1.75885768e+02] [-6.51930608e-01 7.53520257e-01 -8.48157028e-02 -1.12251102e+02] [-1.21968931e-01 6.19166410e-03 9.92514606e-01 -2.12557080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43592 meters 0.03748492092025346 Centerline is valid? [True, True] Translation: X:175.91, Y:-112.27, Z:-21.26 [[ 7.48516966e-01 6.57146402e-01 8.87747601e-02 1.75907177e+02] [-6.51557653e-01 7.53736224e-01 -8.57573867e-02 -1.12274837e+02] [-1.23267911e-01 6.34898461e-03 9.92353119e-01 -2.12594603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46592 meters 0.03722610683973695 Centerline is valid? [True, True] Translation: X:175.93, Y:-112.30, Z:-21.26 [[ 7.48259054e-01 6.57537994e-01 8.80464323e-02 1.75925116e+02] [-6.52035425e-01 7.53395190e-01 -8.51204565e-02 -1.12303229e+02] [-1.22303693e-01 6.28275940e-03 9.92472838e-01 -2.12613713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49592 meters 0.03724281029575626 Centerline is valid? [True, True] Translation: X:175.95, Y:-112.33, Z:-21.26 [[ 7.47725019e-01 6.58138146e-01 8.80992420e-02 1.75945763e+02] [-6.52624820e-01 7.52871339e-01 -8.52384310e-02 -1.12328493e+02] [-1.22426057e-01 6.23915546e-03 9.92458026e-01 -2.12643160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52592 meters 0.03697560060063754 Centerline is valid? [True, True] Translation: X:175.96, Y:-112.36, Z:-21.27 [[ 7.46801976e-01 6.59235028e-01 8.77267672e-02 1.75963810e+02] [-6.53767722e-01 7.51912337e-01 -8.49447058e-02 -1.12355785e+02] [-1.21961364e-01 6.08394545e-03 9.92516202e-01 -2.12669410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55592000000001 meters 0.036549020268087914 Centerline is valid? [True, True] Translation: X:175.98, Y:-112.38, Z:-21.27 [[ 7.45974408e-01 6.60153138e-01 8.78636255e-02 1.75984479e+02] [-6.54667588e-01 7.51107161e-01 -8.51374294e-02 -1.12381214e+02] [-1.22198740e-01 5.98887578e-03 9.92487583e-01 -2.12703741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58592000000002 meters 0.036254132762268555 Centerline is valid? [True, True] Translation: X:176.01, Y:-112.41, Z:-21.27 [[ 7.45428695e-01 6.60794256e-01 8.76756075e-02 1.76005256e+02] [-6.55331329e-01 7.50543867e-01 -8.49985459e-02 -1.12406323e+02] [-1.21970940e-01 5.90378270e-03 9.92516113e-01 -2.12734786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61592000000002 meters 0.035742084583558806 Centerline is valid? [True, True] Translation: X:176.02, Y:-112.43, Z:-21.28 [[ 7.43943975e-01 6.62592190e-01 8.67118896e-02 1.76023044e+02] [-6.57253229e-01 7.48959456e-01 -8.41304103e-02 -1.12433847e+02] [-1.20687843e-01 5.59664235e-03 9.92674731e-01 -2.12762417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64592000000002 meters 0.035177015637820136 Centerline is valid? [True, True] Translation: X:176.04, Y:-112.46, Z:-21.28 [[ 7.42001871e-01 6.64715560e-01 8.71002132e-02 1.76042397e+02] [-6.59335521e-01 7.47077577e-01 -8.45681016e-02 -1.12460639e+02] [-1.21284349e-01 5.32142514e-03 9.92603541e-01 -2.12784603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67592000000002 meters 0.035028091914798026 Centerline is valid? [True, True] Translation: X:176.06, Y:-112.48, Z:-21.28 [[ 7.41228711e-01 6.65601070e-01 8.69207382e-02 1.76063579e+02] [-6.60243956e-01 7.46289615e-01 -8.44377291e-02 -1.12484987e+02] [-1.21069887e-01 5.19877702e-03 9.92630372e-01 -2.12812042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70592 meters 0.03454861845865095 Centerline is valid? [True, True] Translation: X:176.08, Y:-112.51, Z:-21.28 [[ 7.40703662e-01 6.66181393e-01 8.69507782e-02 1.76084394e+02] [-6.60817420e-01 7.45771972e-01 -8.45251643e-02 -1.12509042e+02] [-1.21154545e-01 5.14950981e-03 9.92620299e-01 -2.12835999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73592 meters 0.03454861845865095 Centerline is valid? [True, True] Translation: X:176.11, Y:-112.53, Z:-21.29 [[ 7.40394688e-01 6.66527139e-01 8.69326112e-02 1.76107923e+02] [-6.61163347e-01 7.45463190e-01 -8.45438442e-02 -1.12531458e+02] [-1.21155828e-01 5.11915701e-03 9.92620300e-01 -2.12866857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76592 meters 0.03363385698570856 Centerline is valid? [True, True] Translation: X:176.13, Y:-112.56, Z:-21.29 [[ 7.38653115e-01 6.68600180e-01 8.58217654e-02 1.76126466e+02] [-6.63379416e-01 7.43606817e-01 -8.35263621e-02 -1.12557116e+02] [-1.19663390e-01 4.76461496e-03 9.92803088e-01 -2.12889375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79592 meters 0.03341971523002685 Centerline is valid? [True, True] Translation: X:176.15, Y:-112.58, Z:-21.29 [[ 7.37541698e-01 6.69875044e-01 8.54380999e-02 1.76147333e+02] [-6.64706902e-01 7.42459891e-01 -8.31747837e-02 -1.12581785e+02] [-1.19151074e-01 4.55357653e-03 9.92865694e-01 -2.12925405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82592 meters 0.032984712231312156 Centerline is valid? [True, True] Translation: X:176.17, Y:-112.61, Z:-21.30 [[ 7.35624253e-01 6.71905801e-01 8.60206516e-02 1.76166519e+02] [-6.66672086e-01 7.40624098e-01 -8.38109501e-02 -1.12608646e+02] [-1.20022031e-01 4.30580029e-03 9.92761891e-01 -2.12958188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85592 meters 0.03269587796615698 Centerline is valid? [True, True] Translation: X:176.19, Y:-112.63, Z:-21.30 [[ 7.34782283e-01 6.72937371e-01 8.51486434e-02 1.76188479e+02] [-6.67808403e-01 7.39687847e-01 -8.30290708e-02 -1.12632302e+02] [-1.18856781e-01 4.14531059e-03 9.92902756e-01 -2.12980423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88592 meters 0.03203951828683867 Centerline is valid? [True, True] Translation: X:176.21, Y:-112.66, Z:-21.30 [[ 7.33255559e-01 6.74613325e-01 8.50479096e-02 1.76210257e+02] [-6.69499541e-01 7.38160887e-01 -8.29992142e-02 -1.12656300e+02] [-1.18771416e-01 3.92009875e-03 9.92913885e-01 -2.13011912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91592 meters 0.031839182396940766 Centerline is valid? [True, True] Translation: X:176.23, Y:-112.68, Z:-21.30 [[ 7.32122871e-01 6.75853056e-01 8.49632187e-02 1.76232245e+02] [-6.70749556e-01 7.37026770e-01 -8.29853789e-02 -1.12679290e+02] [-1.18706089e-01 3.76645265e-03 9.92922292e-01 -2.13038223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94592 meters 0.031025395687214085 Centerline is valid? [True, True] Translation: X:176.25, Y:-112.70, Z:-21.31 [[ 7.28945763e-01 6.79241525e-01 8.52585815e-02 1.76252450e+02] [-6.74116921e-01 7.33907488e-01 -8.33437222e-02 -1.12704818e+02] [-1.19182428e-01 3.27880073e-03 9.92866959e-01 -2.13057185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97592 meters 0.03062763255477352 Centerline is valid? [True, True] Translation: X:176.27, Y:-112.73, Z:-21.31 [[ 7.26337885e-01 6.81930722e-01 8.60451513e-02 1.76274086e+02] [-6.76720894e-01 7.31410952e-01 -8.41834359e-02 -1.12728817e+02] [-1.20341637e-01 2.91706706e-03 9.92728251e-01 -2.13083356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00592 meters 0.03023437693438231 Centerline is valid? [True, True] Translation: X:176.30, Y:-112.75, Z:-21.31 [[ 7.25618109e-01 6.82826601e-01 8.50070122e-02 1.76296007e+02] [-6.77740964e-01 7.30575188e-01 -8.32290866e-02 -1.12752898e+02] [-1.18935048e-01 2.77979814e-03 9.92898145e-01 -2.13111372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03592 meters 0.03033094541929875 Centerline is valid? [True, True] Translation: X:176.32, Y:-112.78, Z:-21.31 [[ 7.25020245e-01 6.83351322e-01 8.58872211e-02 1.76318358e+02] [-6.78158269e-01 7.30084517e-01 -8.41306161e-02 -1.12775913e+02] [-1.20195698e-01 2.75127072e-03 9.92746405e-01 -2.13149503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06592 meters 0.030267741113084782 Centerline is valid? [True, True] Translation: X:176.34, Y:-112.80, Z:-21.32 [[ 7.25315340e-01 6.83187767e-01 8.46884439e-02 1.76339182e+02] [-6.78129693e-01 7.30237418e-01 -8.30266996e-02 -1.12800348e+02] [-1.18565496e-01 2.79079044e-03 9.92942312e-01 -2.13164344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09592 meters 0.03030891465038466 Centerline is valid? [True, True] Translation: X:176.36, Y:-112.82, Z:-21.32 [[ 7.25473836e-01 6.83117756e-01 8.38918697e-02 1.76362278e+02] [-6.78145835e-01 7.30302769e-01 -8.23170219e-02 -1.12823603e+02] [-1.17498684e-01 2.82792363e-03 9.93069012e-01 -2.13190494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12592 meters 0.030515465563402133 Centerline is valid? [True, True] Translation: X:176.38, Y:-112.85, Z:-21.32 [[ 7.26031033e-01 6.82533320e-01 8.38284322e-02 1.76384587e+02] [-6.77555790e-01 7.30848410e-01 -8.23331850e-02 -1.12846581e+02] [-1.17461018e-01 2.97800776e-03 9.93073029e-01 -2.13224855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15592 meters 0.03081464567967852 Centerline is valid? [True, True] Translation: X:176.41, Y:-112.87, Z:-21.33 [[ 7.26789994e-01 6.81593606e-01 8.48908829e-02 1.76406383e+02] [-6.76473626e-01 7.31723833e-01 -8.34485796e-02 -1.12870169e+02] [-1.18994701e-01 3.22314922e-03 9.92889658e-01 -2.13262794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18592 meters 0.030805264605710796 Centerline is valid? [True, True] Translation: X:176.43, Y:-112.89, Z:-21.33 [[ 7.27042320e-01 6.81428155e-01 8.40543518e-02 1.76429193e+02] [-6.76399401e-01 7.31877705e-01 -8.26974945e-02 -1.12893385e+02] [-1.17869907e-01 3.27026506e-03 9.93023661e-01 -2.13288527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21592 meters 0.030744844867815344 Centerline is valid? [True, True] Translation: X:176.45, Y:-112.92, Z:-21.33 [[ 7.26588580e-01 6.81887510e-01 8.42523535e-02 1.76452042e+02] [-6.76828487e-01 7.31449780e-01 -8.29723977e-02 -1.12916626e+02] [-1.18204207e-01 3.26240367e-03 9.92983949e-01 -2.13316798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24592 meters 0.030702888040766672 Centerline is valid? [True, True] Translation: X:176.47, Y:-112.94, Z:-21.34 [[ 7.26652680e-01 6.81989057e-01 8.28662103e-02 1.76472715e+02] [-6.77087461e-01 7.31355165e-01 -8.16834953e-02 -1.12941397e+02] [-1.16311881e-01 3.24785889e-03 9.93207429e-01 -2.13353075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27592 meters 0.030701518384113183 Centerline is valid? [True, True] Translation: X:176.49, Y:-112.97, Z:-21.34 [[ 7.26086956e-01 6.82524072e-01 8.34183633e-02 1.76494558e+02] [-6.77551734e-01 7.30855948e-01 -8.22996385e-02 -1.12965518e+02] [-1.17138291e-01 3.23643729e-03 9.93110339e-01 -2.13392688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30592000000001 meters 0.030878357887854823 Centerline is valid? [True, True] Translation: X:176.51, Y:-112.99, Z:-21.34 [[ 7.25594523e-01 6.82903771e-01 8.45873930e-02 1.76514978e+02] [-6.77783587e-01 7.30500984e-01 -8.35327613e-02 -1.12989890e+02] [-1.18836012e-01 3.27896751e-03 9.92908481e-01 -2.13426553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.33592000000002 meters 0.0306772483253138 Centerline is valid? [True, True] Translation: X:176.54, Y:-113.01, Z:-21.34 [[ 7.25701791e-01 6.82930045e-01 8.34473696e-02 1.76536224e+02] [-6.77939470e-01 7.30476413e-01 -8.24759632e-02 -1.13013766e+02] [-1.17281649e-01 3.28068870e-03 9.93093275e-01 -2.13449851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36592000000002 meters 0.031034286302366453 Centerline is valid? [True, True] Translation: X:176.56, Y:-113.04, Z:-21.35 [[ 7.26203684e-01 6.82241849e-01 8.47010527e-02 1.76557685e+02] [-6.77086430e-01 7.31118210e-01 -8.37862050e-02 -1.13037057e+02] [-1.19088938e-01 3.49591729e-03 9.92877436e-01 -2.13491075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39592000000002 meters 0.03127049347300146 Centerline is valid? [True, True] Translation: X:176.58, Y:-113.06, Z:-21.35 [[ 7.26386670e-01 6.81880738e-01 8.60294410e-02 1.76578474e+02] [-6.76550313e-01 7.31454185e-01 -8.51730558e-02 -1.13061980e+02] [-1.21004461e-01 3.66532718e-03 9.92645196e-01 -2.13527235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42592000000002 meters 0.031204022691773636 Centerline is valid? [True, True] Translation: X:176.60, Y:-113.09, Z:-21.36 [[ 7.26049905e-01 6.82291726e-01 8.56127043e-02 1.76601080e+02] [-6.77007254e-01 7.31071004e-01 -8.48313887e-02 -1.13085217e+02] [-1.20468720e-01 3.63139991e-03 9.92710482e-01 -2.13552895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45592 meters 0.031170799083034575 Centerline is valid? [True, True] Translation: X:176.62, Y:-113.11, Z:-21.36 [[ 7.25499403e-01 6.82731878e-01 8.67628905e-02 1.76622424e+02] [-6.77298026e-01 7.30659826e-01 -8.60441838e-02 -1.13109725e+02] [-1.22139266e-01 3.66066944e-03 9.92506221e-01 -2.13581035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48592 meters 0.03111821338881106 Centerline is valid? [True, True] Translation: X:176.64, Y:-113.13, Z:-21.36 [[ 7.25063212e-01 6.83345652e-01 8.55690220e-02 1.76644215e+02] [-6.78057772e-01 7.30086365e-01 -8.49208855e-02 -1.13133924e+02] [-1.20503094e-01 3.55226954e-03 9.92706596e-01 -2.13612862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51592 meters 0.031110705529314046 Centerline is valid? [True, True] Translation: X:176.67, Y:-113.16, Z:-21.36 [[ 7.24970256e-01 6.83453010e-01 8.54991880e-02 1.76666783e+02] [-6.78169958e-01 7.29985832e-01 -8.48892979e-02 -1.13157707e+02] [-1.20431042e-01 3.55923536e-03 9.92715315e-01 -2.13645437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54592 meters 0.03124390377705618 Centerline is valid? [True, True] Translation: X:176.69, Y:-113.18, Z:-21.37 [[ 7.25319076e-01 6.83151394e-01 8.49494624e-02 1.76689643e+02] [-6.77924457e-01 7.30267679e-01 -8.44248065e-02 -1.13181220e+02] [-1.19710771e-01 3.64560444e-03 9.92802116e-01 -2.13679808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57592 meters 0.031718535682149857 Centerline is valid? [True, True] Translation: X:176.71, Y:-113.20, Z:-21.37 [[ 7.24774296e-01 6.83399222e-01 8.75655375e-02 1.76712416e+02] [-6.77835393e-01 7.30035082e-01 -8.71088972e-02 -1.13204052e+02] [-1.23456067e-01 3.77926913e-03 9.92342842e-01 -2.13733119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60592 meters 0.03203212269601817 Centerline is valid? [True, True] Translation: X:176.73, Y:-113.23, Z:-21.38 [[ 7.25294762e-01 6.82837829e-01 8.76356535e-02 1.76733959e+02] [-6.77251747e-01 7.30559399e-01 -8.72527184e-02 -1.13228297e+02] [-1.23602507e-01 3.93254029e-03 9.92324017e-01 -2.13754353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63592 meters 0.032459658055392124 Centerline is valid? [True, True] Translation: X:176.76, Y:-113.25, Z:-21.38 [[ 7.26002464e-01 6.82144855e-01 8.71712122e-02 1.76757021e+02] [-6.76604085e-01 7.31205670e-01 -8.68630000e-02 -1.13250846e+02] [-1.22993233e-01 4.08235379e-03 9.92399113e-01 -2.13779452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66592 meters 0.03279674681175927 Centerline is valid? [True, True] Translation: X:176.78, Y:-113.27, Z:-21.38 [[ 7.26447914e-01 6.81655103e-01 8.72911699e-02 1.76779014e+02] [-6.76086421e-01 7.31661445e-01 -8.70556253e-02 -1.13273827e+02] [-1.23209495e-01 4.22500275e-03 9.92371689e-01 -2.13821186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69592 meters 0.0323141807431781 Centerline is valid? [True, True] Translation: X:176.80, Y:-113.30, Z:-21.38 [[ 7.27061645e-01 6.81144766e-01 8.61578327e-02 1.76800185e+02] [-6.75709321e-01 7.32136137e-01 -8.59859934e-02 -1.13297861e+02] [-1.21648172e-01 4.29946723e-03 9.92563971e-01 -2.13840236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72592 meters 0.03250574951101004 Centerline is valid? [True, True] Translation: X:176.82, Y:-113.32, Z:-21.39 [[ 7.26308903e-01 6.81815241e-01 8.71972158e-02 1.76822123e+02] [-6.76247482e-01 7.31511980e-01 -8.70607024e-02 -1.13321235e+02] [-1.23145122e-01 4.26606560e-03 9.92379504e-01 -2.13878374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75592 meters 0.032958811948941104 Centerline is valid? [True, True] Translation: X:176.84, Y:-113.35, Z:-21.39 [[ 7.26716128e-01 6.81173103e-01 8.88080701e-02 1.76843128e+02] [-6.75382480e-01 7.32108487e-01 -8.87449631e-02 -1.13345214e+02] [-1.25467824e-01 4.51298131e-03 9.92087425e-01 -2.13916289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78592 meters 0.032940427481785196 Centerline is valid? [True, True] Translation: X:176.86, Y:-113.37, Z:-21.39 [[ 7.26528813e-01 6.81284457e-01 8.94839252e-02 1.76863853e+02] [-6.75396252e-01 7.32004424e-01 -8.94953915e-02 -1.13369594e+02] [-1.26474448e-01 4.58387284e-03 9.91959274e-01 -2.13944769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81592 meters 0.03322140212301242 Centerline is valid? [True, True] Translation: X:176.88, Y:-113.68, Z:-19.44 [[ 7.30838953e-01 -6.81162923e-01 -4.34913446e-02 1.76881376e+02] [-6.79571505e-01 -7.32117283e-01 4.67638097e-02 -1.13679193e+02] [-6.36945383e-02 -4.62133520e-03 -9.97958741e-01 -1.94384236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84592 meters 0.03245548687076435 Centerline is valid? [True, True] Translation: X:176.90, Y:-113.43, Z:-21.40 [[ 7.74732444e-01 6.25174100e-01 9.45885064e-02 1.76895896e+02] [-6.19849811e-01 7.80472095e-01 -8.15445921e-02 -1.13427417e+02] [-1.24803257e-01 4.54457327e-03 9.92171101e-01 -2.14002651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87592 meters 0.03264899945570659 Centerline is valid? [True, True] Translation: X:176.92, Y:-113.45, Z:-21.40 [[ 7.73576054e-01 6.26553325e-01 9.49263900e-02 1.76918605e+02] [-6.21194922e-01 7.79366268e-01 -8.18846112e-02 -1.13449501e+02] [-1.25287502e-01 4.37618297e-03 9.92110826e-01 -2.14042766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90592 meters 0.03237744493480207 Centerline is valid? [True, True] Translation: X:176.94, Y:-113.47, Z:-21.41 [[ 7.72396390e-01 6.27954654e-01 9.52720798e-02 1.76941307e+02] [-6.22558640e-01 7.78238490e-01 -8.22532281e-02 -1.13472532e+02] [-1.25795697e-01 4.21964004e-03 9.92047195e-01 -2.14073784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93592 meters 0.03197368850409648 Centerline is valid? [True, True] Translation: X:176.96, Y:-113.50, Z:-21.41 [[ 7.70831017e-01 6.29801130e-01 9.57605290e-02 1.76962281e+02] [-6.24354593e-01 7.76746152e-01 -8.27451377e-02 -1.13496595e+02] [-1.26494604e-01 3.99399253e-03 9.91959255e-01 -2.14108394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96592 meters 0.031732309974986564 Centerline is valid? [True, True] Translation: X:176.99, Y:-113.52, Z:-21.41 [[ 7.69670865e-01 6.31177043e-01 9.60328110e-02 1.76985432e+02] [-6.25700897e-01 7.75629317e-01 -8.30514892e-02 -1.13518518e+02] [-1.26906057e-01 3.83449557e-03 9.91907329e-01 -2.14125613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99592 meters 0.03152485708526883 Centerline is valid? [True, True] Translation: X:177.01, Y:-113.54, Z:-21.41 [[ 7.68415990e-01 6.32605513e-01 9.66805601e-02 1.77008758e+02] [-6.27056485e-01 7.74465434e-01 -8.36866554e-02 -1.13541934e+02] [-1.27816392e-01 3.68199194e-03 9.91791013e-01 -2.14145942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02592 meters 0.03150952512748896 Centerline is valid? [True, True] Translation: X:177.03, Y:-113.56, Z:-21.42 [[ 7.68481248e-01 6.32754105e-01 9.51778015e-02 1.77031962e+02] [-6.27368247e-01 7.74344139e-01 -8.24635539e-02 -1.13563702e+02] [-1.25879525e-01 3.66016434e-03 9.92038784e-01 -2.14178119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05592000000001 meters 0.03140098562507485 Centerline is valid? [True, True] Translation: X:177.05, Y:-113.59, Z:-21.42 [[ 7.68152866e-01 6.33231167e-01 9.46544445e-02 1.77052931e+02] [-6.27899341e-01 7.73954267e-01 -8.20805127e-02 -1.13587794e+02] [-1.25234150e-01 3.61691772e-03 9.92120620e-01 -2.14228644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08592000000002 meters 0.03139207232933391 Centerline is valid? [True, True] Translation: X:177.08, Y:-113.61, Z:-21.43 [[ 7.68202973e-01 6.33354607e-01 9.34137800e-02 1.77076594e+02] [-6.28154543e-01 7.73853321e-01 -8.10734671e-02 -1.13609072e+02] [-1.23636818e-01 3.60258815e-03 9.92320996e-01 -2.14250575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11592000000002 meters 0.031256321009557324 Centerline is valid? [True, True] Translation: X:177.10, Y:-113.63, Z:-21.43 [[ 7.67596654e-01 6.34123241e-01 9.31831118e-02 1.77100416e+02] [-6.28945889e-01 7.73223961e-01 -8.09430376e-02 -1.13630743e+02] [-1.23379276e-01 3.52446978e-03 9.92353330e-01 -2.14282764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14592000000002 meters 0.031189692823524056 Centerline is valid? [True, True] Translation: X:177.12, Y:-113.65, Z:-21.43 [[ 7.67417383e-01 6.34414175e-01 9.26780131e-02 1.77123004e+02] [-6.29286554e-01 7.72985327e-01 -8.05736793e-02 -1.13654431e+02] [-1.22755829e-01 3.51261469e-03 9.92430687e-01 -2.14298975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17592000000002 meters 0.0309839122897617 Centerline is valid? [True, True] Translation: X:177.15, Y:-113.68, Z:-21.43 [[ 7.67053796e-01 6.34897727e-01 9.23761291e-02 1.77146810e+02] [-6.29798243e-01 7.72588356e-01 -8.03828691e-02 -1.13676949e+02] [-1.22403623e-01 3.47966109e-03 9.92474305e-01 -2.14325456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20592 meters 0.031019301689627406 Centerline is valid? [True, True] Translation: X:177.17, Y:-113.70, Z:-21.44 [[ 7.66580531e-01 6.35432089e-01 9.26301757e-02 1.77170486e+02] [-6.30298343e-01 7.72148979e-01 -8.06842853e-02 -1.13700270e+02] [-1.22793679e-01 3.46635605e-03 9.92426167e-01 -2.14359594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23592 meters 0.03101935875640623 Centerline is valid? [True, True] Translation: X:177.19, Y:-113.72, Z:-21.44 [[ 7.66058450e-01 6.36030966e-01 9.28388970e-02 1.77192838e+02] [-6.30868346e-01 7.71655863e-01 -8.09466442e-02 -1.13724480e+02] [-1.23124252e-01 3.44073940e-03 9.92385298e-01 -2.14401173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26592 meters 0.030866948552446337 Centerline is valid? [True, True] Translation: X:177.22, Y:-113.75, Z:-21.44 [[ 7.65377005e-01 6.36988777e-01 9.18876357e-02 1.77215318e+02] [-6.31929253e-01 7.70865959e-01 -8.01940928e-02 -1.13746941e+02] [-1.21915788e-01 3.31222963e-03 9.92534921e-01 -2.14430001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29592 meters 0.030518952295352616 Centerline is valid? [True, True] Translation: X:177.24, Y:-113.77, Z:-21.45 [[ 7.64804044e-01 6.37901081e-01 9.03160290e-02 1.77237275e+02] [-6.33013104e-01 7.70111838e-01 -7.88807135e-02 -1.13771501e+02] [-1.19871536e-01 3.15705886e-03 9.92784391e-01 -2.14450362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32592 meters 0.03079851561400045 Centerline is valid? [True, True] Translation: X:177.26, Y:-113.79, Z:-21.45 [[ 7.64864639e-01 6.37831719e-01 9.02927623e-02 1.77262221e+02] [-6.32941432e-01 7.70169130e-01 -7.88964813e-02 -1.13793422e+02] [-1.19863377e-01 3.19509842e-03 9.92785255e-01 -2.14472893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35592 meters 0.03049229220575595 Centerline is valid? [True, True] Translation: X:177.29, Y:-113.82, Z:-21.45 [[ 7.64169488e-01 6.38696081e-01 9.00683609e-02 1.77285105e+02] [-6.33826927e-01 7.69452816e-01 -7.87768325e-02 -1.13815418e+02] [-1.19617808e-01 3.11109934e-03 9.92815139e-01 -2.14497040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38592 meters 0.03055458893709902 Centerline is valid? [True, True] Translation: X:177.31, Y:-113.84, Z:-21.45 [[ 7.63255632e-01 6.39727092e-01 9.04991091e-02 1.77306241e+02] [-6.34809614e-01 7.68596209e-01 -7.92251406e-02 -1.13840560e+02] [-1.20239741e-01 3.01933020e-03 9.92740293e-01 -2.14526336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41592 meters 0.03025250987700556 Centerline is valid? [True, True] Translation: X:177.33, Y:-113.87, Z:-21.46 [[ 7.60641683e-01 6.42748479e-01 9.10967783e-02 1.77327051e+02] [-6.37777535e-01 7.66072796e-01 -7.98266075e-02 -1.13865974e+02] [-1.21095194e-01 2.61996642e-03 9.92637441e-01 -2.14557057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44592 meters 0.030157467496099308 Centerline is valid? [True, True] Translation: X:177.35, Y:-113.89, Z:-21.46 [[ 7.59125020e-01 6.44587102e-01 9.07561165e-02 1.77350710e+02] [-6.39659196e-01 7.64527226e-01 -7.95878977e-02 -1.13888189e+02] [-1.20686854e-01 2.36417991e-03 9.92687813e-01 -2.14590985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47592 meters 0.02988770536365034 Centerline is valid? [True, True] Translation: X:177.37, Y:-113.91, Z:-21.46 [[ 7.58012394e-01 6.45889852e-01 9.07937690e-02 1.77374902e+02] [-6.40964054e-01 7.63427507e-01 -7.96462419e-02 -1.13909921e+02] [-1.20757160e-01 2.17729629e-03 9.92679690e-01 -2.14622379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50592 meters 0.029721701887288617 Centerline is valid? [True, True] Translation: X:177.40, Y:-113.93, Z:-21.47 [[ 7.54927497e-01 6.49605154e-01 8.99867716e-02 1.77397049e+02] [-6.44788856e-01 7.60270081e-01 -7.89730046e-02 -1.13933776e+02] [-1.19715521e-01 1.59642521e-03 9.92806953e-01 -2.14656790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53592 meters 0.029518268762976262 Centerline is valid? [True, True] Translation: X:177.42, Y:-113.96, Z:-21.47 [[ 7.52809335e-01 6.52113438e-01 8.95888897e-02 1.77420249e+02] [-6.47348993e-01 7.58120380e-01 -7.86941609e-02 -1.13956324e+02] [-1.19236683e-01 1.24642140e-03 9.92865076e-01 -2.14683958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56592 meters 0.029540520347589368 Centerline is valid? [True, True] Translation: X:177.44, Y:-113.98, Z:-21.47 [[ 7.49289453e-01 6.55881437e-01 9.15688605e-02 1.77444310e+02] [-6.50922213e-01 7.54863580e-01 -8.05061929e-02 -1.13976669e+02] [-1.21924515e-01 7.18235891e-04 9.92539116e-01 -2.14720911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59592 meters 0.029330849304089104 Centerline is valid? [True, True] Translation: X:177.47, Y:-114.00, Z:-21.48 [[ 7.47602188e-01 6.57820812e-01 9.14480631e-02 1.77470060e+02] [-6.52880374e-01 7.53174330e-01 -8.04713974e-02 -1.13997122e+02] [-1.21812094e-01 4.55947164e-04 9.92553075e-01 -2.14751674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62592 meters 0.029383703960807413 Centerline is valid? [True, True] Translation: X:177.50, Y:-114.02, Z:-21.48 [[ 7.46384132e-01 6.59195018e-01 9.15022160e-02 1.77495707e+02] [-6.54248585e-01 7.51971968e-01 -8.06036465e-02 -1.14018354e+02] [-1.21940624e-01 2.96087365e-04 9.92537353e-01 -2.14783093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65592 meters 0.029383703960807413 Centerline is valid? [True, True] Translation: X:177.52, Y:-114.04, Z:-21.48 [[ 7.46042524e-01 6.59587454e-01 9.14600608e-02 1.77520261e+02] [-6.54638099e-01 7.51627768e-01 -8.06514572e-02 -1.14039505e+02] [-1.21940611e-01 2.96176356e-04 9.92537354e-01 -2.14813786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68592 meters 0.02960270133131119 Centerline is valid? [True, True] Translation: X:177.54, Y:-114.06, Z:-21.48 [[ 7.43896199e-01 6.61757559e-01 9.32490150e-02 1.77544296e+02] [-6.56618178e-01 7.49717903e-01 -8.23142420e-02 -1.14060449e+02] [-1.24382528e-01 4.25338190e-06 9.92234341e-01 -2.14849261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71592 meters 0.029665989551912842 Centerline is valid? [True, True] Translation: X:177.57, Y:-114.08, Z:-21.49 [[ 7.42948150e-01 6.62890076e-01 9.27620228e-02 1.77571029e+02] [-6.57803545e-01 7.48716723e-01 -8.19619726e-02 -1.14079883e+02] [-1.23784256e-01 -1.25691520e-04 9.92309146e-01 -2.14867307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74592 meters 0.02975851130815871 Centerline is valid? [True, True] Translation: X:177.60, Y:-114.10, Z:-21.49 [[ 7.42460088e-01 6.63464657e-01 9.25616872e-02 1.77597250e+02] [-6.58393901e-01 7.48207608e-01 -8.18709196e-02 -1.14099726e+02] [-1.23573820e-01 -1.56160105e-04 9.92335370e-01 -2.14906105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77592 meters 0.02988241633671473 Centerline is valid? [True, True] Translation: X:177.62, Y:-114.12, Z:-21.49 [[ 7.42258579e-01 6.63736197e-01 9.22304863e-02 1.77623162e+02] [-6.58693230e-01 7.47966739e-01 -8.16638637e-02 -1.14119348e+02] [-1.23188598e-01 -1.35893414e-04 9.92383268e-01 -2.14936774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80592000000001 meters 0.029919696335083353 Centerline is valid? [True, True] Translation: X:177.65, Y:-114.14, Z:-21.50 [[ 7.42074668e-01 6.63962328e-01 9.20826452e-02 1.77649101e+02] [-6.58926676e-01 7.47766016e-01 -8.16187501e-02 -1.14139561e+02] [-1.23048048e-01 -1.08504479e-04 9.92400708e-01 -2.14982982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.83592000000002 meters 0.030113275226661063 Centerline is valid? [True, True] Translation: X:177.67, Y:-114.16, Z:-21.50 [[ 7.42246458e-01 6.63713855e-01 9.24884610e-02 1.77674863e+02] [-6.58620836e-01 7.47986577e-01 -8.20650635e-02 -1.14160317e+02] [-1.23647847e-01 -2.32486049e-06 9.92326161e-01 -2.15013327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86592000000002 meters 0.030132443649847265 Centerline is valid? [True, True] Translation: X:177.70, Y:-114.18, Z:-21.50 [[ 7.42625587e-01 6.63065264e-01 9.40834394e-02 1.77701019e+02] [-6.57778222e-01 7.48561571e-01 -8.35666485e-02 -1.14179605e+02] [-1.25837389e-01 1.72693830e-04 9.92050867e-01 -2.15043633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89592000000002 meters 0.030295076743284976 Centerline is valid? [True, True] Translation: X:177.73, Y:-114.20, Z:-21.51 [[ 7.42706188e-01 6.63022412e-01 9.37485998e-02 1.77725919e+02] [-6.57762784e-01 7.48599509e-01 -8.33480379e-02 -1.14201170e+02] [-1.25441773e-01 2.38763434e-04 9.92100955e-01 -2.15075598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92592000000002 meters 0.03031548754862983 Centerline is valid? [True, True] Translation: X:177.75, Y:-114.22, Z:-21.51 [[ 7.43331098e-01 6.62258378e-01 9.41951172e-02 1.77750176e+02] [-6.56931302e-01 7.49275418e-01 -8.38308559e-02 -1.14222278e+02] [-1.26095772e-01 4.34361100e-04 9.92017977e-01 -2.15111384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95592 meters 0.030494717484128783 Centerline is valid? [True, True] Translation: X:177.77, Y:-114.24, Z:-21.52 [[ 7.44236484e-01 6.61194464e-01 9.45195051e-02 1.77774125e+02] [-6.55812122e-01 7.50214253e-01 -8.41964091e-02 -1.14242753e+02] [-1.26580079e-01 6.75002273e-04 9.91956162e-01 -2.15153909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98592 meters 0.030345823390933363 Centerline is valid? [True, True] Translation: X:177.80, Y:-114.26, Z:-21.52 [[ 7.44633006e-01 6.60748001e-01 9.45185972e-02 1.77799747e+02] [-6.55352071e-01 7.50607368e-01 -8.42747945e-02 -1.14263844e+02] [-1.26630758e-01 8.10835062e-04 9.91949592e-01 -2.15183499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01592 meters 0.030483212810833576 Centerline is valid? [True, True] Translation: X:177.82, Y:-114.29, Z:-21.52 [[ 7.44903049e-01 6.60451020e-01 9.44663865e-02 1.77824297e+02] [-6.55047526e-01 7.50868558e-01 -8.43157587e-02 -1.14286353e+02] [-1.26618268e-01 9.27092950e-04 9.91951085e-01 -2.15219683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04592 meters 0.030630597717638375 Centerline is valid? [True, True] Translation: X:177.85, Y:-114.31, Z:-21.53 [[ 7.44700358e-01 6.60715491e-01 9.42147373e-02 1.77848826e+02] [-6.55331795e-01 7.50635827e-01 -8.41789353e-02 -1.14308769e+02] [-1.26339284e-01 9.46170355e-04 9.91986638e-01 -2.15261122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07592 meters 0.030360401234934484 Centerline is valid? [True, True] Translation: X:177.87, Y:-114.33, Z:-21.53 [[ 7.43930707e-01 6.61699358e-01 9.33866338e-02 1.77872560e+02] [-6.56407448e-01 7.49768806e-01 -8.35224506e-02 -1.14329905e+02] [-1.25285137e-01 8.35233742e-04 9.92120425e-01 -2.15279081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10592 meters 0.0302873783149931 Centerline is valid? [True, True] Translation: X:177.90, Y:-114.35, Z:-21.53 [[ 7.43055874e-01 6.62649526e-01 9.36139624e-02 1.77897289e+02] [-6.57329326e-01 7.48929279e-01 -8.38038907e-02 -1.14351968e+02] [-1.25642846e-01 7.35770500e-04 9.92075266e-01 -2.15315137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13592 meters 0.03034450958503684 Centerline is valid? [True, True] Translation: X:177.92, Y:-114.37, Z:-21.53 [[ 7.42159563e-01 6.63558163e-01 9.42854604e-02 1.77919917e+02] [-6.58157702e-01 7.48124417e-01 -8.44884399e-02 -1.14374028e+02] [-1.26600249e-01 6.49201685e-04 9.91953606e-01 -2.15343224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16592 meters 0.030275724855895206 Centerline is valid? [True, True] Translation: X:177.94, Y:-114.40, Z:-21.54 [[ 7.41426281e-01 6.64372694e-01 9.43185722e-02 1.77944762e+02] [-6.58965348e-01 7.47401232e-01 -8.45935482e-02 -1.14396163e+02] [-1.26695461e-01 5.67209068e-04 9.91941500e-01 -2.15371521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19592 meters 0.030319372239086238 Centerline is valid? [True, True] Translation: X:177.97, Y:-114.42, Z:-21.54 [[ 7.40987256e-01 6.64907657e-01 9.39983710e-02 1.77970465e+02] [-6.59530270e-01 7.46925375e-01 -8.43937631e-02 -1.14417498e+02] [-1.26323828e-01 5.39931981e-04 9.91988911e-01 -2.15400343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22592 meters 0.030191227563835667 Centerline is valid? [True, True] Translation: X:178.00, Y:-114.44, Z:-21.54 [[ 7.40991166e-01 6.65138854e-01 9.23168291e-02 1.77995605e+02] [-6.59945778e-01 7.46719497e-01 -8.29551883e-02 -1.14438116e+02] [-1.24111495e-01 5.44960057e-04 9.92268129e-01 -2.15435337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25592 meters 0.030467683239903242 Centerline is valid? [True, True] Translation: X:178.02, Y:-114.46, Z:-21.55 [[ 7.40948988e-01 6.65004600e-01 9.36134577e-02 1.78020616e+02] [-6.59657914e-01 7.46839016e-01 -8.41600908e-02 -1.14458512e+02] [-1.25881030e-01 6.05475913e-04 9.92045160e-01 -2.15474944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28592 meters 0.03049247695680776 Centerline is valid? [True, True] Translation: X:178.04, Y:-114.48, Z:-21.55 [[ 7.40984974e-01 6.65040646e-01 9.30709797e-02 1.78044641e+02] [-6.59746788e-01 7.46806878e-01 -8.37476134e-02 -1.14479423e+02] [-1.25201615e-01 6.52443273e-04 9.92131105e-01 -2.15495229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31592 meters 0.03025864362638987 Centerline is valid? [True, True] Translation: X:178.07, Y:-114.50, Z:-21.55 [[ 7.41471570e-01 6.64658032e-01 9.19217661e-02 1.78069149e+02] [-6.59482463e-01 7.47147320e-01 -8.27874606e-02 -1.14500261e+02] [-1.23704452e-01 7.63755718e-04 9.92318812e-01 -2.15522527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34592 meters 0.030478135771355715 Centerline is valid? [True, True] Translation: X:178.09, Y:-114.52, Z:-21.56 [[ 7.43197827e-01 6.62792368e-01 9.14508943e-02 1.78094140e+02] [-6.57646254e-01 7.48802381e-01 -8.24402671e-02 -1.14521784e+02] [-1.23119427e-01 1.12708931e-03 9.92391221e-01 -2.15564864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37592 meters 0.030558806405797747 Centerline is valid? [True, True] Translation: X:178.12, Y:-114.54, Z:-21.56 [[ 7.43783079e-01 6.62135883e-01 9.14483675e-02 1.78118872e+02] [-6.56974495e-01 7.49382667e-01 -8.25235199e-02 -1.14543212e+02] [-1.23171605e-01 1.30035265e-03 9.92384535e-01 -2.15595409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40592 meters 0.030716901995664327 Centerline is valid? [True, True] Translation: X:178.14, Y:-114.56, Z:-21.56 [[ 7.44517478e-01 6.61275666e-01 9.16963377e-02 1.78142585e+02] [-6.56069360e-01 7.50141464e-01 -8.28298171e-02 -1.14564906e+02] [-1.23558567e-01 1.50908890e-03 9.92336134e-01 -2.15618181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43592 meters 0.030795357916908326 Centerline is valid? [True, True] Translation: X:178.17, Y:-114.59, Z:-21.56 [[ 7.44612880e-01 6.61234776e-01 9.12152911e-02 1.78166589e+02] [-6.56073487e-01 7.50177393e-01 -8.24709540e-02 -1.14587413e+02] [-1.22960312e-01 1.56500050e-03 9.92410355e-01 -2.15647504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46592 meters 0.030745505094461157 Centerline is valid? [True, True] Translation: X:178.19, Y:-114.61, Z:-21.57 [[ 7.45491942e-01 6.60375668e-01 9.02537612e-02 1.78189995e+02] [-6.55306608e-01 7.50933359e-01 -8.16843861e-02 -1.14610603e+02] [-1.21716941e-01 1.75116551e-03 9.92563308e-01 -2.15681048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49592 meters 0.03076770809396336 Centerline is valid? [True, True] Translation: X:178.21, Y:-114.63, Z:-21.57 [[ 7.45124284e-01 6.60670991e-01 9.11243274e-02 1.78213406e+02] [-6.55495266e-01 7.50673475e-01 -8.25547750e-02 -1.14632600e+02] [-1.22946161e-01 1.78200240e-03 9.92411742e-01 -2.15713878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52592 meters 0.030977516140141506 Centerline is valid? [True, True] Translation: X:178.24, Y:-114.65, Z:-21.57 [[ 7.44749201e-01 6.61173636e-01 9.05430887e-02 1.78236425e+02] [-6.56058734e-01 7.50230888e-01 -8.21008724e-02 -1.14654613e+02] [-1.22211154e-01 1.74297501e-03 9.92502592e-01 -2.15745505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55592000000001 meters 0.03085370939581268 Centerline is valid? [True, True] Translation: X:178.26, Y:-114.68, Z:-21.58 [[ 7.44503022e-01 6.61529682e-01 8.99651587e-02 1.78259452e+02] [-6.56473862e-01 7.49916991e-01 -8.16490951e-02 -1.14677379e+02] [-1.21479701e-01 1.72822287e-03 9.92592412e-01 -2.15766301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58592000000002 meters 0.030742757124055244 Centerline is valid? [True, True] Translation: X:178.28, Y:-114.70, Z:-21.58 [[ 7.44065143e-01 6.62088133e-01 8.94782988e-02 1.78282536e+02] [-6.57082345e-01 7.49424094e-01 -8.12792699e-02 -1.14699384e+02] [-1.20871233e-01 1.68246131e-03 9.92666769e-01 -2.15792728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61592000000002 meters 0.03083730169576922 Centerline is valid? [True, True] Translation: X:178.31, Y:-114.72, Z:-21.58 [[ 7.42656518e-01 6.63552501e-01 9.03292574e-02 1.78305601e+02] [-6.58452068e-01 7.48128185e-01 -8.21285195e-02 -1.14723389e+02] [-1.22074448e-01 1.51579399e-03 9.92519789e-01 -2.15833715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64592000000002 meters 0.030782391668125315 Centerline is valid? [True, True] Translation: X:178.33, Y:-114.75, Z:-21.59 [[ 7.41805691e-01 6.64605705e-01 8.95744037e-02 1.78328382e+02] [-6.59588273e-01 7.47192960e-01 -8.15229395e-02 -1.14745785e+02] [-1.21109975e-01 1.39195425e-03 9.92638120e-01 -2.15859805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67592000000002 meters 0.030440484539896027 Centerline is valid? [True, True] Translation: X:178.35, Y:-114.77, Z:-21.59 [[ 7.39609492e-01 6.67078960e-01 8.93502122e-02 1.78350489e+02] [-6.62095719e-01 7.44986295e-01 -8.13921290e-02 -1.14769132e+02] [-1.20859660e-01 1.03999816e-03 9.92669059e-01 -2.15891252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70592 meters 0.030173951613505497 Centerline is valid? [True, True] Translation: X:178.37, Y:-114.79, Z:-21.59 [[ 7.37663903e-01 6.69310036e-01 8.87470726e-02 1.78374021e+02] [-6.64401318e-01 7.42982874e-01 -8.09156212e-02 -1.14791054e+02] [-1.20095192e-01 7.24860948e-04 9.92762116e-01 -2.15914276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73592 meters 0.030206571162638418 Centerline is valid? [True, True] Translation: X:178.40, Y:-114.81, Z:-21.59 [[ 7.35955260e-01 6.71203553e-01 8.86320799e-02 1.78398564e+02] [-6.66312047e-01 7.41272937e-01 -8.08868882e-02 -1.14812943e+02] [-1.19992129e-01 4.72508234e-04 9.92774731e-01 -2.15945411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76592 meters 0.03019057998753826 Centerline is valid? [True, True] Translation: X:178.42, Y:-114.83, Z:-21.60 [[ 7.32659427e-01 6.74857621e-01 8.81893097e-02 1.78421955e+02] [-6.70031447e-01 7.37947957e-01 -8.05647123e-02 -1.14834398e+02] [-1.19448831e-01 -6.31148179e-05 9.92840356e-01 -2.15963641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79592 meters 0.02996619407132415 Centerline is valid? [True, True] Translation: X:178.45, Y:-114.86, Z:-21.60 [[ 7.31497680e-01 6.76114866e-01 8.82033617e-02 1.78447224e+02] [-6.71287062e-01 7.36796202e-01 -8.06538082e-02 -1.14855937e+02] [-1.19519141e-01 -2.11702006e-04 9.92831874e-01 -2.16008594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82592 meters 0.029767165130391002 Centerline is valid? [True, True] Translation: X:178.47, Y:-114.88, Z:-21.60 [[ 7.29335071e-01 6.78588178e-01 8.71116426e-02 1.78472251e+02] [-6.73887431e-01 7.34518743e-01 -7.97367375e-02 -1.14876162e+02] [-1.18093542e-01 -5.48641938e-04 9.93002323e-01 -2.16032995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85592 meters 0.030077763029507893 Centerline is valid? [True, True] Translation: X:178.50, Y:-114.90, Z:-21.61 [[ 7.28133837e-01 6.79703912e-01 8.84517254e-02 1.78496088e+02] [-6.74855920e-01 7.33486280e-01 -8.10392739e-02 -1.14896870e+02] [-1.19960839e-01 -6.84733131e-04 9.92778388e-01 -2.16077918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88592 meters 0.029974723304145863 Centerline is valid? [True, True] Translation: X:178.52, Y:-114.92, Z:-21.61 [[ 7.27191387e-01 6.80829641e-01 8.75424897e-02 1.78521830e+02] [-6.76081613e-01 7.32441354e-01 -8.02702644e-02 -1.14917179e+02] [-1.18770115e-01 -8.14022772e-04 9.92921446e-01 -2.16091065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91592 meters 0.029886628850044585 Centerline is valid? [True, True] Translation: X:178.55, Y:-114.94, Z:-21.61 [[ 7.25880001e-01 6.82365810e-01 8.64588029e-02 1.78547111e+02] [-6.77741687e-01 7.31010156e-01 -7.93117749e-02 -1.14937507e+02] [-1.17321907e-01 -1.02590370e-03 9.93093408e-01 -2.16109843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94592 meters 0.02983873225043246 Centerline is valid? [True, True] Translation: X:178.57, Y:-114.96, Z:-21.61 [[ 7.24969625e-01 6.83443632e-01 8.55794588e-02 1.78574860e+02] [-6.78912255e-01 7.30002408e-01 -7.85788370e-02 -1.14955256e+02] [-1.16177417e-01 -1.13367332e-03 9.93227830e-01 -2.16145581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97592 meters 0.029804558341756555 Centerline is valid? [True, True] Translation: X:178.60, Y:-114.98, Z:-21.62 [[ 7.25295531e-01 6.83153751e-01 8.51313478e-02 1.78600471e+02] [-6.78658514e-01 7.30273858e-01 -7.82477668e-02 -1.14975167e+02] [-1.15624453e-01 -1.02235847e-03 9.93292475e-01 -2.16183345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00592 meters 0.02977506582039636 Centerline is valid? [True, True] Translation: X:178.63, Y:-114.99, Z:-21.62 [[ 7.24988205e-01 6.83350389e-01 8.61646637e-02 1.78626954e+02] [-6.78737622e-01 7.30089873e-01 -7.92718017e-02 -1.14993600e+02] [-1.17078365e-01 -1.01207769e-03 9.93122164e-01 -2.16209332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03592 meters 0.029685154495176832 Centerline is valid? [True, True] Translation: X:178.65, Y:-115.01, Z:-21.62 [[ 7.25404313e-01 6.82847458e-01 8.66483219e-02 1.78653708e+02] [-6.78169926e-01 7.30560453e-01 -7.97933411e-02 -1.15013798e+02] [-1.17788517e-01 -8.79852212e-04 9.93038313e-01 -2.16232475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06592 meters 0.02952748108114422 Centerline is valid? [True, True] Translation: X:178.68, Y:-115.03, Z:-21.63 [[ 7.25445366e-01 6.82901259e-01 8.58771856e-02 1.78679571e+02] [-6.78297765e-01 7.30510230e-01 -7.91640436e-02 -1.15033163e+02] [-1.16795388e-01 -8.21114497e-04 9.93155659e-01 -2.16253262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09592 meters 0.029281576790084436 Centerline is valid? [True, True] Translation: X:178.71, Y:-115.05, Z:-21.63 [[ 7.27398483e-01 6.80750873e-01 8.64274023e-02 1.78708285e+02] [-6.76063829e-01 7.32514894e-01 -7.97472848e-02 -1.15050841e+02] [-1.17597393e-01 -4.22386544e-04 9.93061264e-01 -2.16294870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12592 meters 0.029095089007089854 Centerline is valid? [True, True] Translation: X:178.74, Y:-115.07, Z:-21.63 [[ 7.29558234e-01 6.78400254e-01 8.67057018e-02 1.78735240e+02] [-6.73656191e-01 7.34692518e-01 -8.00889581e-02 -1.15069494e+02] [-1.18034400e-01 1.97260241e-05 9.93009507e-01 -2.16338243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15592 meters 0.028943336793791803 Centerline is valid? [True, True] Translation: X:178.76, Y:-115.09, Z:-21.64 [[ 7.30183866e-01 6.77756009e-01 8.64772425e-02 1.78761114e+02] [-6.73022477e-01 7.35286854e-01 -7.99624163e-02 -1.15090681e+02] [-1.17780588e-01 1.86138386e-04 9.93039626e-01 -2.16358881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18592 meters 0.02890352310866104 Centerline is valid? [True, True] Translation: X:178.79, Y:-115.11, Z:-21.64 [[ 7.30897496e-01 6.77062213e-01 8.58813722e-02 1.78786931e+02] [-6.72379395e-01 7.35925697e-01 -7.94941306e-02 -1.15111963e+02] [-1.17024781e-01 3.57195841e-04 9.93128931e-01 -2.16384554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21592 meters 0.028943390212909446 Centerline is valid? [True, True] Translation: X:178.81, Y:-115.13, Z:-21.64 [[ 7.31045162e-01 6.76841794e-01 8.63606260e-02 1.78812653e+02] [-6.72094925e-01 7.36128370e-01 -8.00214658e-02 -1.15132156e+02] [-1.17734379e-01 4.56766981e-04 9.93045018e-01 -2.16416048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24592 meters 0.0289631629382374 Centerline is valid? [True, True] Translation: X:178.84, Y:-115.15, Z:-21.64 [[ 7.30794488e-01 6.76998720e-01 8.72476287e-02 1.78837310e+02] [-6.72144717e-01 7.35984026e-01 -8.09258528e-02 -1.15153039e+02] [-1.18999560e-01 4.97134489e-04 9.92894183e-01 -2.16441068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27592 meters 0.028925224990850363 Centerline is valid? [True, True] Translation: X:178.86, Y:-115.17, Z:-21.65 [[ 7.31230833e-01 6.76561562e-01 8.69822998e-02 1.78862952e+02] [-6.71725081e-01 7.36385813e-01 -8.07548766e-02 -1.15173597e+02] [-1.18688177e-01 6.22263251e-04 9.92931382e-01 -2.16478555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30592000000001 meters 0.028969448107447247 Centerline is valid? [True, True] Translation: X:178.89, Y:-115.20, Z:-21.65 [[ 7.30601094e-01 6.77296243e-01 8.65554156e-02 1.78888232e+02] [-6.72502470e-01 7.35710189e-01 -8.04421866e-02 -1.15195153e+02] [-1.18162892e-01 5.62418834e-04 9.92994066e-01 -2.16502817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.33592000000002 meters 0.029171666037659475 Centerline is valid? [True, True] Translation: X:178.91, Y:-115.22, Z:-21.65 [[ 7.30504654e-01 6.77230907e-01 8.78706374e-02 1.78912418e+02] [-6.72279422e-01 7.35770267e-01 -8.17465203e-02 -1.15215383e+02] [-1.20013872e-01 6.42592233e-04 9.92772007e-01 -2.16539888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36592000000002 meters 0.028925755864351 Centerline is valid? [True, True] Translation: X:178.94, Y:-115.24, Z:-21.66 [[ 7.30519564e-01 6.77448955e-01 8.60469611e-02 1.78936963e+02] [-6.72695151e-01 7.35569507e-01 -8.01170081e-02 -1.15236276e+02] [-1.17568704e-01 6.43668391e-04 9.93064542e-01 -2.16559604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39592000000002 meters 0.028905940245477584 Centerline is valid? [True, True] Translation: X:178.96, Y:-115.26, Z:-21.66 [[ 7.30508524e-01 6.77529424e-01 8.55054150e-02 1.78963930e+02] [-6.72827386e-01 7.35495354e-01 -7.96862164e-02 -1.15255625e+02] [-1.16878592e-01 6.81075482e-04 9.93145977e-01 -2.16595479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42592000000002 meters 0.0288542871360242 Centerline is valid? [True, True] Translation: X:178.99, Y:-115.28, Z:-21.66 [[ 7.30898811e-01 6.77210295e-01 8.46944222e-02 1.78989379e+02] [-6.72585755e-01 7.35789100e-01 -7.90114076e-02 -1.15276249e+02] [-1.15824571e-01 7.85081959e-04 9.93269376e-01 -2.16620845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45592 meters 0.028995699671339765 Centerline is valid? [True, True] Translation: X:179.01, Y:-115.30, Z:-21.67 [[ 7.31018069e-01 6.76936360e-01 8.58472367e-02 1.79013921e+02] [-6.72173040e-01 7.36041000e-01 -8.01688848e-02 -1.15297271e+02] [-1.17456319e-01 9.00705292e-04 9.93077641e-01 -2.16661166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48592 meters 0.029079421934892307 Centerline is valid? [True, True] Translation: X:179.04, Y:-115.32, Z:-21.67 [[ 7.31328359e-01 6.76579211e-01 8.60197828e-02 1.79039732e+02] [-6.71785386e-01 7.36369161e-01 -8.04043144e-02 -1.15317770e+02] [-1.17742203e-01 1.01512227e-03 9.93043676e-01 -2.16692461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51592 meters 0.029221813581573542 Centerline is valid? [True, True] Translation: X:179.06, Y:-115.34, Z:-21.67 [[ 7.30703563e-01 6.77173535e-01 8.66504911e-02 1.79064849e+02] [-6.72303089e-01 7.35822688e-01 -8.10772987e-02 -1.15339774e+02] [-1.18662798e-01 9.88078151e-04 9.92934119e-01 -2.16725243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54592 meters 0.029221813581573542 Centerline is valid? [True, True] Translation: X:179.09, Y:-115.36, Z:-21.68 [[ 7.30357902e-01 6.77551623e-01 8.66090825e-02 1.79088772e+02] [-6.72678584e-01 7.35474556e-01 -8.11215132e-02 -1.15361673e+02] [-1.18662789e-01 9.87663173e-04 9.92934120e-01 -2.16755934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57592 meters 0.029131155710238235 Centerline is valid? [True, True] Translation: X:179.11, Y:-115.38, Z:-21.68 [[ 7.30411194e-01 6.77498811e-01 8.65727947e-02 1.79114486e+02] [-6.72619513e-01 7.35523108e-01 -8.11711043e-02 -1.15381725e+02] [-1.18669618e-01 1.05773217e-03 9.92933232e-01 -2.16789469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60592 meters 0.02948715838963422 Centerline is valid? [True, True] Translation: X:179.14, Y:-115.40, Z:-21.68 [[ 7.30215718e-01 6.77581253e-01 8.75708356e-02 1.79139875e+02] [-6.72578945e-01 7.35447072e-01 -8.21898235e-02 -1.15401992e+02] [-1.20093998e-01 1.11800076e-03 9.92761896e-01 -2.16821980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63592 meters 0.029252276957557066 Centerline is valid? [True, True] Translation: X:179.17, Y:-115.42, Z:-21.69 [[ 7.30023374e-01 6.77885591e-01 8.68158857e-02 1.79166882e+02] [-6.72964135e-01 7.35166583e-01 -8.15436609e-02 -1.15420824e+02] [-1.19101411e-01 1.10480107e-03 9.92881480e-01 -2.16851152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66592 meters 0.029244319504026783 Centerline is valid? [True, True] Translation: X:179.19, Y:-115.44, Z:-21.69 [[ 7.29322590e-01 6.78666922e-01 8.66012036e-02 1.79192170e+02] [-6.73770818e-01 7.34445508e-01 -8.13798578e-02 -1.15442046e+02] [-1.18833683e-01 1.00280492e-03 9.92913667e-01 -2.16880026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69592 meters 0.029340490224756807 Centerline is valid? [True, True] Translation: X:179.22, Y:-115.46, Z:-21.69 [[ 7.28982862e-01 6.79111113e-01 8.59772274e-02 1.79217828e+02] [-6.74279084e-01 7.34034829e-01 -8.08738891e-02 -1.15461929e+02] [-1.18032636e-01 9.83032982e-04 9.93009230e-01 -2.16903642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72592 meters 0.029350681593949376 Centerline is valid? [True, True] Translation: X:179.24, Y:-115.48, Z:-21.69 [[ 7.28737768e-01 6.79294496e-01 8.66039959e-02 1.79242993e+02] [-6.74384026e-01 7.33865082e-01 -8.15366632e-02 -1.15482237e+02] [-1.18943055e-01 1.01449452e-03 9.92900559e-01 -2.16939532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75592 meters 0.02949910850241817 Centerline is valid? [True, True] Translation: X:179.27, Y:-115.50, Z:-21.70 [[ 7.29564064e-01 6.78380677e-01 8.68097589e-02 1.79268741e+02] [-6.73431525e-01 7.34709581e-01 -8.18035081e-02 -1.15501602e+02] [-1.19273881e-01 1.22047155e-03 9.92860641e-01 -2.16965681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78592 meters 0.02983794424558717 Centerline is valid? [True, True] Translation: X:179.29, Y:-115.52, Z:-21.70 [[ 7.31175044e-01 6.76472988e-01 8.81325722e-02 1.79294763e+02] [-6.71348327e-01 7.36465682e-01 -8.31247507e-02 -1.15520365e+02] [-1.21138263e-01 1.61108842e-03 9.92634336e-01 -2.17008909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81592 meters 0.030155021310943633 Centerline is valid? [True, True] Translation: X:179.32, Y:-115.54, Z:-21.70 [[ 7.33401732e-01 6.74173364e-01 8.72477786e-02 1.79319176e+02] [-6.69126535e-01 7.38570359e-01 -8.23620341e-02 -1.15541693e+02] [-1.19964913e-01 2.02465473e-03 9.92776068e-01 -2.17039195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84592 meters 0.030352843920440225 Centerline is valid? [True, True] Translation: X:179.34, Y:-115.56, Z:-21.71 [[ 7.34820788e-01 6.72680237e-01 8.68314920e-02 1.79343342e+02] [-6.67662655e-01 7.39929699e-01 -8.20403572e-02 -1.15562709e+02] [-1.19436127e-01 2.31081545e-03 9.92839197e-01 -2.17060850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87592 meters 0.03052677682360758 Centerline is valid? [True, True] Translation: X:179.37, Y:-115.58, Z:-21.71 [[ 7.35227242e-01 6.72142338e-01 8.75532976e-02 1.79367298e+02] [-6.67028056e-01 7.40417831e-01 -8.27949766e-02 -1.15583347e+02] [-1.20476032e-01 2.47261647e-03 9.92713157e-01 -2.17098792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90592 meters 0.031052959582367843 Centerline is valid? [True, True] Translation: X:179.39, Y:-115.60, Z:-21.71 [[ 7.37188853e-01 6.69918789e-01 8.80988767e-02 1.79391679e+02] [-6.64715583e-01 7.42428687e-01 -8.33836801e-02 -1.15604958e+02] [-1.21267427e-01 2.90882327e-03 9.92615610e-01 -2.17113226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93592 meters 0.031211098413038336 Centerline is valid? [True, True] Translation: X:179.42, Y:-115.63, Z:-21.71 [[ 7.37652643e-01 6.69505690e-01 8.73539267e-02 1.79415270e+02] [-6.64378686e-01 7.42800844e-01 -8.27518409e-02 -1.15628051e+02] [-1.20289399e-01 3.00602718e-03 9.92734317e-01 -2.17146164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96592 meters 0.0316094988389817 Centerline is valid? [True, True] Translation: X:179.44, Y:-115.65, Z:-21.72 [[ 7.37910543e-01 6.69271976e-01 8.69658177e-02 1.79438636e+02] [-6.64179134e-01 7.43011080e-01 -8.24658347e-02 -1.15650434e+02] [-1.19808638e-01 3.09152742e-03 9.92792190e-01 -2.17186446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99592 meters 0.0315236311022004 Centerline is valid? [True, True] Translation: X:179.46, Y:-115.67, Z:-21.72 [[ 7.38249995e-01 6.69080306e-01 8.55481618e-02 1.79461633e+02] [-6.64143352e-01 7.43183554e-01 -8.11899802e-02 -1.15672261e+02] [-1.17900604e-01 3.12225960e-03 9.93020493e-01 -2.17213260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02592 meters 0.031250705432059295 Centerline is valid? [True, True] Translation: X:179.48, Y:-115.70, Z:-21.72 [[ 7.36487987e-01 6.71081625e-01 8.50582037e-02 1.79484793e+02] [-6.66210581e-01 7.41378144e-01 -8.07583416e-02 -1.15695121e+02] [-1.17255732e-01 2.81087320e-03 9.93097776e-01 -2.17231003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05592000000001 meters 0.03121527500660609 Centerline is valid? [True, True] Translation: X:179.51, Y:-115.72, Z:-21.73 [[ 7.35426129e-01 6.72191004e-01 8.54848693e-02 1.79509048e+02] [-6.67269634e-01 7.40372849e-01 -8.12359506e-02 -1.15717590e+02] [-1.17896751e-01 2.70158330e-03 9.93022184e-01 -2.17263681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08592000000002 meters 0.031089026324723646 Centerline is valid? [True, True] Translation: X:179.53, Y:-115.74, Z:-21.73 [[ 7.34036863e-01 6.73677595e-01 8.57227100e-02 1.79532683e+02] [-6.68729396e-01 7.39021045e-01 -8.15407263e-02 -1.15739370e+02] [-1.18283047e-01 2.52860280e-03 9.92976700e-01 -2.17285754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11592000000002 meters 0.030767465422494023 Centerline is valid? [True, True] Translation: X:179.56, Y:-115.76, Z:-21.73 [[ 7.31480772e-01 6.76442537e-01 8.57984522e-02 1.79557260e+02] [-6.71496017e-01 7.36492315e-01 -8.16833442e-02 -1.15759904e+02] [-1.18443989e-01 2.13647676e-03 9.92958437e-01 -2.17313379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14592000000002 meters 0.03074100789267273 Centerline is valid? [True, True] Translation: X:179.58, Y:-115.78, Z:-21.73 [[ 7.29820890e-01 6.78202529e-01 8.60395184e-02 1.79580698e+02] [-6.73231667e-01 7.34872564e-01 -8.19843785e-02 -1.15781276e+02] [-1.18830094e-01 1.90938367e-03 9.92912767e-01 -2.17337141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17592000000002 meters 0.030291936116364503 Centerline is valid? [True, True] Translation: X:179.60, Y:-115.80, Z:-21.74 [[ 7.26762497e-01 6.81524022e-01 8.56812668e-02 1.79604296e+02] [-6.76609051e-01 7.31794375e-01 -8.17140432e-02 -1.15803257e+02] [-1.18391153e-01 1.41398149e-03 9.92966029e-01 -2.17365696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20592 meters 0.03023332196518441 Centerline is valid? [True, True] Translation: X:179.63, Y:-115.82, Z:-21.74 [[ 7.25419694e-01 6.83025596e-01 8.51017254e-02 1.79628810e+02] [-6.78179003e-01 7.30393431e-01 -8.12322374e-02 -1.15824353e+02] [-1.17641438e-01 1.21326149e-03 9.93055396e-01 -2.17397868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23592 meters 0.03022549128332846 Centerline is valid? [True, True] Translation: X:179.66, Y:-115.84, Z:-21.74 [[ 7.23620040e-01 6.84899339e-01 8.53635409e-02 1.79655456e+02] [-6.80026864e-01 7.28637058e-01 -8.15567435e-02 -1.15844184e+02] [-1.18057199e-01 9.66592957e-04 9.93006326e-01 -2.17424042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26592 meters 0.030177393546080785 Centerline is valid? [True, True] Translation: X:179.68, Y:-115.86, Z:-21.74 [[ 7.23237012e-01 6.85415805e-01 8.44594505e-02 1.79680347e+02] [-6.80640523e-01 7.28151295e-01 -8.07723377e-02 -1.15864669e+02] [-1.16861895e-01 9.31019624e-04 9.93147739e-01 -2.17440205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29592 meters 0.030025929659797376 Centerline is valid? [True, True] Translation: X:179.71, Y:-115.88, Z:-21.75 [[ 7.22091571e-01 6.86634496e-01 8.43613235e-02 1.79706615e+02] [-6.81869961e-01 7.27002373e-01 -8.07521282e-02 -1.15884741e+02] [-1.16778079e-01 7.86978747e-04 9.93157722e-01 -2.17478624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32592 meters 0.03015727928754873 Centerline is valid? [True, True] Translation: X:179.73, Y:-115.91, Z:-21.75 [[ 7.21328609e-01 6.87444879e-01 8.42886532e-02 1.79732060e+02] [-6.82684356e-01 7.26236206e-01 -8.07653651e-02 -1.15906272e+02] [-1.16735208e-01 7.15823578e-04 9.93162816e-01 -2.17517395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35592 meters 0.029939300224438265 Centerline is valid? [True, True] Translation: X:179.76, Y:-115.93, Z:-21.75 [[ 7.20802398e-01 6.88099122e-01 8.34475959e-02 1.79755996e+02] [-6.83428561e-01 7.25616400e-01 -8.00390045e-02 -1.15927740e+02] [-1.15625713e-01 6.61836051e-04 9.93292634e-01 -2.17536662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38592 meters 0.03017646173097246 Centerline is valid? [True, True] Translation: X:179.78, Y:-115.95, Z:-21.76 [[ 7.20909507e-01 6.87804791e-01 8.49355734e-02 1.79780683e+02] [-6.82954825e-01 7.25895287e-01 -8.15398053e-02 -1.15948103e+02] [-1.17737801e-01 7.75661185e-04 9.93044414e-01 -2.17574171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41592 meters 0.030353292076749937 Centerline is valid? [True, True] Translation: X:179.81, Y:-115.97, Z:-21.76 [[ 7.21217776e-01 6.87477037e-01 8.49720089e-02 1.79806067e+02] [-6.82611701e-01 7.26205577e-01 -8.16500149e-02 -1.15969238e+02] [-1.17839657e-01 8.84554663e-04 9.93032242e-01 -2.17598133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44592 meters 0.030153819813492768 Centerline is valid? [True, True] Translation: X:179.83, Y:-115.99, Z:-21.76 [[ 7.20374754e-01 6.88459526e-01 8.41646832e-02 1.79832617e+02] [-6.83683832e-01 7.25274348e-01 -8.09539257e-02 -1.15987991e+02] [-1.16775987e-01 7.75131225e-04 9.93157977e-01 -2.17619342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47592 meters 0.030251709060234753 Centerline is valid? [True, True] Translation: X:179.86, Y:-116.01, Z:-21.77 [[ 7.19895659e-01 6.89001471e-01 8.38284703e-02 1.79857318e+02] [-6.84259096e-01 7.24759566e-01 -8.07035397e-02 -1.16009920e+02] [-1.16360343e-01 7.37734688e-04 9.93206789e-01 -2.17661542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50592 meters 0.030318379360753583 Centerline is valid? [True, True] Translation: X:179.88, Y:-116.03, Z:-21.77 [[ 7.20201141e-01 6.88745596e-01 8.33055835e-02 1.79883472e+02] [-6.84051235e-01 7.25002627e-01 -8.02813683e-02 -1.16030823e+02] [-1.15690206e-01 8.33445780e-04 9.93284995e-01 -2.17697601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53592 meters 0.030283321912923773 Centerline is valid? [True, True] Translation: X:179.91, Y:-116.05, Z:-21.77 [[ 7.20398851e-01 6.88591057e-01 8.28725086e-02 1.79909179e+02] [-6.83935160e-01 7.25149311e-01 -7.99448197e-02 -1.16051884e+02] [-1.15144230e-01 9.12733863e-04 9.93348364e-01 -2.17721195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56592 meters 0.03065173358575659 Centerline is valid? [True, True] Translation: X:179.93, Y:-116.07, Z:-21.77 [[ 7.21267343e-01 6.87637105e-01 8.32384001e-02 1.79934482e+02] [-6.82924222e-01 7.26053675e-01 -8.03776638e-02 -1.16071417e+02] [-1.15706210e-01 1.12826447e-03 9.93282840e-01 -2.17746457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59592 meters 0.030773787073647963 Centerline is valid? [True, True] Translation: X:179.96, Y:-116.09, Z:-21.78 [[ 7.21469487e-01 6.87431025e-01 8.31887289e-02 1.79959430e+02] [-6.82713914e-01 7.26248657e-01 -8.04027351e-02 -1.16093315e+02] [-1.15687037e-01 1.21401737e-03 9.93284972e-01 -2.17769693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62592 meters 0.03102503658417233 Centerline is valid? [True, True] Translation: X:179.98, Y:-116.11, Z:-21.78 [[ 7.21585333e-01 6.87203078e-01 8.40626978e-02 1.79984032e+02] [-6.82374834e-01 7.26464161e-01 -8.13290138e-02 -1.16113956e+02] [-1.16958086e-01 1.32355407e-03 9.93135970e-01 -2.17816365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65592 meters 0.03152692704481024 Centerline is valid? [True, True] Translation: X:180.01, Y:-116.13, Z:-21.79 [[ 7.22751229e-01 6.85849160e-01 8.50975367e-02 1.80009552e+02] [-6.80882765e-01 7.27741932e-01 -8.24035236e-02 -1.16133622e+02] [-1.18445433e-01 1.61580187e-03 9.92959248e-01 -2.17859705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68592 meters 0.03151240045947325 Centerline is valid? [True, True] Translation: X:180.03, Y:-116.16, Z:-21.79 [[ 7.23249124e-01 6.85287529e-01 8.53914891e-02 1.80032250e+02] [-6.80274092e-01 7.28270472e-01 -8.27603683e-02 -1.16155689e+02] [-1.18902748e-01 1.76674613e-03 9.92904333e-01 -2.17895715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71592 meters 0.03168406213868838 Centerline is valid? [True, True] Translation: X:180.05, Y:-116.18, Z:-21.79 [[ 7.23299799e-01 6.85338877e-01 8.45459897e-02 1.80054726e+02] [-6.80416570e-01 7.28222089e-01 -8.20114652e-02 -1.16178756e+02] [-1.17773903e-01 1.79238398e-03 9.93038819e-01 -2.17934213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74592 meters 0.03170082432007088 Centerline is valid? [True, True] Translation: X:180.08, Y:-116.20, Z:-21.80 [[ 7.22716260e-01 6.86027217e-01 8.39515651e-02 1.80078247e+02] [-6.81170428e-01 7.27573844e-01 -8.15055122e-02 -1.16200336e+02] [-1.16995963e-01 1.72003533e-03 9.93130901e-01 -2.17955377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77592 meters 0.03159279040799547 Centerline is valid? [True, True] Translation: X:180.10, Y:-116.22, Z:-21.80 [[ 7.21757751e-01 6.86998789e-01 8.42520777e-02 1.80102998e+02] [-6.82104964e-01 7.26656750e-01 -8.18705363e-02 -1.16222346e+02] [-1.17467300e-01 1.62193364e-03 9.93075427e-01 -2.17979655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80592000000001 meters 0.03149875871893467 Centerline is valid? [True, True] Translation: X:180.13, Y:-116.25, Z:-21.80 [[ 7.20336473e-01 6.88420873e-01 8.48060609e-02 1.80127407e+02] [-6.83462232e-01 7.25309983e-01 -8.24912529e-02 -1.16245087e+02] [-1.18299383e-01 1.45971844e-03 9.92976901e-01 -2.18008364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.83592000000002 meters 0.031574700628808884 Centerline is valid? [True, True] Translation: X:180.15, Y:-116.27, Z:-21.80 [[ 7.20363922e-01 6.88483183e-01 8.40638233e-02 1.80149820e+02] [-6.83602395e-01 7.25250766e-01 -8.18479748e-02 -1.16267536e+02] [-1.17318307e-01 1.49409715e-03 9.93093240e-01 -2.18032287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86592000000002 meters 0.03165929749194868 Centerline is valid? [True, True] Translation: X:180.17, Y:-116.29, Z:-21.81 [[ 7.20329394e-01 6.88545428e-01 8.38496171e-02 1.80173671e+02] [-6.83681456e-01 7.25191591e-01 -8.17118298e-02 -1.16289895e+02] [-1.17069344e-01 1.53300454e-03 9.93122560e-01 -2.18075446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89592000000002 meters 0.03166959694024403 Centerline is valid? [True, True] Translation: X:180.20, Y:-116.31, Z:-21.81 [[ 7.20244835e-01 6.88556917e-01 8.44792800e-02 1.80196920e+02] [-6.83610037e-01 7.25180536e-01 -8.24045330e-02 -1.16311264e+02] [-1.18002941e-01 1.60055560e-03 9.93011956e-01 -2.18107488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92592000000002 meters 0.031931998128147523 Centerline is valid? [True, True] Translation: X:180.22, Y:-116.33, Z:-21.81 [[ 7.20886217e-01 6.87889795e-01 8.44434248e-02 1.80220983e+02] [-6.82934302e-01 7.25813015e-01 -8.24391079e-02 -1.16334013e+02] [-1.17999158e-01 1.75990528e-03 9.93012136e-01 -2.18144067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95592 meters 0.03200117836220463 Centerline is valid? [True, True] Translation: X:180.25, Y:-116.36, Z:-21.82 [[ 7.20441586e-01 6.88367199e-01 8.43476198e-02 1.80245019e+02] [-6.83416510e-01 7.25360306e-01 -8.24275459e-02 -1.16357113e+02] [-1.17922834e-01 1.73967592e-03 9.93021238e-01 -2.18176596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98592 meters 0.032151754125109885 Centerline is valid? [True, True] Translation: X:180.27, Y:-116.38, Z:-21.82 [[ 7.20689597e-01 6.88095810e-01 8.44432387e-02 1.80269489e+02] [-6.83122219e-01 7.25617494e-01 -8.26031914e-02 -1.16379226e+02] [-1.18112401e-01 1.84620818e-03 9.92998516e-01 -2.18201653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01592 meters 0.03214480066925736 Centerline is valid? [True, True] Translation: X:180.29, Y:-116.40, Z:-21.82 [[ 7.20512066e-01 6.88285318e-01 8.44137710e-02 1.80293516e+02] [-6.83306800e-01 7.25437667e-01 -8.26559582e-02 -1.16401884e+02] [-1.18127812e-01 1.87411143e-03 9.92996630e-01 -2.18236865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04592 meters 0.032110228557987966 Centerline is valid? [True, True] Translation: X:180.32, Y:-116.42, Z:-21.83 [[ 7.19536436e-01 6.89146009e-01 8.57035313e-02 1.80317211e+02] [-6.84009808e-01 7.24620223e-01 -8.40006866e-02 -1.16424205e+02] [-1.19991250e-01 1.81949871e-03 9.92773282e-01 -2.18266774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07592 meters 0.03221897065977959 Centerline is valid? [True, True] Translation: X:180.34, Y:-116.45, Z:-21.83 [[ 7.19609479e-01 6.89161333e-01 8.49638410e-02 1.80340319e+02] [-6.84105256e-01 7.24605563e-01 -8.33473258e-02 -1.16445862e+02] [-1.19005026e-01 1.85331550e-03 9.92891922e-01 -2.18302013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10592 meters 0.0321683012975561 Centerline is valid? [True, True] Translation: X:180.36, Y:-116.47, Z:-21.83 [[ 7.19851622e-01 6.88972645e-01 8.44413199e-02 1.80363943e+02] [-6.83968761e-01 7.24784784e-01 -8.29080881e-02 -1.16468275e+02] [-1.18323189e-01 1.92629684e-03 9.92973269e-01 -2.18323972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13592 meters 0.0322760725137299 Centerline is valid? [True, True] Translation: X:180.39, Y:-116.49, Z:-21.84 [[ 7.19877587e-01 6.88914953e-01 8.46903024e-02 1.80387971e+02] [-6.83871203e-01 7.24839418e-01 -8.32345811e-02 -1.16490643e+02] [-1.18728417e-01 2.00145046e-03 9.92924749e-01 -2.18358282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16592 meters 0.03204651370907996 Centerline is valid? [True, True] Translation: X:180.41, Y:-116.51, Z:-21.84 [[ 7.20135172e-01 6.88680372e-01 8.44078169e-02 1.80412568e+02] [-6.83658952e-01 7.25062042e-01 -8.30389869e-02 -1.16512931e+02] [-1.18388224e-01 2.09313557e-03 9.92965179e-01 -2.18378134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19592 meters 0.03192771992073057 Centerline is valid? [True, True] Translation: X:180.44, Y:-116.54, Z:-21.84 [[ 7.19238324e-01 6.89540360e-01 8.50313157e-02 1.80436407e+02] [-6.84440186e-01 7.24244422e-01 -8.37355868e-02 -1.16535661e+02] [-1.19322523e-01 2.02699352e-03 9.92853477e-01 -2.18413644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22592 meters 0.03179708330946411 Centerline is valid? [True, True] Translation: X:180.46, Y:-116.56, Z:-21.84 [[ 7.18558670e-01 6.90210821e-01 8.53373309e-02 1.80459796e+02] [-6.85068408e-01 7.23605617e-01 -8.41200775e-02 -1.16558695e+02] [-1.19811160e-01 1.98330161e-03 9.92794718e-01 -2.18439225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25592 meters 0.03186576639904457 Centerline is valid? [True, True] Translation: X:180.48, Y:-116.58, Z:-21.85 [[ 7.17848745e-01 6.90895476e-01 8.57707404e-02 1.80484127e+02] [-6.85695255e-01 7.22952059e-01 -8.46305901e-02 -1.16580655e+02] [-1.20479025e-01 1.93937318e-03 9.92713979e-01 -2.18473072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28592 meters 0.031753940933464724 Centerline is valid? [True, True] Translation: X:180.51, Y:-116.60, Z:-21.85 [[ 7.17100931e-01 6.91744827e-01 8.51783406e-02 1.80507465e+02] [-6.86612732e-01 7.22139667e-01 -8.41264336e-02 -1.16602501e+02] [-1.19704684e-01 1.84261070e-03 9.92807833e-01 -2.18497788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31592 meters 0.03165036387771677 Centerline is valid? [True, True] Translation: X:180.53, Y:-116.63, Z:-21.85 [[ 7.15882322e-01 6.92957247e-01 8.55730898e-02 1.80531324e+02] [-6.87776814e-01 7.20976668e-01 -8.45913603e-02 -1.16625272e+02] [-1.20314397e-01 1.70227238e-03 9.92734379e-01 -2.18525743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34592 meters 0.031568228819874596 Centerline is valid? [True, True] Translation: X:180.55, Y:-116.65, Z:-21.86 [[ 7.13731817e-01 6.95055001e-01 8.65184346e-02 1.80554542e+02] [-6.89763904e-01 7.18955153e-01 -8.56110094e-02 -1.16648393e+02] [-1.21707235e-01 1.42600803e-03 9.92565018e-01 -2.18561497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37592 meters 0.03156588927680172 Centerline is valid? [True, True] Translation: X:180.58, Y:-116.67, Z:-21.86 [[ 7.12824967e-01 6.95929867e-01 8.69608271e-02 1.80578965e+02] [-6.90580209e-01 7.18108494e-01 -8.61345780e-02 -1.16671210e+02] [-1.22390934e-01 1.34545161e-03 9.92481057e-01 -2.18593428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40592 meters 0.03134705009491912 Centerline is valid? [True, True] Translation: X:180.60, Y:-116.69, Z:-21.86 [[ 7.11862647e-01 6.97157967e-01 8.49843552e-02 1.80601574e+02] [-6.92048621e-01 7.16916598e-01 -8.42573318e-02 -1.16693853e+02] [-1.19667365e-01 1.16634141e-03 9.92813357e-01 -2.18626080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43592 meters 0.03134694370947949 Centerline is valid? [True, True] Translation: X:180.62, Y:-116.72, Z:-21.86 [[ 7.12125216e-01 6.96963535e-01 8.43771785e-02 1.80624822e+02] [-6.91916986e-01 7.17105490e-01 -8.37293309e-02 -1.16717006e+02] [-1.18863628e-01 1.24376482e-03 9.92909810e-01 -2.18648387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46592 meters 0.03134694370947949 Centerline is valid? [True, True] Translation: X:180.65, Y:-116.74, Z:-21.87 [[ 7.11781253e-01 6.97319850e-01 8.43354832e-02 1.80648121e+02] [-6.92270820e-01 7.16759011e-01 -8.37713115e-02 -1.16739617e+02] [-1.18863616e-01 1.24385500e-03 9.92909811e-01 -2.18679078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49592 meters 0.031423970867251266 Centerline is valid? [True, True] Translation: X:180.67, Y:-116.76, Z:-21.87 [[ 7.11781433e-01 6.97448238e-01 8.32655253e-02 1.80671142e+02] [-6.92518454e-01 7.16634047e-01 -8.27878812e-02 -1.16762527e+02] [-1.17411172e-01 1.26396379e-03 9.93082584e-01 -2.18712824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52592 meters 0.03148073368843308 Centerline is valid? [True, True] Translation: X:180.69, Y:-116.79, Z:-21.87 [[ 7.11065635e-01 6.98057404e-01 8.42705393e-02 1.80693567e+02] [-6.93002936e-01 7.16040744e-01 -8.38605068e-02 -1.16785073e+02] [-1.18880587e-01 1.23059343e-03 9.92907796e-01 -2.18746609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55592000000001 meters 0.031496116344601 Centerline is valid? [True, True] Translation: X:180.72, Y:-116.81, Z:-21.88 [[ 7.10791497e-01 6.98445188e-01 8.33652651e-02 1.80716674e+02] [-6.93493305e-01 7.15662538e-01 -8.30311226e-02 -1.16807646e+02] [-1.17654085e-01 1.20456268e-03 9.93053909e-01 -2.18771751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58592000000002 meters 0.031735482034146154 Centerline is valid? [True, True] Translation: X:180.74, Y:-116.83, Z:-21.88 [[ 7.10208399e-01 6.98946783e-01 8.41274296e-02 1.80739035e+02] [-6.93898280e-01 7.15172699e-01 -8.38640979e-02 -1.16830701e+02] [-1.18782182e-01 1.18510791e-03 9.92919629e-01 -2.18806941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61592000000002 meters 0.03134733285308423 Centerline is valid? [True, True] Translation: X:180.76, Y:-116.85, Z:-21.88 [[ 7.10108791e-01 6.99290780e-01 8.20847782e-02 1.80762057e+02] [-6.94480111e-01 7.14836409e-01 -8.18919028e-02 -1.16853934e+02] [-1.15943441e-01 1.14591421e-03 9.93255156e-01 -2.18825667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64592000000002 meters 0.031347561339910374 Centerline is valid? [True, True] Translation: X:180.79, Y:-116.88, Z:-21.89 [[ 7.08813015e-01 7.00565418e-01 8.24148406e-02 1.80785387e+02] [-6.95718863e-01 7.13587517e-01 -8.22685856e-02 -1.16876922e+02] [-1.16444728e-01 9.75484982e-04 9.93196694e-01 -2.18852293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67592000000002 meters 0.031204442913521716 Centerline is valid? [True, True] Translation: X:180.81, Y:-116.90, Z:-21.89 [[ 7.08215365e-01 7.01216162e-01 8.20176234e-02 1.80808651e+02] [-6.96411181e-01 7.12948134e-01 -8.19538008e-02 -1.16899667e+02] [-1.15941641e-01 9.22951064e-04 9.93255599e-01 -2.18886926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70592 meters 0.03146231522365371 Centerline is valid? [True, True] Translation: X:180.73, Y:-117.27, Z:-19.94 [[ 7.48101164e-01 -6.61680224e-01 -5.02387299e-02 1.80725879e+02] [-6.59626834e-01 -7.49761391e-01 5.24432604e-02 -1.17273502e+02] [-7.23677283e-02 -6.09404979e-03 -9.97359401e-01 -1.99446092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73592 meters 0.03133460014205691 Centerline is valid? [True, True] Translation: X:180.82, Y:-116.93, Z:-21.89 [[ 7.56805680e-01 6.47877755e-01 8.66001017e-02 1.80821437e+02] [-6.43520253e-01 7.61743602e-01 -7.50224561e-02 -1.16932105e+02] [-1.14572454e-01 1.04850153e-03 9.93414341e-01 -2.18914664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76592 meters 0.03137477248895877 Centerline is valid? [True, True] Translation: X:180.85, Y:-116.95, Z:-21.89 [[ 7.57107752e-01 6.47519457e-01 8.66395156e-02 1.80846682e+02] [-6.43147747e-01 7.62048041e-01 -7.51249503e-02 -1.16953491e+02] [-1.14668340e-01 1.15567292e-03 9.93403159e-01 -2.18945435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79592 meters 0.03145681040132929 Centerline is valid? [True, True] Translation: X:180.87, Y:-116.97, Z:-21.90 [[ 7.58561763e-01 6.45780962e-01 8.68964944e-02 1.80871187e+02] [-6.41363062e-01 7.63521287e-01 -7.54232494e-02 -1.16974005e+02] [-1.15054222e-01 1.48099131e-03 9.93358109e-01 -2.18991671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82592 meters 0.03144519015064125 Centerline is valid? [True, True] Translation: X:180.90, Y:-116.99, Z:-21.90 [[ 7.59209341e-01 6.44949570e-01 8.74141170e-02 1.80896313e+02] [-6.40465364e-01 7.64223310e-01 -7.59397800e-02 -1.16993712e+02] [-1.15781234e-01 1.66847612e-03 9.93273337e-01 -2.19022778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85592 meters 0.03133983711800687 Centerline is valid? [True, True] Translation: X:180.92, Y:-117.01, Z:-21.91 [[ 7.59173342e-01 6.45023248e-01 8.71828311e-02 1.80921749e+02] [-6.40555406e-01 7.64161045e-01 -7.58067884e-02 -1.17014565e+02] [-1.15518864e-01 1.70505915e-03 9.93303823e-01 -2.19052408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88592 meters 0.031327007925322725 Centerline is valid? [True, True] Translation: X:180.95, Y:-117.04, Z:-21.91 [[ 7.59199182e-01 6.45153908e-01 8.59827784e-02 1.80945722e+02] [-6.40801171e-01 7.64050709e-01 -7.48356367e-02 -1.17035617e+02] [-1.13975706e-01 1.71728899e-03 9.93482053e-01 -2.19081132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91592 meters 0.03125144113177857 Centerline is valid? [True, True] Translation: X:180.97, Y:-117.06, Z:-21.91 [[ 7.58971301e-01 6.45385527e-01 8.62559312e-02 1.80970357e+02] [-6.40998739e-01 7.63855022e-01 -7.51406764e-02 -1.17057217e+02] [-1.14381731e-01 1.73967377e-03 9.93435349e-01 -2.19112435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94592 meters 0.030984212136152767 Centerline is valid? [True, True] Translation: X:181.00, Y:-117.08, Z:-21.91 [[ 7.58063134e-01 6.46364616e-01 8.69083838e-02 1.80995640e+02] [-6.41908556e-01 7.63026879e-01 -7.57851406e-02 -1.17078306e+02] [-1.15298266e-01 1.66268607e-03 9.93329525e-01 -2.19142987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97592 meters 0.030827111715727606 Centerline is valid? [True, True] Translation: X:181.02, Y:-117.10, Z:-21.92 [[ 7.57007611e-01 6.47677834e-01 8.63301802e-02 1.81020415e+02] [-6.43281149e-01 7.61912821e-01 -7.53539398e-02 -1.17098930e+02] [-1.14581148e-01 1.50892847e-03 9.93412746e-01 -2.19172200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00592 meters 0.031021033299693763 Centerline is valid? [True, True] Translation: X:181.05, Y:-117.12, Z:-21.92 [[ 7.56802044e-01 6.47897801e-01 8.64818264e-02 1.81045578e+02] [-6.43479208e-01 7.61725737e-01 -7.55540286e-02 -1.17119805e+02] [-1.14826722e-01 1.53018611e-03 9.93384358e-01 -2.19210207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03592 meters 0.03078967829216947 Centerline is valid? [True, True] Translation: X:181.07, Y:-117.14, Z:-21.92 [[ 7.56751377e-01 6.48090754e-01 8.54735455e-02 1.81070860e+02] [-6.43767866e-01 7.61561558e-01 -7.47457585e-02 -1.17140183e+02] [-1.13535401e-01 1.53883370e-03 9.93532760e-01 -2.19235815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06592 meters 0.03078445434666504 Centerline is valid? [True, True] Translation: X:181.10, Y:-117.16, Z:-21.93 [[ 7.57222903e-01 6.47550898e-01 8.53891654e-02 1.81097025e+02] [-6.43225522e-01 7.62020372e-01 -7.47387456e-02 -1.17160295e+02] [-1.13465425e-01 1.66939937e-03 9.93540543e-01 -2.19261599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09592 meters 0.030810426788132835 Centerline is valid? [True, True] Translation: X:181.12, Y:-117.18, Z:-21.93 [[ 7.57819989e-01 6.46872157e-01 8.52365998e-02 1.81124269e+02] [-6.42549427e-01 7.62596276e-01 -7.46803437e-02 -1.17179528e+02] [-1.13309749e-01 1.82552886e-03 9.93558035e-01 -2.19287409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12592 meters 0.030996096038100277 Centerline is valid? [True, True] Translation: X:181.15, Y:-117.20, Z:-21.93 [[ 7.58249101e-01 6.46267796e-01 8.60013704e-02 1.81149228e+02] [-6.41854452e-01 7.63108101e-01 -7.54247240e-02 -1.17199929e+02] [-1.14372913e-01 1.99036672e-03 9.93435894e-01 -2.19321936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15592 meters 0.0312160870142535 Centerline is valid? [True, True] Translation: X:181.17, Y:-117.22, Z:-21.93 [[ 7.59504911e-01 6.44915015e-01 8.50700500e-02 1.81173929e+02] [-6.40581176e-01 7.64251067e-01 -7.46730408e-02 -1.17221040e+02] [-1.13172642e-01 2.22026854e-03 9.93572858e-01 -2.19348089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18592 meters 0.03137901265942142 Centerline is valid? [True, True] Translation: X:181.20, Y:-117.24, Z:-21.94 [[ 7.59355471e-01 6.44974189e-01 8.59509410e-02 1.81198159e+02] [-6.40542189e-01 7.64200929e-01 -7.55158603e-02 -1.17242290e+02] [-1.14389570e-01 2.28817778e-03 9.93433335e-01 -2.19396585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21592 meters 0.03155680365651882 Centerline is valid? [True, True] Translation: X:181.22, Y:-117.26, Z:-21.94 [[ 7.59515033e-01 6.44926660e-01 8.48912145e-02 1.81223401e+02] [-6.40595922e-01 7.64240954e-01 -7.46500505e-02 -1.17263506e+02] [-1.13021150e-01 2.31686973e-03 9.93589881e-01 -2.19417837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24592 meters 0.031655942267943236 Centerline is valid? [True, True] Translation: X:181.25, Y:-117.28, Z:-21.95 [[ 7.59554877e-01 6.44765340e-01 8.57557257e-02 1.81247696e+02] [-6.40336206e-01 7.64376735e-01 -7.54834369e-02 -1.17284098e+02] [-1.14218786e-01 2.42131664e-03 9.93452669e-01 -2.19452174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27592 meters 0.03169219012161031 Centerline is valid? [True, True] Translation: X:181.27, Y:-117.31, Z:-21.95 [[ 7.59570956e-01 6.44549634e-01 8.72223166e-02 1.81271267e+02] [-6.39957933e-01 7.64558224e-01 -7.68411678e-02 -1.17305587e+02] [-1.16214486e-01 2.54770576e-03 9.93220873e-01 -2.19483333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30592000000001 meters 0.03194572592407585 Centerline is valid? [True, True] Translation: X:181.29, Y:-117.33, Z:-21.95 [[ 7.60479867e-01 6.43496318e-01 8.70796285e-02 1.81294132e+02] [-6.38905260e-01 7.65444253e-01 -7.67799699e-02 -1.17327317e+02] [-1.16062229e-01 2.75398859e-03 9.93238126e-01 -2.19522330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.33592000000002 meters 0.0321675078400917 Centerline is valid? [True, True] Translation: X:181.32, Y:-117.35, Z:-21.96 [[ 7.61014712e-01 6.42955271e-01 8.64009715e-02 1.81318959e+02] [-6.38424985e-01 7.65898377e-01 -7.62444368e-02 -1.17349303e+02] [-1.15196126e-01 2.86259915e-03 9.93338642e-01 -2.19558572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36592000000002 meters 0.03214437011757451 Centerline is valid? [True, True] Translation: X:181.34, Y:-117.37, Z:-21.96 [[ 7.61899575e-01 6.42084649e-01 8.50666823e-02 1.81343784e+02] [-6.37680062e-01 7.66627866e-01 -7.51388907e-02 -1.17371445e+02] [-1.13460017e-01 3.00296165e-03 9.93538025e-01 -2.19581320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39592000000002 meters 0.03280720148831476 Centerline is valid? [True, True] Translation: X:181.37, Y:-117.39, Z:-21.96 [[ 7.63558783e-01 6.39846954e-01 8.70279241e-02 1.81366980e+02] [-6.35213128e-01 7.68494523e-01 -7.69444589e-02 -1.17392893e+02] [-1.16113161e-01 3.47033752e-03 9.93229928e-01 -2.19618714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42592000000002 meters 0.03308326690552492 Centerline is valid? [True, True] Translation: X:181.39, Y:-117.42, Z:-21.96 [[ 7.64659263e-01 6.38527020e-01 8.70600790e-02 1.81389754e+02] [-6.33874068e-01 7.69590416e-01 -7.70341290e-02 -1.17415530e+02] [-1.16188975e-01 3.71973379e-03 9.93220160e-01 -2.19631415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45592 meters 0.032935690671878036 Centerline is valid? [True, True] Translation: X:181.41, Y:-117.44, Z:-21.97 [[ 7.64715386e-01 6.38507182e-01 8.67119180e-02 1.81414745e+02] [-6.33883727e-01 7.69606687e-01 -7.67917270e-02 -1.17437871e+02] [-1.15766141e-01 3.75854148e-03 9.93269386e-01 -2.19653217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48592 meters 0.0329983446092613 Centerline is valid? [True, True] Translation: X:181.44, Y:-117.46, Z:-21.97 [[ 7.64544041e-01 6.38686347e-01 8.69031672e-02 1.81439078e+02] [-6.34034918e-01 7.69457818e-01 -7.70349836e-02 -1.17459279e+02] [-1.16069514e-01 3.79699513e-03 9.93233835e-01 -2.19691099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51592 meters 0.03313139545150263 Centerline is valid? [True, True] Translation: X:181.46, Y:-117.48, Z:-21.97 [[ 7.64360967e-01 6.38829702e-01 8.74581274e-02 1.81462008e+02] [-6.34110790e-01 7.69338509e-01 -7.76000379e-02 -1.17481537e+02] [-1.16858114e-01 3.85629776e-03 9.93141133e-01 -2.19733719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54592 meters 0.03298775361056481 Centerline is valid? [True, True] Translation: X:181.49, Y:-117.50, Z:-21.98 [[ 7.64121734e-01 6.39023224e-01 8.81322617e-02 1.81485111e+02] [-6.34224461e-01 7.69177515e-01 -7.82641983e-02 -1.17503799e+02] [-1.17801994e-01 3.90773874e-03 9.93029415e-01 -2.19756387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57592 meters 0.03349180018974074 Centerline is valid? [True, True] Translation: X:181.51, Y:-117.53, Z:-21.98 [[ 7.64490782e-01 6.38450975e-01 8.90741124e-02 1.81508593e+02] [-6.33536814e-01 7.69651620e-01 -7.91674768e-02 -1.17526421e+02] [-1.19100588e-01 4.09107685e-03 9.92873765e-01 -2.19777325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60592 meters 0.0334383103825774 Centerline is valid? [True, True] Translation: X:181.53, Y:-117.55, Z:-21.98 [[ 7.64004641e-01 6.38870321e-01 9.02309295e-02 1.81532171e+02] [-6.33821834e-01 7.69303350e-01 -8.02635600e-02 -1.17547722e+02] [-1.20692963e-01 4.13139917e-03 9.92681288e-01 -2.19816350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63592 meters 0.03386344399217268 Centerline is valid? [True, True] Translation: X:181.56, Y:-117.57, Z:-21.98 [[ 7.64859176e-01 6.37965360e-01 8.93903809e-02 1.81556628e+02] [-6.32996777e-01 7.70053140e-01 -7.95816655e-02 -1.17569249e+02] [-1.19605689e-01 4.28494412e-03 9.92812227e-01 -2.19844547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66592 meters 0.03369443123981982 Centerline is valid? [True, True] Translation: X:181.58, Y:-117.59, Z:-21.99 [[ 7.65119629e-01 6.37806621e-01 8.82874122e-02 1.81580315e+02] [-6.32951385e-01 7.70184497e-01 -7.86662864e-02 -1.17591587e+02] [-1.18171475e-01 4.30747996e-03 9.92983861e-01 -2.19874343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69592 meters 0.034307579196739775 Centerline is valid? [True, True] Translation: X:181.60, Y:-117.61, Z:-21.99 [[ 7.65925512e-01 6.36747059e-01 8.89454463e-02 1.81603444e+02] [-6.31802975e-01 7.71059253e-01 -7.93260948e-02 -1.17613582e+02] [-1.19092867e-01 4.56188213e-03 9.92872640e-01 -2.19915427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72592 meters 0.0346409770443432 Centerline is valid? [True, True] Translation: X:181.62, Y:-117.64, Z:-22.00 [[ 7.67298144e-01 6.34946086e-01 8.99834774e-02 1.81624294e+02] [-6.29866251e-01 7.72540635e-01 -8.03086058e-02 -1.17637952e+02] [-1.20507528e-01 4.94308858e-03 9.92700107e-01 -2.19953128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75592 meters 0.034833104919297996 Centerline is valid? [True, True] Translation: X:181.65, Y:-117.66, Z:-22.00 [[ 7.67724423e-01 6.34434925e-01 8.99529666e-02 1.81647486e+02] [-6.29351485e-01 7.72959817e-01 -8.03108300e-02 -1.17660227e+02] [-1.20482024e-01 5.04455253e-03 9.92702692e-01 -2.19976427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78592 meters 0.035218949771135336 Centerline is valid? [True, True] Translation: X:181.67, Y:-117.68, Z:-22.00 [[ 7.68431976e-01 6.33617732e-01 8.96708885e-02 1.81668099e+02] [-6.28552851e-01 7.73628760e-01 -8.01240012e-02 -1.17684400e+02] [-1.20139966e-01 5.20695199e-03 9.92743308e-01 -2.20014992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81592 meters 0.03561780095093951 Centerline is valid? [True, True] Translation: X:181.69, Y:-117.71, Z:-22.01 [[ 7.68560352e-01 6.33567586e-01 8.89218704e-02 1.81691412e+02] [-6.28579371e-01 7.73669740e-01 -7.95179683e-02 -1.17708318e+02] [-1.19176168e-01 5.21990440e-03 9.92859403e-01 -2.20051444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84592 meters 0.035083054569128344 Centerline is valid? [True, True] Translation: X:181.71, Y:-117.73, Z:-22.01 [[ 7.68360752e-01 6.33797122e-01 8.90110308e-02 1.81712283e+02] [-6.28792483e-01 7.73481572e-01 -7.96634880e-02 -1.17733693e+02] [-1.19338881e-01 5.24083051e-03 9.92839748e-01 -2.20084992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87592 meters 0.03525000714340657 Centerline is valid? [True, True] Translation: X:181.74, Y:-117.76, Z:-22.01 [[ 7.67334776e-01 6.34947243e-01 8.96623706e-02 1.81735068e+02] [-6.29871707e-01 7.72538459e-01 -8.02867489e-02 -1.17755746e+02] [-1.20245479e-01 5.13102402e-03 9.92730929e-01 -2.20118185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90592 meters 0.03525273389829741 Centerline is valid? [True, True] Translation: X:181.76, Y:-117.78, Z:-22.02 [[ 7.66375558e-01 6.35944607e-01 9.07907551e-02 1.81758136e+02] [-6.30738368e-01 7.71717904e-01 -8.13669913e-02 -1.17779153e+02] [-1.21809751e-01 5.09246056e-03 9.92540403e-01 -2.20167874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93592 meters 0.034185791070151975 Centerline is valid? [True, True] Translation: X:181.78, Y:-117.81, Z:-22.02 [[ 7.65119458e-01 6.37613617e-01 8.96721244e-02 1.81777498e+02] [-6.32538717e-01 7.70341263e-01 -8.04307812e-02 -1.17805970e+02] [-1.20361899e-01 4.81806519e-03 9.92718389e-01 -2.20176109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96592 meters 0.03386999776792026 Centerline is valid? [True, True] Translation: X:181.80, Y:-117.83, Z:-22.02 [[ 7.63013585e-01 6.40034352e-01 9.03675688e-02 1.81799457e+02] [-6.34892753e-01 7.68333127e-01 -8.10888265e-02 -1.17830256e+02] [-1.21332031e-01 4.49816160e-03 9.92601786e-01 -2.20212979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99592 meters 0.03342447499508113 Centerline is valid? [True, True] Translation: X:181.82, Y:-117.85, Z:-22.02 [[ 7.61715084e-01 6.41680786e-01 8.96431794e-02 1.81822145e+02] [-6.36628855e-01 7.66960166e-01 -8.04723905e-02 -1.17852485e+02] [-1.20390335e-01 4.22759903e-03 9.92717631e-01 -2.20239497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02592 meters 0.03344922352838305 Centerline is valid? [True, True] Translation: X:181.85, Y:-117.87, Z:-22.03 [[ 7.60475766e-01 6.43193998e-01 8.93201559e-02 1.81845073e+02] [-6.38180782e-01 7.65692677e-01 -8.02496908e-02 -1.17874623e+02] [-1.20007909e-01 4.02553819e-03 9.92764774e-01 -2.20278207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05592000000001 meters 0.03269445043668907 Centerline is valid? [True, True] Translation: X:181.87, Y:-117.90, Z:-22.03 [[ 7.58995968e-01 6.45094867e-01 8.81914636e-02 1.81865750e+02] [-6.40213590e-01 7.64093415e-01 -7.92957285e-02 -1.17899433e+02] [-1.18539784e-01 3.72376468e-03 9.92942321e-01 -2.20296688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08592000000002 meters 0.032306921223213186 Centerline is valid? [True, True] Translation: X:181.89, Y:-117.92, Z:-22.03 [[ 7.57665266e-01 6.46814805e-01 8.70284641e-02 1.81889132e+02] [-6.42068235e-01 7.62639344e-01 -7.82918449e-02 -1.17921339e+02] [-1.17011655e-01 3.44079911e-03 9.93124581e-01 -2.20314556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11592000000002 meters 0.03243494548663273 Centerline is valid? [True, True] Translation: X:181.91, Y:-117.94, Z:-22.03 [[ 7.56622719e-01 6.47990556e-01 8.73515900e-02 1.81912558e+02] [-6.43208365e-01 7.61641121e-01 -7.86498682e-02 -1.17942763e+02] [-1.17494935e-01 3.32300382e-03 9.93067922e-01 -2.20349153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14592000000002 meters 0.03209976972123847 Centerline is valid? [True, True] Translation: X:181.94, Y:-117.96, Z:-22.04 [[ 7.55389466e-01 6.49394061e-01 8.76019898e-02 1.81935624e+02] [-6.44585683e-01 7.60445483e-01 -7.89427953e-02 -1.17964974e+02] [-1.17881520e-01 3.16556759e-03 9.93022621e-01 -2.20377797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17592000000002 meters 0.031975884840502136 Centerline is valid? [True, True] Translation: X:181.96, Y:-117.99, Z:-22.04 [[ 7.53325608e-01 6.51739267e-01 8.79571283e-02 1.81959074e+02] [-6.46899472e-01 7.58437693e-01 -7.93305637e-02 -1.17986394e+02] [-1.18412845e-01 2.86232522e-03 9.92960324e-01 -2.20413289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20592 meters 0.03173416430657638 Centerline is valid? [True, True] Translation: X:181.98, Y:-118.01, Z:-22.04 [[ 7.52219343e-01 6.52973991e-01 8.82667924e-02 1.81983671e+02] [-6.48099927e-01 7.57375406e-01 -7.96804820e-02 -1.18007869e+02] [-1.18880380e-01 2.73149810e-03 9.92904826e-01 -2.20444096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23592 meters 0.031837686285652735 Centerline is valid? [True, True] Translation: X:182.01, Y:-118.03, Z:-22.05 [[ 7.52008461e-01 6.53268708e-01 8.78821329e-02 1.82008870e+02] [-6.48429871e-01 7.57121211e-01 -7.94114248e-02 -1.18029484e+02] [-1.18414426e-01 2.73266330e-03 9.92960501e-01 -2.20475766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26592 meters 0.031967527008711666 Centerline is valid? [True, True] Translation: X:182.03, Y:-118.05, Z:-22.05 [[ 7.52526634e-01 6.52639459e-01 8.81215128e-02 1.82032529e+02] [-6.47760590e-01 7.57663075e-01 -7.97049762e-02 -1.18050573e+02] [-1.18785029e-01 2.89847431e-03 9.92915765e-01 -2.20507640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29592 meters 0.032058077571360616 Centerline is valid? [True, True] Translation: X:182.06, Y:-118.07, Z:-22.05 [[ 7.53557600e-01 6.51550907e-01 8.73633736e-02 1.82057258e+02] [-6.46740628e-01 7.58598600e-01 -7.90868104e-02 -1.18071932e+02] [-1.17802816e-01 3.09502383e-03 9.93032183e-01 -2.20522838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32592 meters 0.032406312080644345 Centerline is valid? [True, True] Translation: X:182.08, Y:-118.09, Z:-22.06 [[ 7.54053373e-01 6.50961830e-01 8.74768949e-02 1.82081332e+02] [-6.46126904e-01 7.59103534e-01 -7.92581181e-02 -1.18092734e+02] [-1.17998030e-01 3.24367601e-03 9.93008531e-01 -2.20556101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35592 meters 0.032406312080644345 Centerline is valid? [True, True] Translation: X:182.11, Y:-118.11, Z:-22.06 [[ 7.53738896e-01 6.51330641e-01 8.74418302e-02 1.82105612e+02] [-6.46493705e-01 7.58787130e-01 -7.92967880e-02 -1.18114264e+02] [-1.17998163e-01 3.23848066e-03 9.93008533e-01 -2.20586729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38592 meters 0.033298557829231204 Centerline is valid? [True, True] Translation: X:182.13, Y:-118.14, Z:-22.06 [[ 7.56733286e-01 6.47773255e-01 8.80030889e-02 1.82128336e+02] [-6.42841836e-01 7.61823362e-01 -7.98720187e-02 -1.18136486e+02] [-1.18781767e-01 3.86974795e-03 9.92912845e-01 -2.20626105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41592 meters 0.033847313290390264 Centerline is valid? [True, True] Translation: X:182.15, Y:-118.16, Z:-22.07 [[ 7.57613245e-01 6.46609934e-01 8.89818186e-02 1.82151498e+02] [-6.41556111e-01 7.62809680e-01 -8.07907747e-02 -1.18158907e+02] [-1.20116310e-01 4.12133147e-03 9.92751271e-01 -2.20660423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44592 meters 0.034151778096267064 Centerline is valid? [True, True] Translation: X:182.17, Y:-118.18, Z:-22.07 [[ 7.59018882e-01 6.44996148e-01 8.87147441e-02 1.82174329e+02] [-6.39953554e-01 7.64173062e-01 -8.06162501e-02 -1.18181086e+02] [-1.19790588e-01 4.41594028e-03 9.92789361e-01 -2.20687178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47592 meters 0.03504633112822952 Centerline is valid? [True, True] Translation: X:182.20, Y:-118.20, Z:-22.07 [[ 7.60845190e-01 6.42624601e-01 9.02674829e-02 1.82195835e+02] [-6.37378195e-01 7.66165348e-01 -8.20956480e-02 -1.18204326e+02] [-1.21916501e-01 4.92755356e-03 9.92528129e-01 -2.20724292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50592 meters 0.034550091622209865 Centerline is valid? [True, True] Translation: X:182.22, Y:-118.23, Z:-22.07 [[ 7.60551170e-01 6.43138363e-01 8.90784147e-02 1.82217921e+02] [-6.38025694e-01 7.65734763e-01 -8.10770419e-02 -1.18227502e+02] [-1.20354195e-01 4.82892173e-03 9.92719270e-01 -2.20736641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53592 meters 0.03428893170142309 Centerline is valid? [True, True] Translation: X:182.24, Y:-118.25, Z:-22.08 [[ 7.59192673e-01 6.44695472e-01 8.94104790e-02 1.82237943e+02] [-6.39548138e-01 7.64425393e-01 -8.14370803e-02 -1.18253677e+02] [-1.20849757e-01 4.64412923e-03 9.92659946e-01 -2.20774325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56592 meters 0.0338750316592516 Centerline is valid? [True, True] Translation: X:182.26, Y:-118.28, Z:-22.08 [[ 7.57948394e-01 6.46318436e-01 8.82423437e-02 1.82260506e+02] [-6.41312214e-01 7.63055393e-01 -8.04059105e-02 -1.18277118e+02] [-1.19301619e-01 4.35263784e-03 9.92848517e-01 -2.20799149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59592 meters 0.03291071222459606 Centerline is valid? [True, True] Translation: X:182.28, Y:-118.30, Z:-22.08 [[ 7.54422833e-01 6.50424424e-01 8.82850923e-02 1.82281066e+02] [-6.45434560e-01 7.59561726e-01 -8.04997691e-02 -1.18301059e+02] [-1.19416993e-01 3.74861421e-03 9.92837111e-01 -2.20831882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62592 meters 0.03223029643075582 Centerline is valid? [True, True] Translation: X:182.30, Y:-118.32, Z:-22.09 [[ 7.52132210e-01 6.53235517e-01 8.70660501e-02 1.82303277e+02] [-6.48399186e-01 7.57147705e-01 -7.94093700e-02 -1.18324274e+02] [-1.17794881e-01 3.27278897e-03 9.93032555e-01 -2.20861804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65592 meters 0.03147304929640146 Centerline is valid? [True, True] Translation: X:182.32, Y:-118.35, Z:-22.09 [[ 7.48199898e-01 6.57696832e-01 8.73601116e-02 1.82323937e+02] [-6.52850754e-01 7.53278158e-01 -7.97365061e-02 -1.18348806e+02] [-1.18248911e-01 2.62573102e-03 9.92980514e-01 -2.20890956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68592 meters 0.031022430435864674 Centerline is valid? [True, True] Translation: X:182.35, Y:-118.37, Z:-22.09 [[ 7.46056176e-01 6.60171456e-01 8.70277550e-02 1.82347669e+02] [-6.55375039e-01 7.51111564e-01 -7.94668262e-02 -1.18370723e+02] [-1.17829284e-01 2.25089815e-03 9.93031315e-01 -2.20913097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71592 meters 0.03117819212495561 Centerline is valid? [True, True] Translation: X:182.37, Y:-118.39, Z:-22.10 [[ 7.44752993e-01 6.61605190e-01 8.73014986e-02 1.82372958e+02] [-6.56779599e-01 7.49849467e-01 -7.97893177e-02 -1.18392111e+02] [-1.18252009e-01 2.08548986e-03 9.92981426e-01 -2.20952055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74592 meters 0.03056732016279604 Centerline is valid? [True, True] Translation: X:182.40, Y:-118.42, Z:-22.10 [[ 7.41147196e-01 6.65877233e-01 8.54888561e-02 1.82395760e+02] [-6.61270904e-01 7.46059968e-01 -7.82004841e-02 -1.18415039e+02] [-1.15851735e-01 1.42677643e-03 9.93265493e-01 -2.20975309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77592 meters 0.0306183345606496 Centerline is valid? [True, True] Translation: X:182.42, Y:-118.44, Z:-22.10 [[ 7.39703891e-01 6.67421952e-01 8.59423726e-02 1.82419893e+02] [-6.62772625e-01 7.44678758e-01 -7.86510961e-02 -1.18437714e+02] [-1.16492927e-01 1.21826994e-03 9.93190774e-01 -2.21020023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80592000000001 meters 0.030489160677689125 Centerline is valid? [True, True] Translation: X:182.44, Y:-118.46, Z:-22.10 [[ 7.37366197e-01 6.69985511e-01 8.60842977e-02 1.82444254e+02] [-6.65328785e-01 7.42373659e-01 -7.88603699e-02 -1.18458801e+02] [-1.16742020e-01 8.74609867e-04 9.93161888e-01 -2.21039577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83592000000002 meters 0.03036515993289934 Centerline is valid? [True, True] Translation: X:182.47, Y:-118.48, Z:-22.11 [[ 7.36042924e-01 6.71403643e-01 8.63594884e-02 1.82469427e+02] [-6.66717984e-01 7.41091525e-01 -7.91863782e-02 -1.18480489e+02] [-1.17166308e-01 7.07149420e-04 9.93112056e-01 -2.21063247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86592000000002 meters 0.030239149744475027 Centerline is valid? [True, True] Translation: X:182.49, Y:-118.50, Z:-22.11 [[ 7.34227582e-01 6.73488739e-01 8.55732158e-02 1.82494043e+02] [-6.68893180e-01 7.39197357e-01 -7.85441299e-02 -1.18501900e+02] [-1.16154082e-01 4.29926087e-04 9.93231113e-01 -2.21084188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89592000000002 meters 0.030354728498416167 Centerline is valid? [True, True] Translation: X:182.52, Y:-118.52, Z:-22.11 [[ 7.32934315e-01 6.74821642e-01 8.61570773e-02 1.82518394e+02] [-6.70163359e-01 7.37980810e-01 -7.91542589e-02 -1.18523408e+02] [-1.16997277e-01 2.75556191e-04 9.93132197e-01 -2.21119208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92592000000002 meters 0.03031628930276775 Centerline is valid? [True, True] Translation: X:182.55, Y:-118.54, Z:-22.11 [[ 7.30670773e-01 6.77277201e-01 8.61151227e-02 1.82545152e+02] [-6.72630689e-01 7.35727932e-01 -7.91982709e-02 -1.18543272e+02] [-1.16996484e-01 -5.58124807e-05 9.93132327e-01 -2.21146717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95592 meters 0.03030998279144482 Centerline is valid? [True, True] Translation: X:182.57, Y:-118.56, Z:-22.12 [[ 7.29304078e-01 6.78671669e-01 8.67198236e-02 1.82570873e+02] [-6.73959304e-01 7.34441773e-01 -7.98382008e-02 -1.18563364e+02] [-1.17874586e-01 -2.19306519e-04 9.93028466e-01 -2.21176896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98592 meters 0.03028703108112106 Centerline is valid? [True, True] Translation: X:182.60, Y:-118.58, Z:-22.12 [[ 7.28121225e-01 6.80025405e-01 8.60519032e-02 1.82598117e+02] [-6.75385266e-01 7.33188454e-01 -7.93059495e-02 -1.18582027e+02] [-1.17022322e-01 -3.73842407e-04 9.93129214e-01 -2.21195755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01592 meters 0.03024334744009543 Centerline is valid? [True, True] Translation: X:182.62, Y:-118.60, Z:-22.12 [[ 7.27358279e-01 6.80903969e-01 8.55553607e-02 1.82624770e+02] [-6.76313769e-01 7.32372570e-01 -7.89310060e-02 -1.18602339e+02] [-1.16402835e-01 -4.51147809e-04 9.93201982e-01 -2.21225694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04592 meters 0.030272658163594268 Centerline is valid? [True, True] Translation: X:182.65, Y:-118.62, Z:-22.13 [[ 7.26786337e-01 6.81426191e-01 8.62552388e-02 1.82652768e+02] [-6.76754293e-01 7.31886683e-01 -7.96587099e-02 -1.18618789e+02] [-1.17410592e-01 -4.78741236e-04 9.93083342e-01 -2.21257972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07592 meters 0.030296246328361517 Centerline is valid? [True, True] Translation: X:182.68, Y:-118.64, Z:-22.13 [[ 7.26568453e-01 6.81649236e-01 8.63284503e-02 1.82680028e+02] [-6.76961981e-01 7.31678965e-01 -7.98020610e-02 -1.18638131e+02] [-1.17561725e-01 -4.59418624e-04 9.93065471e-01 -2.21288504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10592 meters 0.030238511280453496 Centerline is valid? [True, True] Translation: X:182.71, Y:-118.65, Z:-22.13 [[ 7.27173043e-01 6.80940922e-01 8.68264200e-02 1.82710972e+02] [-6.76184084e-01 7.32338297e-01 -8.03473962e-02 -1.18653989e+02] [-1.18298143e-01 -2.84182722e-04 9.92978081e-01 -2.21305193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13592 meters 0.03020403322354914 Centerline is valid? [True, True] Translation: X:182.74, Y:-118.67, Z:-22.13 [[ 7.28121296e-01 6.80066650e-01 8.57247351e-02 1.82738513e+02] [-6.75414663e-01 7.33150289e-01 -7.94083615e-02 -1.18671181e+02] [-1.16852093e-01 -8.08239719e-05 9.93149325e-01 -2.21333798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16592 meters 0.029966796965707664 Centerline is valid? [True, True] Translation: X:182.77, Y:-118.69, Z:-22.14 [[ 7.28502228e-01 6.79675928e-01 8.55870155e-02 1.82768853e+02] [-6.75027475e-01 7.33512530e-01 -7.93553811e-02 -1.18686158e+02] [-1.16715091e-01 3.69849443e-05 9.93165438e-01 -2.21369154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19592 meters 0.02997736579973575 Centerline is valid? [True, True] Translation: X:182.80, Y:-118.70, Z:-22.14 [[ 7.29057147e-01 6.79213575e-01 8.45257175e-02 1.82796026e+02] [-6.74667830e-01 7.33940660e-01 -7.84501610e-02 -1.18704641e+02] [-1.15321275e-01 1.67868193e-04 9.93328231e-01 -2.21392017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22592 meters 0.030142351667470677 Centerline is valid? [True, True] Translation: X:182.83, Y:-118.72, Z:-22.14 [[ 7.31368353e-01 6.76380467e-01 8.72341455e-02 1.82826763e+02] [-6.71508548e-01 7.36552094e-01 -8.10387753e-02 -1.18718377e+02] [-1.19065537e-01 6.90721221e-04 9.92886157e-01 -2.21429659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25592 meters 0.03012088004807829 Centerline is valid? [True, True] Translation: X:182.85, Y:-118.74, Z:-22.15 [[ 7.32356280e-01 6.75466657e-01 8.60178754e-02 1.82853505e+02] [-6.70715489e-01 7.37390006e-01 -7.99794479e-02 -1.18737015e+02] [-1.17452172e-01 8.79929581e-04 9.93078151e-01 -2.21450766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28592 meters 0.03056303054228075 Centerline is valid? [True, True] Translation: X:182.88, Y:-118.75, Z:-22.15 [[ 7.35922530e-01 6.71464765e-01 8.69085719e-02 1.82881602e+02] [-6.66577795e-01 7.41034778e-01 -8.08795464e-02 -1.18754043e+02] [-1.18710040e-01 1.58975613e-03 9.92927691e-01 -2.21489855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31592 meters 0.030799099499527163 Centerline is valid? [True, True] Translation: X:182.91, Y:-118.77, Z:-22.15 [[ 7.37749894e-01 6.69532213e-01 8.63232919e-02 1.82907047e+02] [-6.64689561e-01 7.42780486e-01 -8.04048264e-02 -1.18773360e+02] [-1.17952878e-01 1.94046106e-03 9.93017298e-01 -2.21513877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34592 meters 0.031135540407061766 Centerline is valid? [True, True] Translation: X:182.93, Y:-118.79, Z:-22.16 [[ 7.39468308e-01 6.67538491e-01 8.70573610e-02 1.82932513e+02] [-6.62590572e-01 7.44571641e-01 -8.11591354e-02 -1.18793337e+02] [-1.18997289e-01 2.33122188e-03 9.92891842e-01 -2.21550727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37592 meters 0.031653475726026475 Centerline is valid? [True, True] Translation: X:182.96, Y:-118.81, Z:-22.16 [[ 7.41720668e-01 6.64909757e-01 8.80083311e-02 1.82959016e+02] [-6.59825806e-01 7.46918315e-01 -8.21153844e-02 -1.18811227e+02] [-1.20334355e-01 2.83650973e-03 9.92729368e-01 -2.21585290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40592 meters 0.031781803608872346 Centerline is valid? [True, True] Translation: X:182.98, Y:-118.83, Z:-22.16 [[ 7.43140503e-01 6.63526082e-01 8.64600000e-02 1.82984259e+02] [-6.58602894e-01 7.48146911e-01 -8.07367876e-02 -1.18832450e+02] [-1.18255746e-01 3.05597081e-03 9.92978469e-01 -2.21607790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43592 meters 0.03207691331917411 Centerline is valid? [True, True] Translation: X:183.01, Y:-118.85, Z:-22.16 [[ 7.44115095e-01 6.62382728e-01 8.68438110e-02 1.83008151e+02] [-6.57398623e-01 7.49158304e-01 -8.11719554e-02 -1.18854382e+02] [-1.18826663e-01 3.31027557e-03 9.92909495e-01 -2.21648058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46592 meters 0.0322542088306886 Centerline is valid? [True, True] Translation: X:183.03, Y:-118.88, Z:-22.17 [[ 7.44477267e-01 6.61991610e-01 8.67220137e-02 1.83031539e+02] [-6.57010680e-01 7.49503445e-01 -8.11267661e-02 -1.18876652e+02] [-1.18703687e-01 3.41974388e-03 9.92923834e-01 -2.21689144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49592 meters 0.03327807097309636 Centerline is valid? [True, True] Translation: X:183.05, Y:-118.90, Z:-22.17 [[ 7.46807030e-01 6.59276313e-01 8.73727803e-02 1.83053727e+02] [-6.54194426e-01 7.51890505e-01 -8.17943839e-02 -1.18899837e+02] [-1.19619864e-01 3.92583503e-03 9.92812004e-01 -2.21732199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52592 meters 0.033306701093988214 Centerline is valid? [True, True] Translation: X:183.08, Y:-118.92, Z:-22.18 [[ 7.47261633e-01 6.58865390e-01 8.65820446e-02 1.83076931e+02] [-6.53868942e-01 7.52250336e-01 -8.10853790e-02 -1.18923846e+02] [-1.18555722e-01 3.97868279e-03 9.92939430e-01 -2.21756306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55592000000001 meters 0.032976640346872074 Centerline is valid? [True, True] Translation: X:183.10, Y:-118.95, Z:-22.18 [[ 7.47032099e-01 6.59051067e-01 8.71477759e-02 1.83099075e+02] [-6.53981002e-01 7.52087380e-01 -8.16910138e-02 -1.18946696e+02] [-1.19381292e-01 4.03281973e-03 9.92840291e-01 -2.21781972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58592000000002 meters 0.032907130348104864 Centerline is valid? [True, True] Translation: X:183.12, Y:-118.97, Z:-22.18 [[ 7.45573548e-01 6.60754846e-01 8.67359095e-02 1.83118478e+02] [-6.55736172e-01 7.50592197e-01 -8.13721486e-02 -1.18972370e+02] [-1.18870338e-01 3.79304828e-03 9.92902541e-01 -2.21817315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61592000000002 meters 0.03206876796677411 Centerline is valid? [True, True] Translation: X:183.14, Y:-119.00, Z:-22.18 [[ 7.42804168e-01 6.63894210e-01 8.65242555e-02 1.83137590e+02] [-6.58914208e-01 7.47819100e-01 -8.12321394e-02 -1.18999560e+02] [-1.18634038e-01 3.32751042e-03 9.92932471e-01 -2.21841225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64592000000002 meters 0.03181200854143215 Centerline is valid? [True, True] Translation: X:183.16, Y:-119.02, Z:-22.19 [[ 7.40672952e-01 6.66289920e-01 8.63789383e-02 1.83159516e+02] [-6.61338885e-01 7.45686902e-01 -8.11290547e-02 -1.19023188e+02] [-1.18467114e-01 2.96434575e-03 9.92953552e-01 -2.21866466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67592000000002 meters 0.031221827842275816 Centerline is valid? [True, True] Translation: X:183.18, Y:-119.05, Z:-22.19 [[ 7.38589385e-01 6.68683603e-01 8.57202457e-02 1.83181551e+02] [-6.63817113e-01 7.43542503e-01 -8.05691452e-02 -1.19047085e+02] [-1.17611912e-01 2.60494936e-03 9.93056218e-01 -2.21892455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70592 meters 0.030494169950963 Centerline is valid? [True, True] Translation: X:183.20, Y:-119.07, Z:-22.19 [[ 7.33694392e-01 6.73960483e-01 8.64280441e-02 1.83201640e+02] [-6.69045110e-01 7.38765199e-01 -8.12688269e-02 -1.19072831e+02] [-1.18622009e-01 1.80222228e-03 9.92937849e-01 -2.21918677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73592 meters 0.03047791369710166 Centerline is valid? [True, True] Translation: X:183.22, Y:-119.10, Z:-22.19 [[ 7.30817009e-01 6.76980051e-01 8.72038395e-02 1.83223384e+02] [-6.71988389e-01 7.36000076e-01 -8.20700502e-02 -1.19095938e+02] [-1.19741819e-01 1.37822099e-03 9.92804108e-01 -2.21946520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76592 meters 0.03009302910102907 Centerline is valid? [True, True] Translation: X:183.25, Y:-119.12, Z:-22.20 [[ 7.27234394e-01 6.80930422e-01 8.63938474e-02 1.83246392e+02] [-6.76050631e-01 7.32347705e-01 -8.13780225e-02 -1.19118654e+02] [-1.18683107e-01 7.74281769e-04 9.92931881e-01 -2.21977396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79592 meters 0.029980195039054636 Centerline is valid? [True, True] Translation: X:183.27, Y:-119.14, Z:-22.20 [[ 7.24769647e-01 6.83681193e-01 8.53755577e-02 1.83269489e+02] [-6.78926832e-01 7.29780712e-01 -8.04889330e-02 -1.19140564e+02] [-1.17334205e-01 3.72178610e-04 9.93092416e-01 -2.22003368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82592 meters 0.030008853626333584 Centerline is valid? [True, True] Translation: X:183.29, Y:-119.16, Z:-22.20 [[ 7.21335337e-01 6.87300851e-01 8.53983171e-02 1.83293188e+02] [-6.82560356e-01 7.26372848e-01 -8.05844023e-02 -1.19163444e+02] [-1.17416747e-01 -1.61128702e-04 9.93082716e-01 -2.22040984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85592 meters 0.02995171331157216 Centerline is valid? [True, True] Translation: X:183.32, Y:-119.19, Z:-22.21 [[ 7.20047419e-01 6.88681020e-01 8.51479107e-02 1.83318478e+02] [-6.83968240e-01 7.25064374e-01 -8.04307092e-02 -1.19185127e+02] [-1.17128820e-01 -3.24542043e-04 9.93116677e-01 -2.22061242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88592 meters 0.030098267234616415 Centerline is valid? [True, True] Translation: X:183.34, Y:-119.21, Z:-22.21 [[ 7.18890528e-01 6.89758958e-01 8.61915818e-02 1.83343524e+02] [-6.84927325e-01 7.24038936e-01 -8.14995597e-02 -1.19205389e+02] [-1.18621113e-01 -4.45708106e-04 9.92939491e-01 -2.22099496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91592 meters 0.03012859602287711 Centerline is valid? [True, True] Translation: X:183.37, Y:-119.23, Z:-22.21 [[ 7.18069538e-01 6.90716463e-01 8.53633843e-02 1.83369437e+02] [-6.85975744e-01 7.23125488e-01 -8.07886620e-02 -1.19225059e+02] [-1.17530498e-01 -5.45333879e-04 9.93069124e-01 -2.22131566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94592 meters 0.030147468910360214 Centerline is valid? [True, True] Translation: X:183.39, Y:-119.25, Z:-22.22 [[ 7.17673849e-01 6.91115140e-01 8.54640820e-02 1.83393880e+02] [-6.86357121e-01 7.22744459e-01 -8.09589371e-02 -1.19246874e+02] [-1.17720639e-01 -5.56769211e-04 9.93046596e-01 -2.22166259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97592 meters 0.03002707790323564 Centerline is valid? [True, True] Translation: X:183.42, Y:-119.27, Z:-22.22 [[ 7.20520746e-01 6.88261366e-01 8.45348840e-02 1.83420141e+02] [-6.83577549e-01 7.25462811e-01 -8.01588683e-02 -1.19266144e+02] [-1.16497167e-01 -3.00212279e-05 9.93191024e-01 -2.22195497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00592 meters 0.03023449157297092 Centerline is valid? [True, True] Translation: X:183.45, Y:-119.29, Z:-22.22 [[ 7.21876144e-01 6.86896080e-01 8.40750142e-02 1.83445629e+02] [-6.82245377e-01 7.26755610e-01 -7.97967996e-02 -1.19286673e+02] [-1.15914097e-01 2.43616292e-04 9.93259212e-01 -2.22230950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03592 meters 0.03023463331212774 Centerline is valid? [True, True] Translation: X:183.47, Y:-119.31, Z:-22.23 [[ 7.24830309e-01 6.83639830e-01 8.51915795e-02 1.83471304e+02] [-6.78832117e-01 7.29819076e-01 -8.09387057e-02 -1.19305728e+02] [-1.17507363e-01 8.36046816e-04 9.93071659e-01 -2.22271564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06592 meters 0.03043438731897747 Centerline is valid? [True, True] Translation: X:183.50, Y:-119.33, Z:-22.23 [[ 7.26775794e-01 6.81695275e-01 8.41932127e-02 1.83496189e+02] [-6.76978458e-01 7.31635247e-01 -8.00626803e-02 -1.19327862e+02] [-1.16177073e-01 1.19062678e-03 9.93227804e-01 -2.22304757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09592 meters 0.030665648434495513 Centerline is valid? [True, True] Translation: X:183.52, Y:-119.35, Z:-22.23 [[ 7.30856154e-01 6.77374630e-01 8.37430158e-02 1.83520882e+02] [-6.72670842e-01 7.35635711e-01 -7.97122323e-02 -1.19348891e+02] [-1.15599397e-01 1.92669056e-03 9.93294049e-01 -2.22324099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12592 meters 0.030951737605724543 Centerline is valid? [True, True] Translation: X:183.55, Y:-119.37, Z:-22.23 [[ 7.33241664e-01 6.74930801e-01 8.26140196e-02 1.83545195e+02] [-6.70330172e-01 7.37877348e-01 -7.87050188e-02 -1.19370717e+02] [-1.14079455e-01 2.33112897e-03 9.93468894e-01 -2.22344929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15592 meters 0.03142914143065174 Centerline is valid? [True, True] Translation: X:183.57, Y:-119.39, Z:-22.24 [[ 7.34857169e-01 6.73083263e-01 8.33298406e-02 1.83568474e+02] [-6.68382428e-01 7.39561810e-01 -7.94560200e-02 -1.19392853e+02] [-1.15108085e-01 2.69262471e-03 9.93349324e-01 -2.22377655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18592 meters 0.032287537923238845 Centerline is valid? [True, True] Translation: X:183.59, Y:-119.42, Z:-22.24 [[ 7.38127957e-01 6.69396776e-01 8.41134666e-02 1.83589573e+02] [-6.64574838e-01 7.42897520e-01 -8.02717865e-02 -1.19416645e+02] [-1.16221361e-01 3.35115638e-03 9.93217683e-01 -2.22414815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21592 meters 0.032841938746215 Centerline is valid? [True, True] Translation: X:183.61, Y:-119.44, Z:-22.25 [[ 7.39132865e-01 6.68213976e-01 8.46917348e-02 1.83612437e+02] [-6.63309996e-01 7.43960383e-01 -8.08875637e-02 -1.19438320e+02] [-1.17057496e-01 3.60978244e-03 9.93118579e-01 -2.22455265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24592 meters 0.03304030507224871 Centerline is valid? [True, True] Translation: X:183.64, Y:-119.46, Z:-22.25 [[ 7.40133062e-01 6.67253074e-01 8.35247627e-02 1.83635002e+02] [-6.62470253e-01 7.44821602e-01 -7.98369948e-02 -1.19462903e+02] [-1.15482528e-01 3.75732879e-03 9.93302405e-01 -2.22479249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27592 meters 0.03304030507224871 Centerline is valid? [True, True] Translation: X:183.66, Y:-119.49, Z:-22.25 [[ 7.39818017e-01 6.67607105e-01 8.34868592e-02 1.83658714e+02] [-6.62822065e-01 7.44504289e-01 -7.98766151e-02 -1.19485084e+02] [-1.15482521e-01 3.75722656e-03 9.93302406e-01 -2.22509875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30592000000001 meters 0.032847650121769434 Centerline is valid? [True, True] Translation: X:183.68, Y:-119.51, Z:-22.25 [[ 7.40296604e-01 6.67235769e-01 8.22032102e-02 1.83679962e+02] [-6.62587280e-01 7.44836856e-01 -7.87156581e-02 -1.19510014e+02] [-1.13749883e-01 3.80613291e-03 9.93502128e-01 -2.22537696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33592000000002 meters 0.033700771288404756 Centerline is valid? [True, True] Translation: X:183.70, Y:-119.54, Z:-22.26 [[ 7.41606582e-01 6.65530164e-01 8.41978505e-02 1.83699006e+02] [-6.60636577e-01 7.46359137e-01 -8.06681560e-02 -1.19535874e+02] [-1.16528926e-01 4.19985572e-03 9.93178418e-01 -2.22572727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36592000000002 meters 0.03378568908885226 Centerline is valid? [True, True] Translation: X:183.72, Y:-119.56, Z:-22.26 [[ 7.41774739e-01 6.65409551e-01 8.36681896e-02 1.83721081e+02] [-6.60569237e-01 7.46466440e-01 -8.02255417e-02 -1.19559785e+02] [-1.15838337e-01 4.24064805e-03 9.93259028e-01 -2.22602023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39592000000002 meters 0.03387566691564669 Centerline is valid? [True, True] Translation: X:183.74, Y:-119.58, Z:-22.26 [[ 7.42192709e-01 6.64911995e-01 8.39167475e-02 1.83743164e+02] [-6.60030849e-01 7.46908821e-01 -8.05387579e-02 -1.19583287e+02] [-1.16229345e-01 4.38763689e-03 9.93212710e-01 -2.22639820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42592000000002 meters 0.03405770407870294 Centerline is valid? [True, True] Translation: X:183.76, Y:-119.61, Z:-22.27 [[ 7.41860616e-01 6.65069417e-01 8.55891208e-02 1.83763117e+02] [-6.59983804e-01 7.46767964e-01 -8.22130527e-02 -1.19609072e+02] [-1.18592600e-01 4.50319241e-03 9.92932785e-01 -2.22672321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45592 meters 0.03381754832035147 Centerline is valid? [True, True] Translation: X:183.78, Y:-119.63, Z:-22.27 [[ 7.40652340e-01 6.66429951e-01 8.54706554e-02 1.83784092e+02] [-6.61359327e-01 7.45555073e-01 -8.21673520e-02 -1.19633853e+02] [-1.18481865e-01 4.33062633e-03 9.92946773e-01 -2.22698185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48592 meters 0.03327734751732594 Centerline is valid? [True, True] Translation: X:183.81, Y:-119.66, Z:-22.27 [[ 7.39370690e-01 6.67896350e-01 8.51201979e-02 1.83806969e+02] [-6.62868977e-01 7.44242845e-01 -8.18981492e-02 -1.19656866e+02] [-1.18049573e-01 4.12955259e-03 9.92999116e-01 -2.22721838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51592 meters 0.03297728215046676 Centerline is valid? [True, True] Translation: X:183.83, Y:-119.68, Z:-22.28 [[ 7.37561743e-01 6.69931591e-01 8.48194453e-02 1.83829393e+02] [-6.64945126e-01 7.42412896e-01 -8.16766263e-02 -1.19679444e+02] [-1.17688802e-01 3.84127814e-03 9.93043096e-01 -2.22760410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54592 meters 0.03216097140189931 Centerline is valid? [True, True] Translation: X:183.85, Y:-119.70, Z:-22.28 [[ 7.34086450e-01 6.73655496e-01 8.54713820e-02 1.83850325e+02] [-6.68609594e-01 7.39038077e-01 -8.23646322e-02 -1.19704572e+02] [-1.18651993e-01 3.31577441e-03 9.92930365e-01 -2.22799364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57592 meters 0.03159867077102755 Centerline is valid? [True, True] Translation: X:183.87, Y:-119.73, Z:-22.28 [[ 7.31092987e-01 6.77096263e-01 8.39267171e-02 1.83872892e+02] [-6.72251500e-01 7.35889410e-01 -8.08992967e-02 -1.19726962e+02] [-1.16537394e-01 2.72504707e-03 9.93182566e-01 -2.22813772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60592 meters 0.031587403868767634 Centerline is valid? [True, True] Translation: X:183.90, Y:-119.75, Z:-22.29 [[ 7.29259310e-01 6.78930278e-01 8.50560834e-02 1.83897274e+02] [-6.73962244e-01 7.34198528e-01 -8.20208159e-02 -1.19749096e+02] [-1.18134467e-01 2.48985474e-03 9.92994486e-01 -2.22853370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63592 meters 0.031024167176344687 Centerline is valid? [True, True] Translation: X:183.92, Y:-119.77, Z:-22.29 [[ 7.27727353e-01 6.80615785e-01 8.47056859e-02 1.83920913e+02] [-6.75690837e-01 7.32637034e-01 -8.17610472e-02 -1.19770675e+02] [-1.17706382e-01 2.26489459e-03 9.93045859e-01 -2.22875595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66592 meters 0.030917703371022606 Centerline is valid? [True, True] Translation: X:183.94, Y:-119.79, Z:-22.29 [[ 7.25511594e-01 6.82865959e-01 8.55979541e-02 1.83944952e+02] [-6.77842995e-01 7.30541019e-01 -8.26963952e-02 -1.19792951e+02] [-1.19003370e-01 1.97521986e-03 9.92891886e-01 -2.22912960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69592 meters 0.03099529104188388 Centerline is valid? [True, True] Translation: X:183.97, Y:-119.81, Z:-22.29 [[ 7.24772102e-01 6.83678591e-01 8.53755531e-02 1.83968448e+02] [-6.78677840e-01 7.29780782e-01 -8.25614867e-02 -1.19814348e+02] [-1.18750959e-01 1.89576623e-03 9.92922261e-01 -2.22945429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72592 meters 0.030907504217927775 Centerline is valid? [True, True] Translation: X:183.99, Y:-119.84, Z:-22.30 [[ 7.23271975e-01 6.85178257e-01 8.60720990e-02 1.83992705e+02] [-6.80096730e-01 7.28373394e-01 -8.33104819e-02 -1.19836223e+02] [-1.19775158e-01 1.71878368e-03 9.92799556e-01 -2.22984617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75592 meters 0.03086112948122024 Centerline is valid? [True, True] Translation: X:184.02, Y:-119.86, Z:-22.30 [[ 7.23620683e-01 6.84942127e-01 8.50140598e-02 1.84017646e+02] [-6.79974099e-01 7.28595267e-01 -8.23660248e-02 -1.19857168e+02] [-1.18356802e-01 1.79440039e-03 9.92969510e-01 -2.23006708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78592 meters 0.03087527894774445 Centerline is valid? [True, True] Translation: X:184.04, Y:-119.88, Z:-22.30 [[ 7.24002360e-01 6.84636250e-01 8.42246253e-02 1.84040941e+02] [-6.79750967e-01 7.28882499e-01 -8.16634863e-02 -1.19878674e+02] [-1.17299638e-01 1.87278633e-03 9.93094803e-01 -2.23033831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81592 meters 0.031228380150781204 Centerline is valid? [True, True] Translation: X:184.07, Y:-119.90, Z:-22.31 [[ 7.24899688e-01 6.83754172e-01 8.36700354e-02 1.84065352e+02] [-6.78923123e-01 7.29709611e-01 -8.11620416e-02 -1.19900355e+02] [-1.16549714e-01 2.02881691e-03 9.93182787e-01 -2.23075738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84592 meters 0.03114625028309438 Centerline is valid? [True, True] Translation: X:184.09, Y:-119.92, Z:-22.31 [[ 7.25543009e-01 6.83110934e-01 8.33474295e-02 1.84088523e+02] [-6.78303438e-01 7.30311361e-01 -8.09306061e-02 -1.19923820e+02] [-1.16154157e-01 2.18378754e-03 9.93228797e-01 -2.23114530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87592 meters 0.031296348911191055 Centerline is valid? [True, True] Translation: X:184.11, Y:-119.95, Z:-22.31 [[ 7.25932315e-01 6.82647071e-01 8.37570964e-02 1.84111816e+02] [-6.77779690e-01 7.30744525e-01 -8.14071986e-02 -1.19946358e+02] [-1.16777425e-01 2.32725732e-03 9.93155384e-01 -2.23141327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90592 meters 0.031835293281373876 Centerline is valid? [True, True] Translation: X:184.13, Y:-119.97, Z:-22.32 [[ 7.27621291e-01 6.80721661e-01 8.47660176e-02 1.84134678e+02] [-6.75714383e-01 7.32537109e-01 -8.24588200e-02 -1.19968372e+02] [-1.18225758e-01 2.72117575e-03 9.92983014e-01 -2.23161385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93592 meters 0.032015544951630476 Centerline is valid? [True, True] Translation: X:184.16, Y:-119.99, Z:-22.32 [[ 7.27713544e-01 6.80499871e-01 8.57491914e-02 1.84156839e+02] [-6.75365523e-01 7.32742696e-01 -8.34838457e-02 -1.19991121e+02] [-1.19642840e-01 2.84027777e-03 9.92812935e-01 -2.23201923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96592 meters 0.03217692208448634 Centerline is valid? [True, True] Translation: X:184.18, Y:-120.01, Z:-22.32 [[ 7.29283236e-01 6.78897128e-01 8.51155216e-02 1.84178813e+02] [-6.73819465e-01 7.34226724e-01 -8.29363954e-02 -1.20013897e+02] [-1.18799371e-01 3.13162760e-03 9.92913341e-01 -2.23223398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99592 meters 0.03255881630953752 Centerline is valid? [True, True] Translation: X:184.20, Y:-120.04, Z:-22.33 [[ 7.29805358e-01 6.78307610e-01 8.53400516e-02 1.84201887e+02] [-6.73191085e-01 7.34770708e-01 -8.32212091e-02 -1.20035324e+02] [-1.19154950e-01 3.28512237e-03 9.92870236e-01 -2.23260989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02592 meters 0.03221579458337464 Centerline is valid? [True, True] Translation: X:184.22, Y:-120.06, Z:-22.33 [[ 7.29728549e-01 6.78547497e-01 8.40805511e-02 1.84224733e+02] [-6.73575335e-01 7.34549359e-01 -8.20579480e-02 -1.20057704e+02] [-1.17441530e-01 3.24544195e-03 9.93074496e-01 -2.23282345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05592000000001 meters 0.0325932009750838 Centerline is valid? [True, True] Translation: X:184.25, Y:-120.08, Z:-22.33 [[ 7.29904289e-01 6.78300583e-01 8.45461241e-02 1.84245466e+02] [-6.73263043e-01 7.34776878e-01 -8.25821710e-02 -1.20082999e+02] [-1.18138072e-01 3.35530005e-03 9.92991510e-01 -2.23307156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08592000000002 meters 0.03246622117152162 Centerline is valid? [True, True] Translation: X:184.27, Y:-120.11, Z:-22.33 [[ 7.29626623e-01 6.78508735e-01 8.52695036e-02 1.84266173e+02] [-6.73377213e-01 7.34584452e-01 -8.33595350e-02 -1.20108203e+02] [-1.19197824e-01 3.40279534e-03 9.92864694e-01 -2.23336411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11592000000002 meters 0.03238668624881026 Centerline is valid? [True, True] Translation: X:184.29, Y:-120.13, Z:-22.34 [[ 7.29350228e-01 6.78980752e-01 8.38652678e-02 1.84289426e+02] [-6.74013237e-01 7.34148583e-01 -8.20488552e-02 -1.20131206e+02] [-1.17279161e-01 3.31605062e-03 9.93093451e-01 -2.23356584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14592000000002 meters 0.032533775997984196 Centerline is valid? [True, True] Translation: X:184.31, Y:-120.15, Z:-22.34 [[ 7.28811660e-01 6.79542084e-01 8.40007180e-02 1.84312837e+02] [-6.74556639e-01 7.33629261e-01 -8.22280253e-02 -1.20154218e+02] [-1.17502788e-01 3.26550159e-03 9.93067184e-01 -2.23393776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17592000000002 meters 0.03254983051617425 Centerline is valid? [True, True] Translation: X:184.33, Y:-120.18, Z:-22.34 [[ 7.28624686e-01 6.79704174e-01 8.43107527e-02 1.84333327e+02] [-6.74673208e-01 7.33478883e-01 -8.26122889e-02 -1.20179704e+02] [-1.17992074e-01 3.31114702e-03 9.93009016e-01 -2.23431095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20592 meters 0.03262157048506299 Centerline is valid? [True, True] Translation: X:184.36, Y:-120.20, Z:-22.35 [[ 7.28658057e-01 6.79728689e-01 8.38232980e-02 1.84355804e+02] [-6.74746698e-01 7.33456004e-01 -8.22142523e-02 -1.20204465e+02] [-1.17364087e-01 3.34658380e-03 9.93083315e-01 -2.23456213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23592 meters 0.03257338118316789 Centerline is valid? [True, True] Translation: X:184.38, Y:-120.23, Z:-22.35 [[ 7.27932991e-01 6.80473653e-01 8.40783481e-02 1.84377364e+02] [-6.75456557e-01 7.32765136e-01 -8.25451125e-02 -1.20228729e+02] [-1.17779456e-01 3.29603912e-03 9.93034307e-01 -2.23492645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26592 meters 0.03245211899484914 Centerline is valid? [True, True] Translation: X:184.40, Y:-120.25, Z:-22.35 [[ 7.27406873e-01 6.80999841e-01 8.43709489e-02 1.84400269e+02] [-6.75941528e-01 7.32276209e-01 -8.29132399e-02 -1.20252771e+02] [-1.18246742e-01 3.28183248e-03 9.92978820e-01 -2.23524875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29592 meters 0.032610903172554884 Centerline is valid? [True, True] Translation: X:184.42, Y:-120.28, Z:-22.36 [[ 7.26530758e-01 6.81983299e-01 8.39752233e-02 1.84419769e+02] [-6.76969694e-01 7.31360898e-01 -8.26030936e-02 -1.20278165e+02] [-1.17750125e-01 3.16500695e-03 9.93038212e-01 -2.23572517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32592 meters 0.03227478903541643 Centerline is valid? [True, True] Translation: X:184.44, Y:-120.30, Z:-22.36 [[ 7.25707528e-01 6.82901952e-01 8.36272002e-02 1.84440517e+02] [-6.77928774e-01 7.30503683e-01 -8.23222105e-02 -1.20302569e+02] [-1.17307976e-01 3.04856253e-03 9.93090905e-01 -2.23599765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35592 meters 0.03216260784280817 Centerline is valid? [True, True] Translation: X:184.46, Y:-120.33, Z:-22.36 [[ 7.24183206e-01 6.84397003e-01 8.46133938e-02 1.84463209e+02] [-6.79311054e-01 7.29103914e-01 -8.33305094e-02 -1.20326678e+02] [-1.18723108e-01 2.86774169e-03 9.92923260e-01 -2.23623823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38592 meters 0.031890218990194064 Centerline is valid? [True, True] Translation: X:184.49, Y:-120.35, Z:-22.37 [[ 7.21067371e-01 6.87403567e-01 8.68227149e-02 1.84485127e+02] [-6.82058504e-01 7.26271359e-01 -8.55926948e-02 -1.20350749e+02] [-1.21893575e-01 2.49992833e-03 9.92540028e-01 -2.23662753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41592 meters 0.03144169538688257 Centerline is valid? [True, True] Translation: X:184.51, Y:-120.37, Z:-22.37 [[ 7.19102368e-01 6.89602910e-01 8.56715255e-02 1.84506815e+02] [-6.84404942e-01 7.24184487e-01 -8.45381857e-02 -1.20374796e+02] [-1.20339769e-01 2.15759412e-03 9.92730419e-01 -2.23689394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44592 meters 0.031150292967863247 Centerline is valid? [True, True] Translation: X:184.53, Y:-120.40, Z:-22.37 [[ 7.15390922e-01 6.93499420e-01 8.52899940e-02 1.84527303e+02] [-6.88366487e-01 7.20455517e-01 -8.42343576e-02 -1.20399355e+02] [-1.19864125e-01 1.54972120e-03 9.92789096e-01 -2.23728195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47592 meters 0.03085787192050422 Centerline is valid? [True, True] Translation: X:184.55, Y:-120.42, Z:-22.38 [[ 7.13403318e-01 6.95487020e-01 8.57526146e-02 1.84551327e+02] [-6.90302994e-01 7.18537522e-01 -8.47679501e-02 -1.20421816e+02] [-1.20571480e-01 1.27845030e-03 9.92703825e-01 -2.23751215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50592 meters 0.030889304781307293 Centerline is valid? [True, True] Translation: X:184.58, Y:-120.44, Z:-22.38 [[ 7.10404936e-01 6.98578207e-01 8.55179220e-02 1.84575290e+02] [-6.93434775e-01 7.15533247e-01 -8.46190526e-02 -1.20442905e+02] [-1.20303942e-01 8.12691638e-04 9.92736773e-01 -2.23781233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53592 meters 0.030912166502959398 Centerline is valid? [True, True] Translation: X:184.60, Y:-120.47, Z:-22.38 [[ 7.09007531e-01 6.99896607e-01 8.63311087e-02 1.84597865e+02] [-6.94654826e-01 7.14243877e-01 -8.55006244e-02 -1.20465763e+02] [-1.21503063e-01 6.50265298e-04 9.92590844e-01 -2.23819819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56592 meters 0.031001732043591704 Centerline is valid? [True, True] Translation: X:184.62, Y:-120.49, Z:-22.38 [[ 7.07864716e-01 7.01192705e-01 8.51841256e-02 1.84620278e+02] [-6.96090049e-01 7.12971643e-01 -8.44397997e-02 -1.20488190e+02] [-1.19942438e-01 4.76132630e-04 9.92780734e-01 -2.23841114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59592 meters 0.03090625047059391 Centerline is valid? [True, True] Translation: X:184.65, Y:-120.51, Z:-22.39 [[ 7.06279363e-01 7.02898082e-01 8.42837332e-02 1.84645166e+02] [-6.97906298e-01 7.11290538e-01 -8.36215909e-02 -1.20508428e+02] [-1.18727678e-01 2.38055709e-04 9.92926826e-01 -2.23864287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62592 meters 0.031011542443481806 Centerline is valid? [True, True] Translation: X:184.67, Y:-120.53, Z:-22.39 [[ 7.04435251e-01 7.04705854e-01 8.46205466e-02 1.84670641e+02] [-6.99677467e-01 7.09499584e-01 -8.40344170e-02 -1.20529730e+02] [-1.19257788e-01 -1.02841148e-05 9.92863324e-01 -2.23894799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65592 meters 0.03087413253394459 Centerline is valid? [True, True] Translation: X:184.70, Y:-120.55, Z:-22.39 [[ 7.02895258e-01 7.06448580e-01 8.28773783e-02 1.84695677e+02] [-7.01628329e-01 7.07764329e-01 -8.23853266e-02 -1.20549949e+02] [-1.16858649e-01 -2.40861056e-04 9.93148528e-01 -2.23923567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68592 meters 0.031096900213165954 Centerline is valid? [True, True] Translation: X:184.72, Y:-120.57, Z:-22.40 [[ 7.01462911e-01 7.07717894e-01 8.41734420e-02 1.84719700e+02] [-7.02745081e-01 7.06495024e-01 -8.37504116e-02 -1.20571174e+02] [-1.18739783e-01 -4.04664866e-04 9.92925325e-01 -2.23961273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71592 meters 0.03111709584241369 Centerline is valid? [True, True] Translation: X:184.75, Y:-120.59, Z:-22.40 [[ 6.99394742e-01 7.09773363e-01 8.40759692e-02 1.84747727e+02] [-7.04817536e-01 7.04429761e-01 -8.37314322e-02 -1.20590271e+02] [-1.18655955e-01 -6.96894029e-04 9.92935184e-01 -2.23992228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74592 meters 0.030985882363671134 Centerline is valid? [True, True] Translation: X:184.77, Y:-120.61, Z:-22.40 [[ 6.97646226e-01 7.11518111e-01 8.38553568e-02 1.84773970e+02] [-7.06590527e-01 7.02667143e-01 -8.35985239e-02 -1.20611003e+02] [-1.18404268e-01 -9.29205997e-04 9.92965038e-01 -2.24017639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77592 meters 0.03118551829188882 Centerline is valid? [True, True] Translation: X:184.80, Y:-120.63, Z:-22.41 [[ 6.95282273e-01 7.14027579e-01 8.21412089e-02 1.84800081e+02] [-7.09307880e-01 7.00116422e-01 -8.19714994e-02 -1.20630783e+02] [-1.16038321e-01 -1.27007637e-03 9.93243925e-01 -2.24050748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80592000000001 meters 0.03117012001227374 Centerline is valid? [True, True] Translation: X:184.82, Y:-120.65, Z:-22.41 [[ 6.94236751e-01 7.15084532e-01 8.17890320e-02 1.84824925e+02] [-7.10403756e-01 6.99036616e-01 -8.16964711e-02 -1.20651983e+02] [-1.15593411e-01 -1.38654292e-03 9.93295646e-01 -2.24086381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83592000000002 meters 0.03104612381411362 Centerline is valid? [True, True] Translation: X:184.85, Y:-120.67, Z:-22.41 [[ 6.93855537e-01 7.15605690e-01 8.04548991e-02 1.84849942e+02] [-7.11071955e-01 6.98503074e-01 -8.04371224e-02 -1.20673088e+02] [-1.13759257e-01 -1.39747968e-03 9.93507362e-01 -2.24107742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86592000000002 meters 0.03113264563035241 Centerline is valid? [True, True] Translation: X:184.83, Y:-120.99, Z:-20.47 [[ 7.62258205e-01 -6.45306174e-01 -5.04219289e-02 1.84833578e+02] [-6.43204409e-01 -7.63885596e-01 5.26011809e-02 -1.20988672e+02] [-7.24604520e-02 -7.66407476e-03 -9.97341840e-01 -2.04672550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89592000000002 meters 0.031213607280526898 Centerline is valid? [True, True] Translation: X:184.88, Y:-120.71, Z:-22.42 [[ 7.42908388e-01 6.63644311e-01 8.75405934e-02 1.84877658e+02] [-6.59311260e-01 7.48046858e-01 -7.57268813e-02 -1.20706887e+02] [-1.15740180e-01 -1.45836355e-03 9.93278452e-01 -2.24177296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92592000000002 meters 0.03125906585591406 Centerline is valid? [True, True] Translation: X:184.91, Y:-120.72, Z:-22.42 [[ 7.43079450e-01 6.63421277e-01 8.77789300e-02 1.84907154e+02] [-6.59053522e-01 7.48244841e-01 -7.60139025e-02 -1.20723594e+02] [-1.16109372e-01 -1.36664414e-03 9.93235494e-01 -2.24200121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95592 meters 0.03102491204771906 Centerline is valid? [True, True] Translation: X:184.93, Y:-120.74, Z:-22.42 [[ 7.43544627e-01 6.63026663e-01 8.68160787e-02 1.84934376e+02] [-6.58742934e-01 7.48594767e-01 -7.52570408e-02 -1.20741219e+02] [-1.14887487e-01 -1.23251012e-03 9.93377746e-01 -2.24218146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98592 meters 0.03108382667031103 Centerline is valid? [True, True] Translation: X:184.96, Y:-120.76, Z:-22.43 [[ 7.42462346e-01 6.64188526e-01 8.71967179e-02 1.84961295e+02] [-6.59866725e-01 7.47563870e-01 -7.56582190e-02 -1.20760237e+02] [-1.15436437e-01 -1.36483387e-03 9.93313931e-01 -2.24257656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01592 meters 0.031188303069329223 Centerline is valid? [True, True] Translation: X:184.99, Y:-120.78, Z:-22.43 [[ 7.41874369e-01 6.64789872e-01 8.76176166e-02 1.84989631e+02] [-6.60420924e-01 7.47029083e-01 -7.61035626e-02 -1.20777363e+02] [-1.16045785e-01 -1.40522479e-03 9.93242871e-01 -2.24281647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04592 meters 0.0311087154537528 Centerline is valid? [True, True] Translation: X:185.02, Y:-120.79, Z:-22.43 [[ 7.41387548e-01 6.65387874e-01 8.71979378e-02 1.85019243e+02] [-6.61055726e-01 7.46496434e-01 -7.58182096e-02 -1.20793864e+02] [-1.15541467e-01 -1.43201958e-03 9.93301625e-01 -2.24302435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07592 meters 0.03107214655080535 Centerline is valid? [True, True] Translation: X:185.05, Y:-120.81, Z:-22.43 [[ 7.41152745e-01 6.65600918e-01 8.75672736e-02 1.85046716e+02] [-6.61224017e-01 7.46306523e-01 -7.62192442e-02 -1.20812765e+02] [-1.16083626e-01 -1.41148237e-03 9.93238440e-01 -2.24336758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10592 meters 0.031032368798324467 Centerline is valid? [True, True] Translation: X:185.07, Y:-120.83, Z:-22.44 [[ 7.41576123e-01 6.65245428e-01 8.66797249e-02 1.85073581e+02] [-6.60945818e-01 7.46623647e-01 -7.55232109e-02 -1.20830721e+02] [-1.14958603e-01 -1.28439172e-03 9.93369453e-01 -2.24367348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13592 meters 0.031022319147746346 Centerline is valid? [True, True] Translation: X:185.10, Y:-120.85, Z:-22.44 [[ 7.43280037e-01 6.63325934e-01 8.67956972e-02 1.85102377e+02] [-6.58993747e-01 7.48330026e-01 -7.56928909e-02 -1.20846769e+02] [-1.15160884e-01 -9.36806978e-04 9.93346412e-01 -2.24388890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16592 meters 0.031022319147746346 Centerline is valid? [True, True] Translation: X:185.13, Y:-120.87, Z:-22.44 [[ 7.42942953e-01 6.63707995e-01 8.67609683e-02 1.85127076e+02] [-6.59373758e-01 7.47991182e-01 -7.57326807e-02 -1.20867841e+02] [-1.15160825e-01 -9.42844245e-04 9.93346413e-01 -2.24419430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19592 meters 0.03062888519413706 Centerline is valid? [True, True] Translation: X:185.15, Y:-120.89, Z:-22.44 [[ 7.43897721e-01 6.62640477e-01 8.67397216e-02 1.85154500e+02] [-6.58292062e-01 7.48937302e-01 -7.57923378e-02 -1.20887011e+02] [-1.15185684e-01 -7.18322884e-04 9.93343718e-01 -2.24446446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22592 meters 0.030777746609026303 Centerline is valid? [True, True] Translation: X:185.18, Y:-120.91, Z:-22.45 [[ 7.45392464e-01 6.60954315e-01 8.67725082e-02 1.85182560e+02] [-6.56582075e-01 7.50426036e-01 -7.58995644e-02 -1.20905289e+02] [-1.15282494e-01 -3.98310141e-04 9.93332667e-01 -2.24479733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25592 meters 0.030669551337850206 Centerline is valid? [True, True] Translation: X:185.21, Y:-120.92, Z:-22.45 [[ 7.46393623e-01 6.59740945e-01 8.73981991e-02 1.85209348e+02] [-6.55287552e-01 7.51493089e-01 -7.65268692e-02 -1.20924080e+02] [-1.16167052e-01 -1.51784749e-04 9.93229678e-01 -2.24513677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28592 meters 0.030640446872987486 Centerline is valid? [True, True] Translation: X:185.24, Y:-120.94, Z:-22.45 [[ 7.46843545e-01 6.59289554e-01 8.69597789e-02 1.85235933e+02] [-6.54868759e-01 7.51889143e-01 -7.62208979e-02 -1.20943996e+02] [-1.15635755e-01 -2.21569654e-05 9.93291685e-01 -2.24540912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31592 meters 0.030556796951892166 Centerline is valid? [True, True] Translation: X:185.26, Y:-120.96, Z:-22.46 [[ 7.47710820e-01 6.58425146e-01 8.60514853e-02 1.85262409e+02] [-6.54082140e-01 7.52646198e-01 -7.55000301e-02 -1.20963013e+02] [-1.14477442e-01 1.67449788e-04 9.93425834e-01 -2.24572278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34592 meters 0.030539763228698166 Centerline is valid? [True, True] Translation: X:185.29, Y:-120.98, Z:-22.46 [[ 7.47389493e-01 6.58616564e-01 8.73679966e-02 1.85288211e+02] [-6.54132319e-01 7.52478694e-01 -7.67249980e-02 -1.20982233e+02] [-1.16274910e-01 1.93227210e-04 9.93217050e-01 -2.24601046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37592 meters 0.030373816849237727 Centerline is valid? [True, True] Translation: X:185.31, Y:-121.00, Z:-22.46 [[ 7.47440500e-01 6.58617517e-01 8.69233303e-02 1.85314595e+02] [-6.54170792e-01 7.52477844e-01 -7.64046415e-02 -1.21002225e+02] [-1.15729315e-01 2.45219660e-04 9.93280759e-01 -2.24620662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40592 meters 0.030585432590969405 Centerline is valid? [True, True] Translation: X:185.34, Y:-121.02, Z:-22.47 [[ 7.47403266e-01 6.58576405e-01 8.75527063e-02 1.85340164e+02] [-6.54055153e-01 7.52513801e-01 -7.70378924e-02 -1.21022450e+02] [-1.16619958e-01 3.14073707e-04 9.93176564e-01 -2.24657811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43592 meters 0.03040271647083606 Centerline is valid? [True, True] Translation: X:185.37, Y:-121.04, Z:-22.47 [[ 7.49003741e-01 6.56969491e-01 8.59330235e-02 1.85365172e+02] [-6.52595405e-01 7.53916915e-01 -7.56870016e-02 -1.21042186e+02] [-1.14510411e-01 6.10351100e-04 9.93421861e-01 -2.24687573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46592 meters 0.03049008954165068 Centerline is valid? [True, True] Translation: X:185.39, Y:-121.06, Z:-22.47 [[ 7.49631474e-01 6.56250070e-01 8.59563728e-02 1.85390631e+02] [-6.51860984e-01 7.54543073e-01 -7.57760428e-02 -1.21063618e+02] [-1.14585819e-01 7.72500931e-04 9.93413053e-01 -2.24728695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49592 meters 0.030436228086039116 Centerline is valid? [True, True] Translation: X:185.42, Y:-121.08, Z:-22.48 [[ 7.50611108e-01 6.55028750e-01 8.67196690e-02 1.85416322e+02] [-6.50544127e-01 7.55603259e-01 -7.65248578e-02 -1.21083098e+02] [-1.15651647e-01 1.02543698e-03 9.93289306e-01 -2.24753264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52592 meters 0.030544149378912044 Centerline is valid? [True, True] Translation: X:185.44, Y:-121.10, Z:-22.48 [[ 7.51079020e-01 6.54489451e-01 8.67402132e-02 1.85442172e+02] [-6.49991060e-01 7.56070241e-01 -7.66120900e-02 -1.21103307e+02] [-1.15723499e-01 1.16137040e-03 9.93280788e-01 -2.24779402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55592000000001 meters 0.03052739877479321 Centerline is valid? [True, True] Translation: X:185.47, Y:-121.12, Z:-22.48 [[ 7.50459763e-01 6.55101845e-01 8.74740887e-02 1.85467253e+02] [-6.50521738e-01 7.55539730e-01 -7.73381241e-02 -1.21124363e+02] [-1.16754497e-01 1.13535411e-03 9.93160157e-01 -2.24814660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58592000000002 meters 0.030433739074495723 Centerline is valid? [True, True] Translation: X:185.49, Y:-121.15, Z:-22.48 [[ 7.49550118e-01 6.56235905e-01 8.67701425e-02 1.85491132e+02] [-6.51728387e-01 7.54555116e-01 -7.67898861e-02 -1.21145389e+02] [-1.15865135e-01 1.00730322e-03 9.93264444e-01 -2.24841491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61592000000002 meters 0.030297536044603782 Centerline is valid? [True, True] Translation: X:185.52, Y:-121.17, Z:-22.49 [[ 7.49296255e-01 6.56520638e-01 8.68088346e-02 1.85516687e+02] [-6.52002975e-01 7.54307378e-01 -7.68927833e-02 -1.21166205e+02] [-1.15962243e-01 1.01585611e-03 9.93253103e-01 -2.24866508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64592000000002 meters 0.03031442763777595 Centerline is valid? [True, True] Translation: X:185.54, Y:-121.19, Z:-22.49 [[ 7.48016010e-01 6.57852137e-01 8.77645436e-02 1.85542306e+02] [-6.53233937e-01 7.53146596e-01 -7.78179233e-02 -1.21186344e+02] [-1.17292254e-01 8.78274148e-04 9.93097053e-01 -2.24896711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67592000000002 meters 0.030397627317333753 Centerline is valid? [True, True] Translation: X:185.57, Y:-121.21, Z:-22.49 [[ 7.46832073e-01 6.59132648e-01 8.82383552e-02 1.85566942e+02] [-6.54463775e-01 7.52026331e-01 -7.83170719e-02 -1.21207694e+02] [-1.17978905e-01 7.40894042e-04 9.93015825e-01 -2.24926825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70592 meters 0.030568264473355124 Centerline is valid? [True, True] Translation: X:185.59, Y:-121.23, Z:-22.50 [[ 7.44347291e-01 6.61848162e-01 8.89051223e-02 1.85591927e+02] [-6.57117880e-01 7.49637826e-01 -7.89887426e-02 -1.21228418e+02] [-1.18925197e-01 3.73911060e-04 9.92903146e-01 -2.24963730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73592 meters 0.030420681158019446 Centerline is valid? [True, True] Translation: X:185.62, Y:-121.25, Z:-22.50 [[ 7.43251952e-01 6.63057738e-01 8.90560040e-02 1.85618253e+02] [-6.58310338e-01 7.48568219e-01 -7.92030370e-02 -1.21248140e+02] [-1.19180681e-01 2.41323724e-04 9.92872553e-01 -2.25001775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76592 meters 0.030202066229995394 Centerline is valid? [True, True] Translation: X:185.65, Y:-121.27, Z:-22.50 [[ 7.41088285e-01 6.65720224e-01 8.72051470e-02 1.85645135e+02] [-6.61178266e-01 7.46201425e-01 -7.76320392e-02 -1.21265774e+02] [-1.16753824e-01 -1.25953112e-04 9.93160878e-01 -2.25023967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79592 meters 0.030322282283153448 Centerline is valid? [True, True] Translation: X:185.67, Y:-121.29, Z:-22.51 [[ 7.39498234e-01 6.67415971e-01 8.77398674e-02 1.85671024e+02] [-6.62821350e-01 7.44685037e-01 -7.81796243e-02 -1.21285766e+02] [-1.17516896e-01 -3.42163311e-04 9.93070824e-01 -2.25052208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82592 meters 0.03024051358343127 Centerline is valid? [True, True] Translation: X:185.70, Y:-121.30, Z:-22.51 [[ 7.37867537e-01 6.69220350e-01 8.77246860e-02 1.85698928e+02] [-6.64630594e-01 7.43063792e-01 -7.82456021e-02 -1.21303661e+02] [-1.17548587e-01 -5.69620417e-04 9.93066969e-01 -2.25076013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85592 meters 0.03023184642597806 Centerline is valid? [True, True] Translation: X:185.73, Y:-121.32, Z:-22.51 [[ 7.36954562e-01 6.70068712e-01 8.89150963e-02 1.85725601e+02] [-6.65349704e-01 7.42298789e-01 -7.93869002e-02 -1.21322268e+02] [-1.19196246e-01 -6.55094704e-04 9.92870498e-01 -2.25116420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88592 meters 0.030193383043523505 Centerline is valid? [True, True] Translation: X:185.75, Y:-121.34, Z:-22.51 [[ 7.36915663e-01 6.70397683e-01 8.67309258e-02 1.85752742e+02] [-6.65902750e-01 7.42001710e-01 -7.75047735e-02 -1.21340552e+02] [-1.16313516e-01 -6.39880511e-04 9.93212342e-01 -2.25138793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91592 meters 0.03020215220210827 Centerline is valid? [True, True] Translation: X:185.78, Y:-121.36, Z:-22.52 [[ 7.37823589e-01 6.69240244e-01 8.79422922e-02 1.85782680e+02] [-6.64601835e-01 7.43045979e-01 -7.86579551e-02 -1.21355835e+02] [-1.17986236e-01 -4.10914063e-04 9.93015146e-01 -2.25177689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94592 meters 0.030309329308074496 Centerline is valid? [True, True] Translation: X:185.81, Y:-121.37, Z:-22.52 [[ 7.38257039e-01 6.68563027e-01 8.94428477e-02 1.85809073e+02] [-6.63750678e-01 7.43655440e-01 -8.00726138e-02 -1.21374715e+02] [-1.20048249e-01 -2.53580021e-04 9.92768026e-01 -2.25220427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97592 meters 0.030457100455544752 Centerline is valid? [True, True] Translation: X:185.84, Y:-121.39, Z:-22.53 [[ 7.40874042e-01 6.65602158e-01 8.98856024e-02 1.85838125e+02] [-6.60711106e-01 7.46306698e-01 -8.05428292e-02 -1.21390969e+02] [-1.20691708e-01 2.83675655e-04 9.92689998e-01 -2.25252012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00592 meters 0.03054968751894942 Centerline is valid? [True, True] Translation: X:185.87, Y:-121.41, Z:-22.53 [[ 7.42654004e-01 6.63667978e-01 8.94977390e-02 1.85865794e+02] [-6.58797193e-01 7.48027004e-01 -8.02611995e-02 -1.21409792e+02] [-1.20213514e-01 6.45442043e-04 9.92747850e-01 -2.25286622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03592 meters 0.030932742585191794 Centerline is valid? [True, True] Translation: X:185.89, Y:-121.43, Z:-22.53 [[ 7.46850923e-01 6.59078526e-01 8.84827419e-02 1.85894170e+02] [-6.54282380e-01 7.52072843e-01 -7.93788830e-02 -1.21425427e+02] [-1.18862384e-01 1.39149318e-03 9.92909763e-01 -2.25319380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06592 meters 0.03105751120408627 Centerline is valid? [True, True] Translation: X:185.92, Y:-121.44, Z:-22.53 [[ 7.48632699e-01 6.57123399e-01 8.79654501e-02 1.85920080e+02] [-6.52367584e-01 7.53781085e-01 -7.89342187e-02 -1.21444373e+02] [-1.18176215e-01 1.70692906e-03 9.92991173e-01 -2.25348957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09592 meters 0.031958054600645526 Centerline is valid? [True, True] Translation: X:185.95, Y:-121.46, Z:-22.54 [[ 7.52929101e-01 6.52003113e-01 8.93851740e-02 1.85946371e+02] [-6.47053411e-01 7.58211937e-01 -8.02280648e-02 -1.21463059e+02] [-1.20081854e-01 2.56906298e-03 9.92760670e-01 -2.25393491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12592 meters 0.03249621030820277 Centerline is valid? [True, True] Translation: X:185.97, Y:-121.48, Z:-22.54 [[ 7.54609396e-01 6.50026035e-01 8.96148056e-02 1.85970594e+02] [-6.45034618e-01 7.59906383e-01 -8.04526646e-02 -1.21483425e+02] [-1.20395189e-01 2.90568483e-03 9.92721792e-01 -2.25423297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15592 meters 0.032886398366297885 Centerline is valid? [True, True] Translation: X:186.00, Y:-121.50, Z:-22.54 [[ 7.56630785e-01 6.47787778e-01 8.87741445e-02 1.85995967e+02] [-6.42872699e-01 7.61813938e-01 -7.97133361e-02 -1.21503898e+02] [-1.19266706e-01 3.24309019e-03 9.92856956e-01 -2.25448853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18592 meters 0.03361534826070215 Centerline is valid? [True, True] Translation: X:186.02, Y:-121.52, Z:-22.55 [[ 7.59622408e-01 6.44362262e-01 8.81536875e-02 1.86021177e+02] [-6.39490629e-01 7.64711099e-01 -7.91749316e-02 -1.21524093e+02] [-1.18429441e-01 3.76959507e-03 9.92955315e-01 -2.25482125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21592 meters 0.03405593301101049 Centerline is valid? [True, True] Translation: X:186.05, Y:-121.54, Z:-22.55 [[ 7.61143092e-01 6.42737758e-01 8.68870970e-02 1.86045029e+02] [-6.37992930e-01 7.66075942e-01 -7.80555680e-02 -1.21544983e+02] [-1.16731375e-01 3.97810278e-03 9.93155557e-01 -2.25520458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24592 meters 0.034895774574272585 Centerline is valid? [True, True] Translation: X:186.07, Y:-121.57, Z:-22.56 [[ 7.62865321e-01 6.40397176e-01 8.90390905e-02 1.86068393e+02] [-6.35395272e-01 7.68030965e-01 -8.00080338e-02 -1.21566744e+02] [-1.19621697e-01 4.46033723e-03 9.92809526e-01 -2.25564391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27592 meters 0.03536623267965481 Centerline is valid? [True, True] Translation: X:186.09, Y:-121.59, Z:-22.56 [[ 7.63553561e-01 6.39632662e-01 8.86341766e-02 1.86092522e+02] [-6.34668979e-01 7.68667120e-01 -7.96627002e-02 -1.21588244e+02] [-1.19085042e-01 4.57337613e-03 9.92873525e-01 -2.25586268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30592000000001 meters 0.03539900985830955 Centerline is valid? [True, True] Translation: X:186.12, Y:-121.61, Z:-22.56 [[ 7.64474873e-01 6.38614382e-01 8.80331735e-02 1.86115041e+02] [-6.33709142e-01 7.69512477e-01 -7.91408385e-02 -1.21611385e+02] [-1.18283103e-01 4.71375570e-03 9.92968725e-01 -2.25606326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33592000000002 meters 0.035223700812984544 Centerline is valid? [True, True] Translation: X:186.14, Y:-121.63, Z:-22.56 [[ 7.64535186e-01 6.38740301e-01 8.65839349e-02 1.86138121e+02] [-6.33994552e-01 7.69408470e-01 -7.78557235e-02 -1.21633728e+02] [-1.16348001e-01 4.62969699e-03 9.93197719e-01 -2.25631481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36592000000002 meters 0.03561791138351038 Centerline is valid? [True, True] Translation: X:186.16, Y:-121.66, Z:-22.57 [[ 7.65380549e-01 6.37769578e-01 8.62703957e-02 1.86161351e+02] [-6.33050026e-01 7.70212423e-01 -7.75918074e-02 -1.21655570e+02] [-1.15932225e-01 4.77378386e-03 9.93245655e-01 -2.25656499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39592000000002 meters 0.035292902216206214 Centerline is valid? [True, True] Translation: X:186.19, Y:-121.68, Z:-22.57 [[ 7.65174011e-01 6.38107654e-01 8.55999703e-02 1.86185325e+02] [-6.33461156e-01 7.69932802e-01 -7.70093762e-02 -1.21677733e+02] [-1.15046497e-01 4.70131705e-03 9.93348983e-01 -2.25680978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42592000000002 meters 0.035365679106804035 Centerline is valid? [True, True] Translation: X:186.21, Y:-121.70, Z:-22.57 [[ 7.64941468e-01 6.38396200e-01 8.55268545e-02 1.86209543e+02] [-6.33755980e-01 7.69693715e-01 -7.69736474e-02 -1.21699141e+02] [-1.14969166e-01 4.67717936e-03 9.93358050e-01 -2.25717509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45592 meters 0.03515883046113244 Centerline is valid? [True, True] Translation: X:186.23, Y:-121.72, Z:-22.58 [[ 7.64441174e-01 6.38902886e-01 8.62136536e-02 1.86233335e+02] [-6.34188446e-01 7.69273322e-01 -7.76116717e-02 -1.21722546e+02] [-1.15908185e-01 4.65385442e-03 9.93249029e-01 -2.25752440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48592 meters 0.03567907279687168 Centerline is valid? [True, True] Translation: X:186.26, Y:-121.74, Z:-22.58 [[ 7.64268454e-01 6.38841230e-01 8.81794393e-02 1.86256501e+02] [-6.33904966e-01 7.69323681e-01 -7.94076095e-02 -1.21744778e+02] [-1.18567386e-01 4.79134650e-03 9.92934448e-01 -2.25792909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51592 meters 0.035738180761353634 Centerline is valid? [True, True] Translation: X:186.28, Y:-121.77, Z:-22.58 [[ 7.64684032e-01 6.38283573e-01 8.86138298e-02 1.86279515e+02] [-6.33292407e-01 7.69785624e-01 -7.98174218e-02 -1.21766973e+02] [-1.19159801e-01 4.91664246e-03 9.92862915e-01 -2.25813356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54592 meters 0.036043169566419044 Centerline is valid? [True, True] Translation: X:186.30, Y:-121.79, Z:-22.58 [[ 7.65276674e-01 6.37758205e-01 8.72701815e-02 1.86302564e+02] [-6.32912301e-01 7.70220820e-01 -7.86251057e-02 -1.21788565e+02] [-1.17361117e-01 4.93558799e-03 9.93077040e-01 -2.25848072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57592 meters 0.03595398230893504 Centerline is valid? [True, True] Translation: X:186.32, Y:-121.81, Z:-22.59 [[ 7.66619913e-01 6.36373351e-01 8.55737524e-02 1.86323641e+02] [-6.31704070e-01 7.71364605e-01 -7.71142908e-02 -1.21812460e+02] [-1.15082043e-01 5.06006329e-03 9.93343102e-01 -2.25872618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60592 meters 0.03576212014383153 Centerline is valid? [True, True] Translation: X:186.35, Y:-121.84, Z:-22.59 [[ 7.66291173e-01 6.36699326e-01 8.60918520e-02 1.86345773e+02] [-6.31972874e-01 7.71095580e-01 -7.76008538e-02 -1.21837421e+02] [-1.15793458e-01 5.05713413e-03 9.93260439e-01 -2.25909621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63592 meters 0.0358517339957144 Centerline is valid? [True, True] Translation: X:186.37, Y:-121.86, Z:-22.59 [[ 7.65355593e-01 6.37757282e-01 8.65821382e-02 1.86369345e+02] [-6.32980345e-01 7.70221522e-01 -7.80684975e-02 -1.21859756e+02] [-1.16476179e-01 4.94536954e-03 9.93181173e-01 -2.25942570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66592 meters 0.03572570761325016 Centerline is valid? [True, True] Translation: X:186.39, Y:-121.88, Z:-22.60 [[ 7.64029864e-01 6.39180835e-01 8.77851189e-02 1.86392116e+02] [-6.34275705e-01 7.69041389e-01 -7.91812655e-02 -1.21881833e+02] [-1.18121537e-01 4.81688333e-03 9.92987462e-01 -2.25986356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69592 meters 0.03452353956197987 Centerline is valid? [True, True] Translation: X:186.41, Y:-121.91, Z:-22.60 [[ 7.61302014e-01 6.42554510e-01 8.68501307e-02 1.86413691e+02] [-6.37769028e-01 7.66227967e-01 -7.83924062e-02 -1.21905558e+02] [-1.16918393e-01 4.28997324e-03 9.93132260e-01 -2.25999046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72592 meters 0.03388259351748975 Centerline is valid? [True, True] Translation: X:186.44, Y:-121.93, Z:-22.60 [[ 7.59283835e-01 6.45060432e-01 8.59365933e-02 1.86437103e+02] [-6.40387953e-01 7.64121680e-01 -7.75972128e-02 -1.21928033e+02] [-1.15720906e-01 3.88555018e-03 9.93274169e-01 -2.26022125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75592 meters 0.03296146407706716 Centerline is valid? [True, True] Translation: X:186.46, Y:-121.95, Z:-22.60 [[ 7.56121645e-01 6.48754594e-01 8.60089226e-02 1.86458889e+02] [-6.44091635e-01 7.60990244e-01 -7.77162416e-02 -1.21950363e+02] [-1.15870720e-01 3.36530491e-03 9.93258602e-01 -2.26045663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78592 meters 0.03302060044056495 Centerline is valid? [True, True] Translation: X:186.48, Y:-121.97, Z:-22.61 [[ 7.55139415e-01 6.49941166e-01 8.56793136e-02 1.86483168e+02] [-6.45319329e-01 7.59977849e-01 -7.74379321e-02 -1.21971562e+02] [-1.15444480e-01 3.18591757e-03 9.93308825e-01 -2.26082534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81592 meters 0.03252351817988786 Centerline is valid? [True, True] Translation: X:186.51, Y:-121.99, Z:-22.61 [[ 7.53705455e-01 6.51518520e-01 8.63232596e-02 1.86508988e+02] [-6.46829342e-01 7.58626731e-01 -7.80851182e-02 -1.21991438e+02] [-1.16361033e-01 3.01676235e-03 9.93202401e-01 -2.26101078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84592 meters 0.03272593633672464 Centerline is valid? [True, True] Translation: X:186.53, Y:-122.01, Z:-22.61 [[ 7.53943343e-01 6.51331834e-01 8.56520736e-02 1.86534829e+02] [-6.46706679e-01 7.58786798e-01 -7.75439685e-02 -1.22011364e+02] [-1.15498518e-01 3.07199077e-03 9.93302902e-01 -2.26132651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87592 meters 0.032983708171227484 Centerline is valid? [True, True] Translation: X:186.56, Y:-122.03, Z:-22.62 [[ 7.54380026e-01 6.50866813e-01 8.53414731e-02 1.86559784e+02] [-6.46264892e-01 7.59185271e-01 -7.73266718e-02 -1.22030882e+02] [-1.15119354e-01 3.18049891e-03 9.93346575e-01 -2.26160067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90592 meters 0.03308684987632149 Centerline is valid? [True, True] Translation: X:186.59, Y:-122.05, Z:-22.62 [[ 7.54125514e-01 6.51111140e-01 8.57262618e-02 1.86585870e+02] [-6.46466675e-01 7.58975766e-01 -7.76957109e-02 -1.22050719e+02] [-1.15652698e-01 3.17314648e-03 9.93284644e-01 -2.26195462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93592 meters 0.0329305669054259 Centerline is valid? [True, True] Translation: X:186.61, Y:-122.07, Z:-22.62 [[ 7.54120548e-01 6.50905324e-01 8.73181434e-02 1.86610762e+02] [-6.46081452e-01 7.59151802e-01 -7.91662655e-02 -1.22071229e+02] [-1.17817470e-01 3.28627463e-03 9.93029831e-01 -2.26224474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96592 meters 0.03294359365177742 Centerline is valid? [True, True] Translation: X:186.64, Y:-122.09, Z:-22.63 [[ 7.55075356e-01 6.50074332e-01 8.52324478e-02 1.86636943e+02] [-6.45471170e-01 7.59863238e-01 -7.72970083e-02 -1.22090552e+02] [-1.15013805e-01 3.34997819e-03 9.93358245e-01 -2.26253904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99592 meters 0.03303671234435704 Centerline is valid? [True, True] Translation: X:186.66, Y:-122.11, Z:-22.63 [[ 7.55059183e-01 6.50009549e-01 8.58674328e-02 1.86660874e+02] [-6.45334302e-01 7.59918424e-01 -7.78949743e-02 -1.22111042e+02] [-1.15884721e-01 3.40211582e-03 9.93256843e-01 -2.26292806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02592 meters 0.033100424286650616 Centerline is valid? [True, True] Translation: X:186.69, Y:-122.13, Z:-22.63 [[ 7.55670125e-01 6.49373115e-01 8.53066280e-02 1.86686166e+02] [-6.44751204e-01 7.60461899e-01 -7.74182424e-02 -1.22130696e+02] [-1.15145766e-01 3.50110172e-03 9.93342436e-01 -2.26324640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05592000000001 meters 0.03315720608476313 Centerline is valid? [True, True] Translation: X:186.71, Y:-122.15, Z:-22.64 [[ 7.55406547e-01 6.49480894e-01 8.68073530e-02 1.86710768e+02] [-6.44692793e-01 7.60369571e-01 -7.87992248e-02 -1.22151173e+02] [-1.17184261e-01 3.56137543e-03 9.93103804e-01 -2.26359781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08592000000002 meters 0.03315720608476313 Centerline is valid? [True, True] Translation: X:186.73, Y:-122.17, Z:-22.64 [[ 7.55290636e-01 6.49617064e-01 8.67970324e-02 1.86734827e+02] [-6.44828554e-01 7.60253265e-01 -7.88105915e-02 -1.22172921e+02] [-1.17184432e-01 3.55569694e-03 9.93103804e-01 -2.26390329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11592000000002 meters 0.033188706655729504 Centerline is valid? [True, True] Translation: X:186.76, Y:-122.19, Z:-22.64 [[ 7.55546330e-01 6.49399526e-01 8.61974430e-02 1.86760500e+02] [-6.44672483e-01 7.60438950e-01 -7.82942692e-02 -1.22193494e+02] [-1.16392154e-01 3.58582813e-03 9.93196863e-01 -2.26419828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14592000000002 meters 0.03347308499747381 Centerline is valid? [True, True] Translation: X:186.79, Y:-122.21, Z:-22.65 [[ 7.55145465e-01 6.49851620e-01 8.63029439e-02 1.86786019e+02] [-6.45112790e-01 7.60052850e-01 -7.84165333e-02 -1.22213586e+02] [-1.16553910e-01 3.54075656e-03 9.93178055e-01 -2.26457521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17592000000002 meters 0.03332313085263755 Centerline is valid? [True, True] Translation: X:186.81, Y:-122.23, Z:-22.65 [[ 7.54779414e-01 6.50308803e-01 8.60610014e-02 1.86810034e+02] [-6.45597394e-01 7.59662022e-01 -7.82151897e-02 -1.22234561e+02] [-1.16241301e-01 3.47445679e-03 9.93214925e-01 -2.26486993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20592 meters 0.033292804480554924 Centerline is valid? [True, True] Translation: X:186.83, Y:-122.26, Z:-22.65 [[ 7.54653074e-01 6.50396359e-01 8.65061564e-02 1.86834267e+02] [-6.45634292e-01 7.59586976e-01 -7.86383387e-02 -1.22255143e+02] [-1.16855039e-01 3.49332302e-03 9.93142838e-01 -2.26515731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23592 meters 0.03327275348015061 Centerline is valid? [True, True] Translation: X:186.86, Y:-122.28, Z:-22.65 [[ 7.54498294e-01 6.50572099e-01 8.65347845e-02 1.86860034e+02] [-6.45805598e-01 7.59436510e-01 -7.86849213e-02 -1.22276420e+02] [-1.16907889e-01 3.48299068e-03 9.93136654e-01 -2.26549922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26592 meters 0.03330302005103106 Centerline is valid? [True, True] Translation: X:186.89, Y:-122.30, Z:-22.66 [[ 7.54180887e-01 6.50928788e-01 8.66192905e-02 1.86885835e+02] [-6.46151937e-01 7.59130944e-01 -7.87901238e-02 -1.22297544e+02] [-1.17042144e-01 3.45278314e-03 9.93120947e-01 -2.26587423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29592 meters 0.03373216018366903 Centerline is valid? [True, True] Translation: X:186.91, Y:-122.32, Z:-22.66 [[ 7.54635461e-01 6.50323067e-01 8.72079731e-02 1.86909830e+02] [-6.45473626e-01 7.59649267e-01 -7.93523131e-02 -1.22318359e+02] [-1.17852112e-01 3.59162280e-03 9.93024662e-01 -2.26623110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32592 meters 0.033814236455871956 Centerline is valid? [True, True] Translation: X:186.93, Y:-122.34, Z:-22.66 [[ 7.55440096e-01 6.49383179e-01 8.72453385e-02 1.86934929e+02] [-6.44521087e-01 7.60452097e-01 -7.94051427e-02 -1.22338277e+02] [-1.17910265e-01 3.75436823e-03 9.93017157e-01 -2.26644445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35592 meters 0.03411001570111599 Centerline is valid? [True, True] Translation: X:186.96, Y:-122.36, Z:-22.67 [[ 7.56259307e-01 6.48446849e-01 8.71122513e-02 1.86959705e+02] [-6.43591235e-01 7.61249897e-01 -7.93026836e-02 -1.22359291e+02] [-1.17737768e-01 3.90871117e-03 9.93037029e-01 -2.26673224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38592 meters 0.03498545333444746 Centerline is valid? [True, True] Translation: X:186.98, Y:-122.38, Z:-22.67 [[ 7.57517963e-01 6.46938952e-01 8.73872373e-02 1.86983341e+02] [-6.42040287e-01 7.62530390e-01 -7.95718154e-02 -1.22380464e+02] [-1.18113531e-01 4.17095253e-03 9.92991338e-01 -2.26708582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41592 meters 0.03512138689078652 Centerline is valid? [True, True] Translation: X:187.01, Y:-122.40, Z:-22.67 [[ 7.57907248e-01 6.46375747e-01 8.81759449e-02 1.87006346e+02] [-6.41381845e-01 7.63007075e-01 -8.03089779e-02 -1.22403089e+02] [-1.19188645e-01 4.31230624e-03 9.92862262e-01 -2.26745964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44592 meters 0.03548187096109811 Centerline is valid? [True, True] Translation: X:187.03, Y:-122.43, Z:-22.68 [[ 7.58461541e-01 6.45758813e-01 8.79297788e-02 1.87027811e+02] [-6.40786514e-01 7.63528714e-01 -8.01033441e-02 -1.22426564e+02] [-1.18864351e-01 4.41108937e-03 9.92900704e-01 -2.26783133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47592 meters 0.035666272981544435 Centerline is valid? [True, True] Translation: X:187.05, Y:-122.45, Z:-22.68 [[ 7.58750371e-01 6.45529699e-01 8.71164832e-02 1.87050467e+02] [-6.40645627e-01 7.63722382e-01 -7.93807514e-02 -1.22448802e+02] [-1.17775441e-01 4.41938053e-03 9.93030420e-01 -2.26810391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50592 meters 0.03557862979315951 Centerline is valid? [True, True] Translation: X:187.07, Y:-122.47, Z:-22.69 [[ 7.58450510e-01 6.45765275e-01 8.79774625e-02 1.87071065e+02] [-6.40783135e-01 7.63523075e-01 -8.01840903e-02 -1.22474009e+02] [-1.18952924e-01 4.44118997e-03 9.92889963e-01 -2.26852573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53592 meters 0.03528700507651043 Centerline is valid? [True, True] Translation: X:187.09, Y:-122.50, Z:-22.69 [[ 7.57670496e-01 6.46774116e-01 8.72849450e-02 1.87092999e+02] [-6.41874869e-01 7.62669700e-01 -7.95712311e-02 -1.22497165e+02] [-1.18034196e-01 4.26276151e-03 9.93000381e-01 -2.26866249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56592 meters 0.03500039334651638 Centerline is valid? [True, True] Translation: X:187.11, Y:-122.52, Z:-22.69 [[ 7.56791811e-01 6.47651741e-01 8.83933115e-02 1.87114626e+02] [-6.42630208e-01 7.61924945e-01 -8.06026890e-02 -1.22521528e+02] [-1.19551541e-01 4.19524286e-03 9.92819132e-01 -2.26908451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59592 meters 0.03489020979499996 Centerline is valid? [True, True] Translation: X:187.13, Y:-122.55, Z:-22.69 [[ 7.55969589e-01 6.48819518e-01 8.68516685e-02 1.87134720e+02] [-6.43975786e-01 7.60931994e-01 -7.92318604e-02 -1.22547217e+02] [-1.17495391e-01 3.96650549e-03 9.93065506e-01 -2.26934011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62592 meters 0.034811466840482336 Centerline is valid? [True, True] Translation: X:187.16, Y:-122.57, Z:-22.70 [[ 7.55192541e-01 6.49667881e-01 8.72689510e-02 1.87157389e+02] [-6.44774922e-01 7.60208127e-01 -7.96800097e-02 -1.22571019e+02] [-1.18108109e-01 3.90491788e-03 9.92993065e-01 -2.26981224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65592 meters 0.03468605297437065 Centerline is valid? [True, True] Translation: X:187.18, Y:-122.60, Z:-22.70 [[ 7.54704932e-01 6.50258153e-01 8.70907568e-02 1.87179132e+02] [-6.45380259e-01 7.59703508e-01 -7.95920857e-02 -1.22596379e+02] [-1.17918556e-01 3.86188446e-03 9.93015760e-01 -2.27017615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68592 meters 0.034712307674913206 Centerline is valid? [True, True] Translation: X:187.20, Y:-122.62, Z:-22.70 [[ 7.53065031e-01 6.51960666e-01 8.85457463e-02 1.87201629e+02] [-6.46920141e-01 7.58243685e-01 -8.09990493e-02 -1.22620955e+02] [-1.19947447e-01 3.71552494e-03 9.92773290e-01 -2.27047574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71592 meters 0.03441782784262867 Centerline is valid? [True, True] Translation: X:187.22, Y:-122.64, Z:-22.71 [[ 7.52528675e-01 6.52633823e-01 8.81458279e-02 1.87224718e+02] [-6.47634608e-01 7.57664692e-01 -8.07070629e-02 -1.22642825e+02] [-1.19457140e-01 3.64809041e-03 9.92832656e-01 -2.27073845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74592 meters 0.03451751177397367 Centerline is valid? [True, True] Translation: X:187.25, Y:-122.66, Z:-22.71 [[ 7.51824464e-01 6.53466761e-01 8.79839040e-02 1.87247588e+02] [-6.48483664e-01 7.56946841e-01 -8.06251705e-02 -1.22664971e+02] [-1.19285007e-01 3.55985125e-03 9.92853672e-01 -2.27101283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77592 meters 0.03438587303615548 Centerline is valid? [True, True] Translation: X:187.27, Y:-122.69, Z:-22.71 [[ 7.50822492e-01 6.54573370e-01 8.83135831e-02 1.87269356e+02] [-6.49552230e-01 7.55990618e-01 -8.09943634e-02 -1.22689457e+02] [-1.19780994e-01 3.44810498e-03 9.92794351e-01 -2.27132792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80592000000001 meters 0.03420062072090985 Centerline is valid? [True, True] Translation: X:187.29, Y:-122.71, Z:-22.72 [[ 7.50527332e-01 6.54941430e-01 8.80933996e-02 1.87292293e+02] [-6.49939637e-01 7.55671845e-01 -8.08611840e-02 -1.22712965e+02] [-1.19529041e-01 3.43313655e-03 9.92824769e-01 -2.27158412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83592000000002 meters 0.03438415262567062 Centerline is valid? [True, True] Translation: X:187.32, Y:-122.74, Z:-22.72 [[ 7.50221876e-01 6.55256696e-01 8.83504316e-02 1.87315555e+02] [-6.50218440e-01 7.55398404e-01 -8.11740802e-02 -1.22736704e+02] [-1.19929635e-01 3.45149090e-03 9.92776395e-01 -2.27190533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86592000000002 meters 0.034326583524569854 Centerline is valid? [True, True] Translation: X:187.34, Y:-122.76, Z:-22.72 [[ 7.49746855e-01 6.55769241e-01 8.85796641e-02 1.87336788e+02] [-6.50698884e-01 7.54953567e-01 -8.14621031e-02 -1.22762657e+02] [-1.20293875e-01 3.43726699e-03 9.92732375e-01 -2.27223178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89592000000002 meters 0.03434710501852831 Centerline is valid? [True, True] Translation: X:187.36, Y:-122.79, Z:-22.72 [[ 7.50666950e-01 6.54969093e-01 8.66868930e-02 1.87356674e+02] [-6.50100015e-01 7.55647360e-01 -7.97937249e-02 -1.22787992e+02] [-1.17767145e-01 3.54336169e-03 9.93034916e-01 -2.27238676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92592000000002 meters 0.034155844539837873 Centerline is valid? [True, True] Translation: X:187.38, Y:-122.81, Z:-22.73 [[ 7.49851125e-01 6.55995077e-01 8.59869094e-02 1.87377530e+02] [-6.51203664e-01 7.54757492e-01 -7.92143730e-02 -1.22812287e+02] [-1.16863503e-01 3.40399630e-03 9.93142152e-01 -2.27263693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95592 meters 0.03419855990293057 Centerline is valid? [True, True] Translation: X:187.40, Y:-122.84, Z:-22.73 [[ 7.48344713e-01 6.57541274e-01 8.72906813e-02 1.87399908e+02] [-6.52605027e-01 7.53411453e-01 -8.04851628e-02 -1.22836266e+02] [-1.18688115e-01 3.26430869e-03 9.92926219e-01 -2.27312710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98592 meters 0.03373832087433741 Centerline is valid? [True, True] Translation: X:187.42, Y:-122.86, Z:-22.73 [[ 7.45994013e-01 6.60230612e-01 8.71118332e-02 1.87420117e+02] [-6.55323897e-01 7.51057388e-01 -8.03952123e-02 -1.22862063e+02] [-1.18505366e-01 2.88788104e-03 9.92949212e-01 -2.27331933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01592 meters 0.03297567277821822 Centerline is valid? [True, True] Translation: X:187.44, Y:-122.89, Z:-22.74 [[ 7.42194360e-01 6.64543047e-01 8.67759792e-02 1.87439244e+02] [-6.59696556e-01 7.47246639e-01 -8.01430884e-02 -1.22888086e+02] [-1.18101591e-01 2.23593351e-03 9.92999000e-01 -2.27362807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04592 meters 0.0325609760268792 Centerline is valid? [True, True] Translation: X:187.46, Y:-122.91, Z:-22.74 [[ 7.39737873e-01 6.67357855e-01 8.61473868e-02 1.87460881e+02] [-6.62596654e-01 7.44735025e-01 -7.95953291e-02 -1.22911985e+02] [-1.17275544e-01 1.79870928e-03 9.93097785e-01 -2.27396920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07592 meters 0.03259291672903722 Centerline is valid? [True, True] Translation: X:187.48, Y:-122.94, Z:-22.74 [[ 7.37709520e-01 6.69579038e-01 8.63051347e-02 1.87482892e+02] [-6.64807294e-01 7.42739295e-01 -7.98097771e-02 -1.22935426e+02] [-1.17541169e-01 1.50014928e-03 9.93066878e-01 -2.27429525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10592 meters 0.032176998122068305 Centerline is valid? [True, True] Translation: X:187.50, Y:-122.96, Z:-22.75 [[ 7.33979703e-01 6.73761477e-01 8.55527232e-02 1.87504990e+02] [-6.69093048e-01 7.38948379e-01 -7.91819863e-02 -1.22959190e+02] [-1.16568818e-01 8.75238520e-04 9.93182231e-01 -2.27455202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13592 meters 0.03210489138006489 Centerline is valid? [True, True] Translation: X:187.53, Y:-122.98, Z:-22.75 [[ 7.33103923e-01 6.74778158e-01 8.50474936e-02 1.87529089e+02] [-6.70163730e-01 7.38020230e-01 -7.87827125e-02 -1.22981074e+02] [-1.15927624e-01 7.60170096e-04 9.93257373e-01 -2.27486822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16592 meters 0.032210801106056494 Centerline is valid? [True, True] Translation: X:187.55, Y:-123.00, Z:-22.75 [[ 7.31175142e-01 6.76729131e-01 8.61428702e-02 1.87551917e+02] [-6.71999699e-01 7.36231908e-01 -7.98685246e-02 -1.23004114e+02] [-1.17470487e-01 5.09896969e-04 9.93076243e-01 -2.27520838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19592 meters 0.031817716983808614 Centerline is valid? [True, True] Translation: X:187.58, Y:-123.03, Z:-22.75 [[ 7.31183566e-01 6.76850209e-01 8.51139638e-02 1.87576001e+02] [-6.72226253e-01 7.36120579e-01 -7.89832726e-02 -1.23025820e+02] [-1.16113985e-01 5.35430013e-04 9.93235750e-01 -2.27544337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22592 meters 0.031853367560783975 Centerline is valid? [True, True] Translation: X:187.60, Y:-123.05, Z:-22.76 [[ 7.31307331e-01 6.76724574e-01 8.50496233e-02 1.87601132e+02] [-6.72098478e-01 7.36236023e-01 -7.89946433e-02 -1.23047842e+02] [-1.16074213e-01 6.07639448e-04 9.93240358e-01 -2.27566727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25592 meters 0.03186420034128182 Centerline is valid? [True, True] Translation: X:187.63, Y:-123.07, Z:-22.76 [[ 7.31313222e-01 6.76702448e-01 8.51749305e-02 1.87625521e+02] [-6.72053105e-01 7.36256304e-01 -7.91914072e-02 -1.23070014e+02] [-1.16299599e-01 6.71646635e-04 9.93213951e-01 -2.27608388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28592 meters 0.0318457987435374 Centerline is valid? [True, True] Translation: X:187.65, Y:-123.09, Z:-22.76 [[ 7.31943346e-01 6.75966591e-01 8.56043607e-02 1.87650339e+02] [-6.71255776e-01 7.36931777e-01 -7.96695632e-02 -1.23091355e+02] [-1.16938537e-01 8.51185067e-04 9.93138789e-01 -2.27625602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31592 meters 0.03183498931436975 Centerline is valid? [True, True] Translation: X:187.67, Y:-123.11, Z:-22.76 [[ 7.32185149e-01 6.75811573e-01 8.47562697e-02 1.87674584e+02] [-6.71184905e-01 7.37073860e-01 -7.89490216e-02 -1.23112183e+02] [-1.15826293e-01 9.18172309e-04 9.93269061e-01 -2.27646861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34592 meters 0.031351843134474845 Centerline is valid? [True, True] Translation: X:187.70, Y:-123.13, Z:-22.77 [[ 7.31843293e-01 6.76359880e-01 8.33229143e-02 1.87698085e+02] [-6.71884673e-01 7.36570812e-01 -7.76815654e-02 -1.23133995e+02] [-1.13913921e-01 8.67343600e-04 9.93490245e-01 -2.27665170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37592 meters 0.031630611181632226 Centerline is valid? [True, True] Translation: X:187.72, Y:-123.16, Z:-22.77 [[ 7.31443992e-01 6.76764665e-01 8.35420555e-02 1.87721647e+02] [-6.72260334e-01 7.36198921e-01 -7.79563495e-02 -1.23156809e+02] [-1.14261674e-01 8.58693321e-04 9.93450317e-01 -2.27696901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40592 meters 0.031505599481903755 Centerline is valid? [True, True] Translation: X:187.75, Y:-123.18, Z:-22.77 [[ 7.30340859e-01 6.77977303e-01 8.33607004e-02 1.87745780e+02] [-6.73491444e-01 7.35082478e-01 -7.78654326e-02 -1.23179618e+02] [-1.14067986e-01 7.25588424e-04 9.93472681e-01 -2.27714711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43592 meters 0.03147367345438312 Centerline is valid? [True, True] Translation: X:187.77, Y:-123.20, Z:-22.77 [[ 7.28910717e-01 6.79571821e-01 8.28933460e-02 1.87769663e+02] [-6.75137843e-01 7.33608791e-01 -7.75050629e-02 -1.23201495e+02] [-1.13481544e-01 5.29836161e-04 9.93539963e-01 -2.27744294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46592 meters 0.031078662507030973 Centerline is valid? [True, True] Translation: X:187.79, Y:-123.22, Z:-22.78 [[ 7.28388897e-01 6.80176211e-01 8.25223433e-02 1.87793669e+02] [-6.75777893e-01 7.33048489e-01 -7.72279211e-02 -1.23223644e+02] [-1.13021474e-01 4.85184994e-04 9.93592427e-01 -2.27766513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49592 meters 0.03100145920722917 Centerline is valid? [True, True] Translation: X:187.82, Y:-123.25, Z:-22.78 [[ 7.26325070e-01 6.82306728e-01 8.31229295e-02 1.87817185e+02] [-6.77848704e-01 7.31065991e-01 -7.78694475e-02 -1.23246531e+02] [-1.13899195e-01 2.13761864e-04 9.93492289e-01 -2.27802213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52592 meters 0.03058991648793519 Centerline is valid? [True, True] Translation: X:187.84, Y:-123.27, Z:-22.78 [[ 7.23746521e-01 6.84927516e-01 8.40551727e-02 1.87842116e+02] [-6.80376979e-01 7.28611198e-01 -7.88218760e-02 -1.23267605e+02] [-1.15230812e-01 -1.42145977e-04 9.93338734e-01 -2.27823379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55592000000001 meters 0.0305475815946383 Centerline is valid? [True, True] Translation: X:187.87, Y:-123.29, Z:-22.79 [[ 7.22433766e-01 6.86240932e-01 8.46335409e-02 1.87866930e+02] [-6.81627746e-01 7.27374245e-01 -7.94375401e-02 -1.23289476e+02] [-1.16073550e-01 -3.00208428e-04 9.93240576e-01 -2.27859577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58592000000002 meters 0.030390311506478588 Centerline is valid? [True, True] Translation: X:187.89, Y:-123.31, Z:-22.79 [[ 7.21524286e-01 6.87375859e-01 8.31693078e-02 1.87890853e+02] [-6.82920064e-01 7.26301765e-01 -7.81404587e-02 -1.23311305e+02] [-1.14117880e-01 -4.17750379e-04 9.93467128e-01 -2.27887205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61592000000002 meters 0.030230549669346175 Centerline is valid? [True, True] Translation: X:187.92, Y:-123.33, Z:-22.79 [[ 7.19018345e-01 6.89783001e-01 8.49236847e-02 1.87915534e+02] [-6.85144741e-01 7.24015766e-01 -7.98614669e-02 -1.23332218e+02] [-1.16573169e-01 -7.63156282e-04 9.93181813e-01 -2.27926185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64592000000002 meters 0.030265316194231975 Centerline is valid? [True, True] Translation: X:187.94, Y:-123.35, Z:-22.79 [[ 7.18322179e-01 6.90569918e-01 8.44182160e-02 1.87941123e+02] [-6.85983844e-01 7.23265162e-01 -7.94586081e-02 -1.23353317e+02] [-1.15928479e-01 -8.32651820e-04 9.93257215e-01 -2.27948179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67592000000002 meters 0.030222626045247548 Centerline is valid? [True, True] Translation: X:187.97, Y:-123.37, Z:-22.80 [[ 7.17703906e-01 6.91160079e-01 8.48460278e-02 1.87967760e+02] [-6.86521682e-01 7.22701172e-01 -7.99437064e-02 -1.23373786e+02] [-1.16572222e-01 -8.72727427e-04 9.93181834e-01 -2.27974334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70592 meters 0.030158782231735612 Centerline is valid? [True, True] Translation: X:187.99, Y:-123.40, Z:-22.80 [[ 7.17743279e-01 6.91100628e-01 8.49971010e-02 1.87992398e+02] [-6.86435521e-01 7.22758103e-01 -8.01685811e-02 -1.23395387e+02] [-1.16836900e-01 -8.04568991e-04 9.93150790e-01 -2.28007379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73592 meters 0.029966230913325474 Centerline is valid? [True, True] Translation: X:188.02, Y:-123.42, Z:-22.80 [[ 7.17773689e-01 6.91040723e-01 8.52270534e-02 1.88018473e+02] [-6.86340025e-01 7.22815451e-01 -8.04685882e-02 -1.23416138e+02] [-1.17210502e-01 -7.36502582e-04 9.93106820e-01 -2.28034445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76592 meters 0.029856031446100502 Centerline is valid? [True, True] Translation: X:188.04, Y:-123.44, Z:-22.81 [[ 7.18063783e-01 6.90763929e-01 8.50270416e-02 1.88044272e+02] [-6.86073713e-01 7.23080077e-01 -8.03620700e-02 -1.23437704e+02] [-1.16992579e-01 -6.29726078e-04 9.93132589e-01 -2.28052353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79592 meters 0.029784584705288716 Centerline is valid? [True, True] Translation: X:188.07, Y:-123.46, Z:-22.81 [[ 7.20701036e-01 6.88103028e-01 8.42866443e-02 1.88068389e+02] [-6.83466979e-01 7.25612985e-01 -7.97413639e-02 -1.23458515e+02] [-1.16029757e-01 -1.37454495e-04 9.93245728e-01 -2.28082119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82592 meters 0.029612722755410065 Centerline is valid? [True, True] Translation: X:188.09, Y:-123.48, Z:-22.81 [[ 7.22313441e-01 6.86519060e-01 8.33958822e-02 1.88092011e+02] [-6.81962193e-01 7.27111788e-01 -7.89684439e-02 -1.23480003e+02] [-1.14851471e-01 1.67129644e-04 9.93382661e-01 -2.28114063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85592 meters 0.02958104189189411 Centerline is valid? [True, True] Translation: X:188.12, Y:-123.50, Z:-22.81 [[ 7.23919449e-01 6.84815721e-01 8.34749008e-02 1.88116091e+02] [-6.80230526e-01 7.28716122e-01 -7.91153870e-02 -1.23502912e+02] [-1.15008967e-01 4.90991677e-04 9.93364332e-01 -2.28148089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88592 meters 0.029608190798234357 Centerline is valid? [True, True] Translation: X:188.14, Y:-123.53, Z:-22.82 [[ 7.24606633e-01 6.84136787e-01 8.30787859e-02 1.88139218e+02] [-6.79581556e-01 7.29353432e-01 -7.88192832e-02 -1.23525676e+02] [-1.14516969e-01 6.54164769e-04 9.93421077e-01 -2.28182672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91592 meters 0.02991581347607937 Centerline is valid? [True, True] Translation: X:188.16, Y:-123.55, Z:-22.82 [[ 7.24927161e-01 6.83429712e-01 8.60490596e-02 1.88160908e+02] [-6.78526981e-01 7.30015821e-01 -8.17192564e-02 -1.23548692e+02] [-1.18666543e-01 8.53899895e-04 9.92933796e-01 -2.28211188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94592 meters 0.029565550816072168 Centerline is valid? [True, True] Translation: X:188.18, Y:-123.57, Z:-22.82 [[ 7.24426835e-01 6.84194979e-01 8.41605140e-02 1.88184163e+02] [-6.79503368e-01 7.29298741e-01 -7.99907417e-02 -1.23571427e+02] [-1.16107421e-01 7.60087110e-04 9.93236371e-01 -2.28223197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97592 meters 0.029565550816072168 Centerline is valid? [True, True] Translation: X:188.21, Y:-123.59, Z:-22.83 [[ 7.24087646e-01 6.84558314e-01 8.41248866e-02 1.88207950e+02] [-6.79864796e-01 7.28957713e-01 -8.00281962e-02 -1.23593540e+02] [-1.16107452e-01 7.53879245e-04 9.93236372e-01 -2.28253739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00592 meters 0.02941657646760295 Centerline is valid? [True, True] Translation: X:188.23, Y:-123.62, Z:-22.83 [[ 7.23250849e-01 6.85618359e-01 8.26781488e-02 1.88230839e+02] [-6.81083609e-01 7.27960899e-01 -7.87276753e-02 -1.23616289e+02] [-1.14163599e-01 6.29125950e-04 9.93461764e-01 -2.28284881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03592 meters 0.029299709601985836 Centerline is valid? [True, True] Translation: X:188.25, Y:-123.64, Z:-22.83 [[ 7.22915299e-01 6.86027101e-01 8.22209632e-02 1.88253152e+02] [-6.81538246e-01 7.27575734e-01 -7.83528522e-02 -1.23639866e+02] [-1.13574158e-01 6.05744537e-04 9.93529337e-01 -2.28330350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06592 meters 0.029230297370119913 Centerline is valid? [True, True] Translation: X:188.28, Y:-123.66, Z:-22.84 [[ 7.22533707e-01 6.86375626e-01 8.26652448e-02 1.88275229e+02] [-6.81836240e-01 7.27246976e-01 -7.88110228e-02 -1.23664977e+02] [-1.14212014e-01 5.79460747e-04 9.93456230e-01 -2.28353406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09592 meters 0.029446668553446718 Centerline is valid? [True, True] Translation: X:188.30, Y:-123.69, Z:-22.84 [[ 7.21480108e-01 6.87303000e-01 8.41489151e-02 1.88298225e+02] [-6.82595526e-01 7.26370660e-01 -8.03057354e-02 -1.23687301e+02] [-1.16317676e-01 4.99317622e-04 9.93211936e-01 -2.28389367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12592 meters 0.02939104238742783 Centerline is valid? [True, True] Translation: X:188.32, Y:-123.71, Z:-22.84 [[ 7.20809885e-01 6.88082551e-01 8.35195367e-02 1.88322153e+02] [-6.83442570e-01 7.25632294e-01 -7.97748569e-02 -1.23709568e+02] [-1.15496160e-01 4.21698570e-04 9.93307837e-01 -2.28405171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15592 meters 0.02915543753311252 Centerline is valid? [True, True] Translation: X:188.34, Y:-123.73, Z:-22.84 [[ 7.19823825e-01 6.89181306e-01 8.29625685e-02 1.88344604e+02] [-6.84602460e-01 7.24588877e-01 -7.93122388e-02 -1.23732248e+02] [-1.14774267e-01 2.94460622e-04 9.93391555e-01 -2.28439075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18592 meters 0.02914482739989819 Centerline is valid? [True, True] Translation: X:188.37, Y:-123.75, Z:-22.85 [[ 7.19234152e-01 6.89845174e-01 8.25582918e-02 1.88368297e+02] [-6.85307154e-01 7.23956890e-01 -7.89969942e-02 -1.23754924e+02] [-1.14264339e-01 2.39548113e-04 9.93450353e-01 -2.28467648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21592 meters 0.028976648838541164 Centerline is valid? [True, True] Translation: X:188.39, Y:-123.78, Z:-22.85 [[ 7.18113200e-01 6.91133890e-01 8.15314590e-02 1.88393166e+02] [-6.86707930e-01 7.22726739e-01 -7.80914838e-02 -1.23775997e+02] [-1.12896636e-01 9.02258390e-05 9.93606734e-01 -2.28488984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24592 meters 0.028913744550583275 Centerline is valid? [True, True] Translation: X:188.42, Y:-123.80, Z:-22.85 [[ 7.17619713e-01 6.91808372e-01 8.01443924e-02 1.88416261e+02] [-6.87528775e-01 7.22081142e-01 -7.68310407e-02 -1.23797919e+02] [-1.11023112e-01 3.38934918e-05 9.93817824e-01 -2.28511403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27592 meters 0.02883621022559714 Centerline is valid? [True, True] Translation: X:188.44, Y:-123.82, Z:-22.85 [[ 7.16303641e-01 6.93192766e-01 7.99555100e-02 1.88439229e+02] [-6.88934187e-01 7.20752227e-01 -7.67197118e-02 -1.23822267e+02] [-1.10809661e-01 -1.29475315e-04 9.93841638e-01 -2.28531753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30592000000001 meters 0.028877156915624442 Centerline is valid? [True, True] Translation: X:188.46, Y:-123.84, Z:-22.86 [[ 7.16106769e-01 6.93270118e-01 8.10409696e-02 1.88462898e+02] [-6.88886338e-01 7.20677831e-01 -7.78400823e-02 -1.23843547e+02] [-1.12368633e-01 -8.62069123e-05 9.93666585e-01 -2.28555962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33592000000002 meters 0.02862554719823077 Centerline is valid? [True, True] Translation: X:188.49, Y:-123.86, Z:-22.86 [[ 7.16005835e-01 6.93420230e-01 8.06475534e-02 1.88489353e+02] [-6.89072029e-01 7.20533400e-01 -7.75329490e-02 -1.23864476e+02] [-1.11872171e-01 -5.79293374e-05 9.93722604e-01 -2.28568940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36592000000002 meters 0.028746440306116262 Centerline is valid? [True, True] Translation: X:188.51, Y:-123.89, Z:-22.86 [[ 7.15798484e-01 6.93714453e-01 7.99549103e-02 1.88513741e+02] [-6.89433906e-01 7.20250134e-01 -7.69456600e-02 -1.23886234e+02] [-1.10965851e-01 -4.60393526e-05 9.93824219e-01 -2.28597769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39592000000002 meters 0.02871342067852894 Centerline is valid? [True, True] Translation: X:188.54, Y:-123.91, Z:-22.86 [[ 7.16463702e-01 6.93093868e-01 7.93766598e-02 1.88538236e+02] [-6.88862753e-01 7.20847334e-01 -7.64671765e-02 -1.23908770e+02] [-1.10217385e-01 1.06331992e-04 9.93907499e-01 -2.28630007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42592000000002 meters 0.028573003594747064 Centerline is valid? [True, True] Translation: X:188.56, Y:-123.93, Z:-22.87 [[ 7.16326346e-01 6.93287585e-01 7.89233288e-02 1.88562239e+02] [-6.89097360e-01 7.20661021e-01 -7.61086169e-02 -1.23931327e+02] [-1.09642126e-01 1.32749902e-04 9.93971120e-01 -2.28660562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45592 meters 0.028257769786240967 Centerline is valid? [True, True] Translation: X:188.59, Y:-123.95, Z:-22.87 [[ 7.16021583e-01 6.93860439e-01 7.66210401e-02 1.88586507e+02] [-6.89907308e-01 7.20109493e-01 -7.39609631e-02 -1.23953223e+02] [-1.06494125e-01 9.62303623e-05 9.94313327e-01 -2.28676796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48592 meters 0.028330340385949657 Centerline is valid? [True, True] Translation: X:188.61, Y:-123.98, Z:-22.87 [[ 7.15781840e-01 6.94014743e-01 7.74589821e-02 1.88610392e+02] [-6.89967869e-01 7.19960777e-01 -7.48386178e-02 -1.23975510e+02] [-1.07706533e-01 1.23914744e-04 9.94182723e-01 -2.28716187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51592 meters 0.028088969813564138 Centerline is valid? [True, True] Translation: X:188.63, Y:-124.00, Z:-22.87 [[ 7.15982462e-01 6.93885485e-01 7.67596723e-02 1.88634759e+02] [-6.89902706e-01 7.20085338e-01 -7.42385413e-02 -1.23998650e+02] [-1.06786561e-01 1.96787934e-04 9.94281948e-01 -2.28726601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54592 meters 0.02815873638536119 Centerline is valid? [True, True] Translation: X:188.66, Y:-124.02, Z:-22.88 [[ 7.15743196e-01 6.93985989e-01 7.80712776e-02 1.88657712e+02] [-6.89857691e-01 7.19988465e-01 -7.55842312e-02 -1.24021213e+02] [-1.08664817e-01 2.40827927e-04 9.94078417e-01 -2.28769089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57592 meters 0.027938926885604263 Centerline is valid? [True, True] Translation: X:188.68, Y:-124.04, Z:-22.88 [[ 7.16189230e-01 6.93460169e-01 7.86510082e-02 1.88681676e+02] [-6.89259268e-01 7.20494868e-01 -7.62155327e-02 -1.24043246e+02] [-1.09520084e-01 3.73807329e-04 9.93984513e-01 -2.28795638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60592 meters 0.02806265837433837 Centerline is valid? [True, True] Translation: X:188.71, Y:-124.07, Z:-22.88 [[ 7.15949997e-01 6.93710980e-01 7.86172858e-02 1.88705674e+02] [-6.89506695e-01 7.20253374e-01 -7.62600481e-02 -1.24065735e+02] [-1.09526798e-01 3.91236325e-04 9.93983766e-01 -2.28832236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63592 meters 0.027866835209719276 Centerline is valid? [True, True] Translation: X:188.73, Y:-124.09, Z:-22.89 [[ 7.15360643e-01 6.94135142e-01 8.02219138e-02 1.88728268e+02] [-6.89750677e-01 7.19844603e-01 -7.78957760e-02 -1.24088870e+02] [-1.11817507e-01 3.90453053e-04 9.93728682e-01 -2.28872827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66592 meters 0.027882982824363328 Centerline is valid? [True, True] Translation: X:188.75, Y:-124.11, Z:-22.89 [[ 7.15152162e-01 6.94438432e-01 7.94521793e-02 1.88751622e+02] [-6.90133050e-01 7.19552025e-01 -7.72091760e-02 -1.24111608e+02] [-1.10786996e-01 3.83734384e-04 9.93844100e-01 -2.28900436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69592 meters 0.027724042028130502 Centerline is valid? [True, True] Translation: X:188.78, Y:-124.13, Z:-22.89 [[ 7.14648995e-01 6.95021412e-01 7.88799787e-02 1.88775259e+02] [-6.90778019e-01 7.18988969e-01 -7.66850086e-02 -1.24134875e+02] [-1.10011558e-01 3.14308939e-04 9.93930258e-01 -2.28917658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72592 meters 0.027726048645868796 Centerline is valid? [True, True] Translation: X:188.80, Y:-124.16, Z:-22.90 [[ 7.14915784e-01 6.94689262e-01 7.93867189e-02 1.88798850e+02] [-6.90380186e-01 7.19309842e-01 -7.72563876e-02 -1.24158321e+02] [-1.10772831e-01 4.24793101e-04 9.93845662e-01 -2.28950802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75592 meters 0.027606595939851333 Centerline is valid? [True, True] Translation: X:188.82, Y:-124.18, Z:-22.90 [[ 7.13988680e-01 6.95495896e-01 8.06574452e-02 1.88820691e+02] [-6.91043503e-01 7.18529977e-01 -7.85719329e-02 -1.24182553e+02] [-1.12601249e-01 3.61667089e-04 9.93640190e-01 -2.28975818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78592 meters 0.02764564914624413 Centerline is valid? [True, True] Translation: X:188.84, Y:-124.21, Z:-22.90 [[ 7.13339742e-01 6.96135958e-01 8.08773217e-02 1.88843940e+02] [-6.91655098e-01 7.17909904e-01 -7.88580717e-02 -1.24205385e+02] [-1.12958569e-01 3.13384678e-04 9.93599649e-01 -2.29010269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81592 meters 0.027658796617783307 Centerline is valid? [True, True] Translation: X:188.87, Y:-124.23, Z:-22.90 [[ 7.12591009e-01 6.96911638e-01 8.07974159e-02 1.88867680e+02] [-6.92435468e-01 7.17156961e-01 -7.88607361e-02 -1.24228122e+02] [-1.12903394e-01 2.48455037e-04 9.93605939e-01 -2.29044422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84592 meters 0.027620954778359415 Centerline is valid? [True, True] Translation: X:188.89, Y:-124.25, Z:-22.91 [[ 7.11701281e-01 6.97726523e-01 8.16026138e-02 1.88892028e+02] [-6.93156332e-01 7.16364200e-01 -7.97284911e-02 -1.24250450e+02] [-1.14085874e-01 1.79500796e-04 9.93470876e-01 -2.29062014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87592 meters 0.027609700881776323 Centerline is valid? [True, True] Translation: X:188.91, Y:-124.27, Z:-22.91 [[ 7.11180615e-01 6.98187811e-01 8.21943636e-02 1.88914681e+02] [-6.93545359e-01 7.15914628e-01 -8.03808419e-02 -1.24272379e+02] [-1.14965071e-01 1.59777083e-04 9.93369522e-01 -2.29098818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90592 meters 0.027440623339017593 Centerline is valid? [True, True] Translation: X:188.94, Y:-124.29, Z:-22.91 [[ 7.11057337e-01 6.98337697e-01 8.19873473e-02 1.88938585e+02] [-6.93714208e-01 7.15768421e-01 -8.02257146e-02 -1.24294849e+02] [-1.14708595e-01 1.69295292e-04 9.93399169e-01 -2.29124060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93592 meters 0.027620224272455453 Centerline is valid? [True, True] Translation: X:188.96, Y:-124.32, Z:-22.92 [[ 7.11441297e-01 6.97912247e-01 8.22786459e-02 1.88962176e+02] [-6.93243360e-01 7.16183221e-01 -8.05930387e-02 -1.24317310e+02] [-1.15173454e-01 2.98091106e-04 9.93345351e-01 -2.29171454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96592 meters 0.027383081609255514 Centerline is valid? [True, True] Translation: X:188.99, Y:-124.34, Z:-22.92 [[ 7.11349509e-01 6.98039849e-01 8.19893051e-02 1.88985610e+02] [-6.93395270e-01 7.16058836e-01 -8.03911817e-02 -1.24340076e+02] [-1.14825415e-01 3.35231195e-04 9.93385631e-01 -2.29211136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99592 meters 0.027454419307333805 Centerline is valid? [True, True] Translation: X:189.01, Y:-124.36, Z:-22.92 [[ 7.11527737e-01 6.97972389e-01 8.10112600e-02 1.89009269e+02] [-6.93429914e-01 7.16124564e-01 -7.95019741e-02 -1.24362604e+02] [-1.13504336e-01 3.92228706e-04 9.93537424e-01 -2.29229969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02592 meters 0.02746939889604745 Centerline is valid? [True, True] Translation: X:189.03, Y:-124.38, Z:-22.93 [[ 7.11163750e-01 6.98266361e-01 8.16713577e-02 1.89033543e+02] [-6.93647249e-01 7.15837936e-01 -8.01844373e-02 -1.24384026e+02] [-1.14453551e-01 3.73152542e-04 9.93428531e-01 -2.29274404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05592000000001 meters 0.02742048053231696 Centerline is valid? [True, True] Translation: X:189.06, Y:-124.41, Z:-22.93 [[ 7.10374681e-01 6.98969967e-01 8.25154402e-02 1.89057011e+02] [-6.94250335e-01 7.15150952e-01 -8.10900041e-02 -1.24406406e+02] [-1.15690473e-01 3.17913766e-04 9.93285263e-01 -2.29305530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08592000000002 meters 0.027341224787283125 Centerline is valid? [True, True] Translation: X:189.08, Y:-124.43, Z:-22.93 [[ 7.08767931e-01 7.00553998e-01 8.28982257e-02 1.89079739e+02] [-6.95792393e-01 7.13599385e-01 -8.15405627e-02 -1.24430292e+02] [-1.16279690e-01 1.13381041e-04 9.93216503e-01 -2.29331339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11592000000002 meters 0.027259073684945286 Centerline is valid? [True, True] Translation: X:189.10, Y:-124.45, Z:-22.94 [[ 7.08240589e-01 7.01153837e-01 8.23320385e-02 1.89103506e+02] [-6.96451791e-01 7.13010022e-01 -8.10654776e-02 -1.24453255e+02] [-1.15542939e-01 7.35659576e-05 9.93302484e-01 -2.29360488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14592000000002 meters 0.027432531766047808 Centerline is valid? [True, True] Translation: X:189.13, Y:-124.48, Z:-22.94 [[ 7.07151246e-01 7.02080653e-01 8.37846731e-02 1.89125806e+02] [-6.97207397e-01 7.12097434e-01 -8.25777813e-02 -1.24475479e+02] [-1.17639113e-01 -2.03128944e-05 9.93056413e-01 -2.29400983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17592000000002 meters 0.027566983994901182 Centerline is valid? [True, True] Translation: X:189.15, Y:-124.50, Z:-22.94 [[ 7.05819045e-01 7.03321776e-01 8.46046981e-02 1.89148090e+02] [-6.98352714e-01 7.10871611e-01 -8.34568063e-02 -1.24498778e+02] [-1.18840067e-01 -1.78517193e-04 9.92913393e-01 -2.29440117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20592 meters 0.02736551288876787 Centerline is valid? [True, True] Translation: X:189.17, Y:-124.52, Z:-22.95 [[ 7.04116827e-01 7.04955499e-01 8.51894321e-02 1.89169603e+02] [-6.99920091e-01 7.09251424e-01 -8.41087651e-02 -1.24522950e+02] [-1.19713662e-01 -4.03398200e-04 9.92808378e-01 -2.29458501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23592 meters 0.027394881564981044 Centerline is valid? [True, True] Translation: X:189.19, Y:-124.55, Z:-22.95 [[ 7.02915983e-01 7.06195597e-01 8.48345459e-02 1.89193130e+02] [-7.01202023e-01 7.08016573e-01 -8.38346853e-02 -1.24546562e+02] [-1.19267950e-01 -5.57415083e-04 9.92861947e-01 -2.29487814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26592 meters 0.027311412911598307 Centerline is valid? [True, True] Translation: X:189.22, Y:-124.57, Z:-22.95 [[ 7.00950009e-01 7.08303146e-01 8.35208851e-02 1.89216738e+02] [-7.03468793e-01 7.05907885e-01 -8.26178857e-02 -1.24567986e+02] [-1.17476560e-01 -8.43328449e-04 9.93075298e-01 -2.29510149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29592 meters 0.027346036189333945 Centerline is valid? [True, True] Translation: X:189.24, Y:-124.59, Z:-22.96 [[ 7.00053211e-01 7.09232594e-01 8.31542507e-02 1.89240494e+02] [-7.04438403e-01 7.04973929e-01 -8.23304031e-02 -1.24590246e+02] [-1.17012984e-01 -9.41384513e-04 9.93129939e-01 -2.29551346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32592 meters 0.02763674768785798 Centerline is valid? [True, True] Translation: X:189.26, Y:-124.61, Z:-22.96 [[ 6.97607059e-01 7.11512267e-01 8.42299547e-02 1.89262811e+02] [-7.06599315e-01 7.02672507e-01 -8.34790691e-02 -1.24613089e+02] [-1.18582455e-01 -1.28124041e-03 9.92943382e-01 -2.29584210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35592 meters 0.02758815174944531 Centerline is valid? [True, True] Translation: X:189.29, Y:-124.64, Z:-22.96 [[ 6.97078839e-01 7.12097698e-01 8.36538103e-02 1.89287232e+02] [-7.07247167e-01 7.02079149e-01 -8.29838090e-02 -1.24635915e+02] [-1.17824175e-01 -1.31766310e-03 9.93033598e-01 -2.29603284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38592 meters 0.027928506585941343 Centerline is valid? [True, True] Translation: X:189.31, Y:-124.66, Z:-22.96 [[ 6.95613828e-01 7.13430211e-01 8.44910418e-02 1.89311953e+02] [-7.08481469e-01 7.00724686e-01 -8.38982812e-02 -1.24656643e+02] [-1.19060527e-01 -1.49953292e-03 9.92885866e-01 -2.29646525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41592 meters 0.02769644256639582 Centerline is valid? [True, True] Translation: X:189.34, Y:-124.68, Z:-22.97 [[ 6.95040022e-01 7.14201646e-01 8.26763374e-02 1.89335525e+02] [-7.09460881e-01 6.99938298e-01 -8.21683488e-02 -1.24677951e+02] [-1.16553105e-01 -1.54533622e-03 9.93183259e-01 -2.29675774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44592 meters 0.0277236108952003 Centerline is valid? [True, True] Translation: X:189.36, Y:-124.70, Z:-22.97 [[ 6.93713463e-01 7.15296853e-01 8.43329354e-02 1.89361359e+02] [-7.10362536e-01 6.98818635e-01 -8.38903028e-02 -1.24697554e+02] [-1.18939896e-01 -1.71112540e-03 9.92899981e-01 -2.29711394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47592 meters 0.027789917501061065 Centerline is valid? [True, True] Translation: X:189.39, Y:-124.72, Z:-22.97 [[ 6.93589794e-01 7.15422821e-01 8.42815824e-02 1.89386986e+02] [-7.10486255e-01 6.98689755e-01 -8.39160779e-02 -1.24717854e+02] [-1.18922155e-01 -1.67757069e-03 9.92902164e-01 -2.29744632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50592 meters 0.0280011672451801 Centerline is valid? [True, True] Translation: X:189.41, Y:-124.74, Z:-22.98 [[ 6.92753969e-01 7.16107462e-01 8.53348808e-02 1.89411837e+02] [-7.11041188e-01 6.97987831e-01 -8.50494990e-02 -1.24738887e+02] [-1.20467289e-01 -1.75823705e-03 9.92715740e-01 -2.29771884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53592 meters 0.027775398431414505 Centerline is valid? [True, True] Translation: X:189.44, Y:-124.76, Z:-22.98 [[ 6.92817309e-01 7.16065973e-01 8.51686441e-02 1.89438315e+02] [-7.11009761e-01 6.98030555e-01 -8.49615401e-02 -1.24759369e+02] [-1.20288384e-01 -1.69291171e-03 9.92737548e-01 -2.29801075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56592 meters 0.027778029685600718 Centerline is valid? [True, True] Translation: X:189.46, Y:-124.78, Z:-22.98 [[ 6.93832890e-01 7.15182367e-01 8.43214206e-02 1.89462783e+02] [-7.10210165e-01 6.98936358e-01 -8.41990997e-02 -1.24779988e+02] [-1.19153018e-01 -1.46582535e-03 9.92874821e-01 -2.29834834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59592 meters 0.0278105126336098 Centerline is valid? [True, True] Translation: X:189.49, Y:-124.80, Z:-22.99 [[ 6.95701380e-01 7.13289873e-01 8.49537976e-02 1.89489718e+02] [-7.08218908e-01 7.00868290e-01 -8.49094758e-02 -1.24799015e+02] [-1.20106492e-01 -1.09424626e-03 9.92760411e-01 -2.29868406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62592 meters 0.02769322969502714 Centerline is valid? [True, True] Translation: X:189.51, Y:-124.80, Z:-22.99 [[ 6.47848709e-01 7.57480449e-01 8.07181455e-02 1.89513137e+02] [-7.51902634e-01 6.52856664e-01 -9.17638545e-02 -1.24795751e+02] [-1.22206705e-01 -1.24309151e-03 9.92503892e-01 -2.29871782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65592 meters 0.027574185925640184 Centerline is valid? [True, True] Translation: X:189.53, Y:-124.79, Z:-22.99 [[ 6.00523966e-01 7.96181599e-01 7.39312397e-02 1.89532237e+02] [-7.90445821e-01 6.05056648e-01 -9.54036464e-02 -1.24788403e+02] [-1.20691216e-01 -1.14646337e-03 9.92689436e-01 -2.29863247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68592 meters 0.02767691536376951 Centerline is valid? [True, True] Translation: X:189.33, Y:-125.21, Z:-21.06 [[ 6.56214295e-01 -7.53541163e-01 -3.94780209e-02 1.89329180e+02] [-7.51553485e-01 -6.57368859e-01 5.50776049e-02 -1.25207701e+02] [-6.74548640e-02 -6.47286752e-03 -9.97701330e-01 -2.10618524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71592 meters 0.027683332324921227 Centerline is valid? [True, True] Translation: X:189.36, Y:-125.24, Z:-21.07 [[ 7.04753480e-01 -7.08004390e-01 -4.53024928e-02 1.89355467e+02] [-7.05961183e-01 -7.06181294e-01 5.40998026e-02 -1.25244218e+02] [-7.02946707e-02 -6.14522276e-03 -9.97507341e-01 -2.10651151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74592 meters 0.02801416063366858 Centerline is valid? [True, True] Translation: X:189.55, Y:-124.84, Z:-22.99 [[ 7.15651267e-01 6.93520811e-01 8.28984227e-02 1.89545171e+02] [-6.88703842e-01 7.20435402e-01 -8.16079066e-02 -1.24840233e+02] [-1.16319740e-01 1.31033955e-03 9.93210955e-01 -2.29934758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77592 meters 0.028424968815240485 Centerline is valid? [True, True] Translation: X:189.57, Y:-124.86, Z:-23.00 [[ 7.17533339e-01 6.91575487e-01 8.28809518e-02 1.89566868e+02] [-6.86738365e-01 7.22302231e-01 -8.16694926e-02 -1.24864516e+02] [-1.16345716e-01 1.68305448e-03 9.93207351e-01 -2.29969515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80592000000001 meters 0.028533083409655505 Centerline is valid? [True, True] Translation: X:189.59, Y:-124.89, Z:-23.00 [[ 7.17488225e-01 6.91517240e-01 8.37529385e-02 1.89589185e+02] [-6.86568579e-01 7.22357807e-01 -8.26001557e-02 -1.24888195e+02] [-1.17619021e-01 1.76250304e-03 9.93057229e-01 -2.30004301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83592000000002 meters 0.02881860595099685 Centerline is valid? [True, True] Translation: X:189.61, Y:-124.91, Z:-23.00 [[ 7.18161806e-01 6.90824235e-01 8.36988451e-02 1.89610051e+02] [-6.85868937e-01 7.23020170e-01 -8.26174020e-02 -1.24912449e+02] [-1.17590057e-01 1.92622467e-03 9.93060355e-01 -2.30031039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86592000000002 meters 0.028762441018337 Centerline is valid? [True, True] Translation: X:189.63, Y:-124.94, Z:-23.01 [[ 7.18051041e-01 6.90980964e-01 8.33547222e-02 1.89632272e+02] [-6.86059034e-01 7.22870337e-01 -8.23497295e-02 -1.24936887e+02] [-1.17156752e-01 1.94504877e-03 9.93111531e-01 -2.30058177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89592000000002 meters 0.028762441018337 Centerline is valid? [True, True] Translation: X:189.66, Y:-124.96, Z:-23.01 [[ 7.17715350e-01 6.91334504e-01 8.33143451e-02 1.89655635e+02] [-6.86410209e-01 7.22532227e-01 -8.23905634e-02 -1.24959464e+02] [-1.17156739e-01 1.94515493e-03 9.93111532e-01 -2.30088660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92592000000002 meters 0.02877677341436829 Centerline is valid? [True, True] Translation: X:189.68, Y:-124.99, Z:-23.01 [[ 7.17452020e-01 6.91828177e-01 8.14639384e-02 1.89675820e+02] [-6.87115375e-01 7.22059727e-01 -8.06362985e-02 -1.24985358e+02] [-1.14608292e-01 1.87755065e-03 9.93408986e-01 -2.30117304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95592 meters 0.028783679655039033 Centerline is valid? [True, True] Translation: X:189.70, Y:-125.01, Z:-23.01 [[ 7.17591421e-01 6.91689910e-01 8.14101953e-02 1.89698080e+02] [-6.86974300e-01 7.22191987e-01 -8.06538641e-02 -1.25009082e+02] [-1.14581255e-01 1.94980910e-03 9.93411966e-01 -2.30147507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98592 meters 0.028827996880811734 Centerline is valid? [True, True] Translation: X:189.72, Y:-125.03, Z:-23.02 [[ 7.17475540e-01 6.91864783e-01 8.09442448e-02 1.89720153e+02] [-6.87195275e-01 7.22024410e-01 -8.02708228e-02 -1.25033840e+02] [-1.13980276e-01 1.96784933e-03 9.93481064e-01 -2.30177358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01592 meters 0.028837790961027277 Centerline is valid? [True, True] Translation: X:189.74, Y:-125.06, Z:-23.02 [[ 7.17511760e-01 6.91865098e-01 8.06198547e-02 1.89742246e+02] [-6.87224121e-01 7.22023974e-01 -8.00274238e-02 -1.25058252e+02] [-1.13577649e-01 2.01670885e-03 9.93527076e-01 -2.30206984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04592 meters 0.028904975127684317 Centerline is valid? [True, True] Translation: X:189.76, Y:-125.08, Z:-23.02 [[ 7.16461081e-01 6.92865917e-01 8.13654727e-02 1.89762059e+02] [-6.88135634e-01 7.21063855e-01 -8.08471767e-02 -1.25084920e+02] [-1.14685955e-01 1.93337437e-03 9.93399916e-01 -2.30245763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07592 meters 0.029009674385132987 Centerline is valid? [True, True] Translation: X:189.78, Y:-125.11, Z:-23.03 [[ 7.16125834e-01 6.93215790e-01 8.13367007e-02 1.89783973e+02] [-6.88481915e-01 7.20727498e-01 -8.08982506e-02 -1.25109532e+02] [-1.14701542e-01 1.93447971e-03 9.93398115e-01 -2.30278118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10592 meters 0.028868700454173737 Centerline is valid? [True, True] Translation: X:189.81, Y:-125.13, Z:-23.03 [[ 7.14693848e-01 6.94649471e-01 8.16995439e-02 1.89805819e+02] [-6.89873145e-01 7.19346216e-01 -8.13391989e-02 -1.25134663e+02] [-1.15272489e-01 1.77030375e-03 9.93332331e-01 -2.30304723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13592 meters 0.028612688655941677 Centerline is valid? [True, True] Translation: X:189.83, Y:-125.16, Z:-23.03 [[ 7.12330394e-01 6.97103212e-01 8.14403020e-02 1.89825315e+02] [-6.92364190e-01 7.16969372e-01 -8.11587814e-02 -1.25160660e+02] [-1.14966249e-01 1.42551798e-03 9.93368376e-01 -2.30328321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16592 meters 0.028699292690723972 Centerline is valid? [True, True] Translation: X:189.85, Y:-125.19, Z:-23.04 [[ 7.10909738e-01 6.98472679e-01 8.21173566e-02 1.89847241e+02] [-6.93654805e-01 7.15635599e-01 -8.19066586e-02 -1.25185455e+02] [-1.15975667e-01 1.26714223e-03 9.93251247e-01 -2.30366364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19592 meters 0.028601827768727654 Centerline is valid? [True, True] Translation: X:189.87, Y:-125.21, Z:-23.04 [[ 7.09374176e-01 7.00001582e-01 8.23775726e-02 1.89867386e+02] [-6.95155021e-01 7.14140489e-01 -8.22366020e-02 -1.25210851e+02] [-1.16394911e-01 1.07133850e-03 9.93202435e-01 -2.30396088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22592 meters 0.028398484851073894 Centerline is valid? [True, True] Translation: X:189.89, Y:-125.24, Z:-23.04 [[ 7.07788319e-01 7.01601892e-01 8.24043685e-02 1.89889391e+02] [-6.96758634e-01 7.12568655e-01 -8.23001767e-02 -1.25235447e+02] [-1.16460730e-01 8.35148526e-04 9.93194946e-01 -2.30430866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25592 meters 0.028342276784317284 Centerline is valid? [True, True] Translation: X:189.91, Y:-125.26, Z:-23.05 [[ 7.05766274e-01 7.03713691e-01 8.17374258e-02 1.89910322e+02] [-6.98953554e-01 7.10483461e-01 -8.17140143e-02 -1.25260405e+02] [-1.15576360e-01 5.40331177e-04 9.93298451e-01 -2.30463142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28592 meters 0.02828991583618241 Centerline is valid? [True, True] Translation: X:189.82, Y:-125.64, Z:-21.12 [[ 7.51160301e-01 -6.58212394e-01 -5.01462466e-02 1.89822176e+02] [-6.56160717e-01 -7.52805091e-01 5.23221555e-02 -1.25636464e+02] [-7.21894410e-02 -6.39832896e-03 -9.97370416e-01 -2.11194493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31592 meters 0.02826998528868232 Centerline is valid? [True, True] Translation: X:189.92, Y:-125.30, Z:-23.05 [[ 7.52009814e-01 6.53396620e-01 8.69143012e-02 1.89920629e+02] [-6.49041530e-01 7.57015723e-01 -7.53145905e-02 -1.25296668e+02] [-1.15005791e-01 2.26320205e-04 9.93364795e-01 -2.30518932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34592 meters 0.028159897451473015 Centerline is valid? [True, True] Translation: X:189.94, Y:-125.32, Z:-23.05 [[ 7.50700062e-01 6.54766652e-01 8.79206872e-02 1.89944162e+02] [-6.50312339e-01 7.55831084e-01 -7.62445695e-02 -1.25319192e+02] [-1.16375590e-01 6.08953665e-05 9.93205275e-01 -2.30549051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37592 meters 0.028346264374807077 Centerline is valid? [True, True] Translation: X:189.97, Y:-125.34, Z:-23.06 [[ 7.49822639e-01 6.55641128e-01 8.88860012e-02 1.89967733e+02] [-6.51085962e-01 7.55072653e-01 -7.71515282e-02 -1.25340273e+02] [-1.17699104e-01 -2.24651214e-05 9.93049304e-01 -2.30575438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40592 meters 0.028164252266761464 Centerline is valid? [True, True] Translation: X:189.99, Y:-125.36, Z:-23.06 [[ 7.48929240e-01 6.56810597e-01 8.77771835e-02 1.89991455e+02] [-6.52369231e-01 7.54055579e-01 -7.62533266e-02 -1.25361382e+02] [-1.16272868e-01 -1.54787819e-04 9.93217296e-01 -2.30596811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43592 meters 0.028095612022192035 Centerline is valid? [True, True] Translation: X:190.02, Y:-125.38, Z:-23.06 [[ 7.48049259e-01 6.57914784e-01 8.70082993e-02 1.90015219e+02] [-6.53550719e-01 7.53092334e-01 -7.56531218e-02 -1.25383323e+02] [-1.15298590e-01 -2.72074826e-04 9.93330842e-01 -2.30627812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46592 meters 0.028252287916796733 Centerline is valid? [True, True] Translation: X:190.04, Y:-125.41, Z:-23.07 [[ 7.45183295e-01 6.61151543e-01 8.70660289e-02 1.90038133e+02] [-6.56795400e-01 7.50252038e-01 -7.57738895e-02 -1.25406741e+02] [-1.15419490e-01 -7.19130624e-04 9.93316578e-01 -2.30650746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49592 meters 0.028429241777943412 Centerline is valid? [True, True] Translation: X:190.06, Y:-125.43, Z:-23.07 [[ 7.41914609e-01 6.64693029e-01 8.80107376e-02 1.90062201e+02] [-6.60257266e-01 7.47115570e-01 -7.66724694e-02 -1.25427245e+02] [-1.16717848e-01 -1.22530381e-03 9.93164358e-01 -2.30674542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52592 meters 0.028453566112926158 Centerline is valid? [True, True] Translation: X:190.09, Y:-125.45, Z:-23.07 [[ 7.40451260e-01 6.66460401e-01 8.69624369e-02 1.90086796e+02] [-6.62134488e-01 7.45539048e-01 -7.58251135e-02 -1.25448515e+02] [-1.15368328e-01 -1.43602783e-03 9.93321744e-01 -2.30701055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55592000000001 meters 0.028521742200950252 Centerline is valid? [True, True] Translation: X:190.11, Y:-125.47, Z:-23.07 [[ 7.39295361e-01 6.67992127e-01 8.50228589e-02 1.90111146e+02] [-6.63859275e-01 7.44166659e-01 -7.42081255e-02 -1.25469542e+02] [-1.12841620e-01 -1.58149058e-03 9.93611729e-01 -2.30720828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58592000000002 meters 0.028619814828669494 Centerline is valid? [True, True] Translation: X:190.14, Y:-125.49, Z:-23.07 [[ 7.36924039e-01 6.70676328e-01 8.44761722e-02 1.90135982e+02] [-6.66606614e-01 7.41747627e-01 -7.37975630e-02 -1.25490642e+02] [-1.12154279e-01 -1.92917687e-03 9.93688933e-01 -2.30733747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61592000000002 meters 0.028768007532568442 Centerline is valid? [True, True] Translation: X:190.16, Y:-125.51, Z:-23.08 [[ 7.36420798e-01 6.71183200e-01 8.48382052e-02 1.90161054e+02] [-6.67073861e-01 7.41288917e-01 -7.41835870e-02 -1.25511353e+02] [-1.12680399e-01 -1.96301284e-03 9.93629345e-01 -2.30773066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64592000000002 meters 0.028810016190287783 Centerline is valid? [True, True] Translation: X:190.19, Y:-125.53, Z:-23.08 [[ 7.35652517e-01 6.71827680e-01 8.63883228e-02 1.90186870e+02] [-6.67561605e-01 7.40704666e-01 -7.56181240e-02 -1.25530838e+02] [-1.14790583e-01 -2.04086418e-03 9.93387617e-01 -2.30821572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67592000000002 meters 0.028757284110888365 Centerline is valid? [True, True] Translation: X:190.21, Y:-125.55, Z:-23.08 [[ 7.34994268e-01 6.72680764e-01 8.53464445e-02 1.90212246e+02] [-6.68515102e-01 7.39929859e-01 -7.47754102e-02 -1.25551544e+02] [-1.13450363e-01 -2.09588920e-03 9.93541455e-01 -2.30842218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70592 meters 0.028835998684476494 Centerline is valid? [True, True] Translation: X:190.24, Y:-125.57, Z:-23.09 [[ 7.34499649e-01 6.73342659e-01 8.43796721e-02 1.90237683e+02] [-6.69266825e-01 7.39327523e-01 -7.40049306e-02 -1.25572335e+02] [-1.12214891e-01 -2.11591967e-03 9.93681710e-01 -2.30868944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73592 meters 0.028698348308296037 Centerline is valid? [True, True] Translation: X:190.26, Y:-125.59, Z:-23.09 [[ 7.35085254e-01 6.72736982e-01 8.41107799e-02 1.90263361e+02] [-6.68674696e-01 7.39879118e-01 -7.38447101e-02 -1.25591289e+02] [-1.11909877e-01 -1.96059274e-03 9.93716426e-01 -2.30891183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76592 meters 0.028626873070812606 Centerline is valid? [True, True] Translation: X:190.29, Y:-125.61, Z:-23.09 [[ 7.36145561e-01 6.71688945e-01 8.32086230e-02 1.90290248e+02] [-6.67700336e-01 7.40831251e-01 -7.31116899e-02 -1.25609853e+02] [-1.10751862e-01 -1.73757958e-03 9.93846571e-01 -2.30927352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79592 meters 0.028569495774236356 Centerline is valid? [True, True] Translation: X:190.31, Y:-125.63, Z:-23.10 [[ 7.37919780e-01 6.69844142e-01 8.23603307e-02 1.90314714e+02] [-6.65921930e-01 7.42500370e-01 -7.23960188e-02 -1.25630681e+02] [-1.09646625e-01 -1.42309614e-03 9.93969613e-01 -2.30962918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82592 meters 0.028534777299228806 Centerline is valid? [True, True] Translation: X:190.34, Y:-125.65, Z:-23.10 [[ 7.38849415e-01 6.68760585e-01 8.28300768e-02 1.90339836e+02] [-6.64779010e-01 7.43476829e-01 -7.28771046e-02 -1.25651812e+02] [-1.10319578e-01 -1.21849035e-03 9.93895420e-01 -2.30992539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85592 meters 0.028287479131020647 Centerline is valid? [True, True] Translation: X:190.37, Y:-125.67, Z:-23.10 [[ 7.39894128e-01 6.67617999e-01 8.27217442e-02 1.90365372e+02] [-6.63631482e-01 7.44503342e-01 -7.28562333e-02 -1.25672135e+02] [-1.10226748e-01 -9.90854485e-04 9.93905973e-01 -2.31020865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88592 meters 0.028313967571083367 Centerline is valid? [True, True] Translation: X:190.39, Y:-125.69, Z:-23.11 [[ 7.41818314e-01 6.65454771e-01 8.29188563e-02 1.90390354e+02] [-6.61428244e-01 7.46437916e-01 -7.30966211e-02 -1.25691888e+02] [-1.10536274e-01 -6.20461290e-04 9.93871897e-01 -2.31054671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91592 meters 0.02822836208966211 Centerline is valid? [True, True] Translation: X:190.42, Y:-125.71, Z:-23.11 [[ 7.42675267e-01 6.64507305e-01 8.28461760e-02 1.90415003e+02] [-6.60474420e-01 7.47281646e-01 -7.31004948e-02 -1.25713866e+02] [-1.10485240e-01 -4.27850555e-04 9.93877673e-01 -2.31085104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94592 meters 0.02830614954684644 Centerline is valid? [True, True] Translation: X:190.44, Y:-125.74, Z:-23.11 [[ 7.44075233e-01 6.62934032e-01 8.28885845e-02 1.90440121e+02] [-6.58878779e-01 7.48677802e-01 -7.32140937e-02 -1.25735182e+02] [-1.10592958e-01 -1.36735503e-04 9.93865775e-01 -2.31115262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97592 meters 0.028022149622774436 Centerline is valid? [True, True] Translation: X:190.47, Y:-125.76, Z:-23.11 [[ 7.44077889e-01 6.62951895e-01 8.27217035e-02 1.90465060e+02] [-6.58904686e-01 7.48661992e-01 -7.31425795e-02 -1.25756286e+02] [-1.10420607e-01 -8.19419487e-05 9.93884944e-01 -2.31147096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00592 meters 0.02805391055202398 Centerline is valid? [True, True] Translation: X:190.49, Y:-125.78, Z:-23.12 [[ 7.45041983e-01 6.61925853e-01 8.22594011e-02 1.90487789e+02] [-6.57909386e-01 7.49569309e-01 -7.28085947e-02 -1.25779823e+02] [-1.09853014e-01 1.26227701e-04 9.93947835e-01 -2.31176364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03592 meters 0.02807711381478146 Centerline is valid? [True, True] Translation: X:190.51, Y:-125.80, Z:-23.12 [[ 7.45744219e-01 6.61125622e-01 8.23314738e-02 1.90511056e+02] [-6.57088873e-01 7.50275163e-01 -7.29478706e-02 -1.25803155e+02] [-1.09998966e-01 3.01357462e-04 9.93931656e-01 -2.31215856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06592 meters 0.028297147362871644 Centerline is valid? [True, True] Translation: X:190.53, Y:-125.83, Z:-23.12 [[ 7.46440233e-01 6.60179163e-01 8.36089151e-02 1.90533713e+02] [-6.56001322e-01 7.51107993e-01 -7.41555638e-02 -1.25826011e+02] [-1.11755282e-01 5.05137522e-04 9.93735630e-01 -2.31242194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09592 meters 0.028253666480780388 Centerline is valid? [True, True] Translation: X:190.56, Y:-125.85, Z:-23.13 [[ 7.46852434e-01 6.59810520e-01 8.28342974e-02 1.90558989e+02] [-6.55700234e-01 7.51431774e-01 -7.35356544e-02 -1.25847526e+02] [-1.10763921e-01 6.05814276e-04 9.93846561e-01 -2.31271701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12592 meters 0.027967720798086286 Centerline is valid? [True, True] Translation: X:190.58, Y:-125.87, Z:-23.13 [[ 7.46616464e-01 6.60175398e-01 8.20505897e-02 1.90581485e+02] [-6.56137503e-01 7.51111235e-01 -7.29074089e-02 -1.25870965e+02] [-1.09760797e-01 5.97402813e-04 9.93957851e-01 -2.31315399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15592 meters 0.02802624765770653 Centerline is valid? [True, True] Translation: X:190.60, Y:-125.89, Z:-23.13 [[ 7.46016384e-01 6.60892665e-01 8.17339540e-02 1.90604843e+02] [-6.56886875e-01 7.50480261e-01 -7.26568109e-02 -1.25894016e+02] [-1.09358072e-01 5.13209789e-04 9.94002288e-01 -2.31341522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18592 meters 0.02802382821943097 Centerline is valid? [True, True] Translation: X:190.63, Y:-125.92, Z:-23.14 [[ 7.44601641e-01 6.62189502e-01 8.41038586e-02 1.90627720e+02] [-6.57946706e-01 7.49336313e-01 -7.48413077e-02 -1.25917117e+02] [-1.12581204e-01 3.91103824e-04 9.93642451e-01 -2.31381892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21592 meters 0.02793165435452635 Centerline is valid? [True, True] Translation: X:190.65, Y:-125.94, Z:-23.14 [[ 7.44575930e-01 6.62315867e-01 8.33329295e-02 1.90651372e+02] [-6.58144111e-01 7.49224611e-01 -7.42213743e-02 -1.25938624e+02] [-1.11593076e-01 4.18372043e-04 9.93753898e-01 -2.31399080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24592 meters 0.02790567468978275 Centerline is valid? [True, True] Translation: X:190.67, Y:-125.96, Z:-23.14 [[ 7.44595219e-01 6.62477975e-01 8.18589821e-02 1.90673622e+02] [-6.58446829e-01 7.49081266e-01 -7.29727990e-02 -1.25961790e+02] [-1.09661902e-01 4.35410063e-04 9.93968851e-01 -2.31422335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27592 meters 0.027898151400254555 Centerline is valid? [True, True] Translation: X:190.70, Y:-125.98, Z:-23.15 [[ 7.44634291e-01 6.62402596e-01 8.21131730e-02 1.90697952e+02] [-6.58338342e-01 7.49147884e-01 -7.32671510e-02 -1.25984383e+02] [-1.10047261e-01 4.98982954e-04 9.93926230e-01 -2.31460012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30592000000001 meters 0.027674064182420792 Centerline is valid? [True, True] Translation: X:190.72, Y:-126.01, Z:-23.15 [[ 7.44922839e-01 6.62243482e-01 8.07683991e-02 1.90722298e+02] [-6.58302850e-01 7.49288494e-01 -7.21395156e-02 -1.26005991e+02] [-1.08292756e-01 5.68305386e-04 9.94118884e-01 -2.31476789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33592000000002 meters 0.027595954906905855 Centerline is valid? [True, True] Translation: X:190.75, Y:-126.03, Z:-23.15 [[ 7.44346717e-01 6.62837252e-01 8.12080108e-02 1.90745894e+02] [-6.58849766e-01 7.48763308e-01 -7.25981720e-02 -1.26028300e+02] [-1.08926352e-01 5.34332119e-04 9.94049679e-01 -2.31506004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36592000000002 meters 0.02738559552194533 Centerline is valid? [True, True] Translation: X:190.77, Y:-126.05, Z:-23.15 [[ 7.43643377e-01 6.63682127e-01 8.07499941e-02 1.90770202e+02] [-6.59736982e-01 7.48014586e-01 -7.22585160e-02 -1.26050782e+02] [-1.08358859e-01 4.60809443e-04 9.94111737e-01 -2.31524521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39592000000002 meters 0.027389035599068662 Centerline is valid? [True, True] Translation: X:190.79, Y:-126.07, Z:-23.16 [[ 7.42974557e-01 6.64433348e-01 8.07287665e-02 1.90794069e+02] [-6.60486548e-01 7.47347416e-01 -7.23143147e-02 -1.26073143e+02] [-1.08380477e-01 4.07431579e-04 9.94109404e-01 -2.31559907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42592000000002 meters 0.027312043831965973 Centerline is valid? [True, True] Translation: X:190.82, Y:-126.10, Z:-23.16 [[ 7.42109945e-01 6.65300489e-01 8.15358141e-02 1.90818518e+02] [-6.61270952e-01 7.46575611e-01 -7.31135027e-02 -1.26095767e+02] [-1.09515099e-01 3.40992038e-04 9.93985074e-01 -2.31593417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45592 meters 0.027129267978813848 Centerline is valid? [True, True] Translation: X:190.84, Y:-126.12, Z:-23.16 [[ 7.42570925e-01 6.64905871e-01 8.05518721e-02 1.90841656e+02] [-6.60962871e-01 7.46927024e-01 -7.23056274e-02 -1.26119007e+02] [-1.08242806e-01 4.50260011e-04 9.94124385e-01 -2.31629639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48592 meters 0.027145233804775216 Centerline is valid? [True, True] Translation: X:190.87, Y:-126.14, Z:-23.17 [[ 7.42724658e-01 6.64629111e-01 8.14139294e-02 1.90865659e+02] [-6.60591571e-01 7.47173236e-01 -7.31500691e-02 -1.26140746e+02] [-1.09447974e-01 5.49004578e-04 9.93992374e-01 -2.31663085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51592 meters 0.02728851105994428 Centerline is valid? [True, True] Translation: X:190.89, Y:-126.16, Z:-23.17 [[ 7.42064225e-01 6.65234247e-01 8.24868645e-02 1.90889635e+02] [-6.61088117e-01 7.46634548e-01 -7.41576262e-02 -1.26162822e+02] [-1.10919735e-01 4.98635574e-04 9.93829243e-01 -2.31689022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54592 meters 0.027018199249966502 Centerline is valid? [True, True] Translation: X:190.91, Y:-126.18, Z:-23.17 [[ 7.41437909e-01 6.66025655e-01 8.17291521e-02 1.90914092e+02] [-6.61952046e-01 7.45928709e-01 -7.35516773e-02 -1.26184057e+02] [-1.09951425e-01 4.33222333e-04 9.93936867e-01 -2.31711779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57592 meters 0.027211013203320495 Centerline is valid? [True, True] Translation: X:190.94, Y:-126.21, Z:-23.18 [[ 7.40325750e-01 6.67341893e-01 8.10714568e-02 1.90937389e+02] [-6.63334362e-01 7.44751446e-01 -7.30260771e-02 -1.26206002e+02] [-1.09111445e-01 2.85602261e-04 9.94029482e-01 -2.31760368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60592 meters 0.027232911999713172 Centerline is valid? [True, True] Translation: X:190.96, Y:-126.23, Z:-23.18 [[ 7.39759089e-01 6.67909444e-01 8.15687787e-02 1.90961860e+02] [-6.63848272e-01 7.44242507e-01 -7.35429219e-02 -1.26228385e+02] [-1.09826964e-01 2.54752103e-04 9.93950689e-01 -2.31804294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63592 meters 0.02715354364347542 Centerline is valid? [True, True] Translation: X:190.99, Y:-126.25, Z:-23.18 [[ 7.38287946e-01 6.69499125e-01 8.18647067e-02 1.90985947e+02] [-6.65409495e-01 7.42812840e-01 -7.38869961e-02 -1.26250983e+02] [-1.10277435e-01 7.63255194e-05 9.93900841e-01 -2.31824813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66592 meters 0.027055747872789963 Centerline is valid? [True, True] Translation: X:191.01, Y:-126.27, Z:-23.18 [[ 7.37219285e-01 6.70655356e-01 8.20312143e-02 1.91010811e+02] [-6.66547532e-01 7.41769097e-01 -7.41147443e-02 -1.26272616e+02] [-1.10553670e-01 -3.88845870e-05 9.93870155e-01 -2.31849449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69592 meters 0.02695326771980803 Centerline is valid? [True, True] Translation: X:191.04, Y:-126.29, Z:-23.19 [[ 7.35924938e-01 6.72008061e-01 8.25811770e-02 1.91035797e+02] [-6.67844434e-01 7.40543808e-01 -7.46905626e-02 -1.26294060e+02] [-1.11347639e-01 -1.84731806e-04 9.93781500e-01 -2.31871161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72592 meters 0.026942097228919774 Centerline is valid? [True, True] Translation: X:191.06, Y:-126.31, Z:-23.19 [[ 7.34716185e-01 6.73527351e-01 8.09508143e-02 1.91061022e+02] [-6.69527944e-01 7.39162218e-01 -7.32908481e-02 -1.26314027e+02] [-1.09199174e-01 -3.50859954e-04 9.94019827e-01 -2.31905509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75592 meters 0.026870049640920473 Centerline is valid? [True, True] Translation: X:191.09, Y:-126.33, Z:-23.19 [[ 7.35761251e-01 6.72484948e-01 8.01210089e-02 1.91086345e+02] [-6.68554009e-01 7.40110785e-01 -7.26055318e-02 -1.26333747e+02] [-1.08124550e-01 -1.44884743e-04 9.94137345e-01 -2.31945090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78592 meters 0.026937133325169872 Centerline is valid? [True, True] Translation: X:191.11, Y:-126.35, Z:-23.20 [[ 7.35742594e-01 6.72511301e-01 8.00711322e-02 1.91111336e+02] [-6.68578091e-01 7.40086847e-01 -7.26277876e-02 -1.26354793e+02] [-1.08102600e-01 -9.84478146e-05 9.94139738e-01 -2.31977245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81592 meters 0.026937133325169872 Centerline is valid? [True, True] Translation: X:191.14, Y:-126.38, Z:-23.20 [[ 7.35395258e-01 6.72895584e-01 8.00334134e-02 1.91135614e+02] [-6.68960122e-01 7.39737469e-01 -7.26693318e-02 -1.26376330e+02] [-1.08102587e-01 -9.84799433e-05 9.94139739e-01 -2.32007641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84592 meters 0.026942493013874788 Centerline is valid? [True, True] Translation: X:191.16, Y:-126.40, Z:-23.20 [[ 7.36050602e-01 6.72139706e-01 8.03599872e-02 1.91161097e+02] [-6.68159119e-01 7.40424345e-01 -7.30423254e-02 -1.26397191e+02] [-1.08595138e-01 6.95893870e-05 9.94086058e-01 -2.32033866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87592 meters 0.027113301516232324 Centerline is valid? [True, True] Translation: X:191.19, Y:-126.42, Z:-23.21 [[ 7.36390038e-01 6.71792792e-01 8.01508373e-02 1.91186095e+02] [-6.67822660e-01 7.40739099e-01 -7.29279237e-02 -1.26418514e+02] [-1.08363312e-01 1.76851090e-04 9.94111342e-01 -2.32058701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90592 meters 0.027046240339727762 Centerline is valid? [True, True] Translation: X:191.21, Y:-126.44, Z:-23.21 [[ 7.37006884e-01 6.71017330e-01 8.09728096e-02 1.91211629e+02] [-6.66951990e-01 7.41441582e-01 -7.37524479e-02 -1.26439657e+02] [-1.09525779e-01 3.51085260e-04 9.93983894e-01 -2.32093609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93592 meters 0.02693123045656144 Centerline is valid? [True, True] Translation: X:191.24, Y:-126.46, Z:-23.21 [[ 7.36528718e-01 6.71559238e-01 8.08309154e-02 1.91237003e+02] [-6.67503072e-01 7.40950797e-01 -7.36991577e-02 -1.26460991e+02] [-1.09385081e-01 3.26661842e-04 9.93999395e-01 -2.32118823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96592 meters 0.026883805480458472 Centerline is valid? [True, True] Translation: X:191.26, Y:-126.48, Z:-23.22 [[ 7.35811492e-01 6.72331224e-01 8.09454989e-02 1.91262732e+02] [-6.68259790e-01 7.40250399e-01 -7.38796352e-02 -1.26481017e+02] [-1.09591523e-01 2.68862504e-04 9.93976673e-01 -2.32151451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99592 meters 0.02680820508794101 Centerline is valid? [True, True] Translation: X:191.29, Y:-126.50, Z:-23.22 [[ 7.35392629e-01 6.72763755e-01 8.11579434e-02 1.91287866e+02] [-6.68664942e-01 7.39857325e-01 -7.41507511e-02 -1.26502573e+02] [-1.09931237e-01 2.62444235e-04 9.93939160e-01 -2.32184817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02592 meters 0.02671346956901614 Centerline is valid? [True, True] Translation: X:191.31, Y:-126.52, Z:-23.22 [[ 7.34710462e-01 6.73577278e-01 8.05865152e-02 1.91313079e+02] [-6.69532726e-01 7.39116778e-01 -7.37042516e-02 -1.26524090e+02] [-1.09208355e-01 1.95975514e-04 9.94018861e-01 -2.32216534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05592000000001 meters 0.02682264877781642 Centerline is valid? [True, True] Translation: X:191.34, Y:-126.54, Z:-23.23 [[ 7.34395853e-01 6.73871484e-01 8.09935394e-02 1.91339205e+02] [-6.69779131e-01 7.38848549e-01 -7.41534739e-02 -1.26543549e+02] [-1.09811871e-01 2.10221313e-04 9.93952368e-01 -2.32258090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08592000000002 meters 0.026576057845930097 Centerline is valid? [True, True] Translation: X:191.37, Y:-126.56, Z:-23.23 [[ 7.34519418e-01 6.73760268e-01 8.07980575e-02 1.91366429e+02] [-6.69678637e-01 7.38949945e-01 -7.40506646e-02 -1.26562239e+02] [-1.09598116e-01 2.82918078e-04 9.93975942e-01 -2.32287010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11592000000002 meters 0.026639277801889977 Centerline is valid? [True, True] Translation: X:191.39, Y:-126.58, Z:-23.23 [[ 7.33777241e-01 6.74558829e-01 8.08785922e-02 1.91391772e+02] [-6.70465396e-01 7.38221062e-01 -7.42011819e-02 -1.26583313e+02] [-1.09759343e-01 2.20841156e-04 9.93958167e-01 -2.32313840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14592000000002 meters 0.026540987964871948 Centerline is valid? [True, True] Translation: X:191.42, Y:-126.60, Z:-23.24 [[ 7.33751399e-01 6.74510217e-01 8.15159614e-02 1.91417395e+02] [-6.70342821e-01 7.38265457e-01 -7.48640005e-02 -1.26603498e+02] [-1.10676952e-01 2.87925576e-04 9.93856393e-01 -2.32351211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17592000000002 meters 0.0265866368975628 Centerline is valid? [True, True] Translation: X:191.44, Y:-126.62, Z:-23.24 [[ 7.34204965e-01 6.73987417e-01 8.17559243e-02 1.91444061e+02] [-6.69783442e-01 7.38742702e-01 -7.51622282e-02 -1.26623561e+02] [-1.11054988e-01 4.25716683e-04 9.93814172e-01 -2.32377225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20592 meters 0.026635626643741014 Centerline is valid? [True, True] Translation: X:191.47, Y:-126.64, Z:-23.24 [[ 7.35416034e-01 6.72720735e-01 8.13023373e-02 1.91469874e+02] [-6.68547203e-01 7.39896184e-01 -7.48216121e-02 -1.26644813e+02] [-1.10489339e-01 6.70562931e-04 9.93877083e-01 -2.32404783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23592 meters 0.026856280035578377 Centerline is valid? [True, True] Translation: X:191.50, Y:-126.66, Z:-23.25 [[ 7.36331509e-01 6.71561434e-01 8.25902480e-02 1.91495365e+02] [-6.67238158e-01 7.40948312e-01 -7.60844247e-02 -1.26664868e+02] [-1.12290470e-01 9.15994279e-04 9.93675003e-01 -2.32452991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26592 meters 0.02678323392215108 Centerline is valid? [True, True] Translation: X:191.52, Y:-126.69, Z:-23.25 [[ 7.35985373e-01 6.71946438e-01 8.25440143e-02 1.91520190e+02] [-6.67622628e-01 7.40599189e-01 -7.61108946e-02 -1.26686204e+02] [-1.12274475e-01 9.08253497e-04 9.93676817e-01 -2.32475888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29592 meters 0.02685265832271869 Centerline is valid? [True, True] Translation: X:191.55, Y:-126.71, Z:-23.25 [[ 7.36591865e-01 6.71360565e-01 8.18988154e-02 1.91546012e+02] [-6.67092146e-01 7.41130148e-01 -7.55921484e-02 -1.26706921e+02] [-1.11447269e-01 1.04650505e-03 9.93769798e-01 -2.32503280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32592 meters 0.02670653952912201 Centerline is valid? [True, True] Translation: X:191.57, Y:-126.73, Z:-23.25 [[ 7.36740700e-01 6.71280959e-01 8.12096984e-02 1.91570077e+02] [-6.67075406e-01 7.41202166e-01 -7.50316655e-02 -1.26728861e+02] [-1.10560133e-01 1.10588924e-03 9.93868821e-01 -2.32532172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35592 meters 0.027048873088805072 Centerline is valid? [True, True] Translation: X:191.59, Y:-126.75, Z:-23.26 [[ 7.38250406e-01 6.69679852e-01 8.07170041e-02 1.91594243e+02] [-6.65507547e-01 7.42648608e-01 -7.46508520e-02 -1.26751560e+02] [-1.09936542e-01 1.39324636e-03 9.93937632e-01 -2.32577604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38592 meters 0.02725172063993427 Centerline is valid? [True, True] Translation: X:191.62, Y:-126.77, Z:-23.26 [[ 7.38904237e-01 6.68884262e-01 8.13287941e-02 1.91618008e+02] [-6.64635144e-01 7.43364884e-01 -7.52912720e-02 -1.26772847e+02] [-1.10818116e-01 1.57906509e-03 9.93839450e-01 -2.32612222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41592 meters 0.027368424216591605 Centerline is valid? [True, True] Translation: X:191.64, Y:-126.79, Z:-23.26 [[ 7.40142048e-01 6.67547502e-01 8.10560377e-02 1.91641922e+02] [-6.63311670e-01 7.44564981e-01 -7.51040375e-02 -1.26793910e+02] [-1.10487000e-01 1.82224038e-03 9.93875899e-01 -2.32628446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44592 meters 0.027700360575459316 Centerline is valid? [True, True] Translation: X:191.67, Y:-126.82, Z:-23.27 [[ 7.41585258e-01 6.65924444e-01 8.12153934e-02 1.91665956e+02] [-6.61654885e-01 7.46016187e-01 -7.53170754e-02 -1.26815789e+02] [-1.10743480e-01 2.11747105e-03 9.93846768e-01 -2.32655995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47592 meters 0.028077642415797945 Centerline is valid? [True, True] Translation: X:191.69, Y:-126.84, Z:-23.27 [[ 7.42458930e-01 6.64901609e-01 8.16124242e-02 1.91688916e+02] [-6.60576526e-01 7.46927317e-01 -7.57511445e-02 -1.26837804e+02] [-1.11325607e-01 2.33086197e-03 9.93781252e-01 -2.32683391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50592 meters 0.02797968094291737 Centerline is valid? [True, True] Translation: X:191.71, Y:-126.86, Z:-23.27 [[ 7.41658382e-01 6.65693156e-01 8.24346260e-02 1.91713037e+02] [-6.61277355e-01 7.46222083e-01 -7.65823885e-02 -1.26860158e+02] [-1.12494910e-01 2.28581882e-03 9.93649672e-01 -2.32717385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53592 meters 0.027943987561525 Centerline is valid? [True, True] Translation: X:191.74, Y:-126.88, Z:-23.27 [[ 7.41576904e-01 6.65915260e-01 8.13668420e-02 1.91737124e+02] [-6.61606771e-01 7.46023916e-01 -7.56623828e-02 -1.26881622e+02] [-1.11086345e-01 2.27662196e-03 9.93808151e-01 -2.32737679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56592 meters 0.027787034594112376 Centerline is valid? [True, True] Translation: X:191.76, Y:-126.90, Z:-23.28 [[ 7.40924955e-01 6.66672518e-01 8.11046531e-02 1.91761134e+02] [-6.62389007e-01 7.45347496e-01 -7.54845289e-02 -1.26903745e+02] [-1.10774611e-01 2.20554058e-03 9.93843107e-01 -2.32768678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59592 meters 0.027861307000706593 Centerline is valid? [True, True] Translation: X:191.79, Y:-126.93, Z:-23.28 [[ 7.40096490e-01 6.67584571e-01 8.11666557e-02 1.91785330e+02] [-6.63291608e-01 7.44530938e-01 -7.56169638e-02 -1.26926574e+02] [-1.10911805e-01 2.12668793e-03 9.93827977e-01 -2.32800146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62592 meters 0.027781741535520894 Centerline is valid? [True, True] Translation: X:191.81, Y:-126.95, Z:-23.28 [[ 7.39482567e-01 6.68243514e-01 8.13396579e-02 1.91809361e+02] [-6.63927755e-01 7.43939679e-01 -7.58530842e-02 -1.26949211e+02] [-1.11200130e-01 2.08837695e-03 9.93795839e-01 -2.32829245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65592 meters 0.02749393904319982 Centerline is valid? [True, True] Translation: X:191.83, Y:-126.97, Z:-23.28 [[ 7.38140319e-01 6.69611350e-01 8.22770277e-02 1.91831902e+02] [-6.65196055e-01 7.42709108e-01 -7.67944665e-02 -1.26971612e+02] [-1.12530344e-01 1.95473778e-03 9.93646366e-01 -2.32846766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68592 meters 0.027594234884038643 Centerline is valid? [True, True] Translation: X:191.86, Y:-126.99, Z:-23.29 [[ 7.37273390e-01 6.70551262e-01 8.23951020e-02 1.91855815e+02] [-6.66125320e-01 7.41860919e-01 -7.69378649e-02 -1.26993564e+02] [-1.12716489e-01 1.83877681e-03 9.93625489e-01 -2.32884459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71592 meters 0.027333902493640365 Centerline is valid? [True, True] Translation: X:191.88, Y:-127.02, Z:-23.29 [[ 7.36497131e-01 6.71566921e-01 8.10545916e-02 1.91878755e+02] [-6.67282154e-01 7.40941930e-01 -7.57600384e-02 -1.27015933e+02] [-1.10934681e-01 1.71076853e-03 9.93826227e-01 -2.32906263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74592 meters 0.027098692282528963 Centerline is valid? [True, True] Translation: X:191.90, Y:-127.04, Z:-23.29 [[ 7.34848189e-01 6.73536694e-01 7.96646741e-02 1.91901797e+02] [-6.69402484e-01 7.39152390e-01 -7.45255585e-02 -1.27038349e+02] [-1.09080033e-01 1.43724098e-03 9.94031932e-01 -2.32924988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77592 meters 0.027086781077169927 Centerline is valid? [True, True] Translation: X:191.93, Y:-127.06, Z:-23.30 [[ 7.33640419e-01 6.74762882e-01 8.04163449e-02 1.91925862e+02] [-6.70549742e-01 7.38033411e-01 -7.52975992e-02 -1.27060083e+02] [-1.10157974e-01 1.31820292e-03 9.93913217e-01 -2.32961385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80592000000001 meters 0.02706447326092846 Centerline is valid? [True, True] Translation: X:191.95, Y:-127.08, Z:-23.30 [[ 7.31594247e-01 6.76823486e-01 8.17302048e-02 1.91948788e+02] [-6.72475085e-01 7.36144549e-01 -7.66059003e-02 -1.27083424e+02] [-1.12013917e-01 1.08290964e-03 9.93706048e-01 -2.32993751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83592000000002 meters 0.026815118046452636 Centerline is valid? [True, True] Translation: X:191.97, Y:-127.11, Z:-23.30 [[ 7.30999436e-01 6.77549392e-01 8.10348437e-02 1.91971283e+02] [-6.73271048e-01 7.35476569e-01 -7.60283618e-02 -1.27106159e+02] [-1.11112199e-01 1.01827541e-03 9.93807347e-01 -2.33021142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86592000000002 meters 0.027049318508122172 Centerline is valid? [True, True] Translation: X:191.99, Y:-127.13, Z:-23.31 [[ 7.30685368e-01 6.77816239e-01 8.16335639e-02 1.91994798e+02] [-6.73468023e-01 7.35230624e-01 -7.66599676e-02 -1.27129374e+02] [-1.11980867e-01 1.03672175e-03 9.93709822e-01 -2.33057839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89592000000002 meters 0.026932129999395205 Centerline is valid? [True, True] Translation: X:192.02, Y:-127.15, Z:-23.31 [[ 7.29614878e-01 6.78900169e-01 8.21990975e-02 1.92018820e+02] [-6.74490073e-01 7.34230003e-01 -7.72621758e-02 -1.27152120e+02] [-1.12806348e-01 9.29157615e-04 9.93616558e-01 -2.33086386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92592000000002 meters 0.026750955774790627 Centerline is valid? [True, True] Translation: X:192.04, Y:-127.18, Z:-23.31 [[ 7.27934581e-01 6.80548745e-01 8.34544903e-02 1.92042053e+02] [-6.76008201e-01 7.32702459e-01 -7.84857947e-02 -1.27175172e+02] [-1.14560719e-01 7.16604236e-04 9.93415989e-01 -2.33127567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95592 meters 0.02670220995692514 Centerline is valid? [True, True] Translation: X:192.07, Y:-127.20, Z:-23.32 [[ 7.27111853e-01 6.81428916e-01 8.34445081e-02 1.92065281e+02] [-6.76885971e-01 7.31884025e-01 -7.85567043e-02 -1.27198800e+02] [-1.14602512e-01 6.37093982e-04 9.93411223e-01 -2.33157750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98592 meters 0.02695604039616482 Centerline is valid? [True, True] Translation: X:192.09, Y:-127.22, Z:-23.32 [[ 7.26561627e-01 6.82014472e-01 8.34533538e-02 1.92087151e+02] [-6.77465151e-01 7.31338428e-01 -7.86452393e-02 -1.27222981e+02] [-1.14669836e-01 6.03874117e-04 9.93403475e-01 -2.33196940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01592 meters 0.02657846717016464 Centerline is valid? [True, True] Translation: X:192.11, Y:-127.25, Z:-23.32 [[ 7.26099886e-01 6.82564544e-01 8.29734818e-02 1.92111003e+02] [-6.78062025e-01 7.30825092e-01 -7.82724390e-02 -1.27246280e+02] [-1.14065094e-01 5.72441904e-04 9.93473113e-01 -2.33223907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04592 meters 0.02674509733154858 Centerline is valid? [True, True] Translation: X:192.13, Y:-127.27, Z:-23.33 [[ 7.26308717e-01 6.82374982e-01 8.27044894e-02 1.92134082e+02] [-6.77891403e-01 7.31002018e-01 -7.80979872e-02 -1.27269855e+02] [-1.13749261e-01 6.58586484e-04 9.93509271e-01 -2.33260385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07592 meters 0.026647518709557602 Centerline is valid? [True, True] Translation: X:192.16, Y:-127.29, Z:-23.33 [[ 7.25682586e-01 6.83001766e-01 8.30263335e-02 1.92157364e+02] [-6.78477906e-01 7.30416457e-01 -7.84826805e-02 -1.27293255e+02] [-1.14247610e-01 6.21981647e-04 9.93452111e-01 -2.33292159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10592 meters 0.026772840511319864 Centerline is valid? [True, True] Translation: X:192.18, Y:-127.32, Z:-23.33 [[ 7.26035129e-01 6.82624216e-01 8.30492041e-02 1.92180145e+02] [-6.78086153e-01 7.30769205e-01 -7.85845930e-02 -1.27317086e+02] [-1.14333547e-01 7.40659857e-04 9.93442143e-01 -2.33324222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13592 meters 0.026813355941597533 Centerline is valid? [True, True] Translation: X:192.20, Y:-127.34, Z:-23.34 [[ 7.25591229e-01 6.83051558e-01 8.34142502e-02 1.92203343e+02] [-6.78466825e-01 7.30369788e-01 -7.90110131e-02 -1.27340968e+02] [-1.14891844e-01 7.35896558e-04 9.93377734e-01 -2.33352550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16592 meters 0.026777312584271497 Centerline is valid? [True, True] Translation: X:192.23, Y:-127.36, Z:-23.34 [[ 7.24748560e-01 6.83978897e-01 8.31408078e-02 1.92225659e+02] [-6.79421087e-01 7.29501509e-01 -7.88323242e-02 -1.27364676e+02] [-1.14570991e-01 6.45995446e-04 9.93414853e-01 -2.33379949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19592 meters 0.026810418036107612 Centerline is valid? [True, True] Translation: X:192.25, Y:-127.39, Z:-23.34 [[ 7.24686152e-01 6.84072320e-01 8.29158780e-02 1.92249249e+02] [-6.79530537e-01 7.29413865e-01 -7.86998268e-02 -1.27387180e+02] [-1.14316364e-01 6.88803552e-04 9.93444158e-01 -2.33407059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22592 meters 0.026944769225942265 Centerline is valid? [True, True] Translation: X:192.27, Y:-127.41, Z:-23.34 [[ 7.25440778e-01 6.83048938e-01 8.47338577e-02 1.92270973e+02] [-6.78289574e-01 7.30372027e-01 -8.04981795e-02 -1.27410116e+02] [-1.16871435e-01 9.22569771e-04 9.93146624e-01 -2.33449854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25592 meters 0.027085795267403963 Centerline is valid? [True, True] Translation: X:192.29, Y:-127.43, Z:-23.35 [[ 7.25667709e-01 6.82844132e-01 8.44409125e-02 1.92294203e+02] [-6.78111992e-01 7.30563435e-01 -8.02570479e-02 -1.27433702e+02] [-1.16492497e-01 9.79552723e-04 9.93191089e-01 -2.33487593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28592 meters 0.02738635365580441 Centerline is valid? [True, True] Translation: X:192.31, Y:-127.46, Z:-23.35 [[ 7.25875411e-01 6.82387820e-01 8.63235278e-02 1.92314945e+02] [-6.77428354e-01 7.30989445e-01 -8.21295141e-02 -1.27457820e+02] [-1.19145768e-01 1.13778945e-03 9.92876121e-01 -2.33520881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31592 meters 0.02738957113366395 Centerline is valid? [True, True] Translation: X:192.34, Y:-127.48, Z:-23.35 [[ 7.26217773e-01 6.82241147e-01 8.45858387e-02 1.92338420e+02] [-6.77471317e-01 7.31126261e-01 -8.05419407e-02 -1.27480209e+02] [-1.16791954e-01 1.18650922e-03 9.93155694e-01 -2.33534428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34592 meters 0.02735223199054376 Centerline is valid? [True, True] Translation: X:192.36, Y:-127.50, Z:-23.36 [[ 7.25724901e-01 6.82816404e-01 8.41731885e-02 1.92360860e+02] [-6.78088547e-01 7.30589115e-01 -8.02213700e-02 -1.27504832e+02] [-1.16272483e-01 1.14177075e-03 9.93216696e-01 -2.33578529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37592 meters 0.02710282692317477 Centerline is valid? [True, True] Translation: X:192.38, Y:-127.53, Z:-23.36 [[ 7.24512286e-01 6.83964620e-01 8.52897801e-02 1.92381851e+02] [-6.79108428e-01 7.29514454e-01 -8.13658616e-02 -1.27528951e+02] [-1.17871498e-01 1.02955791e-03 9.93028323e-01 -2.33621297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40592 meters 0.027173621236024688 Centerline is valid? [True, True] Translation: X:192.40, Y:-127.55, Z:-23.37 [[ 7.22759702e-01 6.85629669e-01 8.67777029e-02 1.92401688e+02] [-6.80606231e-01 7.27950059e-01 -8.28484752e-02 -1.27554533e+02] [-1.19973207e-01 8.18093884e-04 9.92776793e-01 -2.33656450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43592 meters 0.027245447441254494 Centerline is valid? [True, True] Translation: X:192.42, Y:-127.58, Z:-23.37 [[ 7.21592056e-01 6.86770558e-01 8.74706009e-02 1.92424844e+02] [-6.81669731e-01 7.26873965e-01 -8.35500831e-02 -1.27577403e+02] [-1.20959840e-01 6.63015255e-04 9.92657180e-01 -2.33686993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46592 meters 0.027196500735963323 Centerline is valid? [True, True] Translation: X:192.45, Y:-127.60, Z:-23.37 [[ 7.20013661e-01 6.88419679e-01 8.75138433e-02 1.92446782e+02] [-6.83315415e-01 7.25312445e-01 -8.36773598e-02 -1.27601584e+02] [-1.21080021e-01 4.49284096e-04 9.92642648e-01 -2.33716227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49592 meters 0.027383021732234815 Centerline is valid? [True, True] Translation: X:192.47, Y:-127.62, Z:-23.38 [[ 7.19636481e-01 6.88819704e-01 8.74685696e-02 1.92469280e+02] [-6.83713152e-01 7.24932561e-01 -8.37204164e-02 -1.27624885e+02] [-1.21077087e-01 4.44854439e-04 9.92643008e-01 -2.33762456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52592 meters 0.027356752634228088 Centerline is valid? [True, True] Translation: X:192.49, Y:-127.65, Z:-23.38 [[ 7.19216862e-01 6.89358808e-01 8.66691396e-02 1.92491538e+02] [-6.84339372e-01 7.24419951e-01 -8.30382986e-02 -1.27647407e+02] [-1.20028036e-01 4.11440002e-04 9.92770417e-01 -2.33790166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55592000000001 meters 0.02761529372991972 Centerline is valid? [True, True] Translation: X:192.51, Y:-127.67, Z:-23.38 [[ 7.18101603e-01 6.90333508e-01 8.81461026e-02 1.92513550e+02] [-6.85138760e-01 7.23491225e-01 -8.45300335e-02 -1.27670488e+02] [-1.22126846e-01 3.08841093e-04 9.92514452e-01 -2.33830253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58592000000002 meters 0.027788162270918623 Centerline is valid? [True, True] Translation: X:192.54, Y:-127.70, Z:-23.39 [[ 7.15953235e-01 6.92554101e-01 8.82030689e-02 1.92535436e+02] [-6.87359698e-01 7.21365938e-01 -8.46630336e-02 -1.27695282e+02] [-1.22260421e-01 -1.24619603e-05 9.92498055e-01 -2.33864775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61592000000002 meters 0.027703890234949794 Centerline is valid? [True, True] Translation: X:192.56, Y:-127.72, Z:-23.39 [[ 7.14772830e-01 6.93843209e-01 8.76436115e-02 1.92557818e+02] [-6.88714147e-01 7.20126081e-01 -8.42095741e-02 -1.27717824e+02] [-1.21542692e-01 -1.70679560e-04 9.92586190e-01 -2.33887748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64592000000002 meters 0.027648635481549808 Centerline is valid? [True, True] Translation: X:192.58, Y:-127.74, Z:-23.39 [[ 7.13732673e-01 6.95005314e-01 8.69096391e-02 1.92581225e+02] [-6.89961616e-01 7.19004532e-01 -8.35790121e-02 -1.27739721e+02] [-1.20576282e-01 -3.11243327e-04 9.92704016e-01 -2.33916659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67592000000002 meters 0.027989112057794648 Centerline is valid? [True, True] Translation: X:192.60, Y:-127.76, Z:-23.40 [[ 7.10509186e-01 6.98156133e-01 8.80608396e-02 1.92604287e+02] [-6.92991919e-01 7.15945092e-01 -8.47633508e-02 -1.27762254e+02] [-1.22224779e-01 -8.00310862e-04 9.92502122e-01 -2.33966138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70592 meters 0.027989112057794648 Centerline is valid? [True, True] Translation: X:192.63, Y:-127.78, Z:-23.40 [[ 7.10150827e-01 6.98525650e-01 8.80211241e-02 1.92627908e+02] [-6.93359155e-01 7.15584562e-01 -8.48045773e-02 -1.27784502e+02] [-1.22224730e-01 -8.06211460e-04 9.92502124e-01 -2.33996550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73592 meters 0.028151313301060035 Centerline is valid? [True, True] Translation: X:192.65, Y:-127.81, Z:-23.40 [[ 7.07584624e-01 7.01184155e-01 8.75487317e-02 1.92651196e+02] [-6.96082722e-01 7.12979208e-01 -8.44363193e-02 -1.27808514e+02] [-1.21625835e-01 -1.19531827e-03 9.92575301e-01 -2.34025543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76592 meters 0.028542993609022186 Centerline is valid? [True, True] Translation: X:192.68, Y:-127.83, Z:-23.41 [[ 7.06000080e-01 7.02784479e-01 8.75092151e-02 1.92675584e+02] [-6.97689230e-01 7.11401430e-01 -8.44851682e-02 -1.27830519e+02] [-1.21629046e-01 -1.40770138e-03 9.92574629e-01 -2.34061394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79592 meters 0.028427947258969063 Centerline is valid? [True, True] Translation: X:192.70, Y:-127.85, Z:-23.41 [[ 7.05071557e-01 7.03747393e-01 8.72565611e-02 1.92701430e+02] [-6.98679728e-01 7.10448670e-01 -8.43168191e-02 -1.27851054e+02] [-1.21329049e-01 -1.51499948e-03 9.92611186e-01 -2.34082291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82592 meters 0.028547362568167284 Centerline is valid? [True, True] Translation: X:192.73, Y:-127.87, Z:-23.41 [[ 7.04410981e-01 7.04479181e-01 8.66847971e-02 1.92725398e+02] [-6.99477440e-01 7.09722862e-01 -8.38138999e-02 -1.27873607e+02] [-1.20567330e-01 -1.59462856e-03 9.92703871e-01 -2.34117758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85592 meters 0.02847084097317523 Centerline is valid? [True, True] Translation: X:192.75, Y:-127.90, Z:-23.41 [[ 7.04663800e-01 7.04291091e-01 8.61567652e-02 1.92749598e+02] [-6.99338646e-01 7.09909736e-01 -8.33884019e-02 -1.27895109e+02] [-1.19893235e-01 -1.49196733e-03 9.92785670e-01 -2.34143503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88592 meters 0.028189667533689056 Centerline is valid? [True, True] Translation: X:192.77, Y:-127.91, Z:-23.42 [[ 7.04486426e-01 7.04692963e-01 8.43012683e-02 1.92774696e+02] [-6.99946525e-01 7.09510856e-01 -8.16652126e-02 -1.27914978e+02] [-1.17361566e-01 -1.47434607e-03 9.93088158e-01 -2.34158291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91592 meters 0.028522758040039668 Centerline is valid? [True, True] Translation: X:192.80, Y:-127.94, Z:-23.42 [[ 7.04037957e-01 7.05107005e-01 8.45852703e-02 1.92800464e+02] [-7.00322256e-01 7.09099345e-01 -8.20174115e-02 -1.27935812e+02] [-1.17810411e-01 -1.49357655e-03 9.93034982e-01 -2.34205641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94592 meters 0.02845939138163638 Centerline is valid? [True, True] Translation: X:192.82, Y:-127.96, Z:-23.42 [[ 7.03331856e-01 7.05928391e-01 8.36026762e-02 1.92824091e+02] [-7.01250690e-01 7.08281507e-01 -8.11466376e-02 -1.27957387e+02] [-1.16497945e-01 -1.55341907e-03 9.93189718e-01 -2.34226631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97592 meters 0.028694376676552343 Centerline is valid? [True, True] Translation: X:192.85, Y:-127.98, Z:-23.43 [[ 7.03064993e-01 7.06182017e-01 8.37052806e-02 1.92849401e+02] [-7.01485673e-01 7.08028655e-01 -8.13220374e-02 -1.27978734e+02] [-1.16693898e-01 -1.54337753e-03 9.93166729e-01 -2.34253336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00592 meters 0.028554931551791257 Centerline is valid? [True, True] Translation: X:192.87, Y:-128.00, Z:-23.43 [[ 7.02925633e-01 7.06390854e-01 8.31114677e-02 1.92873274e+02] [-7.01753081e-01 7.07820376e-01 -8.08265275e-02 -1.27999742e+02] [-1.15923110e-01 -1.50869060e-03 9.93257044e-01 -2.34281515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03592 meters 0.028429631957096347 Centerline is valid? [True, True] Translation: X:192.90, Y:-128.02, Z:-23.43 [[ 7.03163793e-01 7.06134225e-01 8.32774710e-02 1.92898101e+02] [-7.01467210e-01 7.08076587e-01 -8.10635537e-02 -1.28021082e+02] [-1.16208577e-01 -1.41545940e-03 9.93223823e-01 -2.34305033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06592 meters 0.028503244074479808 Centerline is valid? [True, True] Translation: X:192.92, Y:-128.04, Z:-23.43 [[ 7.04457197e-01 7.04733434e-01 8.42071540e-02 1.92924353e+02] [-6.99941107e-01 7.09471279e-01 -8.20545617e-02 -1.28041023e+02] [-1.17569150e-01 -1.13612202e-03 9.93064048e-01 -2.34330390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09592 meters 0.028377435540004617 Centerline is valid? [True, True] Translation: X:192.95, Y:-128.06, Z:-23.44 [[ 7.06324117e-01 7.02972726e-01 8.32801825e-02 1.92950067e+02] [-6.98263857e-01 7.11216385e-01 -8.12332397e-02 -1.28060329e+02] [-1.16334982e-01 -7.74545173e-04 9.93209732e-01 -2.34352557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12592 meters 0.028257579691448802 Centerline is valid? [True, True] Translation: X:192.97, Y:-128.08, Z:-23.44 [[ 7.07686164e-01 7.01660424e-01 8.27825035e-02 1.92974148e+02] [-6.96990344e-01 7.12511331e-01 -8.08211838e-02 -1.28080960e+02] [-1.15692498e-01 -5.02572118e-04 9.93284951e-01 -2.34383828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15592 meters 0.028188749216257206 Centerline is valid? [True, True] Translation: X:193.00, Y:-128.10, Z:-23.44 [[ 7.08645371e-01 7.00876102e-01 8.12060885e-02 1.92997767e+02] [-6.96369551e-01 7.13282966e-01 -7.93527515e-02 -1.28102284e+02] [-1.13539367e-01 -3.16487312e-04 9.93533448e-01 -2.34405608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18592 meters 0.02810557509337455 Centerline is valid? [True, True] Translation: X:193.02, Y:-128.12, Z:-23.44 [[ 7.10428621e-01 6.98974019e-01 8.20152172e-02 1.93022934e+02] [-6.94355509e-01 7.15147062e-01 -8.02191206e-02 -1.28123416e+02] [-1.14724023e-01 4.22413832e-05 9.93397401e-01 -2.34435036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21592 meters 0.028152663980305002 Centerline is valid? [True, True] Translation: X:193.05, Y:-128.15, Z:-23.45 [[ 7.11202531e-01 6.98183721e-01 8.20393286e-02 1.93047411e+02] [-6.93547603e-01 7.15918598e-01 -8.03261085e-02 -1.28146104e+02] [-1.14815862e-01 2.29951934e-04 9.93386765e-01 -2.34464185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24592 meters 0.028115416583374724 Centerline is valid? [True, True] Translation: X:193.07, Y:-128.17, Z:-23.45 [[ 7.13023936e-01 6.96322802e-01 8.20452460e-02 1.93070503e+02] [-6.91664168e-01 7.17728506e-01 -8.04143717e-02 -1.28168942e+02] [-1.14880572e-01 5.89615051e-04 9.93379135e-01 -2.34494789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27592 meters 0.028219044304346647 Centerline is valid? [True, True] Translation: X:193.09, Y:-128.19, Z:-23.45 [[ 7.13540926e-01 6.95854024e-01 8.15262253e-02 1.93092232e+02] [-6.91241956e-01 7.18182888e-01 -7.99868588e-02 -1.28193898e+02] [-1.14209917e-01 7.19549788e-04 9.93456379e-01 -2.34524438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30592000000001 meters 0.028000766011104652 Centerline is valid? [True, True] Translation: X:193.11, Y:-128.22, Z:-23.45 [[ 7.13763761e-01 6.95750187e-01 8.04547780e-02 1.93114716e+02] [-6.91249452e-01 7.18283416e-01 -7.90134800e-02 -1.28216654e+02] [-1.12762976e-01 7.82637433e-04 9.93621607e-01 -2.34543125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33592000000002 meters 0.028063576158311496 Centerline is valid? [True, True] Translation: X:193.14, Y:-128.24, Z:-23.46 [[ 7.13213850e-01 6.96377514e-01 7.99022080e-02 1.93137443e+02] [-6.91934729e-01 7.17675294e-01 -7.85398210e-02 -1.28239881e+02] [-1.12037206e-01 7.28575507e-04 9.93703745e-01 -2.34574378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36592000000002 meters 0.02790820835881225 Centerline is valid? [True, True] Translation: X:193.16, Y:-128.26, Z:-23.46 [[ 7.11609525e-01 6.98063648e-01 7.94923149e-02 1.93159147e+02] [-6.93669196e-01 7.16035532e-01 -7.82059084e-02 -1.28263650e+02] [-1.11512024e-01 5.10699143e-04 9.93762954e-01 -2.34595410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39592000000002 meters 0.027799804590654193 Centerline is valid? [True, True] Translation: X:193.18, Y:-128.29, Z:-23.46 [[ 7.09039722e-01 7.00810486e-01 7.82772927e-02 1.93180258e+02] [-6.96558925e-01 7.13347493e-01 -7.70779990e-02 -1.28287606e+02] [-1.09855980e-01 1.26616170e-04 9.93947507e-01 -2.34616040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42592000000002 meters 0.02762756258436412 Centerline is valid? [True, True] Translation: X:193.20, Y:-128.31, Z:-23.47 [[ 7.07917743e-01 7.01927981e-01 7.84192511e-02 1.93203544e+02] [-6.97659921e-01 7.12247927e-01 -7.72885850e-02 -1.28311037e+02] [-1.10104969e-01 3.99212324e-06 9.93919964e-01 -2.34652737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45592 meters 0.02771843159855378 Centerline is valid? [True, True] Translation: X:193.23, Y:-128.33, Z:-23.47 [[ 7.06255828e-01 7.03547440e-01 7.88904660e-02 1.93227246e+02] [-6.99228807e-01 7.10648269e-01 -7.78338835e-02 -1.28334636e+02] [-1.10823203e-01 -1.91852562e-04 9.93840118e-01 -2.34674651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48592 meters 0.027648279218523922 Centerline is valid? [True, True] Translation: X:193.25, Y:-128.36, Z:-23.47 [[ 7.04329649e-01 7.05442689e-01 7.91855948e-02 1.93249706e+02] [-7.01094369e-01 7.08766834e-01 -7.82065303e-02 -1.28358649e+02] [-1.11294348e-01 -4.33396579e-04 9.93787392e-01 -2.34710344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51592 meters 0.027857170329740086 Centerline is valid? [True, True] Translation: X:193.27, Y:-128.38, Z:-23.47 [[ 7.03015181e-01 7.06697408e-01 7.96770330e-02 1.93272756e+02] [-7.02293531e-01 7.07515682e-01 -7.87740787e-02 -1.28381588e+02] [-1.12042188e-01 -5.77291649e-04 9.93703283e-01 -2.34747708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54592 meters 0.027897668210788994 Centerline is valid? [True, True] Translation: X:193.30, Y:-128.40, Z:-23.48 [[ 7.00435743e-01 7.09277788e-01 7.94656438e-02 1.93297135e+02] [-7.04904607e-01 7.04928476e-01 -7.86469247e-02 -1.28404590e+02] [-1.11800112e-01 -9.28581248e-04 9.93730282e-01 -2.34766829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57592 meters 0.02805517523966035 Centerline is valid? [True, True] Translation: X:193.32, Y:-128.43, Z:-23.48 [[ 6.99081639e-01 7.10732092e-01 7.83884941e-02 1.93321468e+02] [-7.06477186e-01 7.03461946e-01 -7.76612858e-02 -1.28427346e+02] [-1.10339691e-01 -1.08810383e-03 9.93893339e-01 -2.34791571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60592 meters 0.028092873960680147 Centerline is valid? [True, True] Translation: X:193.34, Y:-128.45, Z:-23.48 [[ 6.97316180e-01 7.12447767e-01 7.85386817e-02 1.93344505e+02] [-7.08178369e-01 7.01723931e-01 -7.78904536e-02 -1.28449864e+02] [-1.10605352e-01 -1.30512191e-03 9.93863548e-01 -2.34814298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63592 meters 0.028213787262940434 Centerline is valid? [True, True] Translation: X:193.37, Y:-128.47, Z:-23.48 [[ 6.95660992e-01 7.14204894e-01 7.72473540e-02 1.93367935e+02] [-7.10078258e-01 6.99935064e-01 -7.66796803e-02 -1.28472839e+02] [-1.08833135e-01 -1.50860413e-03 9.94058888e-01 -2.34841134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66592 meters 0.028185521287224832 Centerline is valid? [True, True] Translation: X:193.39, Y:-128.50, Z:-23.49 [[ 6.95721695e-01 7.14072915e-01 7.79178765e-02 1.93391363e+02] [-7.09864317e-01 7.00069845e-01 -7.74265043e-02 -1.28495499e+02] [-1.09836125e-01 -1.44382142e-03 9.93948661e-01 -2.34880815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69592 meters 0.02805870977543398 Centerline is valid? [True, True] Translation: X:193.42, Y:-128.52, Z:-23.49 [[ 6.95673820e-01 7.14156472e-01 7.75787950e-02 1.93415135e+02] [-7.09976173e-01 6.99984707e-01 -7.71702243e-02 -1.28518889e+02] [-1.09415585e-01 -1.39379128e-03 9.93995114e-01 -2.34913054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72592 meters 0.027861957834141318 Centerline is valid? [True, True] Translation: X:193.44, Y:-128.54, Z:-23.49 [[ 6.96645048e-01 7.13167116e-01 7.79637233e-02 1.93438053e+02] [-7.08929869e-01 7.00993051e-01 -7.76349428e-02 -1.28542566e+02] [-1.10018716e-01 -1.18681371e-03 9.93928807e-01 -2.34945639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75592 meters 0.027846861466774994 Centerline is valid? [True, True] Translation: X:193.46, Y:-128.57, Z:-23.50 [[ 6.96844409e-01 7.13166569e-01 7.61663552e-02 1.93460345e+02] [-7.09114712e-01 7.00993740e-01 -7.59216803e-02 -1.28565805e+02] [-1.07536942e-01 -1.10508464e-03 9.94200475e-01 -2.34965268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78592 meters 0.027836513445106854 Centerline is valid? [True, True] Translation: X:193.48, Y:-128.59, Z:-23.50 [[ 6.96164524e-01 7.13765948e-01 7.67667002e-02 1.93483933e+02] [-7.09645575e-01 7.00383347e-01 -7.65919361e-02 -1.28589032e+02] [-1.08434834e-01 -1.15656034e-03 9.94102887e-01 -2.34996601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81592 meters 0.027773709864029685 Centerline is valid? [True, True] Translation: X:193.51, Y:-128.61, Z:-23.50 [[ 6.95422324e-01 7.14442950e-01 7.71949728e-02 1.93507607e+02] [-7.10271584e-01 6.99692649e-01 -7.71004141e-02 -1.28612382e+02] [-1.09096602e-01 -1.21204644e-03 9.94030413e-01 -2.35025383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84592 meters 0.027589541133202354 Centerline is valid? [True, True] Translation: X:193.53, Y:-128.64, Z:-23.51 [[ 6.94681330e-01 7.15120564e-01 7.75914201e-02 1.93530713e+02] [-7.10901313e-01 6.98999980e-01 -7.75780415e-02 -1.28636395e+02] [-1.09714054e-01 -1.26782537e-03 9.93962383e-01 -2.35065987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87592 meters 0.02756319749362179 Centerline is valid? [True, True] Translation: X:193.50, Y:-128.96, Z:-21.59 [[ 7.61540941e-01 -6.45754933e-01 -5.52807577e-02 1.93502434e+02] [-6.43300628e-01 -7.63506227e-01 5.67674510e-02 -1.28956518e+02] [-7.88650643e-02 -7.66859192e-03 -9.96855804e-01 -2.15910070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90592 meters 0.02739963143015065 Centerline is valid? [True, True] Translation: X:193.55, Y:-128.68, Z:-23.51 [[ 7.42211083e-01 6.65136199e-01 8.19545259e-02 1.93551199e+02] [-6.61335949e-01 7.46720572e-01 -7.10151425e-02 -1.28675974e+02] [-1.08431872e-01 -1.49124834e-03 9.94102764e-01 -2.35091353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93592 meters 0.027301626046298155 Centerline is valid? [True, True] Translation: X:193.58, Y:-128.70, Z:-23.51 [[ 7.41521360e-01 6.65940934e-01 8.16623854e-02 1.93577014e+02] [-6.62165431e-01 7.46002855e-01 -7.08285464e-02 -1.28697369e+02] [-1.08088001e-01 -1.55312855e-03 9.94140117e-01 -2.35113078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96592 meters 0.027369879080443835 Centerline is valid? [True, True] Translation: X:193.60, Y:-128.72, Z:-23.51 [[ 7.40619562e-01 6.66857006e-01 8.23674598e-02 1.93601684e+02] [-6.63013227e-01 7.45183889e-01 -7.15152656e-02 -1.28717908e+02] [-1.09069360e-01 -1.64511067e-03 9.94032780e-01 -2.35135778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99592 meters 0.0272672984862585 Centerline is valid? [True, True] Translation: X:193.63, Y:-128.74, Z:-23.52 [[ 7.40057589e-01 6.67302992e-01 8.37942810e-02 1.93626357e+02] [-6.63319684e-01 7.44784441e-01 -7.28226239e-02 -1.28738973e+02] [-1.11003432e-01 -1.68946045e-03 9.93818587e-01 -2.35170587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02592 meters 0.0271337329568278 Centerline is valid? [True, True] Translation: X:193.65, Y:-128.76, Z:-23.52 [[ 7.39781681e-01 6.67625305e-01 8.36631206e-02 1.93651552e+02] [-6.63648869e-01 7.44495546e-01 -7.27774723e-02 -1.28760265e+02] [-1.10874903e-01 -1.68349453e-03 9.93832945e-01 -2.35196318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05592000000001 meters 0.02723321674251987 Centerline is valid? [True, True] Translation: X:193.68, Y:-128.78, Z:-23.52 [[ 7.38990784e-01 6.68466843e-01 8.39327209e-02 1.93677787e+02] [-6.64461353e-01 7.43739868e-01 -7.30897964e-02 -1.28780003e+02] [-1.11282216e-01 -1.75736346e-03 9.93787291e-01 -2.35228247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08592000000002 meters 0.02733626486350345 Centerline is valid? [True, True] Translation: X:193.70, Y:-128.80, Z:-23.53 [[ 7.38064822e-01 6.69435327e-01 8.43603063e-02 1.93703965e+02] [-6.65386263e-01 7.42868026e-01 -7.35405854e-02 -1.28799631e+02] [-1.11899240e-01 -1.85446989e-03 9.93717828e-01 -2.35257829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11592000000002 meters 0.027142405346954078 Centerline is valid? [True, True] Translation: X:193.73, Y:-128.82, Z:-23.53 [[ 7.37727945e-01 6.69843444e-01 8.40668746e-02 1.93730065e+02] [-6.65816601e-01 7.42500054e-01 -7.33615977e-02 -1.28819623e+02] [-1.11560444e-01 -1.85222001e-03 9.93755924e-01 -2.35285404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14592000000002 meters 0.027106183231874557 Centerline is valid? [True, True] Translation: X:193.76, Y:-128.84, Z:-23.53 [[ 7.37126075e-01 6.70646969e-01 8.29324524e-02 1.93756222e+02] [-6.66725084e-01 7.41774271e-01 -7.24471821e-02 -1.28839950e+02] [-1.10103643e-01 -1.89043922e-03 9.93918314e-01 -2.35312711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17592000000002 meters 0.02704153353364935 Centerline is valid? [True, True] Translation: X:193.78, Y:-128.86, Z:-23.54 [[ 7.37572671e-01 6.70040030e-01 8.38624690e-02 1.93783033e+02] [-6.66016748e-01 7.42322878e-01 -7.33378220e-02 -1.28859180e+02] [-1.11392306e-01 -1.76183567e-03 9.93774949e-01 -2.35356799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20592 meters 0.0270869046074976 Centerline is valid? [True, True] Translation: X:193.81, Y:-128.88, Z:-23.54 [[ 7.37756908e-01 6.69802605e-01 8.41380736e-02 1.93809013e+02] [-6.65742487e-01 7.42537318e-01 -7.36564429e-02 -1.28879569e+02] [-1.11810937e-01 -1.67374087e-03 9.93728088e-01 -2.35392816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23592 meters 0.027091942309864604 Centerline is valid? [True, True] Translation: X:193.83, Y:-128.90, Z:-23.54 [[ 7.37772264e-01 6.69771913e-01 8.42476766e-02 1.93834525e+02] [-6.65692196e-01 7.42565137e-01 -7.38303257e-02 -1.28900291e+02] [-1.12008866e-01 -1.61305429e-03 9.93705898e-01 -2.35424884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26592 meters 0.026933840105601854 Centerline is valid? [True, True] Translation: X:193.86, Y:-128.92, Z:-23.55 [[ 7.38502047e-01 6.68971347e-01 8.42143912e-02 1.93859285e+02] [-6.64881128e-01 7.43286809e-01 -7.38769612e-02 -1.28920433e+02] [-1.12017016e-01 -1.43427233e-03 9.93705254e-01 -2.35454682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29592 meters 0.026863333943414565 Centerline is valid? [True, True] Translation: X:193.88, Y:-128.94, Z:-23.55 [[ 7.38817362e-01 6.68676170e-01 8.37919160e-02 1.93884157e+02] [-6.64617602e-01 7.43552557e-01 -7.35733562e-02 -1.28940707e+02] [-1.11500443e-01 -1.33230934e-03 9.93763491e-01 -2.35485938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32592 meters 0.026555730601919708 Centerline is valid? [True, True] Translation: X:193.91, Y:-128.96, Z:-23.55 [[ 7.40016564e-01 6.67595915e-01 8.17996288e-02 1.93910053e+02] [-6.63715439e-01 7.44522997e-01 -7.18840937e-02 -1.28959439e+02] [-1.08891232e-01 -1.09625660e-03 9.94053066e-01 -2.35503454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35592 meters 0.026482415520825933 Centerline is valid? [True, True] Translation: X:193.94, Y:-128.98, Z:-23.55 [[ 7.40232440e-01 6.67385388e-01 8.15639588e-02 1.93936017e+02] [-6.63521502e-01 7.44711811e-01 -7.17184409e-02 -1.28979680e+02] [-1.08605483e-01 -1.03112397e-03 9.94084396e-01 -2.35544945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38592 meters 0.026534457843473996 Centerline is valid? [True, True] Translation: X:193.96, Y:-129.00, Z:-23.56 [[ 7.41421451e-01 6.65874269e-01 8.31004783e-02 1.93962504e+02] [-6.61844721e-01 7.46063584e-01 -7.31484385e-02 -1.28999630e+02] [-1.10705904e-01 -7.65791363e-04 9.93852915e-01 -2.35579571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41592 meters 0.02640576556595919 Centerline is valid? [True, True] Translation: X:193.99, Y:-129.02, Z:-23.56 [[ 7.41760940e-01 6.65409853e-01 8.37880388e-02 1.93988416e+02] [-6.61301415e-01 7.46477939e-01 -7.38317365e-02 -1.29020826e+02] [-1.11674287e-01 -6.43650323e-04 9.93744655e-01 -2.35603727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44592 meters 0.0264162134722736 Centerline is valid? [True, True] Translation: X:194.01, Y:-129.04, Z:-23.56 [[ 7.42430314e-01 6.64613102e-01 8.41822627e-02 1.94014262e+02] [-6.60451909e-01 7.47187530e-01 -7.42567868e-02 -1.29042015e+02] [-1.12251970e-01 -4.67846631e-04 9.93679665e-01 -2.35631343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47592 meters 0.02649055783439866 Centerline is valid? [True, True] Translation: X:194.04, Y:-129.06, Z:-23.57 [[ 7.44137089e-01 6.62793064e-01 8.34586567e-02 1.94039767e+02] [-6.58683474e-01 7.48802602e-01 -7.36935910e-02 -1.29062089e+02] [-1.11337660e-01 -1.34703610e-04 9.93782626e-01 -2.35667394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50592 meters 0.02671818257519055 Centerline is valid? [True, True] Translation: X:194.07, Y:-129.08, Z:-23.57 [[ 7.44735692e-01 6.62202949e-01 8.28009843e-02 1.94065055e+02] [-6.58146896e-01 7.49324532e-01 -7.31806598e-02 -1.29082622e+02] [-1.10505258e-01 5.03857356e-06 9.93875540e-01 -2.35712871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53592 meters 0.026346016714970607 Centerline is valid? [True, True] Translation: X:194.09, Y:-129.10, Z:-23.57 [[ 7.44391306e-01 6.62679978e-01 8.20781981e-02 1.94089853e+02] [-6.58689302e-01 7.48902695e-01 -7.26165106e-02 -1.29104246e+02] [-1.09590091e-01 -8.93182296e-06 9.93976867e-01 -2.35741829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56592 meters 0.026263188573907834 Centerline is valid? [True, True] Translation: X:194.11, Y:-129.13, Z:-23.58 [[ 7.44021508e-01 6.63137298e-01 8.17368939e-02 1.94113776e+02] [-6.59175201e-01 7.48497778e-01 -7.23818414e-02 -1.29126357e+02] [-1.09178982e-01 -2.52867057e-05 9.94022107e-01 -2.35769848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59592 meters 0.026465871193517117 Centerline is valid? [True, True] Translation: X:194.14, Y:-129.15, Z:-23.58 [[ 7.42720970e-01 6.64570213e-01 8.19267476e-02 1.94137505e+02] [-6.60594848e-01 7.47225794e-01 -7.25814092e-02 -1.29149446e+02] [-1.09453222e-01 -2.12652696e-04 9.93991925e-01 -2.35801533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62592 meters 0.026465871193517117 Centerline is valid? [True, True] Translation: X:194.16, Y:-129.17, Z:-23.58 [[ 7.42378635e-01 6.64957255e-01 8.18890165e-02 1.94162035e+02] [-6.60979543e-01 7.46881386e-01 -7.26239573e-02 -1.29170701e+02] [-1.09453209e-01 -2.12490446e-04 9.93991926e-01 -2.35831851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65592 meters 0.026451450128184242 Centerline is valid? [True, True] Translation: X:194.19, Y:-129.19, Z:-23.59 [[ 7.41301689e-01 6.66083023e-01 8.24937129e-02 1.94186816e+02] [-6.62044578e-01 7.45877538e-01 -7.32371192e-02 -1.29192933e+02] [-1.10312209e-01 -3.23715215e-04 9.93896932e-01 -2.35865230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68592 meters 0.0261895609926632 Centerline is valid? [True, True] Translation: X:194.21, Y:-129.21, Z:-23.59 [[ 7.39580009e-01 6.68119670e-01 8.14709590e-02 1.94211829e+02] [-6.64185137e-01 7.44053620e-01 -7.24038309e-02 -1.29214964e+02] [-1.08993186e-01 -5.63374129e-04 9.94042337e-01 -2.35898748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71592 meters 0.02634486876474051 Centerline is valid? [True, True] Translation: X:194.24, Y:-129.24, Z:-23.59 [[ 7.38744080e-01 6.68948829e-01 8.22474891e-02 1.94236484e+02] [-6.64935277e-01 7.43308188e-01 -7.31711401e-02 -1.29236741e+02] [-1.10082981e-01 -6.34510381e-04 9.93922198e-01 -2.35935186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74592 meters 0.02650597322055368 Centerline is valid? [True, True] Translation: X:194.26, Y:-129.26, Z:-23.60 [[ 7.37313755e-01 6.70437141e-01 8.29606357e-02 1.94259712e+02] [-6.66354328e-01 7.41965895e-01 -7.38818046e-02 -1.29258676e+02] [-1.11087068e-01 -8.07107854e-04 9.93810350e-01 -2.35967362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77592 meters 0.02644497800836994 Centerline is valid? [True, True] Translation: X:194.28, Y:-129.28, Z:-23.60 [[ 7.36605731e-01 6.71175853e-01 8.32764796e-02 1.94284215e+02] [-6.67058726e-01 7.41297657e-01 -7.42323304e-02 -1.29280685e+02] [-1.11555607e-01 -8.70342393e-04 9.93757812e-01 -2.35990862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80592000000001 meters 0.02631825363080572 Centerline is valid? [True, True] Translation: X:194.31, Y:-129.30, Z:-23.60 [[ 7.35865967e-01 6.72068289e-01 8.26165505e-02 1.94308515e+02] [-6.68013490e-01 7.40488575e-01 -7.37200590e-02 -1.29302640e+02] [-1.10721526e-01 -9.40887738e-04 9.93851024e-01 -2.36021521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83592000000002 meters 0.026371010227601972 Centerline is valid? [True, True] Translation: X:194.33, Y:-129.32, Z:-23.60 [[ 7.35257750e-01 6.72843604e-01 8.17161336e-02 1.94333232e+02] [-6.68873483e-01 7.39784093e-01 -7.29914983e-02 -1.29324563e+02] [-1.09564159e-01 -9.90190143e-04 9.93979233e-01 -2.36034602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86592000000002 meters 0.02651427203067565 Centerline is valid? [True, True] Translation: X:194.36, Y:-129.35, Z:-23.61 [[ 7.34336228e-01 6.73751826e-01 8.25153387e-02 1.94357671e+02] [-6.69700690e-01 7.38956907e-01 -7.37812716e-02 -1.29345963e+02] [-1.10685546e-01 -1.08031857e-03 9.93854890e-01 -2.36058619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89592000000002 meters 0.02645718733859684 Centerline is valid? [True, True] Translation: X:194.38, Y:-129.37, Z:-23.61 [[ 7.32851906e-01 6.75438595e-01 8.19193978e-02 1.94382236e+02] [-6.71448869e-01 7.37415134e-01 -7.33166794e-02 -1.29368091e+02] [-1.09929519e-01 -1.27441877e-03 9.93938568e-01 -2.36087590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92592000000002 meters 0.026544319136028328 Centerline is valid? [True, True] Translation: X:194.41, Y:-129.39, Z:-23.61 [[ 7.31717987e-01 6.76554605e-01 8.28411367e-02 1.94407337e+02] [-6.72472863e-01 7.36391134e-01 -7.42182379e-02 -1.29388535e+02] [-1.11216169e-01 -1.40159671e-03 9.93795250e-01 -2.36117829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95592 meters 0.0269804732106295 Centerline is valid? [True, True] Translation: X:194.43, Y:-129.41, Z:-23.62 [[ 7.28592573e-01 6.79858716e-01 8.33365942e-02 1.94433128e+02] [-6.75741577e-01 7.33340743e-01 -7.47306964e-02 -1.29407783e+02] [-1.11920435e-01 -1.86577113e-03 9.93715420e-01 -2.36161926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98592 meters 0.02697064838528494 Centerline is valid? [True, True] Translation: X:194.46, Y:-129.43, Z:-23.62 [[ 7.27349094e-01 6.81211095e-01 8.31549091e-02 1.94459171e+02] [-6.77112872e-01 7.32084266e-01 -7.46376926e-02 -1.29428056e+02] [-1.11720425e-01 -2.01760121e-03 9.93737629e-01 -2.36188427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01592 meters 0.02732645199944571 Centerline is valid? [True, True] Translation: X:194.48, Y:-129.45, Z:-23.62 [[ 7.25475505e-01 6.83192548e-01 8.32660434e-02 1.94484734e+02] [-6.79087686e-01 7.30234752e-01 -7.48139177e-02 -1.29447257e+02] [-1.11916070e-01 -2.26928003e-03 9.93715072e-01 -2.36218994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04592 meters 0.027188283757342387 Centerline is valid? [True, True] Translation: X:194.51, Y:-129.47, Z:-23.62 [[ 7.24566871e-01 6.84245621e-01 8.25274522e-02 1.94509948e+02] [-6.80213544e-01 7.29247786e-01 -7.42105225e-02 -1.29466791e+02] [-1.10961187e-01 -2.36580469e-03 9.93821925e-01 -2.36232974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07592 meters 0.027159532057816058 Centerline is valid? [True, True] Translation: X:194.54, Y:-129.48, Z:-23.63 [[ 7.25198861e-01 6.83591694e-01 8.23954383e-02 1.94537433e+02] [-6.79564839e-01 7.29861208e-01 -7.41231875e-02 -1.29483840e+02] [-1.10807229e-01 -2.23899172e-03 9.93839396e-01 -2.36270038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10592 meters 0.027103431134541667 Centerline is valid? [True, True] Translation: X:194.56, Y:-129.50, Z:-23.63 [[ 7.25355248e-01 6.83369933e-01 8.28571051e-02 1.94563964e+02] [-6.79288278e-01 7.30069069e-01 -7.46095797e-02 -1.29503183e+02] [-1.11477353e-01 -2.16541007e-03 9.93764615e-01 -2.36300635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13592 meters 0.02706905350552362 Centerline is valid? [True, True] Translation: X:194.59, Y:-129.52, Z:-23.63 [[ 7.26004563e-01 6.82549244e-01 8.39279737e-02 1.94590904e+02] [-6.78346534e-01 7.30836849e-01 -7.56536778e-02 -1.29523112e+02] [-1.12975016e-01 -2.00733480e-03 9.93595801e-01 -2.36340712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16592 meters 0.026855814927389733 Centerline is valid? [True, True] Translation: X:194.62, Y:-129.54, Z:-23.64 [[ 7.27933669e-01 6.80548633e-01 8.34633574e-02 1.94618426e+02] [-6.76370637e-01 7.32701099e-01 -7.53117543e-02 -1.29540175e+02] [-1.12407005e-01 -1.63020261e-03 9.93660912e-01 -2.36370925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19592 meters 0.026654729255033777 Centerline is valid? [True, True] Translation: X:194.65, Y:-129.56, Z:-23.64 [[ 7.29539266e-01 6.78893678e-01 8.29206489e-02 1.94646828e+02] [-6.74751665e-01 7.34235414e-01 -7.48902352e-02 -1.29557167e+02] [-1.11725784e-01 -1.31547868e-03 9.93738204e-01 -2.36406144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22592 meters 0.026572318341537518 Centerline is valid? [True, True] Translation: X:194.67, Y:-129.58, Z:-23.64 [[ 7.30687471e-01 6.77681743e-01 8.27240883e-02 1.94672914e+02] [-6.73544063e-01 7.35354537e-01 -7.47803470e-02 -1.29576462e+02] [-1.11508810e-01 -1.07725587e-03 9.93762862e-01 -2.36429055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25592 meters 0.026495904723711015 Centerline is valid? [True, True] Translation: X:194.70, Y:-129.60, Z:-23.65 [[ 7.31776131e-01 6.76614194e-01 8.18347497e-02 1.94698178e+02] [-6.72551265e-01 7.36337219e-01 -7.40425252e-02 -1.29595882e+02] [-1.10356196e-01 -8.55511733e-04 9.93891734e-01 -2.36457643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28592 meters 0.026424693320129648 Centerline is valid? [True, True] Translation: X:194.73, Y:-129.61, Z:-23.65 [[ 7.33420668e-01 6.74774739e-01 8.22993085e-02 1.94725611e+02] [-6.70646128e-01 7.38023557e-01 -7.45318742e-02 -1.29614423e+02] [-1.11031054e-01 -5.30495619e-04 9.93816796e-01 -2.36486270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31592 meters 0.026486292866815826 Centerline is valid? [True, True] Translation: X:194.75, Y:-129.63, Z:-23.65 [[ 7.33735810e-01 6.74363055e-01 8.28627272e-02 1.94752327e+02] [-6.70166138e-01 7.38399823e-01 -7.51202238e-02 -1.29634122e+02] [-1.11844127e-01 -4.13395594e-04 9.93725677e-01 -2.36513546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34592 meters 0.026502354246084475 Centerline is valid? [True, True] Translation: X:194.78, Y:-129.65, Z:-23.65 [[ 7.34562529e-01 6.73277847e-01 8.43494611e-02 1.94780165e+02] [-6.68912336e-01 7.39389547e-01 -7.65466120e-02 -1.29651847e+02] [-1.13904248e-01 -1.94122242e-04 9.93491713e-01 -2.36545411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37592 meters 0.026480151529363075 Centerline is valid? [True, True] Translation: X:194.81, Y:-129.67, Z:-23.66 [[ 7.34993132e-01 6.72852110e-01 8.39948419e-02 1.94806189e+02] [-6.68512553e-01 7.39777015e-01 -7.62950428e-02 -1.29672130e+02] [-1.13472734e-01 -7.52737483e-05 9.93541108e-01 -2.36577663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40592 meters 0.026345931037715792 Centerline is valid? [True, True] Translation: X:194.83, Y:-129.69, Z:-23.66 [[ 7.36002454e-01 6.71877674e-01 8.29504628e-02 1.94831743e+02] [-6.67631040e-01 7.40662119e-01 -7.54216118e-02 -1.29691846e+02] [-1.12112363e-01 1.30187524e-04 9.93695527e-01 -2.36597496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43592 meters 0.026403784173083384 Centerline is valid? [True, True] Translation: X:194.86, Y:-129.71, Z:-23.66 [[ 7.37570340e-01 6.70313129e-01 8.16719205e-02 1.94858139e+02] [-6.66179984e-01 7.42078258e-01 -7.43242136e-02 -1.29710194e+02] [-1.10427453e-01 4.11136847e-04 9.93884102e-01 -2.36620227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46592 meters 0.026316682965509482 Centerline is valid? [True, True] Translation: X:194.88, Y:-129.73, Z:-23.67 [[ 7.38057700e-01 6.69898988e-01 8.06608827e-02 1.94883612e+02] [-6.65858117e-01 7.42452072e-01 -7.34703321e-02 -1.29731350e+02] [-1.09104541e-01 5.16640835e-04 9.94030147e-01 -2.36651011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49592 meters 0.026522773445849305 Centerline is valid? [True, True] Translation: X:194.91, Y:-129.75, Z:-23.67 [[ 7.40368782e-01 6.67337808e-01 8.07113167e-02 1.94910148e+02] [-6.63268541e-01 7.44754555e-01 -7.35900559e-02 -1.29750342e+02] [-1.09219547e-01 9.50502846e-04 9.94017197e-01 -2.36681070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52592 meters 0.026758346516799373 Centerline is valid? [True, True] Translation: X:194.94, Y:-129.77, Z:-23.67 [[ 7.40367842e-01 6.67113414e-01 8.25539380e-02 1.94936042e+02] [-6.62846616e-01 7.44955419e-01 -7.53378264e-02 -1.29770104e+02] [-1.11757878e-01 1.05710548e-03 9.93734904e-01 -2.36716770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55592000000001 meters 0.02670866964872992 Centerline is valid? [True, True] Translation: X:194.96, Y:-129.79, Z:-23.67 [[ 7.41033228e-01 6.66461433e-01 8.18468937e-02 1.94962988e+02] [-6.62256205e-01 7.45538549e-01 -7.47595494e-02 -1.29789931e+02] [-1.10844371e-01 1.19569695e-03 9.93837057e-01 -2.36743320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58592000000002 meters 0.026781748775863347 Centerline is valid? [True, True] Translation: X:194.99, Y:-129.81, Z:-23.68 [[ 7.40620914e-01 6.66785266e-01 8.29341343e-02 1.94987063e+02] [-6.62460734e-01 7.45248900e-01 -7.58277853e-02 -1.29811273e+02] [-1.12367422e-01 1.21903629e-03 9.93665978e-01 -2.36782202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61592000000002 meters 0.02666741910735621 Centerline is valid? [True, True] Translation: X:195.01, Y:-129.83, Z:-23.68 [[ 7.40606537e-01 6.66854774e-01 8.25025304e-02 1.95011603e+02] [-6.62568145e-01 7.45186649e-01 -7.55004066e-02 -1.29832783e+02] [-1.11827591e-01 1.25254617e-03 9.93726834e-01 -2.36810819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64592000000002 meters 0.026683047831838773 Centerline is valid? [True, True] Translation: X:195.04, Y:-129.85, Z:-23.68 [[ 7.41059128e-01 6.66595084e-01 8.05131296e-02 1.95037551e+02] [-6.62504503e-01 7.45418861e-01 -7.37462244e-02 -1.29852814e+02] [-1.09174876e-01 1.31000180e-03 9.94021695e-01 -2.36829729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67592000000002 meters 0.026814389444015544 Centerline is valid? [True, True] Translation: X:195.06, Y:-129.87, Z:-23.69 [[ 7.41968727e-01 6.65609357e-01 8.02906692e-02 1.95062641e+02] [-6.61531219e-01 7.46298860e-01 -7.35829952e-02 -1.29874369e+02] [-1.08898365e-01 1.48149701e-03 9.94051785e-01 -2.36865212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70592 meters 0.027045158427119572 Centerline is valid? [True, True] Translation: X:195.09, Y:-129.90, Z:-23.69 [[ 7.42328843e-01 6.65147887e-01 8.07847638e-02 1.95086626e+02] [-6.61008551e-01 7.46709908e-01 -7.41080924e-02 -1.29895519e+02] [-1.09615625e-01 1.61315479e-03 9.93972742e-01 -2.36893758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73592 meters 0.027146462761218994 Centerline is valid? [True, True] Translation: X:195.11, Y:-129.92, Z:-23.69 [[ 7.42369654e-01 6.64948347e-01 8.20426238e-02 1.95110456e+02] [-6.60670084e-01 7.46887370e-01 -7.53279284e-02 -1.29916491e+02] [-1.11365781e-01 1.71806104e-03 9.93777999e-01 -2.36924464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76592 meters 0.027516555424784157 Centerline is valid? [True, True] Translation: X:195.13, Y:-129.94, Z:-23.70 [[ 7.43440593e-01 6.63730741e-01 8.22045444e-02 1.95134329e+02] [-6.59420770e-01 7.47969042e-01 -7.55417855e-02 -1.29937842e+02] [-1.11625860e-01 1.95344589e-03 9.93748384e-01 -2.36963152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79592 meters 0.027937682904805423 Centerline is valid? [True, True] Translation: X:195.16, Y:-129.96, Z:-23.70 [[ 7.43927553e-01 6.63207494e-01 8.20220447e-02 1.95157431e+02] [-6.58906140e-01 7.48432700e-01 -7.54399965e-02 -1.29961218e+02] [-1.11420351e-01 2.07706322e-03 9.93771197e-01 -2.37005871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82592 meters 0.027782345473685983 Centerline is valid? [True, True] Translation: X:195.18, Y:-129.98, Z:-23.70 [[ 7.44145562e-01 6.63008174e-01 8.16550279e-02 1.95181944e+02] [-6.58735973e-01 7.48609062e-01 -7.51757335e-02 -1.29984013e+02] [-1.10969820e-01 2.15258423e-03 9.93821446e-01 -2.37026736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85592 meters 0.027938421941998453 Centerline is valid? [True, True] Translation: X:195.21, Y:-130.01, Z:-23.71 [[ 7.43723826e-01 6.63434315e-01 8.20352391e-02 1.95206300e+02] [-6.59116427e-01 7.48231427e-01 -7.55993894e-02 -1.30006449e+02] [-1.11536573e-01 2.15429346e-03 9.93757995e-01 -2.37058466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88592 meters 0.028184193386377756 Centerline is valid? [True, True] Translation: X:195.23, Y:-130.03, Z:-23.71 [[ 7.44716030e-01 6.62263012e-01 8.24968953e-02 1.95229617e+02] [-6.57880841e-01 7.49267611e-01 -7.60976156e-02 -1.30028186e+02] [-1.12208888e-01 2.39798736e-03 9.93681747e-01 -2.37085405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91592 meters 0.028369270900837847 Centerline is valid? [True, True] Translation: X:195.25, Y:-130.05, Z:-23.71 [[ 7.45290498e-01 6.61676386e-01 8.20148404e-02 1.95253600e+02] [-6.57334575e-01 7.49785306e-01 -7.57182407e-02 -1.30050864e+02] [-1.11594494e-01 2.52089509e-03 9.93750630e-01 -2.37124900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94592 meters 0.028984957163631135 Centerline is valid? [True, True] Translation: X:195.28, Y:-130.07, Z:-23.72 [[ 7.47210109e-01 6.59434196e-01 8.26050562e-02 1.95276806e+02] [-6.55007529e-01 7.51756573e-01 -7.63360503e-02 -1.30073367e+02] [-1.12437496e-01 2.93213470e-03 9.93654473e-01 -2.37164975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97592 meters 0.029225580575439277 Centerline is valid? [True, True] Translation: X:195.30, Y:-130.10, Z:-23.72 [[ 7.48614519e-01 6.58109844e-01 8.04222390e-02 1.95300540e+02] [-6.53900242e-01 7.52915570e-01 -7.43815772e-02 -1.30095803e+02] [-1.09502404e-01 3.09500702e-03 9.93981712e-01 -2.37184935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00592 meters 0.029622962319742284 Centerline is valid? [True, True] Translation: X:195.32, Y:-130.12, Z:-23.72 [[ 7.49506084e-01 6.56994175e-01 8.12359839e-02 1.95322909e+02] [-6.52684206e-01 7.53888229e-01 -7.52054912e-02 -1.30118321e+02] [-1.10652422e-01 3.34552953e-03 9.93853535e-01 -2.37218563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03592 meters 0.02975965119639256 Centerline is valid? [True, True] Translation: X:195.35, Y:-130.14, Z:-23.72 [[ 7.49501349e-01 6.57073855e-01 8.06329797e-02 1.95346392e+02] [-6.52821236e-01 7.53818731e-01 -7.47111405e-02 -1.30141660e+02] [-1.09873388e-01 3.35717909e-03 9.93939922e-01 -2.37244268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06592 meters 0.029802911690199108 Centerline is valid? [True, True] Translation: X:195.37, Y:-130.17, Z:-23.73 [[ 7.49579303e-01 6.57089807e-01 7.97737690e-02 1.95369603e+02] [-6.52920044e-01 7.53804760e-01 -7.39851377e-02 -1.30165012e+02] [-1.08748727e-01 3.37183516e-03 9.94063552e-01 -2.37273459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09592 meters 0.030073427588162113 Centerline is valid? [True, True] Translation: X:195.39, Y:-130.19, Z:-23.73 [[ 7.49765729e-01 6.56719751e-01 8.10587477e-02 1.95392802e+02] [-6.52404042e-01 7.54126428e-01 -7.52482333e-02 -1.30186722e+02] [-1.10545545e-01 3.53549185e-03 9.93864771e-01 -2.37305029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12592 meters 0.03064984129790824 Centerline is valid? [True, True] Translation: X:195.42, Y:-130.21, Z:-23.73 [[ 7.50692620e-01 6.55529665e-01 8.21063276e-02 1.95415264e+02] [-6.51086993e-01 7.55159822e-01 -7.62848020e-02 -1.30210227e+02] [-1.12010350e-01 3.80807592e-03 9.93699743e-01 -2.37343261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15592 meters 0.030876561355932794 Centerline is valid? [True, True] Translation: X:195.44, Y:-130.23, Z:-23.74 [[ 7.51466830e-01 6.54656391e-01 8.19915456e-02 1.95438133e+02] [-6.50213894e-01 7.55916109e-01 -7.62412465e-02 -1.30233497e+02] [-1.11890549e-01 3.98072565e-03 9.93712563e-01 -2.37368766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18592 meters 0.03127684768932797 Centerline is valid? [True, True] Translation: X:195.46, Y:-130.26, Z:-23.74 [[ 7.52106456e-01 6.53893238e-01 8.22162541e-02 1.95460987e+02] [-6.49414616e-01 7.56575429e-01 -7.65132439e-02 -1.30256577e+02] [-1.12234291e-01 4.15366762e-03 9.93673091e-01 -2.37399783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21592 meters 0.03164921849613091 Centerline is valid? [True, True] Translation: X:195.48, Y:-130.28, Z:-23.74 [[ 7.53714365e-01 6.52220952e-01 8.07619070e-02 1.95482293e+02] [-6.47883572e-01 7.58016311e-01 -7.52206704e-02 -1.30280650e+02] [-1.10279340e-01 4.37058702e-03 9.93891023e-01 -2.37430229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24592 meters 0.031767882616807915 Centerline is valid? [True, True] Translation: X:195.50, Y:-130.30, Z:-23.75 [[ 7.53908245e-01 6.52020264e-01 8.05725408e-02 1.95504587e+02] [-6.47695352e-01 7.58188562e-01 -7.51054966e-02 -1.30303310e+02] [-1.10059485e-01 4.43619297e-03 9.93915102e-01 -2.37460413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27592 meters 0.03180901919444045 Centerline is valid? [True, True] Translation: X:195.53, Y:-130.33, Z:-23.75 [[ 7.53031608e-01 6.52753273e-01 8.28043538e-02 1.95525361e+02] [-6.48181641e-01 7.57557203e-01 -7.72505300e-02 -1.30327957e+02] [-1.13154571e-01 4.49982895e-03 9.93567207e-01 -2.37501248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30592000000001 meters 0.03180724697289201 Centerline is valid? [True, True] Translation: X:195.55, Y:-130.35, Z:-23.75 [[ 7.51992734e-01 6.53987206e-01 8.25085566e-02 1.95547448e+02] [-6.49448531e-01 7.56493121e-01 -7.70374175e-02 -1.30351042e+02] [-1.12798641e-01 4.34651736e-03 9.93608361e-01 -2.37528612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33592000000002 meters 0.030580787350093817 Centerline is valid? [True, True] Translation: X:195.57, Y:-130.38, Z:-23.76 [[ 7.49674438e-01 6.56732864e-01 8.17935349e-02 1.95566620e+02] [-6.52282923e-01 7.54113002e-01 -7.64236102e-02 -1.30376245e+02] [-1.11871465e-01 3.94030101e-03 9.93714873e-01 -2.37554633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36592000000002 meters 0.030209215022463817 Centerline is valid? [True, True] Translation: X:195.59, Y:-130.40, Z:-23.76 [[ 7.47985221e-01 6.58629685e-01 8.20063898e-02 1.95588312e+02] [-6.54165285e-01 7.52458219e-01 -7.66446923e-02 -1.30399970e+02] [-1.12186852e-01 3.68336370e-03 9.93680302e-01 -2.37590313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39592000000002 meters 0.029547561005956756 Centerline is valid? [True, True] Translation: X:195.61, Y:-130.43, Z:-23.76 [[ 7.45235170e-01 6.61716377e-01 8.21947607e-02 1.95608072e+02] [-6.57242697e-01 7.49747096e-01 -7.68851724e-02 -1.30426048e+02] [-1.12501461e-01 3.27562824e-03 9.93646160e-01 -2.37623467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42592000000002 meters 0.029496873832337612 Centerline is valid? [True, True] Translation: X:195.63, Y:-130.45, Z:-23.77 [[ 7.44639821e-01 6.62399995e-01 8.20840034e-02 1.95629316e+02] [-6.57935273e-01 7.49143445e-01 -7.68457921e-02 -1.30449606e+02] [-1.12395345e-01 3.21647567e-03 9.93658362e-01 -2.37658517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45592 meters 0.02912276137939823 Centerline is valid? [True, True] Translation: X:195.65, Y:-130.48, Z:-23.77 [[ 7.43560041e-01 6.63699502e-01 8.13722127e-02 1.95649900e+02] [-6.59313512e-01 7.47993149e-01 -7.62360900e-02 -1.30475122e+02] [-1.11463713e-01 3.03631078e-03 9.93763866e-01 -2.37689955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48592 meters 0.02912276137939823 Centerline is valid? [True, True] Translation: X:195.67, Y:-130.50, Z:-23.77 [[ 7.43241437e-01 6.64058188e-01 8.13565632e-02 1.95673823e+02] [-6.59672511e-01 7.47674856e-01 -7.62527865e-02 -1.30497083e+02] [-1.11464544e-01 3.00554221e-03 9.93763866e-01 -2.37720335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51592 meters 0.029125553532109934 Centerline is valid? [True, True] Translation: X:195.70, Y:-130.52, Z:-23.77 [[ 7.42804014e-01 6.64616285e-01 8.07922644e-02 1.95696290e+02] [-6.60286768e-01 7.47179002e-01 -7.57952685e-02 -1.30519486e+02] [-1.10741053e-01 2.95496653e-03 9.93844901e-01 -2.37747723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54592 meters 0.028719989065589997 Centerline is valid? [True, True] Translation: X:195.72, Y:-130.54, Z:-23.78 [[ 7.41242642e-01 6.66391087e-01 8.05125177e-02 1.95717040e+02] [-6.62094927e-01 7.45597395e-01 -7.55965128e-02 -1.30544621e+02] [-1.10406766e-01 2.72842925e-03 9.93882740e-01 -2.37783064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57592 meters 0.028327615951347734 Centerline is valid? [True, True] Translation: X:195.74, Y:-130.57, Z:-23.78 [[ 7.39619130e-01 6.68099554e-01 8.12805542e-02 1.95738942e+02] [-6.63723700e-01 7.44067539e-01 -7.63829009e-02 -1.30568793e+02] [-1.11509604e-01 2.54642460e-03 9.93760094e-01 -2.37808707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60592 meters 0.028288822371627033 Centerline is valid? [True, True] Translation: X:195.76, Y:-130.59, Z:-23.78 [[ 7.38146493e-01 6.69609782e-01 8.22343904e-02 1.95761208e+02] [-6.65131824e-01 7.42709225e-01 -7.73476748e-02 -1.30592552e+02] [-1.12869000e-01 2.39720474e-03 9.93606986e-01 -2.37848722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63592 meters 0.027646694580882418 Centerline is valid? [True, True] Translation: X:195.78, Y:-130.62, Z:-23.79 [[ 7.35264743e-01 6.72721416e-01 8.26538194e-02 1.95781568e+02] [-6.68209052e-01 7.39893213e-01 -7.78119276e-02 -1.30617348e+02] [-1.13500750e-01 1.98233670e-03 9.93535933e-01 -2.37875494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66592 meters 0.02753522834303649 Centerline is valid? [True, True] Translation: X:195.80, Y:-130.64, Z:-23.79 [[ 7.32954056e-01 6.75214355e-01 8.28488234e-02 1.95803092e+02] [-6.70692456e-01 7.37619773e-01 -7.80301162e-02 -1.30641986e+02] [-1.13797985e-01 1.62640925e-03 9.93502578e-01 -2.37906025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69592 meters 0.02746720595291585 Centerline is valid? [True, True] Translation: X:195.83, Y:-130.67, Z:-23.79 [[ 7.31666958e-01 6.76545853e-01 8.33616895e-02 1.95825822e+02] [-6.71972194e-01 7.36399073e-01 -7.85479266e-02 -1.30666029e+02] [-1.14528745e-01 1.45418514e-03 9.93418870e-01 -2.37937782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72592 meters 0.02759613815575499 Centerline is valid? [True, True] Translation: X:195.85, Y:-130.69, Z:-23.80 [[ 7.30880151e-01 6.77467539e-01 8.27764317e-02 1.95847908e+02] [-6.72955278e-01 7.35551421e-01 -7.80724077e-02 -1.30688924e+02] [-1.13777844e-01 1.35673658e-03 9.93505290e-01 -2.37979158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75592 meters 0.027676964648385635 Centerline is valid? [True, True] Translation: X:195.87, Y:-130.71, Z:-23.80 [[ 7.28868134e-01 6.79514515e-01 8.37333132e-02 1.95869285e+02] [-6.74902046e-01 7.33661235e-01 -7.90469536e-02 -1.30713653e+02] [-1.15145438e-01 1.10302120e-03 9.93348031e-01 -2.38011747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78592 meters 0.02757937996455753 Centerline is valid? [True, True] Translation: X:195.89, Y:-130.74, Z:-23.80 [[ 7.27229798e-01 6.81153359e-01 8.46576775e-02 1.95892394e+02] [-6.76439690e-01 7.32140197e-01 -8.00004848e-02 -1.30737055e+02] [-1.16473888e-01 9.12923218e-04 9.93193335e-01 -2.38045605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81592 meters 0.027518801514340527 Centerline is valid? [True, True] Translation: X:195.91, Y:-130.76, Z:-23.81 [[ 7.25931393e-01 6.82512718e-01 8.48528269e-02 1.95914696e+02] [-6.77777999e-01 7.30873333e-01 -8.02568124e-02 -1.30762085e+02] [-1.16792963e-01 7.49560443e-04 9.93156001e-01 -2.38072544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84592 meters 0.027584599299859538 Centerline is valid? [True, True] Translation: X:195.94, Y:-130.78, Z:-23.81 [[ 7.25182040e-01 6.83414276e-01 8.39996202e-02 1.95937627e+02] [-6.78775713e-01 7.30030501e-01 -7.94921324e-02 -1.30784462e+02] [-1.15648343e-01 6.29364642e-04 9.93290020e-01 -2.38109643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87592 meters 0.027503789544172638 Centerline is valid? [True, True] Translation: X:195.96, Y:-130.81, Z:-23.81 [[ 7.24239103e-01 6.84307827e-01 8.48558780e-02 1.95959951e+02] [-6.79571415e-01 7.29193048e-01 -8.03753161e-02 -1.30806904e+02] [-1.16877774e-01 5.45317796e-04 9.93146157e-01 -2.38139617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90592 meters 0.02773504279292455 Centerline is valid? [True, True] Translation: X:195.98, Y:-130.83, Z:-23.82 [[ 7.22882920e-01 6.85696953e-01 8.52054684e-02 1.95982757e+02] [-6.80922100e-01 7.27887042e-01 -8.07808566e-02 -1.30831171e+02] [-1.17411144e-01 3.76815045e-04 9.93083320e-01 -2.38177997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93592 meters 0.02752802411862441 Centerline is valid? [True, True] Translation: X:196.01, Y:-130.85, Z:-23.82 [[ 7.22684325e-01 6.85993146e-01 8.45030793e-02 1.96005721e+02] [-6.81289578e-01 7.27607900e-01 -8.01951072e-02 -1.30854096e+02] [-1.16498402e-01 3.84679699e-04 9.93190805e-01 -2.38197221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96592 meters 0.027476317759514684 Centerline is valid? [True, True] Translation: X:196.03, Y:-130.88, Z:-23.82 [[ 7.22240066e-01 6.86540229e-01 8.38558370e-02 1.96028285e+02] [-6.81904055e-01 7.27091737e-01 -7.96521485e-02 -1.30876605e+02] [-1.15655290e-01 3.46337665e-04 9.93289351e-01 -2.38231915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99592 meters 0.027570385944825974 Centerline is valid? [True, True] Translation: X:196.05, Y:-130.90, Z:-23.83 [[ 7.21001675e-01 6.87787802e-01 8.42883382e-02 1.96051743e+02] [-6.83103199e-01 7.25911770e-01 -8.01381434e-02 -1.30899158e+02] [-1.16303934e-01 2.02102156e-04 9.93213650e-01 -2.38268960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02592 meters 0.027328480954314373 Centerline is valid? [True, True] Translation: X:196.08, Y:-130.92, Z:-23.83 [[ 7.19129343e-01 6.89747260e-01 8.42716092e-02 1.96075391e+02] [-6.85068109e-01 7.24050215e-01 -8.02058106e-02 -1.30922443e+02] [-1.16338615e-01 -5.34400102e-05 9.93209607e-01 -2.38295391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05592000000001 meters 0.027213819115747728 Centerline is valid? [True, True] Translation: X:196.10, Y:-130.94, Z:-23.83 [[ 7.18112722e-01 6.90744858e-01 8.47682755e-02 1.96099000e+02] [-6.86007267e-01 7.23098553e-01 -8.07620727e-02 -1.30944771e+02] [-1.17081804e-01 -1.55381192e-04 9.93122262e-01 -2.38330074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08592000000002 meters 0.027152155493009467 Centerline is valid? [True, True] Translation: X:196.12, Y:-130.97, Z:-23.84 [[ 7.17148967e-01 6.91879040e-01 8.36705023e-02 1.96123093e+02] [-6.87262177e-01 7.22013377e-01 -7.97958861e-02 -1.30966639e+02] [-1.15620323e-01 -2.78034275e-04 9.93293443e-01 -2.38353826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11592000000002 meters 0.027188937946631266 Centerline is valid? [True, True] Translation: X:196.15, Y:-130.99, Z:-23.84 [[ 7.15835593e-01 6.93260355e-01 8.34834390e-02 1.96147040e+02] [-6.88664923e-01 7.20687090e-01 -7.96915448e-02 -1.30989049e+02] [-1.15412425e-01 -4.46071853e-04 9.93317559e-01 -2.38389615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14592000000002 meters 0.027140220494932036 Centerline is valid? [True, True] Translation: X:196.17, Y:-131.01, Z:-23.84 [[ 7.15034511e-01 6.94142789e-01 8.30146762e-02 1.96170014e+02] [-6.89596684e-01 7.19837137e-01 -7.93152507e-02 -1.31010952e+02] [-1.14813156e-01 -5.33503949e-04 9.93386961e-01 -2.38414995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17592000000002 meters 0.027203996870171922 Centerline is valid? [True, True] Translation: X:196.20, Y:-131.03, Z:-23.84 [[ 7.13841618e-01 6.95452575e-01 8.23156124e-02 1.96195144e+02] [-6.90987546e-01 7.18571645e-01 -7.86829303e-02 -1.31032978e+02] [-1.13869911e-01 -7.11912722e-04 9.93495413e-01 -2.38443196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20592 meters 0.02697586303767078 Centerline is valid? [True, True] Translation: X:196.22, Y:-131.05, Z:-23.85 [[ 7.13029995e-01 6.96309267e-01 8.21074410e-02 1.96219976e+02] [-6.91863131e-01 7.17741448e-01 -7.85660350e-02 -1.31054295e+02] [-1.13638172e-01 -7.87171728e-04 9.93521890e-01 -2.38472101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23592 meters 0.02721854011413072 Centerline is valid? [True, True] Translation: X:196.25, Y:-131.07, Z:-23.85 [[ 7.11851374e-01 6.97413421e-01 8.29586754e-02 1.96245880e+02] [-6.92872470e-01 7.16668461e-01 -7.94610459e-02 -1.31072921e+02] [-1.14871066e-01 -9.15327639e-04 9.93379988e-01 -2.38502561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26592 meters 0.027149061269542238 Centerline is valid? [True, True] Translation: X:196.27, Y:-131.09, Z:-23.85 [[ 7.11003303e-01 6.98394059e-01 8.19758561e-02 1.96270831e+02] [-6.93959266e-01 7.15712730e-01 -7.85864184e-02 -1.31093451e+02] [-1.13555452e-01 -1.01270187e-03 9.93531144e-01 -2.38522796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29592 meters 0.02717724037331104 Centerline is valid? [True, True] Translation: X:196.30, Y:-131.11, Z:-23.86 [[ 7.10301515e-01 6.99167137e-01 8.14682241e-02 1.96297874e+02] [-6.94784075e-01 7.14957450e-01 -7.81724649e-02 -1.31113106e+02] [-1.12901932e-01 -1.07680450e-03 9.93605553e-01 -2.38555626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32592 meters 0.027081907256846394 Centerline is valid? [True, True] Translation: X:196.32, Y:-131.13, Z:-23.86 [[ 7.10179562e-01 6.99310048e-01 8.13046506e-02 1.96323510e+02] [-6.94936339e-01 7.14817723e-01 -7.80967787e-02 -1.31134027e+02] [-1.12731867e-01 -1.03882011e-03 9.93624903e-01 -2.38590570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35592 meters 0.027053800887390216 Centerline is valid? [True, True] Translation: X:196.35, Y:-131.15, Z:-23.86 [[ 7.10520960e-01 6.98924209e-01 8.16389288e-02 1.96350955e+02] [-6.94502465e-01 7.15195147e-01 -7.84998531e-02 -1.31153879e+02] [-1.13253213e-01 -9.22646301e-04 9.93565729e-01 -2.38607575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38592 meters 0.027147089288062105 Centerline is valid? [True, True] Translation: X:196.38, Y:-131.17, Z:-23.86 [[ 7.10374904e-01 6.98977824e-01 8.24469386e-02 1.96376775e+02] [-6.94458557e-01 7.15142801e-01 -7.93604830e-02 -1.31174997e+02] [-1.14432552e-01 -8.80286530e-04 9.93430630e-01 -2.38646669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41592 meters 0.026992638618547744 Centerline is valid? [True, True] Translation: X:196.40, Y:-131.19, Z:-23.87 [[ 7.10695219e-01 6.98865144e-01 8.06214345e-02 1.96402005e+02] [-6.94534955e-01 7.15253026e-01 -7.76807880e-02 -1.31194785e+02] [-1.11953120e-01 -7.87039681e-04 9.93713178e-01 -2.38657095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44592 meters 0.026915116772967696 Centerline is valid? [True, True] Translation: X:196.43, Y:-131.21, Z:-23.87 [[ 7.11116518e-01 6.98603345e-01 7.91622621e-02 1.96428754e+02] [-6.94419819e-01 7.15508840e-01 -7.63427538e-02 -1.31213055e+02] [-1.09974601e-01 -6.83250360e-04 9.93934163e-01 -2.38680703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47592 meters 0.026973545397987037 Centerline is valid? [True, True] Translation: X:196.45, Y:-131.23, Z:-23.87 [[ 7.11385173e-01 6.98318908e-01 7.92580424e-02 1.96454287e+02] [-6.94115600e-01 7.15786529e-01 -7.65060681e-02 -1.31233492e+02] [-1.10157473e-01 -5.88961129e-04 9.93913972e-01 -2.38714811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50592 meters 0.02696498008160483 Centerline is valid? [True, True] Translation: X:196.48, Y:-131.25, Z:-23.87 [[ 7.11957130e-01 6.97723127e-01 7.93692857e-02 1.96482750e+02] [-6.93495469e-01 7.16367395e-01 -7.66928315e-02 -1.31251986e+02] [-1.10367931e-01 -4.40231875e-04 9.93890701e-01 -2.38737480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53592 meters 0.02686670435280252 Centerline is valid? [True, True] Translation: X:196.51, Y:-131.27, Z:-23.88 [[ 7.12468204e-01 6.97171791e-01 7.96275864e-02 1.96509152e+02] [-6.92904139e-01 7.16904042e-01 -7.70223901e-02 -1.31271521e+02] [-1.10783176e-01 -2.98280283e-04 9.93844555e-01 -2.38758971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56592 meters 0.026945034119841203 Centerline is valid? [True, True] Translation: X:196.54, Y:-131.29, Z:-23.88 [[ 7.14793055e-01 6.94770543e-01 7.97795827e-02 1.96537463e+02] [-6.90462654e-01 7.19231448e-01 -7.72492604e-02 -1.31290081e+02] [-1.11050495e-01 1.32412465e-04 9.93814756e-01 -2.38793105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59592 meters 0.02698737856714449 Centerline is valid? [True, True] Translation: X:196.56, Y:-131.31, Z:-23.88 [[ 7.16554518e-01 6.93109496e-01 7.84145937e-02 1.96562540e+02] [-6.88929949e-01 7.20832182e-01 -7.60032331e-02 -1.31310851e+02] [-1.09202325e-01 4.38297995e-04 9.94019447e-01 -2.38818986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62592 meters 0.02717978868799591 Centerline is valid? [True, True] Translation: X:196.59, Y:-131.33, Z:-23.89 [[ 7.17928735e-01 6.91623827e-01 7.89608367e-02 1.96587017e+02] [-6.87368998e-01 7.22257547e-01 -7.66021902e-02 -1.31331381e+02] [-1.10009960e-01 7.19682288e-04 9.93930224e-01 -2.38856794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65592 meters 0.027609195943273317 Centerline is valid? [True, True] Translation: X:196.61, Y:-131.35, Z:-23.89 [[ 7.21524979e-01 6.87838469e-01 7.92461043e-02 1.96613156e+02] [-6.83522122e-01 7.25862527e-01 -7.69486883e-02 -1.31350583e+02] [-1.10450045e-01 1.35393532e-03 9.93880755e-01 -2.38902108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68592 meters 0.028186307438734414 Centerline is valid? [True, True] Translation: X:196.64, Y:-131.37, Z:-23.89 [[ 7.24593470e-01 6.84678085e-01 7.86143938e-02 1.96638228e+02] [-6.80404499e-01 7.28843206e-01 -7.64022087e-02 -1.31370699e+02] [-1.09608485e-01 1.87095429e-03 9.93973078e-01 -2.38934448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71592 meters 0.02835893994392965 Centerline is valid? [True, True] Translation: X:196.66, Y:-131.39, Z:-23.90 [[ 7.25884741e-01 6.83351741e-01 7.82415611e-02 1.96662237e+02] [-6.79103866e-01 7.30086261e-01 -7.61051271e-02 -1.31392150e+02] [-1.09129660e-01 2.10940386e-03 9.94025285e-01 -2.38961129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74592 meters 0.02858967420122381 Centerline is valid? [True, True] Translation: X:196.69, Y:-131.41, Z:-23.90 [[ 7.26700229e-01 6.82578677e-01 7.74152952e-02 1.96686806e+02] [-6.78408886e-01 7.30808655e-01 -7.53663966e-02 -1.31414689e+02] [-1.08019263e-01 2.24955350e-03 9.94146256e-01 -2.38986046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77592 meters 0.028716855730460806 Centerline is valid? [True, True] Translation: X:196.71, Y:-131.44, Z:-23.90 [[ 7.27469759e-01 6.81753336e-01 7.74605656e-02 1.96709727e+02] [-6.77566081e-01 7.31578088e-01 -7.54831561e-02 -1.31437344e+02] [-1.08129346e-01 2.42706143e-03 9.94133871e-01 -2.39016305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80592000000001 meters 0.02914041042849025 Centerline is valid? [True, True] Translation: X:196.73, Y:-131.46, Z:-23.90 [[ 7.28821118e-01 6.80306991e-01 7.74737065e-02 1.96732078e+02] [-6.76103123e-01 7.32922344e-01 -7.55606078e-02 -1.31460429e+02] [-1.08186620e-01 2.68995169e-03 9.94126963e-01 -2.39045174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83592000000002 meters 0.029177934103351077 Centerline is valid? [True, True] Translation: X:196.75, Y:-131.48, Z:-23.91 [[ 7.29325255e-01 6.79715118e-01 7.79232347e-02 1.96753790e+02] [-6.75451718e-01 7.33470710e-01 -7.60637516e-02 -1.31483623e+02] [-1.08856092e-01 2.84183221e-03 9.94053457e-01 -2.39077631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86592000000002 meters 0.029485069421544156 Centerline is valid? [True, True] Translation: X:196.78, Y:-131.51, Z:-23.91 [[ 7.30156021e-01 6.78909623e-01 7.71615818e-02 1.96776574e+02] [-6.74718104e-01 7.34215805e-01 -7.53832329e-02 -1.31506815e+02] [-1.07831655e-01 2.97920526e-03 9.94164704e-01 -2.39109108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89592000000002 meters 0.029606732797310492 Centerline is valid? [True, True] Translation: X:196.80, Y:-131.53, Z:-23.91 [[ 7.31654111e-01 6.77374177e-01 7.64623133e-02 1.96796652e+02] [-6.73243397e-01 7.35631591e-01 -7.47629022e-02 -1.31532242e+02] [-1.06890553e-01 3.22283725e-03 9.94265570e-01 -2.39136245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92592000000002 meters 0.02990603311035149 Centerline is valid? [True, True] Translation: X:196.82, Y:-131.56, Z:-23.92 [[ 7.31776054e-01 6.77105052e-01 7.76695262e-02 1.96818292e+02] [-6.72833839e-01 7.35878690e-01 -7.60077573e-02 -1.31555615e+02] [-1.08620586e-01 3.36197124e-03 9.94077595e-01 -2.39168302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95592 meters 0.029629204966638758 Centerline is valid? [True, True] Translation: X:196.84, Y:-131.58, Z:-23.92 [[ 7.31659165e-01 6.77120519e-01 7.86299445e-02 1.96838569e+02] [-6.72735580e-01 7.35864051e-01 -7.70125852e-02 -1.31581246e+02] [-1.10007751e-01 3.44980244e-03 9.93924742e-01 -2.39191778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98592 meters 0.02931493327954006 Centerline is valid? [True, True] Translation: X:196.86, Y:-131.61, Z:-23.92 [[ 7.30468735e-01 6.78459356e-01 7.81558063e-02 1.96859820e+02] [-6.74127936e-01 7.34630638e-01 -7.66116957e-02 -1.31605596e+02] [-1.09393572e-01 3.27543598e-03 9.93993118e-01 -2.39218036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01592 meters 0.02866353787116188 Centerline is valid? [True, True] Translation: X:196.88, Y:-131.63, Z:-23.93 [[ 7.27648275e-01 6.81316294e-01 7.95995969e-02 1.96878688e+02] [-6.76832304e-01 7.31983203e-01 -7.80936815e-02 -1.31632045e+02] [-1.11472066e-01 2.94915403e-03 9.93763192e-01 -2.39256885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04592 meters 0.028311249479948966 Centerline is valid? [True, True] Translation: X:196.90, Y:-131.66, Z:-23.93 [[ 7.26191392e-01 6.82803844e-01 8.01559311e-02 1.96899428e+02] [-6.78258188e-01 7.30596420e-01 -7.87064220e-02 -1.31656470e+02] [-1.12302684e-01 2.78950959e-03 9.93670129e-01 -2.39289499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07592 meters 0.02791114626827191 Centerline is valid? [True, True] Translation: X:196.92, Y:-131.68, Z:-23.93 [[ 7.24747942e-01 6.84468030e-01 7.90185816e-02 1.96920533e+02] [-6.80053444e-01 7.29038440e-01 -7.76547921e-02 -1.31680814e+02] [-1.10759806e-01 2.54329226e-03 9.93843950e-01 -2.39311701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10592 meters 0.027496152457852734 Centerline is valid? [True, True] Translation: X:196.94, Y:-131.71, Z:-23.94 [[ 7.22653970e-01 6.86619389e-01 7.95302072e-02 1.96939708e+02] [-6.82152627e-01 7.27013497e-01 -7.82251070e-02 -1.31707199e+02] [-1.11530409e-01 2.27794434e-03 9.93758411e-01 -2.39355147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13592 meters 0.027194069305378193 Centerline is valid? [True, True] Translation: X:196.96, Y:-131.73, Z:-23.94 [[ 7.20383946e-01 6.88992583e-01 7.96001915e-02 1.96959400e+02] [-6.84524762e-01 7.24765736e-01 -7.83612030e-02 -1.31733047e+02] [-1.11681779e-01 1.96185046e-03 9.93742085e-01 -2.39383452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16592 meters 0.0270909417036217 Centerline is valid? [True, True] Translation: X:196.98, Y:-131.76, Z:-23.94 [[ 7.19600836e-01 6.89784708e-01 7.98228827e-02 1.96981964e+02] [-6.85288817e-01 7.24012062e-01 -7.86496695e-02 -1.31756715e+02] [-1.12044069e-01 1.89463901e-03 9.93701432e-01 -2.39421925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19592 meters 0.02681038141643576 Centerline is valid? [True, True] Translation: X:197.00, Y:-131.78, Z:-23.94 [[ 7.18792666e-01 6.90846440e-01 7.78992955e-02 1.97003832e+02] [-6.86563437e-01 7.22999424e-01 -7.68275978e-02 -1.31780265e+02] [-1.09397218e-01 1.74030572e-03 9.93996590e-01 -2.39434158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22592 meters 0.0268774520767679 Centerline is valid? [True, True] Translation: X:197.02, Y:-131.81, Z:-23.95 [[ 7.16840914e-01 6.92541866e-01 8.07766526e-02 1.97023423e+02] [-6.87938119e-01 7.21375935e-01 -7.97364714e-02 -1.31805466e+02] [-1.13491178e-01 1.58902665e-03 9.93537733e-01 -2.39487717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25592 meters 0.026868702038227804 Centerline is valid? [True, True] Translation: X:197.05, Y:-131.83, Z:-23.95 [[ 7.16364271e-01 6.93090500e-01 8.02981322e-02 1.97045000e+02] [-6.88536883e-01 7.20848928e-01 -7.93333741e-02 -1.31829135e+02] [-1.12868030e-01 1.54336908e-03 9.93608789e-01 -2.39513585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28592 meters 0.02675467035168755 Centerline is valid? [True, True] Translation: X:197.07, Y:-131.85, Z:-23.95 [[ 7.15613725e-01 6.93918701e-01 7.98362950e-02 1.97066460e+02] [-6.89414838e-01 7.20051888e-01 -7.89459312e-02 -1.31853267e+02] [-1.12268333e-01 1.45446550e-03 9.93676862e-01 -2.39544985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31592 meters 0.0266656110316943 Centerline is valid? [True, True] Translation: X:197.09, Y:-131.88, Z:-23.96 [[ 7.14648566e-01 6.94948083e-01 7.95272825e-02 1.97086704e+02] [-6.90477727e-01 7.19058671e-01 -7.87091880e-02 -1.31878065e+02] [-1.11883581e-01 1.33759108e-03 9.93720421e-01 -2.39576044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34592 meters 0.026766793435202375 Centerline is valid? [True, True] Translation: X:197.11, Y:-131.90, Z:-23.96 [[ 7.13598007e-01 6.96016353e-01 7.96185894e-02 1.97107757e+02] [-6.91534265e-01 7.18024888e-01 -7.88709059e-02 -1.31903982e+02] [-1.12063569e-01 1.22313854e-03 9.93700287e-01 -2.39620769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37592 meters 0.026633851040106175 Centerline is valid? [True, True] Translation: X:197.13, Y:-131.93, Z:-23.96 [[ 7.13577933e-01 6.96197238e-01 7.82044742e-02 1.97129127e+02] [-6.91866622e-01 7.17849501e-01 -7.75414170e-02 -1.31928536e+02] [-1.10123163e-01 1.22477872e-03 9.93917194e-01 -2.39634716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40592 meters 0.026725853737951832 Centerline is valid? [True, True] Translation: X:197.15, Y:-131.95, Z:-23.97 [[ 7.13144258e-01 6.96418225e-01 8.01680904e-02 1.97150655e+02] [-6.91862982e-01 7.17635064e-01 -7.95331924e-02 -1.31952103e+02] [-1.12919797e-01 1.25330537e-03 9.93603316e-01 -2.39676194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43592 meters 0.026725853737951832 Centerline is valid? [True, True] Translation: X:197.17, Y:-131.97, Z:-23.97 [[ 7.12792261e-01 6.96782684e-01 8.01316597e-02 1.97173935e+02] [-6.92225613e-01 7.17281210e-01 -7.95698833e-02 -1.31974706e+02] [-1.12919851e-01 1.24760982e-03 9.93603317e-01 -2.39706522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46592 meters 0.027037104263767327 Centerline is valid? [True, True] Translation: X:197.19, Y:-132.00, Z:-23.97 [[ 7.11749529e-01 6.97763332e-01 8.08637159e-02 1.97194624e+02] [-6.93119187e-01 7.16327427e-01 -8.03791675e-02 -1.31999997e+02] [-1.14010533e-01 1.16164159e-03 9.93478862e-01 -2.39731914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49592 meters 0.02686163309963143 Centerline is valid? [True, True] Translation: X:197.22, Y:-132.02, Z:-23.98 [[ 7.11563175e-01 6.98060541e-01 7.99332832e-02 1.97216275e+02] [-6.93516875e-01 7.16037817e-01 -7.95247713e-02 -1.32023773e+02] [-1.12748358e-01 1.15181792e-03 9.93622907e-01 -2.39757878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52592 meters 0.026774131659953987 Centerline is valid? [True, True] Translation: X:197.24, Y:-132.05, Z:-23.98 [[ 7.10323867e-01 6.99295045e-01 8.01651103e-02 1.97237538e+02] [-6.94728712e-01 7.14832478e-01 -7.97906343e-02 -1.32048348e+02] [-1.13101820e-01 9.84188048e-04 9.93582915e-01 -2.39802388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55592000000001 meters 0.02691454582876574 Centerline is valid? [True, True] Translation: X:197.26, Y:-132.07, Z:-23.98 [[ 7.10003919e-01 6.99568364e-01 8.06135169e-02 1.97260387e+02] [-6.94942904e-01 7.14564968e-01 -8.03197793e-02 -1.32071856e+02] [-1.13792772e-01 1.00556649e-03 9.93503998e-01 -2.39840793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58592000000002 meters 0.026871658445685304 Centerline is valid? [True, True] Translation: X:197.28, Y:-132.10, Z:-23.99 [[ 7.08937989e-01 7.00525416e-01 8.16766096e-02 1.97282277e+02] [-6.95773480e-01 7.13626856e-01 -8.14614911e-02 -1.32095450e+02] [-1.15352467e-01 9.22726798e-04 9.93324195e-01 -2.39871970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61592000000002 meters 0.026922200718747707 Centerline is valid? [True, True] Translation: X:197.30, Y:-132.12, Z:-23.99 [[ 7.08453988e-01 7.01013776e-01 8.16861818e-02 1.97303876e+02] [-6.96255244e-01 7.13147166e-01 -8.15460232e-02 -1.32120880e+02] [-1.15419155e-01 8.97172891e-04 9.93316472e-01 -2.39899528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64592000000002 meters 0.026723571930466344 Centerline is valid? [True, True] Translation: X:197.33, Y:-132.15, Z:-23.99 [[ 7.07583284e-01 7.01876536e-01 8.18243526e-02 1.97325044e+02] [-6.97097789e-01 7.12298154e-01 -8.17680430e-02 -1.32146918e+02] [-1.15674406e-01 8.18125064e-04 9.93286848e-01 -2.39929114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67592000000002 meters 0.026716104912816695 Centerline is valid? [True, True] Translation: X:197.33, Y:-132.45, Z:-22.07 [[ 7.51082544e-01 -6.58379232e-01 -4.91100639e-02 1.97332975e+02] [-6.56398233e-01 -7.52659208e-01 5.14341928e-02 -1.32447913e+02] [-7.08263461e-02 -6.39556523e-03 -9.97468158e-01 -2.20727842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70592 meters 0.02676633777643376 Centerline is valid? [True, True] Translation: X:197.35, Y:-132.20, Z:-24.00 [[ 7.55778195e-01 6.49100645e-01 8.64156957e-02 1.97352401e+02] [-6.44810386e-01 7.60702310e-01 -7.45088008e-02 -1.32198942e+02] [-1.14100330e-01 5.90388903e-04 9.93469056e-01 -2.39996200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73592 meters 0.026671823736823627 Centerline is valid? [True, True] Translation: X:197.37, Y:-132.22, Z:-24.00 [[ 7.54535641e-01 6.50409258e-01 8.74286186e-02 1.97373719e+02] [-6.46018112e-01 7.59583829e-01 -7.54520114e-02 -1.32223210e+02] [-1.15484052e-01 4.50760647e-04 9.93309232e-01 -2.40022651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76592 meters 0.02665881994335905 Centerline is valid? [True, True] Translation: X:197.40, Y:-132.25, Z:-24.00 [[ 7.53338025e-01 6.51813844e-01 8.72956650e-02 1.97396867e+02] [-6.47437291e-01 7.58378948e-01 -7.54077215e-02 -1.32246369e+02] [-1.15354991e-01 2.89035131e-04 9.93324289e-01 -2.40041617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79592 meters 0.02661991162875232 Centerline is valid? [True, True] Translation: X:197.42, Y:-132.27, Z:-24.01 [[ 7.50693078e-01 6.54847046e-01 8.73799146e-02 1.97420266e+02] [-6.50473245e-01 7.55761426e-01 -7.55594132e-02 -1.32270062e+02] [-1.15518227e-01 -1.16368120e-04 9.93305354e-01 -2.40066933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82592 meters 0.026575330301839933 Centerline is valid? [True, True] Translation: X:197.44, Y:-132.29, Z:-24.01 [[ 7.48968722e-01 6.56874710e-01 8.69567097e-02 1.97444986e+02] [-6.52547737e-01 7.53999656e-01 -7.52726428e-02 -1.32291893e+02] [-1.15010025e-01 -3.66549012e-04 9.93364263e-01 -2.40102981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85592 meters 0.026435447443610493 Centerline is valid? [True, True] Translation: X:197.47, Y:-132.31, Z:-24.01 [[ 7.47409494e-01 6.58873906e-01 8.52304208e-02 1.97468776e+02] [-6.54722021e-01 7.52253157e-01 -7.38529877e-02 -1.32313563e+02] [-1.12774660e-01 -6.03809239e-04 9.93620406e-01 -2.40125816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88592 meters 0.026528699544040798 Centerline is valid? [True, True] Translation: X:197.49, Y:-132.34, Z:-24.02 [[ 7.45103045e-01 6.61480122e-01 8.52379043e-02 1.97493493e+02] [-6.57336514e-01 7.49962102e-01 -7.39293775e-02 -1.32335780e+02] [-1.12828012e-01 -9.44982537e-04 9.93614083e-01 -2.40157772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91592 meters 0.02672397792117258 Centerline is valid? [True, True] Translation: X:197.52, Y:-132.36, Z:-24.02 [[ 7.44193896e-01 6.62546818e-01 8.48949884e-02 1.97519107e+02] [-6.58434700e-01 7.49019776e-01 -7.37097093e-02 -1.32356637e+02] [-1.12424159e-01 -1.04349045e-03 9.93659761e-01 -2.40191089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94592 meters 0.02684152583808392 Centerline is valid? [True, True] Translation: X:197.54, Y:-132.38, Z:-24.02 [[ 7.42112499e-01 6.64740057e-01 8.59633392e-02 1.97543688e+02] [-6.60529106e-01 7.47073542e-01 -7.47156177e-02 -1.32376745e+02] [-1.13887400e-01 -1.33389384e-03 9.93492768e-01 -2.40225020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97592 meters 0.0267649831897282 Centerline is valid? [True, True] Translation: X:197.57, Y:-132.40, Z:-24.03 [[ 7.41446091e-01 6.65552791e-01 8.54235147e-02 1.97568766e+02] [-6.61392130e-01 7.46349470e-01 -7.43163499e-02 -1.32397806e+02] [-1.13217249e-01 -1.39687323e-03 9.93569275e-01 -2.40254542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00592 meters 0.026733113003164024 Centerline is valid? [True, True] Translation: X:197.59, Y:-132.42, Z:-24.03 [[ 7.39906397e-01 6.67205339e-01 8.58810750e-02 1.97593779e+02] [-6.63002117e-01 7.44872118e-01 -7.47911777e-02 -1.32417268e+02] [-1.13871491e-01 -1.60086367e-03 9.93494198e-01 -2.40274281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03592 meters 0.02689320436549348 Centerline is valid? [True, True] Translation: X:197.62, Y:-132.44, Z:-24.03 [[ 7.38686764e-01 6.68539323e-01 8.60060403e-02 1.97618699e+02] [-6.64325279e-01 7.43674712e-01 -7.49656355e-02 -1.32437279e+02] [-1.14077992e-01 -1.75986410e-03 9.93470238e-01 -2.40307582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06592 meters 0.026839856062054586 Centerline is valid? [True, True] Translation: X:197.65, Y:-132.46, Z:-24.03 [[ 7.38252943e-01 6.69013961e-01 8.60401796e-02 1.97645551e+02] [-6.64791532e-01 7.43247705e-01 -7.50670915e-02 -1.32456615e+02] [-1.14170098e-01 -1.78028160e-03 9.93459621e-01 -2.40334131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09592 meters 0.026825460161222073 Centerline is valid? [True, True] Translation: X:197.67, Y:-132.48, Z:-24.04 [[ 7.38364290e-01 6.68903186e-01 8.59459315e-02 1.97671272e+02] [-6.64680198e-01 7.43347585e-01 -7.50639905e-02 -1.32477324e+02] [-1.14098243e-01 -1.70198871e-03 9.93468014e-01 -2.40365155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12592 meters 0.02674973830092867 Centerline is valid? [True, True] Translation: X:197.70, Y:-132.50, Z:-24.04 [[ 7.38427962e-01 6.68964906e-01 8.49123058e-02 1.97696544e+02] [-6.64834984e-01 7.43292193e-01 -7.42371859e-02 -1.32496652e+02] [-1.12776726e-01 -1.63385759e-03 9.93619012e-01 -2.40386986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15592 meters 0.026590100281830127 Centerline is valid? [True, True] Translation: X:197.72, Y:-132.52, Z:-24.04 [[ 7.38335615e-01 6.69069673e-01 8.48898880e-02 1.97722366e+02] [-6.64934620e-01 7.43197971e-01 -7.42881343e-02 -1.32517300e+02] [-1.12793930e-01 -1.59665012e-03 9.93617119e-01 -2.40422818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18592 meters 0.026703838975456327 Centerline is valid? [True, True] Translation: X:197.75, Y:-132.54, Z:-24.05 [[ 7.37892016e-01 6.69535717e-01 8.50723019e-02 1.97748315e+02] [-6.65376925e-01 7.42778112e-01 -7.45266658e-02 -1.32538097e+02] [-1.13088108e-01 -1.61251493e-03 9.93583655e-01 -2.40455509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21592 meters 0.026529440851552177 Centerline is valid? [True, True] Translation: X:197.77, Y:-132.56, Z:-24.05 [[ 7.39752035e-01 6.67392605e-01 8.57556825e-02 1.97774999e+02] [-6.63144117e-01 7.44705020e-01 -7.51951694e-02 -1.32557103e+02] [-1.14047387e-01 -1.24259678e-03 9.93474534e-01 -2.40480512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24592 meters 0.026531649851990677 Centerline is valid? [True, True] Translation: X:197.80, Y:-132.58, Z:-24.05 [[ 7.40773893e-01 6.66345668e-01 8.50734402e-02 1.97800655e+02] [-6.62154138e-01 7.45642241e-01 -7.46293833e-02 -1.32577114e+02] [-1.13163317e-01 -1.04823171e-03 9.93575848e-01 -2.40510800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27592 meters 0.026348656790716823 Centerline is valid? [True, True] Translation: X:197.82, Y:-132.60, Z:-24.05 [[ 7.43682247e-01 6.63097498e-01 8.50789274e-02 1.97824569e+02] [-6.58876298e-01 7.48532870e-01 -7.47031877e-02 -1.32598060e+02] [-1.13219871e-01 -5.01054282e-04 9.93569831e-01 -2.40549875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30592000000001 meters 0.026197337179734482 Centerline is valid? [True, True] Translation: X:197.85, Y:-132.62, Z:-24.06 [[ 7.45359149e-01 6.61406428e-01 8.35540324e-02 1.97848540e+02] [-6.57317534e-01 7.50027667e-01 -7.34313157e-02 -1.32618807e+02] [-1.11235780e-01 -1.88827519e-04 9.93794026e-01 -2.40573856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33592000000002 meters 0.026244532728024846 Centerline is valid? [True, True] Translation: X:197.87, Y:-132.64, Z:-24.06 [[ 7.47910645e-01 6.58454378e-01 8.40684216e-02 1.97874621e+02] [-6.54288280e-01 7.52620581e-01 -7.39534178e-02 -1.32639352e+02] [-1.11966576e-01 3.05565371e-04 9.93711926e-01 -2.40596249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36592000000002 meters 0.026358158518250716 Centerline is valid? [True, True] Translation: X:197.90, Y:-132.66, Z:-24.06 [[ 7.48910502e-01 6.57186056e-01 8.50855327e-02 1.97898996e+02] [-6.52901217e-01 7.53728183e-01 -7.49254731e-02 -1.32659498e+02] [-1.13371340e-01 5.60025801e-04 9.93552528e-01 -2.40625124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39592000000002 meters 0.02647826339246346 Centerline is valid? [True, True] Translation: X:197.92, Y:-132.68, Z:-24.07 [[ 7.51731348e-01 6.53972196e-01 8.49726304e-02 1.97921937e+02] [-6.49670825e-01 7.56517793e-01 -7.48909101e-02 -1.32681594e+02] [-1.13259880e-01 1.09360595e-03 9.93564796e-01 -2.40664794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42592 meters 0.026714907708749538 Centerline is valid? [True, True] Translation: X:197.95, Y:-132.70, Z:-24.07 [[ 7.52332940e-01 6.53264746e-01 8.50900666e-02 1.97945752e+02] [-6.48938918e-01 7.57128520e-01 -7.50645334e-02 -1.32704779e+02] [-1.13461130e-01 1.25526532e-03 9.93541643e-01 -2.40694950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45592 meters 0.02710662240267605 Centerline is valid? [True, True] Translation: X:197.97, Y:-132.73, Z:-24.07 [[ 7.54609235e-01 6.50665433e-01 8.48492590e-02 1.97967760e+02] [-6.46339071e-01 7.59362631e-01 -7.49279702e-02 -1.32728023e+02] [-1.13184397e-01 1.69994715e-03 9.93572545e-01 -2.40737527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48592 meters 0.02720300722556932 Centerline is valid? [True, True] Translation: X:197.99, Y:-132.75, Z:-24.08 [[ 7.55433963e-01 6.49757161e-01 8.44698744e-02 1.97991208e+02] [-6.45456051e-01 7.60139524e-01 -7.46618375e-02 -1.32750723e+02] [-1.12720954e-01 1.88049619e-03 9.93624904e-01 -2.40764680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51592 meters 0.027263041434227194 Centerline is valid? [True, True] Translation: X:198.01, Y:-132.77, Z:-24.08 [[ 7.56053511e-01 6.48924344e-01 8.53245829e-02 1.98013646e+02] [-6.44521455e-01 7.60850087e-01 -7.54933033e-02 -1.32773394e+02] [-1.13908659e-01 2.08345269e-03 9.93489042e-01 -2.40795379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54592 meters 0.027639621922235878 Centerline is valid? [True, True] Translation: X:198.03, Y:-132.80, Z:-24.08 [[ 7.57122779e-01 6.47562435e-01 8.61857888e-02 1.98033598e+02] [-6.43053336e-01 7.62008732e-01 -7.63223396e-02 -1.32798493e+02] [-1.15097804e-01 2.36332286e-03 9.93351353e-01 -2.40830912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57592 meters 0.02771118048833082 Centerline is valid? [True, True] Translation: X:198.06, Y:-132.82, Z:-24.09 [[ 7.57688095e-01 6.47140006e-01 8.43715814e-02 1.98055581e+02] [-6.42809779e-01 7.62367327e-01 -7.47773124e-02 -1.32822340e+02] [-1.12713527e-01 2.42300174e-03 9.93624572e-01 -2.40858459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60592 meters 0.02766729660527925 Centerline is valid? [True, True] Translation: X:198.08, Y:-132.85, Z:-24.09 [[ 7.57436786e-01 6.47520380e-01 8.37070611e-02 1.98075038e+02] [-6.43253345e-01 7.62044363e-01 -7.42531035e-02 -1.32849332e+02] [-1.11868892e-01 2.39718506e-03 9.93720084e-01 -2.40895579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63592 meters 0.027546314579043857 Centerline is valid? [True, True] Translation: X:198.10, Y:-132.87, Z:-24.09 [[ 7.57025512e-01 6.47944109e-01 8.41475220e-02 1.98097082e+02] [-6.43626852e-01 7.61684105e-01 -7.47114343e-02 -1.32873989e+02] [-1.12502664e-01 2.39885703e-03 9.93648527e-01 -2.40930120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66592 meters 0.027477691225135898 Centerline is valid? [True, True] Translation: X:198.11, Y:-132.90, Z:-24.10 [[ 7.55374824e-01 6.49783028e-01 8.47991239e-02 1.98114909e+02] [-6.45401404e-01 7.60116557e-01 -7.53647626e-02 -1.32901638e+02] [-1.13427962e-01 2.19917061e-03 9.93543789e-01 -2.40955560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69592 meters 0.02718545041136497 Centerline is valid? [True, True] Translation: X:198.14, Y:-132.93, Z:-24.10 [[ 7.54271226e-01 6.51080291e-01 8.46721470e-02 1.98136163e+02] [-6.46712384e-01 7.59006090e-01 -7.53183138e-02 -1.32926543e+02] [-1.13304945e-01 2.05191088e-03 9.93558141e-01 -2.40985358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72592 meters 0.026861419967214913 Centerline is valid? [True, True] Translation: X:198.16, Y:-132.95, Z:-24.10 [[ 7.53235210e-01 6.52326495e-01 8.43022043e-02 1.98157818e+02] [-6.47997039e-01 7.57935688e-01 -7.50555086e-02 -1.32950644e+02] [-1.12856346e-01 1.90687304e-03 9.93609485e-01 -2.41005371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75592 meters 0.026682270565385913 Centerline is valid? [True, True] Translation: X:198.18, Y:-132.98, Z:-24.10 [[ 7.50966056e-01 6.55035138e-01 8.35401069e-02 1.98177732e+02] [-6.50793096e-01 7.55596854e-01 -7.44428707e-02 -1.32977129e+02] [-1.11885338e-01 1.53674425e-03 9.93719935e-01 -2.41031423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78592 meters 0.026518383040706164 Centerline is valid? [True, True] Translation: X:198.20, Y:-133.00, Z:-24.11 [[ 7.49502014e-01 6.56748324e-01 8.32368317e-02 1.98199947e+02] [-6.52540175e-01 7.54108665e-01 -7.42390828e-02 -1.33000730e+02] [-1.11526009e-01 1.32696533e-03 9.93760629e-01 -2.41067990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81592 meters 0.02622544044205459 Centerline is valid? [True, True] Translation: X:198.22, Y:-133.03, Z:-24.11 [[ 7.46130514e-01 6.60350527e-01 8.50084597e-02 1.98219781e+02] [-6.55975723e-01 7.50957017e-01 -7.58907745e-02 -1.33027358e+02] [-1.13952212e-01 8.60936702e-04 9.93485859e-01 -2.41100492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84592 meters 0.02604330065626205 Centerline is valid? [True, True] Translation: X:198.24, Y:-133.05, Z:-24.11 [[ 7.44266118e-01 6.62638397e-01 8.35362279e-02 1.98242075e+02] [-6.58420230e-01 7.48939279e-01 -7.46508995e-02 -1.33050572e+02] [-1.12030115e-01 5.58192748e-04 9.93704655e-01 -2.41122501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87592 meters 0.025844613862598908 Centerline is valid? [True, True] Translation: X:198.26, Y:-133.07, Z:-24.11 [[ 7.42196073e-01 6.65027271e-01 8.29681786e-02 1.98264469e+02] [-6.60873730e-01 7.46819033e-01 -7.42108131e-02 -1.33073574e+02] [-1.11314429e-01 2.47484376e-04 9.93785206e-01 -2.41149217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90592 meters 0.025786936310624696 Centerline is valid? [True, True] Translation: X:198.29, Y:-133.10, Z:-24.12 [[ 7.39093997e-01 6.68465847e-01 8.30269514e-02 1.98287096e+02] [-6.64320019e-01 7.43742808e-01 -7.43340250e-02 -1.33098316e+02] [-1.11440455e-01 -2.16634351e-04 9.93771089e-01 -2.41173297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93592 meters 0.025931708564729355 Centerline is valid? [True, True] Translation: X:198.31, Y:-133.12, Z:-24.12 [[ 7.36407144e-01 6.71386438e-01 8.33352773e-02 1.98310638e+02] [-6.67219178e-01 7.41107206e-01 -7.46905442e-02 -1.33120907e+02] [-1.11906593e-01 -6.00244942e-04 9.93718549e-01 -2.41201654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96592 meters 0.025900878243605718 Centerline is valid? [True, True] Translation: X:198.33, Y:-133.14, Z:-24.12 [[ 7.34766886e-01 6.73144247e-01 8.36328071e-02 1.98334895e+02] [-6.68949331e-01 7.39510760e-01 -7.50375106e-02 -1.33142847e+02] [-1.12358429e-01 -8.11032361e-04 9.93667412e-01 -2.41230866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99592 meters 0.02590899842303538 Centerline is valid? [True, True] Translation: X:198.36, Y:-133.17, Z:-24.13 [[ 7.33293219e-01 6.74720858e-01 8.38618976e-02 1.98359237e+02] [-6.70503974e-01 7.38072335e-01 -7.53236265e-02 -1.33165412e+02] [-1.12718569e-01 -9.95431064e-04 9.93626456e-01 -2.41266228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02592 meters 0.026024120693650645 Centerline is valid? [True, True] Translation: X:198.38, Y:-133.19, Z:-24.13 [[ 7.31689458e-01 6.76558046e-01 8.30647185e-02 1.98383314e+02] [-6.72424036e-01 7.36388317e-01 -7.46871004e-02 -1.33188132e+02] [-1.11698047e-01 -1.20694928e-03 9.93741460e-01 -2.41310109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05592000000001 meters 0.026019829413475103 Centerline is valid? [True, True] Translation: X:198.41, Y:-133.21, Z:-24.13 [[ 7.30963856e-01 6.77284851e-01 8.35288700e-02 1.98408798e+02] [-6.73099992e-01 7.35719803e-01 -7.51849242e-02 -1.33209016e+02] [-1.12375454e-01 -1.26581960e-03 9.93665012e-01 -2.41335740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08592000000002 meters 0.02596652905826615 Centerline is valid? [True, True] Translation: X:198.43, Y:-133.23, Z:-24.14 [[ 7.30859847e-01 6.77322121e-01 8.41345880e-02 1.98433432e+02] [-6.73067152e-01 7.35685567e-01 -7.58113165e-02 -1.33229988e+02] [-1.13245284e-01 -1.22078030e-03 9.93566312e-01 -2.41371669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11592000000002 meters 0.026068458712650046 Centerline is valid? [True, True] Translation: X:198.46, Y:-133.25, Z:-24.14 [[ 7.30592840e-01 6.77490465e-01 8.50927304e-02 1.98457917e+02] [-6.73129880e-01 7.35530571e-01 -7.67524849e-02 -1.33251205e+02] [-1.14587381e-01 -1.20364352e-03 9.93412444e-01 -2.41406359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14592000000002 meters 0.025768703043784612 Centerline is valid? [True, True] Translation: X:198.48, Y:-133.27, Z:-24.14 [[ 7.31681408e-01 6.76335200e-01 8.49294724e-02 1.98482323e+02] [-6.71975317e-01 7.36593349e-01 -7.66773186e-02 -1.33272219e+02] [-1.14418054e-01 -9.67140750e-04 9.93432219e-01 -2.41433407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17592 meters 0.025763969404686896 Centerline is valid? [True, True] Translation: X:198.51, Y:-133.29, Z:-24.15 [[ 7.32546539e-01 6.75494653e-01 8.41578395e-02 1.98506719e+02] [-6.71200277e-01 7.37364478e-01 -7.60514014e-02 -1.33293651e+02] [-1.13427316e-01 -7.75574293e-04 9.93545994e-01 -2.41465474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20592 meters 0.025757467211182987 Centerline is valid? [True, True] Translation: X:198.53, Y:-133.32, Z:-24.15 [[ 7.34928338e-01 6.72739392e-01 8.54520247e-02 1.98530836e+02] [-6.68284075e-01 7.39879464e-01 -7.72966593e-02 -1.33316079e+02] [-1.15224706e-01 -2.98721988e-04 9.93339407e-01 -2.41503833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23592 meters 0.025944067919426085 Centerline is valid? [True, True] Translation: X:198.55, Y:-133.34, Z:-24.15 [[ 7.35541906e-01 6.72020585e-01 8.58279566e-02 1.98554733e+02] [-6.67511088e-01 7.40532456e-01 -7.77214876e-02 -1.33338345e+02] [-1.15788827e-01 -1.23701585e-04 9.93273846e-01 -2.41541338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26592 meters 0.02594349275119544 Centerline is valid? [True, True] Translation: X:198.58, Y:-133.36, Z:-24.16 [[ 7.36004945e-01 6.71464465e-01 8.62101700e-02 1.98578445e+02] [-6.66900888e-01 7.41036754e-01 -7.81520005e-02 -1.33360815e+02] [-1.16361196e-01 2.66199312e-05 9.93206963e-01 -2.41568060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29592 meters 0.02594349275119544 Centerline is valid? [True, True] Translation: X:198.60, Y:-133.38, Z:-24.16 [[ 7.35650134e-01 6.71858532e-01 8.61683962e-02 1.98602686e+02] [-6.67292256e-01 7.40679493e-01 -7.81980373e-02 -1.33382313e+02] [-1.16361183e-01 2.68931402e-05 9.93206965e-01 -2.41598299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32592 meters 0.02607088718547088 Centerline is valid? [True, True] Translation: X:198.63, Y:-133.40, Z:-24.16 [[ 7.35224488e-01 6.72287654e-01 8.64538223e-02 1.98627309e+02] [-6.67684033e-01 7.40290018e-01 -7.85412101e-02 -1.33404604e+02] [-1.16803188e-01 2.15842196e-05 9.93155081e-01 -2.41635713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35592 meters 0.026043026573449923 Centerline is valid? [True, True] Translation: X:198.65, Y:-133.43, Z:-24.17 [[ 7.35216061e-01 6.72361619e-01 8.59488029e-02 1.98651047e+02] [-6.67802593e-01 7.40222837e-01 -7.81655218e-02 -1.33427913e+02] [-1.16176764e-01 7.17136210e-05 9.93228551e-01 -2.41673043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38592 meters 0.02604800191175474 Centerline is valid? [True, True] Translation: X:198.67, Y:-133.45, Z:-24.17 [[ 7.35246181e-01 6.72333907e-01 8.59079192e-02 1.98674568e+02] [-6.67769303e-01 7.40247998e-01 -7.82116292e-02 -1.33451339e+02] [-1.16177495e-01 1.38130358e-04 9.93228458e-01 -2.41706946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41592 meters 0.026124403644584158 Centerline is valid? [True, True] Translation: X:198.70, Y:-133.47, Z:-24.17 [[ 7.35236039e-01 6.72503080e-01 8.46615280e-02 1.98697621e+02] [-6.68062450e-01 7.40094304e-01 -7.71555805e-02 -1.33474206e+02] [-1.14544880e-01 1.68375554e-04 9.93418060e-01 -2.41731430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44592 meters 0.02605812753948073 Centerline is valid? [True, True] Translation: X:198.72, Y:-133.50, Z:-24.18 [[ 7.34273176e-01 6.73565210e-01 8.45742982e-02 1.98719942e+02] [-6.69132321e-01 7.39127800e-01 -7.71494139e-02 -1.33497962e+02] [-1.14476376e-01 5.73487206e-05 9.93425969e-01 -2.41766749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47592 meters 0.02606724143755416 Centerline is valid? [True, True] Translation: X:198.74, Y:-133.52, Z:-24.18 [[ 7.33054228e-01 6.74834112e-01 8.50318843e-02 1.98743099e+02] [-6.70351836e-01 7.37969454e-01 -7.76498578e-02 -1.33521277e+02] [-1.15151706e-01 -7.97232479e-05 9.93347914e-01 -2.41803494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50592 meters 0.025919109845877305 Centerline is valid? [True, True] Translation: X:198.76, Y:-133.55, Z:-24.18 [[ 7.31122135e-01 6.77176310e-01 8.30220970e-02 1.98763959e+02] [-6.72910276e-01 7.35820699e-01 -7.58924207e-02 -1.33545363e+02] [-1.12481927e-01 -3.79793581e-04 9.93653698e-01 -2.41826939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53592 meters 0.02588540099308456 Centerline is valid? [True, True] Translation: X:198.79, Y:-133.57, Z:-24.19 [[ 7.29662306e-01 6.78755228e-01 8.29714414e-02 1.98787565e+02] [-6.74496342e-01 7.34364363e-01 -7.59188198e-02 -1.33568229e+02] [-1.12461565e-01 -5.68832569e-04 9.93655913e-01 -2.41852224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56592 meters 0.02611058482038371 Centerline is valid? [True, True] Translation: X:198.81, Y:-133.59, Z:-24.19 [[ 7.25877802e-01 6.82819355e-01 8.28199548e-02 1.98809782e+02] [-6.78593323e-01 7.30586365e-01 -7.58595080e-02 -1.33590798e+02] [-1.12305470e-01 -1.13633540e-03 9.93673080e-01 -2.41885252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59592 meters 0.026224192435401347 Centerline is valid? [True, True] Translation: X:198.83, Y:-133.61, Z:-24.19 [[ 7.23833051e-01 6.84967157e-01 8.29801684e-02 1.98832373e+02] [-6.80730683e-01 7.28572562e-01 -7.60773268e-02 -1.33613557e+02] [-1.12567544e-01 -1.41986316e-03 9.93643061e-01 -2.41915454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62592 meters 0.026362443385330277 Centerline is valid? [True, True] Translation: X:198.85, Y:-133.64, Z:-24.19 [[ 7.21159264e-01 6.88106402e-01 8.02427311e-02 1.98854044e+02] [-6.84157403e-01 7.25607578e-01 -7.36362016e-02 -1.33638487e+02] [-1.08894275e-01 -1.79522959e-03 9.94051716e-01 -2.41941858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65592 meters 0.02641213105802312 Centerline is valid? [True, True] Translation: X:198.88, Y:-133.66, Z:-24.20 [[ 7.19744027e-01 6.89474597e-01 8.11992354e-02 1.98877351e+02] [-6.85430488e-01 7.24307190e-01 -7.45931737e-02 -1.33660950e+02] [-1.10243288e-01 -1.96844034e-03 9.93902683e-01 -2.41977778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68592 meters 0.026502653353543487 Centerline is valid? [True, True] Translation: X:198.90, Y:-133.68, Z:-24.20 [[ 7.18283721e-01 6.90960224e-01 8.15013151e-02 1.98901212e+02] [-6.86887600e-01 7.22889570e-01 -7.49406048e-02 -1.33682164e+02] [-1.10697428e-01 -2.15362631e-03 9.93851821e-01 -2.42005775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71592 meters 0.026983416962542 Centerline is valid? [True, True] Translation: X:198.93, Y:-133.70, Z:-24.20 [[ 7.15882644e-01 6.93258682e-01 8.30929620e-02 1.98925774e+02] [-6.89032171e-01 7.20684480e-01 -7.64757966e-02 -1.33702440e+02] [-1.12901318e-01 -2.50602859e-03 9.93603046e-01 -2.42030953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74592 meters 0.026994774756714923 Centerline is valid? [True, True] Translation: X:198.95, Y:-133.72, Z:-24.21 [[ 7.14761312e-01 6.94274981e-01 8.42527060e-02 1.98949700e+02] [-6.89927987e-01 7.19704953e-01 -7.76154249e-02 -1.33723553e+02] [-1.14523537e-01 -2.65179691e-03 9.93416996e-01 -2.42053506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77592 meters 0.027171245811845587 Centerline is valid? [True, True] Translation: X:198.97, Y:-133.75, Z:-24.21 [[ 7.13113995e-01 6.96078865e-01 8.33225297e-02 1.98974259e+02] [-6.91831705e-01 7.17959646e-01 -7.68299310e-02 -1.33745196e+02] [-1.13301905e-01 -2.85666877e-03 9.93556500e-01 -2.42087984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80592000000001 meters 0.02723746950742044 Centerline is valid? [True, True] Translation: X:199.00, Y:-133.77, Z:-24.21 [[ 7.12487847e-01 6.96862353e-01 8.21214278e-02 1.98999784e+02] [-6.92733432e-01 7.17199109e-01 -7.58012606e-02 -1.33765919e+02] [-1.11720460e-01 -2.88078154e-03 9.93735498e-01 -2.42111632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83592000000002 meters 0.027081383300610554 Centerline is valid? [True, True] Translation: X:199.03, Y:-133.79, Z:-24.22 [[ 7.11821468e-01 6.97491598e-01 8.25570635e-02 1.99026463e+02] [-6.93313803e-01 7.16586938e-01 -7.62832271e-02 -1.33785828e+02] [-1.12366223e-01 -2.93791294e-03 9.93662518e-01 -2.42159077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86592000000002 meters 0.027403001479387935 Centerline is valid? [True, True] Translation: X:199.05, Y:-133.81, Z:-24.22 [[ 7.11291252e-01 6.97911962e-01 8.35682190e-02 1.99050256e+02] [-6.93624646e-01 7.16177344e-01 -7.72972372e-02 -1.33806982e+02] [-1.13796332e-01 -2.98412762e-03 9.93499617e-01 -2.42186220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89592000000002 meters 0.02722685864126745 Centerline is valid? [True, True] Translation: X:199.08, Y:-133.83, Z:-24.22 [[ 7.10853217e-01 6.98311367e-01 8.39579610e-02 1.99077585e+02] [-6.93978192e-01 7.15787801e-01 -7.77308999e-02 -1.33826410e+02] [-1.14376455e-01 -3.00973371e-03 9.93432921e-01 -2.42205093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92592 meters 0.027155432187413803 Centerline is valid? [True, True] Translation: X:199.10, Y:-133.85, Z:-24.22 [[ 7.10870988e-01 6.98297952e-01 8.39190536e-02 1.99104429e+02] [-6.93959425e-01 7.15801145e-01 -7.77755556e-02 -1.33846298e+02] [-1.14379866e-01 -2.94803212e-03 9.93432713e-01 -2.42228059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95592 meters 0.026757736099448013 Centerline is valid? [True, True] Translation: X:199.13, Y:-133.86, Z:-24.23 [[ 7.12522246e-01 6.96761770e-01 8.26745687e-02 1.99131495e+02] [-6.92532272e-01 7.17297881e-01 -7.66994216e-02 -1.33864498e+02] [-1.12743518e-01 -2.60476281e-03 9.93620710e-01 -2.42268611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98592 meters 0.02640910068031304 Centerline is valid? [True, True] Translation: X:199.16, Y:-133.88, Z:-24.23 [[ 7.12997512e-01 6.96345244e-01 8.20844063e-02 1.99155976e+02] [-6.92165549e-01 7.17702722e-01 -7.62210909e-02 -1.33884807e+02] [-1.11988396e-01 -2.47055005e-03 9.93706443e-01 -2.42288577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01592 meters 0.02632063456256215 Centerline is valid? [True, True] Translation: X:199.18, Y:-133.90, Z:-24.23 [[ 7.14040495e-01 6.95338122e-01 8.15540736e-02 1.99180840e+02] [-6.91198097e-01 7.18679237e-01 -7.57980515e-02 -1.33904775e+02] [-1.11316494e-01 -2.24714222e-03 9.93782465e-01 -2.42318353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04592 meters 0.026022820370671097 Centerline is valid? [True, True] Translation: X:199.21, Y:-133.92, Z:-24.24 [[ 7.17061150e-01 6.92175763e-01 8.19513342e-02 1.99208812e+02] [-6.87966507e-01 7.21726944e-01 -7.62384678e-02 -1.33922008e+02] [-1.11916906e-01 -1.71212970e-03 9.93716094e-01 -2.42353386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07592 meters 0.025634528523302516 Centerline is valid? [True, True] Translation: X:199.23, Y:-133.94, Z:-24.24 [[ 7.19610781e-01 6.89638917e-01 8.09844933e-02 1.99234744e+02] [-6.85504876e-01 7.24152333e-01 -7.54086483e-02 -1.33941798e+02] [-1.10649848e-01 -1.25038873e-03 9.93858666e-01 -2.42372007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10592 meters 0.025398274236441875 Centerline is valid? [True, True] Translation: X:199.26, Y:-133.96, Z:-24.24 [[ 7.21267565e-01 6.87874074e-01 8.12548991e-02 1.99259335e+02] [-6.83693165e-01 7.25829451e-01 -7.57315304e-02 -1.33962022e+02] [-1.11070955e-01 -9.30722670e-04 9.93812043e-01 -2.42407286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13592 meters 0.025374452890542836 Centerline is valid? [True, True] Translation: X:199.28, Y:-133.98, Z:-24.24 [[ 7.22137838e-01 6.86956502e-01 8.12878020e-02 1.99284743e+02] [-6.82758236e-01 7.26698164e-01 -7.58351467e-02 -1.33982392e+02] [-1.11167144e-01 -7.36487445e-04 9.93801451e-01 -2.42440810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16592 meters 0.02537199333145035 Centerline is valid? [True, True] Translation: X:199.31, Y:-134.00, Z:-24.25 [[ 7.23643797e-01 6.85321171e-01 8.16979112e-02 1.99311110e+02] [-6.81060637e-01 7.28240833e-01 -7.63000548e-02 -1.34002399e+02] [-1.11785798e-01 -4.27170083e-04 9.93732234e-01 -2.42473148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19592 meters 0.02536176255441463 Centerline is valid? [True, True] Translation: X:199.34, Y:-134.02, Z:-24.25 [[ 7.24602046e-01 6.84333604e-01 8.14824646e-02 1.99335342e+02] [-6.80080149e-01 7.29169028e-01 -7.61808336e-02 -1.34024434e+02] [-1.11547594e-01 -2.13818672e-04 9.93759070e-01 -2.42496644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22592 meters 0.025371698597106977 Centerline is valid? [True, True] Translation: X:199.36, Y:-134.05, Z:-24.25 [[ 7.26450103e-01 6.82313390e-01 8.19675932e-02 1.99359315e+02] [-6.77986751e-01 7.31059787e-01 -7.67173579e-02 -1.34046531e+02] [-1.12268492e-01 1.58390319e-04 9.93677896e-01 -2.42531307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25592 meters 0.025278865305957136 Centerline is valid? [True, True] Translation: X:199.38, Y:-134.07, Z:-24.26 [[ 7.27099291e-01 6.81583364e-01 8.22844978e-02 1.99384112e+02] [-6.77209087e-01 7.31740396e-01 -7.70963393e-02 -1.34068712e+02] [-1.12758473e-01 3.32884084e-04 9.93622371e-01 -2.42560102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28592 meters 0.02531021340181867 Centerline is valid? [True, True] Translation: X:199.41, Y:-134.09, Z:-24.26 [[ 7.27733713e-01 6.81085821e-01 8.07821017e-02 1.99408234e+02] [-6.76858633e-01 7.32203451e-01 -7.57660641e-02 -1.34089741e+02] [-1.10752126e-01 4.59456237e-04 9.93847954e-01 -2.42583871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31592 meters 0.025274841966033638 Centerline is valid? [True, True] Translation: X:199.43, Y:-134.11, Z:-24.26 [[ 7.28344472e-01 6.80381338e-01 8.12130877e-02 1.99432245e+02] [-6.76096358e-01 7.32857999e-01 -7.62421678e-02 -1.34111778e+02] [-1.11391409e-01 6.22688562e-04 9.93776417e-01 -2.42615088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34592 meters 0.02522613721394878 Centerline is valid? [True, True] Translation: X:199.46, Y:-134.13, Z:-24.26 [[ 7.28274572e-01 6.80479146e-01 8.10202452e-02 1.99455816e+02] [-6.76206225e-01 7.32767146e-01 -7.61409986e-02 -1.34134643e+02] [-1.11181336e-01 6.65159037e-04 9.93799914e-01 -2.42633630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37592 meters 0.025105016479309353 Centerline is valid? [True, True] Translation: X:199.48, Y:-134.16, Z:-24.27 [[ 7.27433252e-01 6.81279386e-01 8.18490230e-02 1.99479336e+02] [-6.76914139e-01 7.32023243e-01 -7.70014345e-02 -1.34157455e+02] [-1.12374877e-01 6.08643017e-04 9.93665697e-01 -2.42658673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40592 meters 0.025193674075202035 Centerline is valid? [True, True] Translation: X:199.50, Y:-134.18, Z:-24.27 [[ 7.26058387e-01 6.82691432e-01 8.22898953e-02 1.99503040e+02] [-6.78278643e-01 7.30706647e-01 -7.74976022e-02 -1.34180165e+02] [-1.13036723e-01 4.52305452e-04 9.93590708e-01 -2.42686632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43592 meters 0.025134788811466247 Centerline is valid? [True, True] Translation: X:199.53, Y:-134.20, Z:-24.27 [[ 7.23669393e-01 6.85206244e-01 8.24318660e-02 1.99526683e+02] [-6.80785073e-01 7.28349085e-01 -7.77129077e-02 -1.34203458e+02] [-1.13288544e-01 1.20068854e-04 9.93562123e-01 -2.42722528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46592 meters 0.025179490935675328 Centerline is valid? [True, True] Translation: X:199.55, Y:-134.23, Z:-24.28 [[ 7.22216504e-01 6.86643676e-01 8.32092748e-02 1.99551000e+02] [-6.82138295e-01 7.26994127e-01 -7.85295265e-02 -1.34226023e+02] [-1.14414457e-01 -4.49127682e-05 9.93433103e-01 -2.42757879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49592 meters 0.025025419353313542 Centerline is valid? [True, True] Translation: X:199.58, Y:-134.25, Z:-24.28 [[ 7.20497697e-01 6.88579770e-01 8.21034005e-02 1.99577264e+02] [-6.84198145e-01 7.25160543e-01 -7.75569863e-02 -1.34245820e+02] [-1.12942318e-01 -2.95364295e-04 9.93601502e-01 -2.42769041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52592 meters 0.025120992998376526 Centerline is valid? [True, True] Translation: X:199.60, Y:-134.27, Z:-24.28 [[ 7.19644842e-01 6.89458421e-01 8.22094129e-02 1.99602585e+02] [-6.85067083e-01 7.24325148e-01 -7.76928072e-02 -1.34266613e+02] [-1.13112305e-01 -4.07734695e-04 9.93582126e-01 -2.42806202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55592000000001 meters 0.024785211049710924 Centerline is valid? [True, True] Translation: X:199.63, Y:-134.29, Z:-24.28 [[ 7.20061167e-01 6.89255343e-01 8.02433083e-02 1.99626182e+02] [-6.85063154e-01 7.24518442e-01 -7.59045599e-02 -1.34288443e+02] [-1.10455380e-01 -3.15807922e-04 9.93881034e-01 -2.42831439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58592000000002 meters 0.024987763000512583 Centerline is valid? [True, True] Translation: X:199.65, Y:-134.31, Z:-24.29 [[ 7.20112498e-01 6.89079480e-01 8.12862845e-02 1.99649527e+02] [-6.84772355e-01 7.24685724e-01 -7.69247964e-02 -1.34310321e+02] [-1.11914309e-01 -2.68093120e-04 9.93717825e-01 -2.42861713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61592000000002 meters 0.024906094279438074 Centerline is valid? [True, True] Translation: X:199.67, Y:-134.33, Z:-24.29 [[ 7.19968279e-01 6.89087360e-01 8.24881004e-02 1.99673488e+02] [-6.84643082e-01 7.24678247e-01 -7.81363466e-02 -1.34331894e+02] [-1.13620101e-01 -2.19216217e-04 9.93524245e-01 -2.42896092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64592000000002 meters 0.024921376770977336 Centerline is valid? [True, True] Translation: X:199.70, Y:-134.35, Z:-24.29 [[ 7.21858733e-01 6.87083440e-01 8.26820175e-02 1.99699699e+02] [-6.82596404e-01 7.26578504e-01 -7.83953225e-02 -1.34351638e+02] [-1.13939104e-01 1.51900311e-04 9.93487724e-01 -2.42918909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67592 meters 0.02493458894160581 Centerline is valid? [True, True] Translation: X:199.72, Y:-134.37, Z:-24.30 [[ 7.22282385e-01 6.86676957e-01 8.23584461e-02 1.99724605e+02] [-6.82213062e-01 7.26962641e-01 -7.81706894e-02 -1.34373731e+02] [-1.13549525e-01 2.75304217e-04 9.93532299e-01 -2.42960187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70592 meters 0.024935776067940837 Centerline is valid? [True, True] Translation: X:199.75, Y:-134.40, Z:-24.30 [[ 7.23352399e-01 6.85593569e-01 8.19924752e-02 1.99748918e+02] [-6.81153149e-01 7.27984344e-01 -7.79049590e-02 -1.34396081e+02] [-1.13100377e-01 5.03306318e-04 9.93583440e-01 -2.43001334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73592 meters 0.02480571110671493 Centerline is valid? [True, True] Translation: X:199.77, Y:-134.42, Z:-24.30 [[ 7.23686530e-01 6.85307964e-01 8.14297298e-02 1.99773052e+02] [-6.80917542e-01 7.28253136e-01 -7.74510873e-02 -1.34418934e+02] [-1.12379303e-01 6.03377131e-04 9.93665199e-01 -2.43035033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76592 meters 0.025052535370916364 Centerline is valid? [True, True] Translation: X:199.80, Y:-134.44, Z:-24.31 [[ 7.23880618e-01 6.85073274e-01 8.16790065e-02 1.99796428e+02] [-6.80645067e-01 7.28473827e-01 -7.77700211e-02 -1.34441716e+02] [-1.12779181e-01 7.01798118e-04 9.93619829e-01 -2.43072159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79592 meters 0.02501574763417404 Centerline is valid? [True, True] Translation: X:199.82, Y:-134.47, Z:-24.31 [[ 7.25348757e-01 6.83507453e-01 8.17725015e-02 1.99818014e+02] [-6.79050082e-01 7.29942841e-01 -7.79386666e-02 -1.34465030e+02] [-1.12960912e-01 1.00509110e-03 9.93598924e-01 -2.43092796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82592 meters 0.02532129728126866 Centerline is valid? [True, True] Translation: X:199.84, Y:-134.49, Z:-24.31 [[ 7.26334955e-01 6.82361407e-01 8.25859796e-02 1.99838985e+02] [-6.77798861e-01 7.31013920e-01 -7.87867583e-02 -1.34488933e+02] [-1.14132544e-01 1.24889363e-03 9.93464747e-01 -2.43118826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85592 meters 0.02530613229609388 Centerline is valid? [True, True] Translation: X:199.86, Y:-134.51, Z:-24.32 [[ 7.26734678e-01 6.81980690e-01 8.22134210e-02 1.99862052e+02] [-6.77448659e-01 7.31368922e-01 -7.85035932e-02 -1.34513107e+02] [-1.13666276e-01 1.35591170e-03 9.93518062e-01 -2.43150582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88592 meters 0.025498293144150922 Centerline is valid? [True, True] Translation: X:199.88, Y:-134.54, Z:-24.32 [[ 7.27100695e-01 6.81601326e-01 8.21231454e-02 1.99884891e+02] [-6.77067598e-01 7.31722257e-01 -7.84984480e-02 -1.34537342e+02] [-1.13595980e-01 1.47335527e-03 9.93525935e-01 -2.43185942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91592 meters 0.025598864504329265 Centerline is valid? [True, True] Translation: X:199.91, Y:-134.56, Z:-24.32 [[ 7.28017003e-01 6.80662702e-01 8.17895442e-02 1.99905879e+02] [-6.76150791e-01 7.32595038e-01 -7.82599473e-02 -1.34562708e+02] [-1.13187241e-01 1.67250735e-03 9.93572268e-01 -2.43218630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94592 meters 0.02565902475804795 Centerline is valid? [True, True] Translation: X:199.93, Y:-134.59, Z:-24.33 [[ 7.27234198e-01 6.81432403e-01 8.23425906e-02 1.99927777e+02] [-6.76854655e-01 7.31879256e-01 -7.88703432e-02 -1.34587347e+02] [-1.14009641e-01 1.62324508e-03 9.93478317e-01 -2.43260309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97592 meters 0.025688352166217503 Centerline is valid? [True, True] Translation: X:199.95, Y:-134.61, Z:-24.33 [[ 7.26362558e-01 6.82187672e-01 8.37700137e-02 1.99947492e+02] [-6.77444757e-01 7.31175388e-01 -8.03190717e-02 -1.34613383e+02] [-1.16043253e-01 1.59120981e-03 9.93242886e-01 -2.43297043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00592 meters 0.025619965816527753 Centerline is valid? [True, True] Translation: X:199.97, Y:-134.64, Z:-24.33 [[ 7.25884226e-01 6.82820749e-01 8.27521297e-02 1.99968605e+02] [-6.78189730e-01 7.30584370e-01 -7.94050901e-02 -1.34637280e+02] [-1.14676856e-01 1.51725783e-03 9.93401690e-01 -2.43320063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03592 meters 0.025267867433473486 Centerline is valid? [True, True] Translation: X:199.99, Y:-134.66, Z:-24.34 [[ 7.23689918e-01 6.85120481e-01 8.29628156e-02 1.99988760e+02] [-6.80476759e-01 7.28428809e-01 -7.96420156e-02 -1.34662891e+02] [-1.14996881e-01 1.18185585e-03 9.93365150e-01 -2.43357582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06592 meters 0.025056700964997382 Centerline is valid? [True, True] Translation: X:200.01, Y:-134.69, Z:-24.34 [[ 7.22620653e-01 6.86464000e-01 8.11576792e-02 2.00009960e+02] [-6.82022212e-01 7.27163112e-01 -7.79712164e-02 -1.34686964e+02] [-1.12539304e-01 9.92271406e-04 9.93646779e-01 -2.43380408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09592 meters 0.02510785088845647 Centerline is valid? [True, True] Translation: X:200.03, Y:-134.71, Z:-24.34 [[ 7.21688007e-01 6.87385047e-01 8.16591579e-02 2.00031992e+02] [-6.82889774e-01 7.26292656e-01 -7.84890741e-02 -1.34711494e+02] [-1.13260663e-01 8.80419627e-04 9.93564918e-01 -2.43418888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12592 meters 0.025194318808442813 Centerline is valid? [True, True] Translation: X:200.05, Y:-134.74, Z:-24.35 [[ 7.18404466e-01 6.90646645e-01 8.30796919e-02 2.00052967e+02] [-6.86004748e-01 7.23192244e-01 -7.99403769e-02 -1.34737351e+02] [-1.15293142e-01 4.36460670e-04 9.93331415e-01 -2.43454846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15592 meters 0.025224042269010143 Centerline is valid? [True, True] Translation: X:200.08, Y:-134.76, Z:-24.35 [[ 7.14198477e-01 6.94937041e-01 8.35646085e-02 2.00075195e+02] [-6.90259757e-01 7.19070561e-01 -8.04922203e-02 -1.34761835e+02] [-1.16025875e-01 -1.93865109e-04 9.93246172e-01 -2.43493532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18592 meters 0.025144299811566635 Centerline is valid? [True, True] Translation: X:200.10, Y:-134.78, Z:-24.35 [[ 7.11752511e-01 6.97530288e-01 8.28242710e-02 2.00098302e+02] [-6.92943526e-01 7.16555088e-01 -7.98628553e-02 -1.34784904e+02] [-1.15054913e-01 -5.49954577e-04 9.93358981e-01 -2.43522463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21592 meters 0.025105466417150814 Centerline is valid? [True, True] Translation: X:200.12, Y:-134.81, Z:-24.36 [[ 7.09748643e-01 6.99654177e-01 8.21029635e-02 2.00121822e+02] [-6.95151764e-01 7.14481176e-01 -7.92507075e-02 -1.34807741e+02] [-1.14109110e-01 -8.25937807e-04 9.93467880e-01 -2.43552228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24592 meters 0.025105466417150814 Centerline is valid? [True, True] Translation: X:200.15, Y:-134.83, Z:-24.36 [[ 7.09375974e-01 7.00036980e-01 8.20606755e-02 2.00145362e+02] [-6.95532057e-01 7.14106115e-01 -7.92944752e-02 -1.34829986e+02] [-1.14109095e-01 -8.26234861e-04 9.93467882e-01 -2.43582466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27592 meters 0.02535970583968013 Centerline is valid? [True, True] Translation: X:200.17, Y:-134.85, Z:-24.36 [[ 7.05533211e-01 7.03977702e-01 8.14756613e-02 2.00167967e+02] [-6.99553672e-01 7.10220709e-01 -7.88112002e-02 -1.34852180e+02] [-1.13347030e-01 -1.39267891e-03 9.93554483e-01 -2.43611968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30592000000001 meters 0.025461520927918938 Centerline is valid? [True, True] Translation: X:200.19, Y:-134.88, Z:-24.36 [[ 7.04251406e-01 7.05241192e-01 8.16383438e-02 2.00191442e+02] [-7.00799209e-01 7.08965778e-01 -7.90442614e-02 -1.34875435e+02] [-1.13624061e-01 -1.54505449e-03 9.93522615e-01 -2.43648265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33592000000002 meters 0.025751642539800154 Centerline is valid? [True, True] Translation: X:200.22, Y:-134.90, Z:-24.37 [[ 7.02681234e-01 7.06629286e-01 8.31512831e-02 2.00215787e+02] [-7.02020324e-01 7.07581810e-01 -8.05943342e-02 -1.34896851e+02] [-1.15786652e-01 -1.74176453e-03 9.93272580e-01 -2.43679441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36592000000002 meters 0.02577921221180837 Centerline is valid? [True, True] Translation: X:200.24, Y:-134.92, Z:-24.37 [[ 7.01763292e-01 7.07543811e-01 8.31266305e-02 2.00241204e+02] [-7.02934970e-01 7.06667093e-01 -8.06476779e-02 -1.34918165e+02] [-1.15804620e-01 -1.83703552e-03 9.93270313e-01 -2.43708236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39592000000002 meters 0.026147024285236804 Centerline is valid? [True, True] Translation: X:200.27, Y:-134.94, Z:-24.37 [[ 6.99813248e-01 7.09238866e-01 8.50978803e-02 2.00267395e+02] [-7.04410146e-01 7.04965102e-01 -8.26471516e-02 -1.34937330e+02] [-1.18607608e-01 -2.10623868e-03 9.92938971e-01 -2.43747938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42592 meters 0.02629783450942831 Centerline is valid? [True, True] Translation: X:200.29, Y:-134.96, Z:-24.38 [[ 6.98798931e-01 7.10214822e-01 8.52933768e-02 2.00292258e+02] [-7.05361504e-01 7.03981517e-01 -8.29166620e-02 -1.34959515e+02] [-1.18933603e-01 -2.22058976e-03 9.92899727e-01 -2.43782253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45592 meters 0.026310122457483848 Centerline is valid? [True, True] Translation: X:200.32, Y:-134.98, Z:-24.38 [[ 6.98230829e-01 7.10818333e-01 8.49176508e-02 2.00317017e+02] [-7.06001801e-01 7.03372044e-01 -8.26391300e-02 -1.34981145e+02] [-1.18470110e-01 -2.25082614e-03 9.92955068e-01 -2.43816751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48592 meters 0.026341918467428255 Centerline is valid? [True, True] Translation: X:200.34, Y:-135.00, Z:-24.38 [[ 6.98603378e-01 7.10444636e-01 8.49808173e-02 2.00343134e+02] [-7.05607709e-01 7.03749881e-01 -8.27880853e-02 -1.35001469e+02] [-1.18621591e-01 -2.12708371e-03 9.92937256e-01 -2.43842265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51592 meters 0.02604953117912456 Centerline is valid? [True, True] Translation: X:200.37, Y:-135.02, Z:-24.39 [[ 6.99855581e-01 7.09205117e-01 8.50309783e-02 2.00368738e+02] [-7.04343141e-01 7.04999753e-01 -8.29221801e-02 -1.35021414e+02] [-1.18755653e-01 -1.85743581e-03 9.92921772e-01 -2.43872236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54592 meters 0.026116307851181058 Centerline is valid? [True, True] Translation: X:200.39, Y:-135.04, Z:-24.39 [[ 7.00614005e-01 7.08327358e-01 8.60951228e-02 2.00393163e+02] [-7.03326075e-01 7.05882112e-01 -8.40409244e-02 -1.35042921e+02] [-1.20301493e-01 -1.67269618e-03 9.92735994e-01 -2.43906830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57592 meters 0.026069489939232252 Centerline is valid? [True, True] Translation: X:200.42, Y:-135.06, Z:-24.39 [[ 7.01566777e-01 7.07387940e-01 8.60602095e-02 2.00417506e+02] [-7.02373157e-01 7.06824025e-01 -8.40936679e-02 -1.35063943e+02] [-1.20316270e-01 -1.44905752e-03 9.92734554e-01 -2.43942905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60592 meters 0.025767358791079515 Centerline is valid? [True, True] Translation: X:200.44, Y:-135.08, Z:-24.40 [[ 7.04028491e-01 7.05116406e-01 8.45856820e-02 2.00443015e+02] [-7.00248452e-01 7.09090871e-01 -8.27178460e-02 -1.35084313e+02] [-1.18304645e-01 -9.95272643e-04 9.92976848e-01 -2.43969941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63592 meters 0.02578959105105409 Centerline is valid? [True, True] Translation: X:200.47, Y:-135.11, Z:-24.40 [[ 7.05280635e-01 7.03717959e-01 8.57919544e-02 2.00466684e+02] [-6.98694555e-01 7.10479051e-01 -8.39371007e-02 -1.35105783e+02] [-1.20021432e-01 -7.43159713e-04 9.92771023e-01 -2.44013930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66592 meters 0.025833421474800715 Centerline is valid? [True, True] Translation: X:200.49, Y:-135.13, Z:-24.40 [[ 7.07227778e-01 7.01674897e-01 8.64939881e-02 2.00491413e+02] [-6.96543349e-01 7.12497174e-01 -8.47061943e-02 -1.35128160e+02] [-1.21062932e-01 -3.40238598e-04 9.92644776e-01 -2.44039301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69592 meters 0.02579718723366602 Centerline is valid? [True, True] Translation: X:200.51, Y:-135.15, Z:-24.41 [[ 7.07673131e-01 7.01416640e-01 8.49319518e-02 2.00514760e+02] [-6.96457356e-01 7.12751461e-01 -8.32616777e-02 -1.35149864e+02] [-1.18936499e-01 -2.29430376e-04 9.92901836e-01 -2.44056084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72592 meters 0.025700779683841917 Centerline is valid? [True, True] Translation: X:200.54, Y:-135.17, Z:-24.41 [[ 7.09587843e-01 6.99542150e-01 8.44148857e-02 2.00540482e+02] [-6.94620657e-01 7.14591324e-01 -8.28334635e-02 -1.35170757e+02] [-1.18267644e-01 1.41295336e-04 9.92981744e-01 -2.44082127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75592 meters 0.02582975829195226 Centerline is valid? [True, True] Translation: X:200.56, Y:-135.19, Z:-24.41 [[ 7.10384156e-01 6.98788569e-01 8.39576518e-02 2.00564410e+02] [-6.93906312e-01 7.15328200e-01 -8.24596696e-02 -1.35192740e+02] [-1.17679150e-01 3.19298309e-04 9.93051618e-01 -2.44118723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78592 meters 0.025950254633575965 Centerline is valid? [True, True] Translation: X:200.59, Y:-135.22, Z:-24.42 [[ 7.12067203e-01 6.97128211e-01 8.35018288e-02 2.00588030e+02] [-6.92282933e-01 7.16946214e-01 -8.20516150e-02 -1.35215296e+02] [-1.17066816e-01 6.19373089e-04 9.93123848e-01 -2.44156243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81592 meters 0.025749084946765685 Centerline is valid? [True, True] Translation: X:200.61, Y:-135.24, Z:-24.42 [[ 7.12743422e-01 6.96526185e-01 8.27531805e-02 2.00610818e+02] [-6.91753693e-01 7.17530958e-01 -8.14011804e-02 -1.35239433e+02] [-1.16076022e-01 7.73337667e-04 9.93240031e-01 -2.44180067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84592 meters 0.02579999511372821 Centerline is valid? [True, True] Translation: X:200.63, Y:-135.26, Z:-24.42 [[ 7.14767910e-01 6.94803810e-01 7.97151176e-02 2.00633849e+02] [-6.90356926e-01 7.19198525e-01 -7.84907411e-02 -1.35262412e+02] [-1.11866661e-01 1.07077940e-03 9.93722649e-01 -2.44193790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87592 meters 0.026105645295859316 Centerline is valid? [True, True] Translation: X:200.66, Y:-135.28, Z:-24.42 [[ 7.15243184e-01 6.94137154e-01 8.12453042e-02 2.00657103e+02] [-6.89504460e-01 7.19841679e-01 -8.00721950e-02 -1.35283944e+02] [-1.14064842e-01 1.25209209e-03 9.93472518e-01 -2.44237293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90592 meters 0.026198471641147473 Centerline is valid? [True, True] Translation: X:200.68, Y:-135.31, Z:-24.43 [[ 7.15218892e-01 6.94151112e-01 8.13398448e-02 2.00681044e+02] [-6.89499038e-01 7.19828125e-01 -8.02405652e-02 -1.35307298e+02] [-1.14249785e-01 1.30582341e-03 9.93451197e-01 -2.44258007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93592 meters 0.026349065437900672 Centerline is valid? [True, True] Translation: X:200.70, Y:-135.33, Z:-24.43 [[ 7.16323476e-01 6.92975648e-01 8.16420780e-02 2.00701678e+02] [-6.88271753e-01 7.20959307e-01 -8.06205439e-02 -1.35331546e+02] [-1.14728690e-01 1.55845209e-03 9.93395641e-01 -2.44288866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96592 meters 0.026622318634233384 Centerline is valid? [True, True] Translation: X:200.72, Y:-135.36, Z:-24.43 [[ 7.17708657e-01 6.91560187e-01 8.14787782e-02 2.00722118e+02] [-6.86857681e-01 7.22316512e-01 -8.05318716e-02 -1.35356660e+02] [-1.14546103e-01 1.83409681e-03 9.93416240e-01 -2.44317331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99592 meters 0.026755611182460157 Centerline is valid? [True, True] Translation: X:200.74, Y:-135.38, Z:-24.44 [[ 7.17797834e-01 6.91405919e-01 8.20007603e-02 2.00744124e+02] [-6.86633271e-01 7.22463946e-01 -8.11208800e-02 -1.35380148e+02] [-1.15330050e-01 1.92394163e-03 9.93325364e-01 -2.44358168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02592 meters 0.026960483488614018 Centerline is valid? [True, True] Translation: X:200.77, Y:-135.40, Z:-24.44 [[ 7.18512232e-01 6.90731483e-01 8.14259865e-02 2.00766809e+02] [-6.86012878e-01 7.23108378e-01 -8.06263317e-02 -1.35404534e+02] [-1.14570959e-01 2.07173023e-03 9.93412907e-01 -2.44392401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05592000000001 meters 0.026878161315200995 Centerline is valid? [True, True] Translation: X:200.79, Y:-135.43, Z:-24.44 [[ 7.18722098e-01 6.90497850e-01 8.15552878e-02 2.00786207e+02] [-6.85753143e-01 7.23331182e-01 -8.08370517e-02 -1.35431730e+02] [-1.14809293e-01 2.17258047e-03 9.93385175e-01 -2.44416956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08592000000002 meters 0.027101878920242208 Centerline is valid? [True, True] Translation: X:200.81, Y:-135.46, Z:-24.45 [[ 7.19142678e-01 6.89987697e-01 8.21631689e-02 2.00807614e+02] [-6.85158915e-01 7.23817343e-01 -8.15212594e-02 -1.35455442e+02] [-1.15719793e-01 2.33058916e-03 9.93279164e-01 -2.44455723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11592000000002 meters 0.02715018695487551 Centerline is valid? [True, True] Translation: X:200.83, Y:-135.48, Z:-24.45 [[ 7.18496613e-01 6.90686931e-01 8.19401034e-02 2.00828646e+02] [-6.85880254e-01 7.23150349e-01 -8.13747538e-02 -1.35480998e+02] [-1.15459493e-01 2.26638605e-03 9.93309604e-01 -2.44487998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14592000000002 meters 0.027013094296352527 Centerline is valid? [True, True] Translation: X:200.85, Y:-135.50, Z:-24.45 [[ 7.17600935e-01 6.91680225e-01 8.14086322e-02 2.00850149e+02] [-6.86932979e-01 7.22200692e-01 -8.09273945e-02 -1.35504286e+02] [-1.14769249e-01 2.15129966e-03 9.93389849e-01 -2.44526979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17592 meters 0.026386219540350808 Centerline is valid? [True, True] Translation: X:200.87, Y:-135.53, Z:-24.45 [[ 7.15513060e-01 6.93997387e-01 8.00542789e-02 2.00870323e+02] [-6.89413784e-01 7.19975266e-01 -7.96508034e-02 -1.35530117e+02] [-1.12914550e-01 1.80066670e-03 9.93603071e-01 -2.44538884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20592 meters 0.026466456015967404 Centerline is valid? [True, True] Translation: X:200.89, Y:-135.55, Z:-24.46 [[ 7.13917780e-01 6.95417426e-01 8.19512506e-02 2.00892098e+02] [-6.90613881e-01 7.18604078e-01 -8.16127789e-02 -1.35553323e+02] [-1.15645452e-01 1.66814268e-03 9.93289156e-01 -2.44585035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23592 meters 0.026086241396151153 Centerline is valid? [True, True] Translation: X:200.91, Y:-135.58, Z:-24.46 [[ 7.11819879e-01 6.97565648e-01 8.19428298e-02 2.00914340e+02] [-6.92768610e-01 7.16519562e-01 -8.16784561e-02 -1.35576743e+02] [-1.15689726e-01 1.37292842e-03 9.93284452e-01 -2.44611531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26592 meters 0.02607832994564469 Centerline is valid? [True, True] Translation: X:200.94, Y:-135.60, Z:-24.46 [[ 7.11359302e-01 6.98131240e-01 8.11216074e-02 2.00937145e+02] [-6.93425495e-01 7.15968594e-01 -8.09324066e-02 -1.35599584e+02] [-1.14581965e-01 1.32022945e-03 9.93412920e-01 -2.44641356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29592 meters 0.025910086850847742 Centerline is valid? [True, True] Translation: X:200.96, Y:-135.62, Z:-24.47 [[ 7.11071942e-01 6.98489004e-01 8.05593231e-02 2.00959744e+02] [-6.93842236e-01 7.15619593e-01 -8.04459479e-02 -1.35623123e+02] [-1.13840440e-01 1.30739548e-03 9.93498186e-01 -2.44665617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32592 meters 0.02612576901925545 Centerline is valid? [True, True] Translation: X:200.98, Y:-135.65, Z:-24.47 [[ 7.10187257e-01 6.99406432e-01 8.04033702e-02 2.00981567e+02] [-6.94773942e-01 7.14723133e-01 -8.03742003e-02 -1.35647948e+02] [-1.13680381e-01 1.21856646e-03 9.93516626e-01 -2.44701371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35592 meters 0.026228940774721096 Centerline is valid? [True, True] Translation: X:201.16, Y:-135.80, Z:-22.54 [[ 7.49546653e-01 -6.60074214e-01 -4.98181319e-02 2.01158285e+02] [-6.58043601e-01 -7.51174139e-01 5.21155739e-02 -1.35802590e+02] [-7.18222388e-02 -6.28055108e-03 -9.97397674e-01 -2.25442385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38592 meters 0.026167338681032243 Centerline is valid? [True, True] Translation: X:201.03, Y:-135.72, Z:-24.48 [[ 7.61692484e-01 6.42112796e-01 8.66932384e-02 2.01034594e+02] [-6.37795565e-01 7.66609008e-01 -7.43467988e-02 -1.35721792e+02] [-1.14198848e-01 1.33683492e-03 9.93457013e-01 -2.44788440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41592 meters 0.026316244314817303 Centerline is valid? [True, True] Translation: X:201.06, Y:-135.74, Z:-24.48 [[ 7.61627025e-01 6.42192169e-01 8.66804074e-02 2.01058598e+02] [-6.37867744e-01 7.66542432e-01 -7.44139835e-02 -1.35743869e+02] [-1.14232288e-01 1.38506498e-03 9.93453102e-01 -2.44814925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44592 meters 0.026305010429078936 Centerline is valid? [True, True] Translation: X:201.08, Y:-135.77, Z:-24.48 [[ 7.62245260e-01 6.41367750e-01 8.73474220e-02 2.01080950e+02] [-6.36961926e-01 7.67231981e-01 -7.50639247e-02 -1.35767372e+02] [-1.15159316e-01 1.58013870e-03 9.93345778e-01 -2.44843452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47592 meters 0.026466167714449786 Centerline is valid? [True, True] Translation: X:201.10, Y:-135.79, Z:-24.49 [[ 7.62058722e-01 6.41568500e-01 8.75006550e-02 2.01102831e+02] [-6.37140197e-01 7.67064062e-01 -7.52668183e-02 -1.35792729e+02] [-1.15407428e-01 1.60755077e-03 9.93316939e-01 -2.44878257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50592 meters 0.026548171292409654 Centerline is valid? [True, True] Translation: X:201.13, Y:-135.82, Z:-24.49 [[ 7.62334372e-01 6.41293472e-01 8.71148043e-02 2.01125680e+02] [-6.36893352e-01 7.67293805e-01 -7.50138314e-02 -1.35816065e+02] [-1.14948530e-01 1.70278230e-03 9.93369989e-01 -2.44905745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53592 meters 0.026673007347226503 Centerline is valid? [True, True] Translation: X:201.15, Y:-135.84, Z:-24.49 [[ 7.62329590e-01 6.41229928e-01 8.76229127e-02 2.01148242e+02] [-6.36768711e-01 7.67346729e-01 -7.55288472e-02 -1.35839194e+02] [-1.15668513e-01 1.78234600e-03 9.93286272e-01 -2.44941042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56592 meters 0.026639657584829543 Centerline is valid? [True, True] Translation: X:201.17, Y:-135.86, Z:-24.50 [[ 7.61962507e-01 6.41750655e-01 8.70013494e-02 2.01168569e+02] [-6.37348173e-01 7.66911374e-01 -7.50616479e-02 -1.35864650e+02] [-1.14893186e-01 1.74401028e-03 9.93376321e-01 -2.44965128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59592 meters 0.026574837176228112 Centerline is valid? [True, True] Translation: X:201.19, Y:-135.89, Z:-24.50 [[ 7.61317513e-01 6.42629099e-01 8.61596515e-02 2.01191015e+02] [-6.38309521e-01 7.66175650e-01 -7.44031535e-02 -1.35887848e+02] [-1.13827058e-01 1.64789797e-03 9.93499212e-01 -2.44984838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62592 meters 0.02625305988744006 Centerline is valid? [True, True] Translation: X:201.21, Y:-135.91, Z:-24.50 [[ 7.59262328e-01 6.44953641e-01 8.69224852e-02 2.01212168e+02] [-6.40563855e-01 7.64220474e-01 -7.51333156e-02 -1.35913813e+02] [-1.14885448e-01 1.36649388e-03 9.93377807e-01 -2.45010271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65592 meters 0.02623011712812983 Centerline is valid? [True, True] Translation: X:201.24, Y:-135.94, Z:-24.50 [[ 7.58345662e-01 6.46039888e-01 8.68580436e-02 2.01235208e+02] [-6.41654503e-01 7.63302607e-01 -7.51573681e-02 -1.35936698e+02] [-1.14853629e-01 1.26240927e-03 9.93381624e-01 -2.45042434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68592 meters 0.02593292936925081 Centerline is valid? [True, True] Translation: X:201.26, Y:-135.96, Z:-24.51 [[ 7.55544182e-01 6.49496406e-01 8.54833742e-02 2.01255677e+02] [-6.45262436e-01 7.60364257e-01 -7.40444850e-02 -1.35961711e+02] [-1.13090129e-01 7.84669629e-04 9.93584424e-01 -2.45067617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71592 meters 0.025966116175333984 Centerline is valid? [True, True] Translation: X:201.28, Y:-135.98, Z:-24.51 [[ 7.53957371e-01 6.51368357e-01 8.52499068e-02 2.01278064e+02] [-6.47161580e-01 7.58761461e-01 -7.39116621e-02 -1.35984833e+02] [-1.12828062e-01 5.55778095e-04 9.93614372e-01 -2.45099923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74592 meters 0.02590460776742031 Centerline is valid? [True, True] Translation: X:201.30, Y:-136.01, Z:-24.51 [[ 7.51897021e-01 6.53679782e-01 8.57532052e-02 2.01301535e+02] [-6.49429665e-01 7.56771215e-01 -7.44206854e-02 -1.36008588e+02] [-1.13542855e-01 2.66016265e-04 9.93533064e-01 -2.45124513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77592 meters 0.025801246293612204 Centerline is valid? [True, True] Translation: X:201.32, Y:-136.03, Z:-24.51 [[ 7.48514117e-01 6.57669447e-01 8.48381694e-02 2.01323784e+02] [-6.53526513e-01 7.53306592e-01 -7.37039628e-02 -1.36031918e+02] [-1.12381997e-01 -2.75536468e-04 9.93665040e-01 -2.45148601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80592000000001 meters 0.02583943493691076 Centerline is valid? [True, True] Translation: X:201.35, Y:-136.05, Z:-24.52 [[ 7.46543601e-01 6.59939430e-01 8.45730446e-02 2.01348112e+02] [-6.55828840e-01 7.51318597e-01 -7.35452165e-02 -1.36054328e+02] [-1.12076689e-01 -5.60730957e-04 9.93699402e-01 -2.45175222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83592000000002 meters 0.02618850503448876 Centerline is valid? [True, True] Translation: X:201.37, Y:-136.08, Z:-24.52 [[ 7.43132562e-01 6.63544643e-01 8.63857755e-02 2.01370655e+02] [-6.59270175e-01 7.48135931e-01 -7.52028282e-02 -1.36077374e+02] [-1.14528736e-01 -1.06589491e-03 9.93419364e-01 -2.45210852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86592000000002 meters 0.02630660694342678 Centerline is valid? [True, True] Translation: X:201.39, Y:-136.10, Z:-24.52 [[ 7.41217755e-01 6.65660243e-01 8.65602656e-02 2.01394401e+02] [-6.61374574e-01 7.46253737e-01 -7.54256824e-02 -1.36098653e+02] [-1.14803800e-01 -1.34190380e-03 9.93387279e-01 -2.45235544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89592000000002 meters 0.02670337897227383 Centerline is valid? [True, True] Translation: X:201.42, Y:-136.12, Z:-24.53 [[ 7.38365823e-01 6.68865848e-01 8.62229030e-02 2.01418328e+02] [-6.64627284e-01 7.43380999e-01 -7.52014906e-02 -1.36120185e+02] [-1.14396176e-01 -1.77988338e-03 9.93433615e-01 -2.45277063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92592 meters 0.026793988190366377 Centerline is valid? [True, True] Translation: X:201.44, Y:-136.14, Z:-24.53 [[ 7.37179841e-01 6.70202963e-01 8.59876172e-02 2.01443010e+02] [-6.65988464e-01 7.42175362e-01 -7.50672867e-02 -1.36141444e+02] [-1.14128209e-01 -1.92867058e-03 9.93464157e-01 -2.45308245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95592 meters 0.027142923088270727 Centerline is valid? [True, True] Translation: X:201.47, Y:-136.16, Z:-24.53 [[ 7.35520863e-01 6.72021498e-01 8.60009687e-02 2.01467247e+02] [-6.67809177e-01 7.40528506e-01 -7.51560642e-02 -1.36162771e+02] [-1.14192660e-01 -2.15338295e-03 9.93456290e-01 -2.45346183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98592 meters 0.027079748081412527 Centerline is valid? [True, True] Translation: X:201.49, Y:-136.18, Z:-24.54 [[ 7.34597876e-01 6.73075954e-01 8.56429846e-02 2.01492091e+02] [-6.68897807e-01 7.39569926e-01 -7.49136101e-02 -1.36184250e+02] [-1.13761525e-01 -2.25502569e-03 9.93505526e-01 -2.45361486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01592 meters 0.02750340575601634 Centerline is valid? [True, True] Translation: X:201.52, Y:-136.20, Z:-24.54 [[ 7.32593548e-01 6.75170871e-01 8.63191066e-02 2.01516983e+02] [-6.70931802e-01 7.37656985e-01 -7.55823394e-02 -1.36204329e+02] [-1.14704886e-01 -2.54309953e-03 9.93396357e-01 -2.45392596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04592 meters 0.027800144993103598 Centerline is valid? [True, True] Translation: X:201.54, Y:-136.22, Z:-24.54 [[ 7.31499465e-01 6.76330427e-01 8.65198589e-02 2.01541114e+02] [-6.72072283e-01 7.36593476e-01 -7.58214884e-02 -1.36224598e+02] [-1.15010343e-01 -2.68422086e-03 9.93360668e-01 -2.45427638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07592 meters 0.027881638369230136 Centerline is valid? [True, True] Translation: X:201.57, Y:-136.24, Z:-24.55 [[ 7.30259139e-01 6.77619560e-01 8.69098490e-02 2.01567702e+02] [-6.73326552e-01 7.35407041e-01 -7.62091712e-02 -1.36242967e+02] [-1.15554940e-01 -2.86626527e-03 9.93296955e-01 -2.45456234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10592 meters 0.027881638369230136 Centerline is valid? [True, True] Translation: X:201.59, Y:-136.26, Z:-24.55 [[ 7.29913928e-01 6.77995886e-01 8.68748369e-02 2.01592256e+02] [-6.73700788e-01 7.35060085e-01 -7.62490663e-02 -1.36264054e+02] [-1.15554778e-01 -2.87239060e-03 9.93296956e-01 -2.45486389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13592 meters 0.028146402603962502 Centerline is valid? [True, True] Translation: X:201.62, Y:-136.28, Z:-24.55 [[ 7.29023789e-01 6.78836792e-01 8.77777050e-02 2.01617320e+02] [-6.74448645e-01 7.34283139e-01 -7.71187225e-02 -1.36283169e+02] [-1.16804715e-01 -2.98017096e-03 9.93150430e-01 -2.45528191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16592 meters 0.027825116638482757 Centerline is valid? [True, True] Translation: X:201.64, Y:-136.30, Z:-24.56 [[ 7.29108888e-01 6.78833123e-01 8.70966120e-02 2.01644435e+02] [-6.74505447e-01 7.34286819e-01 -7.65850490e-02 -1.36301328e+02] [-1.15942362e-01 -2.90829931e-03 9.93251685e-01 -2.45557161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19592 meters 0.027661211677360357 Centerline is valid? [True, True] Translation: X:201.67, Y:-136.32, Z:-24.56 [[ 7.29382272e-01 6.78588069e-01 8.67163941e-02 2.01670504e+02] [-6.74288499e-01 7.34513689e-01 -7.63194616e-02 -1.36320795e+02] [-1.15483855e-01 -2.80580489e-03 9.93305395e-01 -2.45583182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22592 meters 0.027605166705331023 Centerline is valid? [True, True] Translation: X:201.70, Y:-136.34, Z:-24.56 [[ 7.30120734e-01 6.77742609e-01 8.71129693e-02 2.01698215e+02] [-6.73389321e-01 7.35294516e-01 -7.67384964e-02 -1.36338065e+02] [-1.16062637e-01 -2.63257589e-03 9.93238407e-01 -2.45624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25592 meters 0.027549997474934983 Centerline is valid? [True, True] Translation: X:201.73, Y:-136.36, Z:-24.57 [[ 7.29979894e-01 6.77933465e-01 8.68076646e-02 2.01725076e+02] [-6.73603765e-01 7.35118666e-01 -7.65409371e-02 -1.36357454e+02] [-1.15703597e-01 -2.60062457e-03 9.93280381e-01 -2.45660272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28592 meters 0.02731549321493872 Centerline is valid? [True, True] Translation: X:201.75, Y:-136.37, Z:-24.57 [[ 7.31783809e-01 6.75964728e-01 8.69720906e-02 2.01754021e+02] [-6.71595550e-01 7.36930587e-01 -7.67640969e-02 -1.36373260e+02] [-1.15982216e-01 -2.23534589e-03 9.93248775e-01 -2.45678566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31592 meters 0.027122172614721853 Centerline is valid? [True, True] Translation: X:201.78, Y:-136.39, Z:-24.57 [[ 7.31751990e-01 6.76087937e-01 8.62793552e-02 2.01779862e+02] [-6.71782168e-01 7.36817683e-01 -7.62129956e-02 -1.36391837e+02] [-1.15098841e-01 -2.19192111e-03 9.93351626e-01 -2.45701278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34592 meters 0.027261491778654407 Centerline is valid? [True, True] Translation: X:201.81, Y:-136.41, Z:-24.57 [[ 7.31416271e-01 6.76288862e-01 8.75420684e-02 2.01805436e+02] [-6.71853022e-01 7.36633152e-01 -7.73635410e-02 -1.36411445e+02] [-1.16806491e-01 -2.23045051e-03 9.93152188e-01 -2.45745853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37592 meters 0.027165666761903767 Centerline is valid? [True, True] Translation: X:201.83, Y:-136.43, Z:-24.58 [[ 7.31984338e-01 6.75617099e-01 8.79799036e-02 2.01832911e+02] [-6.71122995e-01 7.37249763e-01 -7.78248797e-02 -1.36429935e+02] [-1.17442983e-01 -2.07874333e-03 9.93077452e-01 -2.45771744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40592 meters 0.026870597876844877 Centerline is valid? [True, True] Translation: X:201.86, Y:-136.45, Z:-24.58 [[ 7.33525474e-01 6.73961683e-01 8.78409299e-02 2.01860949e+02] [-6.69460542e-01 7.38764227e-01 -7.77817486e-02 -1.36446862e+02] [-1.17315655e-01 -1.75114256e-03 9.93093133e-01 -2.45798431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43592 meters 0.026722993910587373 Centerline is valid? [True, True] Translation: X:201.89, Y:-136.47, Z:-24.58 [[ 7.33505822e-01 6.73890514e-01 8.85482072e-02 2.01887189e+02] [-6.69306814e-01 7.38829272e-01 -7.84837313e-02 -1.36466584e+02] [-1.18311449e-01 -1.69764460e-03 9.92975085e-01 -2.45825894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46592 meters 0.026598860949337 Centerline is valid? [True, True] Translation: X:201.91, Y:-136.49, Z:-24.59 [[ 7.33801143e-01 6.73749235e-01 8.71656507e-02 2.01912206e+02] [-6.69297661e-01 7.38958351e-01 -7.73382032e-02 -1.36486458e+02] [-1.16518341e-01 -1.58890411e-03 9.93187269e-01 -2.45859975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49592 meters 0.026665765214746697 Centerline is valid? [True, True] Translation: X:201.94, Y:-136.51, Z:-24.59 [[ 7.33730007e-01 6.73921481e-01 8.64298271e-02 2.01937887e+02] [-6.69537874e-01 7.38801352e-01 -7.67567469e-02 -1.36505305e+02] [-1.15582494e-01 -1.54931430e-03 9.93296676e-01 -2.45885839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52592 meters 0.026673930569731226 Centerline is valid? [True, True] Translation: X:201.96, Y:-136.53, Z:-24.59 [[ 7.33192402e-01 6.74375976e-01 8.74410978e-02 2.01963819e+02] [-6.69883420e-01 7.38386436e-01 -7.77282116e-02 -1.36525091e+02] [-1.16983359e-01 -1.58560744e-03 9.93132609e-01 -2.45911518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55592000000001 meters 0.02637672734018933 Centerline is valid? [True, True] Translation: X:201.99, Y:-136.54, Z:-24.59 [[ 7.33149527e-01 6.74359975e-01 8.79226689e-02 2.01993321e+02] [-6.69808563e-01 7.38401155e-01 -7.82318591e-02 -1.36541480e+02] [-1.17678635e-01 -1.53570597e-03 9.93050543e-01 -2.45927456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58592000000002 meters 0.026282104433263932 Centerline is valid? [True, True] Translation: X:202.02, Y:-136.56, Z:-24.60 [[ 7.33012025e-01 6.74482664e-01 8.81277906e-02 2.02021435e+02] [-6.69900836e-01 7.38289168e-01 -7.84982464e-02 -1.36559925e+02] [-1.18009500e-01 -1.49672208e-03 9.93011338e-01 -2.45966561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61592000000002 meters 0.02637280525797555 Centerline is valid? [True, True] Translation: X:202.05, Y:-136.58, Z:-24.60 [[ 7.32330139e-01 6.75161116e-01 8.86004250e-02 2.02047573e+02] [-6.70524623e-01 7.37668666e-01 -7.90042420e-02 -1.36580396e+02] [-1.18698349e-01 -1.55157908e-03 9.92929149e-01 -2.46002752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64592000000002 meters 0.02629830754207187 Centerline is valid? [True, True] Translation: X:202.07, Y:-136.60, Z:-24.60 [[ 7.31761172e-01 6.75834298e-01 8.81679599e-02 2.02073409e+02] [-6.71237947e-01 7.37051880e-01 -7.87028919e-02 -1.36600676e+02] [-1.18174474e-01 -1.58995994e-03 9.92991574e-01 -2.46022467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67592 meters 0.026349604994895682 Centerline is valid? [True, True] Translation: X:202.10, Y:-136.62, Z:-24.60 [[ 7.30930431e-01 6.76741923e-01 8.80969651e-02 2.02101524e+02] [-6.72149485e-01 7.36218428e-01 -7.87241783e-02 -1.36617976e+02] [-1.18134561e-01 -1.67243222e-03 9.92996188e-01 -2.46046549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70592 meters 0.026372525301703153 Centerline is valid? [True, True] Translation: X:202.13, Y:-136.64, Z:-24.61 [[ 7.28946143e-01 6.79070316e-01 8.66084626e-02 2.02130189e+02] [-6.74639014e-01 7.34070629e-01 -7.74758801e-02 -1.36635283e+02] [-1.16188299e-01 -1.95370377e-03 9.93225283e-01 -2.46061424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73592 meters 0.02650745666592735 Centerline is valid? [True, True] Translation: X:202.16, Y:-136.65, Z:-24.61 [[ 7.27650478e-01 6.80418280e-01 8.69237903e-02 2.02156548e+02] [-6.75954604e-01 7.32820907e-01 -7.78388767e-02 -1.36653576e+02] [-1.16662565e-01 -2.11704041e-03 9.93169353e-01 -2.46101741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76592 meters 0.02658242229588261 Centerline is valid? [True, True] Translation: X:202.18, Y:-136.67, Z:-24.61 [[ 7.26757711e-01 6.81530950e-01 8.56667592e-02 2.02183003e+02] [-6.77195373e-01 7.31785953e-01 -7.67837671e-02 -1.36671644e+02] [-1.15020245e-01 -2.20993812e-03 9.93360690e-01 -2.46126294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79592 meters 0.026505975764392443 Centerline is valid? [True, True] Translation: X:202.21, Y:-136.69, Z:-24.62 [[ 7.26048296e-01 6.82237197e-01 8.60597374e-02 2.02212893e+02] [-6.77857928e-01 7.31127361e-01 -7.72101802e-02 -1.36688244e+02] [-1.15596286e-01 -2.27795545e-03 9.93293667e-01 -2.46158687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82592 meters 0.026608505745093408 Centerline is valid? [True, True] Translation: X:202.24, Y:-136.71, Z:-24.62 [[ 7.25721194e-01 6.82483958e-01 8.68584815e-02 2.02238693e+02] [-6.78015050e-01 7.30897017e-01 -7.80073153e-02 -1.36706784e+02] [-1.16723346e-01 -2.27979572e-03 9.93161851e-01 -2.46186560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85592 meters 0.02644860485283757 Centerline is valid? [True, True] Translation: X:202.27, Y:-136.72, Z:-24.62 [[ 7.28037489e-01 6.80065715e-01 8.64409550e-02 2.02267024e+02] [-6.75614794e-01 7.33148872e-01 -7.77005911e-02 -1.36723666e+02] [-1.16215597e-01 -1.83184488e-03 9.93222321e-01 -2.46214024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88592 meters 0.0263896715762016 Centerline is valid? [True, True] Translation: X:202.29, Y:-136.74, Z:-24.62 [[ 7.30032464e-01 6.78128497e-01 8.48194729e-02 2.02293679e+02] [-6.73822391e-01 7.34941945e-01 -7.63133204e-02 -1.36742372e+02] [-1.14087626e-01 -1.44205871e-03 9.93469644e-01 -2.46243606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91592 meters 0.026107078734012197 Centerline is valid? [True, True] Translation: X:202.32, Y:-136.76, Z:-24.63 [[ 7.32976873e-01 6.74943358e-01 8.48313981e-02 2.02322319e+02] [-6.70606444e-01 7.37869004e-01 -7.63958753e-02 -1.36758567e+02] [-1.14157348e-01 -8.92072457e-04 9.93462281e-01 -2.46288234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94592 meters 0.026115357200030356 Centerline is valid? [True, True] Translation: X:202.35, Y:-136.78, Z:-24.63 [[ 7.34459462e-01 6.73329587e-01 8.48325737e-02 2.02348477e+02] [-6.68974566e-01 7.39342217e-01 -7.64599002e-02 -1.36778083e+02] [-1.14203016e-01 -5.94137005e-04 9.93457255e-01 -2.46324047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97592 meters 0.026078815159407274 Centerline is valid? [True, True] Translation: X:202.37, Y:-136.80, Z:-24.63 [[ 7.34976904e-01 6.72713206e-01 8.52402072e-02 2.02374319e+02] [-6.68307748e-01 7.39903181e-01 -7.68637516e-02 -1.36798570e+02] [-1.14776761e-01 -4.73608777e-04 9.93391197e-01 -2.46343140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00592 meters 0.02609869598272635 Centerline is valid? [True, True] Translation: X:202.40, Y:-136.82, Z:-24.64 [[ 7.37643707e-01 6.69832608e-01 8.48883921e-02 2.02401429e+02] [-6.65435132e-01 7.42512139e-01 -7.66277324e-02 -1.36817804e+02] [-1.14358415e-01 3.62462077e-05 9.93439556e-01 -2.46376777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03592 meters 0.02626263523966118 Centerline is valid? [True, True] Translation: X:202.43, Y:-136.84, Z:-24.64 [[ 7.39653781e-01 6.67781324e-01 8.35487188e-02 2.02426811e+02] [-6.63500166e-01 7.44357400e-01 -7.54956368e-02 -1.36837221e+02] [-1.12604683e-01 4.06044434e-04 9.93639784e-01 -2.46403568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06592 meters 0.02625119177796586 Centerline is valid? [True, True] Translation: X:202.45, Y:-136.86, Z:-24.64 [[ 7.40786520e-01 6.66510777e-01 8.36583267e-02 2.02452377e+02] [-6.62202106e-01 7.45495108e-01 -7.56664717e-02 -1.36858079e+02] [-1.12799392e-01 6.53982182e-04 9.93617567e-01 -2.46433220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09592 meters 0.0263014445883068 Centerline is valid? [True, True] Translation: X:202.48, Y:-136.88, Z:-24.65 [[ 7.41650921e-01 6.65674329e-01 8.26534825e-02 2.02477085e+02] [-6.61455014e-01 7.46241917e-01 -7.48349203e-02 -1.36879374e+02] [-1.11495179e-01 8.29827172e-04 9.93764628e-01 -2.46457470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12592 meters 0.02665479888554231 Centerline is valid? [True, True] Translation: X:202.50, Y:-136.90, Z:-24.65 [[ 7.43312607e-01 6.63838332e-01 8.24926510e-02 2.02500142e+02] [-6.59615680e-01 7.47875205e-01 -7.47651781e-02 -1.36901527e+02] [-1.11326199e-01 1.16045339e-03 9.93783241e-01 -2.46494025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15592 meters 0.02683131300124194 Centerline is valid? [True, True] Translation: X:202.52, Y:-136.92, Z:-24.65 [[ 7.44360382e-01 6.62761340e-01 8.17008502e-02 2.02524623e+02] [-6.58605599e-01 7.48829458e-01 -7.41155024e-02 -1.36923147e+02] [-1.10300893e-01 1.36000624e-03 9.93897310e-01 -2.46524720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18592 meters 0.02692795985021624 Centerline is valid? [True, True] Translation: X:202.55, Y:-136.94, Z:-24.65 [[ 7.45854952e-01 6.61111128e-01 8.14399532e-02 2.02548310e+02] [-6.56963868e-01 7.50286169e-01 -7.39536384e-02 -1.36944476e+02] [-1.09994844e-01 1.65558077e-03 9.93930779e-01 -2.46545823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21592 meters 0.02707836271084526 Centerline is valid? [True, True] Translation: X:202.57, Y:-136.97, Z:-24.66 [[ 7.46602123e-01 6.60107872e-01 8.27216283e-02 2.02571186e+02] [-6.55814882e-01 7.51168457e-01 -7.51850287e-02 -1.36966301e+02] [-1.11768107e-01 1.88322713e-03 9.93732531e-01 -2.46569047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24592 meters 0.027411955571095045 Centerline is valid? [True, True] Translation: X:202.59, Y:-136.99, Z:-24.66 [[ 7.48212669e-01 6.58408150e-01 8.17099188e-02 2.02591827e+02] [-6.54202854e-01 7.52657991e-01 -7.43274770e-02 -1.36990849e+02] [-1.10437440e-01 2.15789782e-03 9.93880735e-01 -2.46595130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27592 meters 0.02749363782882059 Centerline is valid? [True, True] Translation: X:202.62, Y:-137.01, Z:-24.66 [[ 7.48132860e-01 6.58512463e-01 8.16000019e-02 2.02615278e+02] [-6.54311593e-01 7.52566632e-01 -7.42953820e-02 -1.37014348e+02] [-1.10333874e-01 2.19098941e-03 9.93892165e-01 -2.46620441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30592000000001 meters 0.027724418716446392 Centerline is valid? [True, True] Translation: X:202.64, Y:-137.04, Z:-24.67 [[ 7.48854239e-01 6.57655921e-01 8.18902829e-02 2.02636531e+02] [-6.53411514e-01 7.53314683e-01 -7.46349860e-02 -1.37038986e+02] [-1.10773293e-01 2.38267187e-03 9.93842845e-01 -2.46656689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33592000000002 meters 0.027853009703297717 Centerline is valid? [True, True] Translation: X:202.66, Y:-137.06, Z:-24.67 [[ 7.49626387e-01 6.56827275e-01 8.14752157e-02 2.02658569e+02] [-6.52613746e-01 7.54036782e-01 -7.43224777e-02 -1.37062460e+02] [-1.10252340e-01 2.54224478e-03 9.93900377e-01 -2.46678554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36592000000002 meters 0.027670540833154178 Centerline is valid? [True, True] Translation: X:202.68, Y:-137.09, Z:-24.67 [[ 7.49418429e-01 6.57051644e-01 8.15791412e-02 2.02677682e+02] [-6.52821136e-01 7.53841206e-01 -7.44848946e-02 -1.37090019e+02] [-1.10438141e-01 2.56376505e-03 9.93879693e-01 -2.46689631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39592000000002 meters 0.027761615492839856 Centerline is valid? [True, True] Translation: X:202.70, Y:-137.11, Z:-24.67 [[ 7.48913649e-01 6.57667918e-01 8.12481127e-02 2.02699604e+02] [-6.53467105e-01 7.53303764e-01 -7.42575401e-02 -1.37114886e+02] [-1.10041311e-01 2.51951634e-03 9.93923821e-01 -2.46718915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42592 meters 0.02773788696918825 Centerline is valid? [True, True] Translation: X:202.72, Y:-137.14, Z:-24.67 [[ 7.48526193e-01 6.58155365e-01 8.08706013e-02 2.02719866e+02] [-6.53988200e-01 7.52878012e-01 -7.39873865e-02 -1.37142175e+02] [-1.09580893e-01 2.49307779e-03 9.93974754e-01 -2.46731740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45592 meters 0.027856232587074606 Centerline is valid? [True, True] Translation: X:202.74, Y:-137.17, Z:-24.68 [[ 7.48054699e-01 6.58633262e-01 8.13412155e-02 2.02742106e+02] [-6.54411658e-01 7.52459967e-01 -7.44941688e-02 -1.37166647e+02] [-1.10270346e-01 2.49507336e-03 9.93898499e-01 -2.46762535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48592 meters 0.027508017386760463 Centerline is valid? [True, True] Translation: X:202.76, Y:-137.19, Z:-24.68 [[ 7.47255533e-01 6.59611169e-01 8.07606040e-02 2.02760167e+02] [-6.55448120e-01 7.51603234e-01 -7.40293241e-02 -1.37194623e+02] [-1.09530500e-01 2.38443590e-03 9.93980575e-01 -2.46789292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51592 meters 0.027333481742828587 Centerline is valid? [True, True] Translation: X:202.78, Y:-137.22, Z:-24.68 [[ 7.46074567e-01 6.60965674e-01 8.06047106e-02 2.02781146e+02] [-6.56823286e-01 7.50412900e-01 -7.39165195e-02 -1.37219129e+02] [-1.09343097e-01 2.20418439e-03 9.94001624e-01 -2.46818176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54592 meters 0.02693421028601165 Centerline is valid? [True, True] Translation: X:202.80, Y:-137.24, Z:-24.68 [[ 7.43612685e-01 6.63799158e-01 8.00677932e-02 2.02801129e+02] [-6.59721047e-01 7.47908647e-01 -7.34901146e-02 -1.37244646e+02] [-1.08666071e-01 1.82577315e-03 9.94076633e-01 -2.46841559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57592 meters 0.026822723791247526 Centerline is valid? [True, True] Translation: X:202.82, Y:-137.27, Z:-24.69 [[ 7.41740359e-01 6.65851145e-01 8.03958475e-02 2.02823165e+02] [-6.61744096e-01 7.46082938e-01 -7.38579806e-02 -1.37268216e+02] [-1.09160391e-01 1.58196769e-03 9.94022890e-01 -2.46867011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60592 meters 0.02634216603808564 Centerline is valid? [True, True] Translation: X:202.84, Y:-137.29, Z:-24.69 [[ 7.37933574e-01 6.69963177e-01 8.12611961e-02 2.02843654e+02] [-6.65784138e-01 7.42393606e-01 -7.47209165e-02 -1.37293770e+02] [-1.10388055e-01 1.03665765e-03 9.93888023e-01 -2.46902233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63592 meters 0.0264835750909629 Centerline is valid? [True, True] Translation: X:202.87, Y:-137.32, Z:-24.69 [[ 7.35926777e-01 6.72132766e-01 8.15433854e-02 2.02866584e+02] [-6.67929942e-01 7.40430251e-01 -7.50508926e-02 -1.37317615e+02] [-1.10821353e-01 7.66692836e-04 9.93840047e-01 -2.46932384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66592 meters 0.026320495203471295 Centerline is valid? [True, True] Translation: X:202.89, Y:-137.34, Z:-24.70 [[ 7.34422085e-01 6.73868639e-01 8.07790707e-02 2.02889749e+02] [-6.69746450e-01 7.38850964e-01 -7.44240914e-02 -1.37340295e+02] [-1.09835755e-01 5.57200497e-04 9.93949594e-01 -2.46963612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69592 meters 0.02598061283596269 Centerline is valid? [True, True] Translation: X:202.91, Y:-137.36, Z:-24.70 [[ 7.32151630e-01 6.76577833e-01 7.87173887e-02 2.02913891e+02] [-6.72672439e-01 7.36371101e-01 -7.25905742e-02 -1.37362089e+02] [-1.07078384e-01 1.96289394e-04 9.94250563e-01 -2.46979523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72592 meters 0.02599460228796748 Centerline is valid? [True, True] Translation: X:202.94, Y:-137.38, Z:-24.70 [[ 7.30286078e-01 6.78501536e-01 7.94852836e-02 2.02938092e+02] [-6.74523001e-01 7.34598982e-01 -7.33693146e-02 -1.37384709e+02] [-1.08171001e-01 -3.40630727e-05 9.94132302e-01 -2.47024053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75592 meters 0.026148339245155857 Centerline is valid? [True, True] Translation: X:202.96, Y:-137.41, Z:-24.70 [[ 7.28032118e-01 6.80748988e-01 8.09323827e-02 2.02960640e+02] [-6.76628704e-01 7.32516700e-01 -7.47855691e-02 -1.37407543e+02] [-1.10194522e-01 -3.14876903e-04 9.93909990e-01 -2.47046409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78592 meters 0.026260975992767128 Centerline is valid? [True, True] Translation: X:202.99, Y:-137.43, Z:-24.71 [[ 7.27189862e-01 6.81704115e-01 8.04636797e-02 2.02985202e+02] [-6.77629510e-01 7.31627867e-01 -7.44238632e-02 -1.37429281e+02] [-1.09604524e-01 -4.04284982e-04 9.93975193e-01 -2.47069827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81592 meters 0.026172031841732807 Centerline is valid? [True, True] Translation: X:203.01, Y:-137.45, Z:-24.71 [[ 7.25224099e-01 6.83764871e-01 8.07193122e-02 2.03011708e+02] [-6.79668010e-01 7.29702109e-01 -7.47410772e-02 -1.37449759e+02] [-1.10006375e-01 -6.58303859e-04 9.93930664e-01 -2.47099296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84592 meters 0.026234174680429524 Centerline is valid? [True, True] Translation: X:203.04, Y:-137.47, Z:-24.71 [[ 7.24292333e-01 6.84788460e-01 8.04075882e-02 2.03036654e+02] [-6.80720737e-01 7.28741517e-01 -7.45324001e-02 -1.37471145e+02] [-1.09635275e-01 -7.51866778e-04 9.93971600e-01 -2.47132294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87592 meters 0.026127794236574322 Centerline is valid? [True, True] Translation: X:203.06, Y:-137.49, Z:-24.72 [[ 7.23159389e-01 6.86021080e-01 8.00972851e-02 2.03061363e+02] [-6.81983517e-01 7.27581136e-01 -7.43247791e-02 -1.37492586e+02] [-1.09265639e-01 -8.76366327e-04 9.94012199e-01 -2.47156603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90592 meters 0.026213427596457527 Centerline is valid? [True, True] Translation: X:203.09, Y:-137.51, Z:-24.72 [[ 7.20493476e-01 6.88608473e-01 8.18994596e-02 2.03086559e+02] [-6.84394063e-01 7.25132291e-01 -7.60784236e-02 -1.37512794e+02] [-1.11776190e-01 -1.23749605e-03 9.93732636e-01 -2.47172191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93592 meters 0.026082840534051258 Centerline is valid? [True, True] Translation: X:203.11, Y:-137.53, Z:-24.72 [[ 7.18902328e-01 6.90350786e-01 8.12110604e-02 2.03113765e+02] [-6.86210969e-01 7.23473355e-01 -7.55037066e-02 -1.37532500e+02] [-1.10878082e-01 -1.44813004e-03 9.93832961e-01 -2.47185700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96592 meters 0.026168419033197544 Centerline is valid? [True, True] Translation: X:203.14, Y:-137.55, Z:-24.72 [[ 7.18555256e-01 6.90568676e-01 8.24211644e-02 2.03138271e+02] [-6.86300729e-01 7.23265329e-01 -7.66718626e-02 -1.37553629e+02] [-1.12559557e-01 -1.47273535e-03 9.93643889e-01 -2.47229064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99592 meters 0.026084678315176243 Centerline is valid? [True, True] Translation: X:203.16, Y:-137.58, Z:-24.73 [[ 7.18430863e-01 6.90665082e-01 8.26972743e-02 2.03163596e+02] [-6.86360477e-01 7.23173338e-01 -7.70040199e-02 -1.37575286e+02] [-1.12988452e-01 -1.43807615e-03 9.93595261e-01 -2.47252374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02592 meters 0.026171112837267897 Centerline is valid? [True, True] Translation: X:203.19, Y:-137.59, Z:-24.73 [[ 7.19442162e-01 6.89407137e-01 8.43846879e-02 2.03189400e+02] [-6.84906156e-01 7.24373072e-01 -7.86588232e-02 -1.37594084e+02] [-1.15353950e-01 -1.20511840e-03 9.93323721e-01 -2.47278379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05592000000001 meters 0.026171112837267897 Centerline is valid? [True, True] Translation: X:203.21, Y:-137.62, Z:-24.73 [[ 7.19073536e-01 6.89796255e-01 8.43467653e-02 2.03213322e+02] [-6.85293174e-01 7.24002527e-01 -7.86994709e-02 -1.37615922e+02] [-1.15353872e-01 -1.21155572e-03 9.93323722e-01 -2.47308531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08592000000002 meters 0.025956880519420043 Centerline is valid? [True, True] Translation: X:203.24, Y:-137.64, Z:-24.73 [[ 7.19508321e-01 6.89342948e-01 8.43449829e-02 2.03239152e+02] [-6.84827085e-01 7.24434359e-01 -7.87827534e-02 -1.37636976e+02] [-1.15410739e-01 -1.07688212e-03 9.93317271e-01 -2.47336964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11592000000002 meters 0.02601847153162358 Centerline is valid? [True, True] Translation: X:203.27, Y:-137.66, Z:-24.74 [[ 7.19515728e-01 6.89382817e-01 8.39550420e-02 2.03266097e+02] [-6.84899281e-01 7.24396506e-01 -7.85027257e-02 -1.37656404e+02] [-1.14935169e-01 -1.01680207e-03 9.93372474e-01 -2.47352029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14592000000002 meters 0.025987963607326567 Centerline is valid? [True, True] Translation: X:203.29, Y:-137.68, Z:-24.74 [[ 7.19233028e-01 6.89510572e-01 8.53171917e-02 2.03290873e+02] [-6.84870854e-01 7.24274938e-01 -7.98606765e-02 -1.37676417e+02] [-1.16857884e-01 -9.92821830e-04 9.93148151e-01 -2.47397111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17592 meters 0.026005045874437343 Centerline is valid? [True, True] Translation: X:203.32, Y:-137.70, Z:-24.74 [[ 7.19795211e-01 6.88977974e-01 8.48775914e-02 2.03316838e+02] [-6.84373774e-01 7.24781783e-01 -7.95229820e-02 -1.37695699e+02] [-1.16307315e-01 -8.47735925e-04 9.93212913e-01 -2.47428028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20592 meters 0.02601223634709987 Centerline is valid? [True, True] Translation: X:203.34, Y:-137.72, Z:-24.75 [[ 7.19615174e-01 6.89089095e-01 8.54998346e-02 2.03341487e+02] [-6.84408557e-01 7.24676172e-01 -8.01833686e-02 -1.37717115e+02] [-1.17213178e-01 -8.15649725e-04 9.93106442e-01 -2.47454954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23592 meters 0.025872822341549674 Centerline is valid? [True, True] Translation: X:203.37, Y:-137.74, Z:-24.75 [[ 7.19911112e-01 6.88860950e-01 8.48444646e-02 2.03365344e+02] [-6.84240904e-01 7.24893154e-01 -7.96511156e-02 -1.37737865e+02] [-1.16371715e-01 -7.12329968e-04 9.93205476e-01 -2.47492939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26592 meters 0.02597916400495097 Centerline is valid? [True, True] Translation: X:203.39, Y:-137.76, Z:-24.75 [[ 7.20787884e-01 6.87949793e-01 8.47933309e-02 2.03392442e+02] [-6.83320098e-01 7.25758103e-01 -7.96794811e-02 -1.37757565e+02] [-1.16354929e-01 -5.08982633e-04 9.93207567e-01 -2.47518919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29592 meters 0.0260611046168251 Centerline is valid? [True, True] Translation: X:203.42, Y:-137.78, Z:-24.75 [[ 7.20883376e-01 6.87785861e-01 8.53098305e-02 2.03418073e+02] [-6.83088129e-01 7.25913515e-01 -8.02507123e-02 -1.37778301e+02] [-1.17122864e-01 -4.22728071e-04 9.93117343e-01 -2.47545146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32592 meters 0.026326584398896423 Centerline is valid? [True, True] Translation: X:203.44, Y:-137.80, Z:-24.76 [[ 7.22530223e-01 6.85767977e-01 8.75919943e-02 2.03443933e+02] [-6.80789401e-01 7.27820225e-01 -8.24834002e-02 -1.37796786e+02] [-1.20315700e-01 -3.49517767e-05 9.92735680e-01 -2.47575908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35592 meters 0.026466635136449073 Centerline is valid? [True, True] Translation: X:203.47, Y:-137.82, Z:-24.76 [[ 7.23176576e-01 6.85170418e-01 8.69318030e-02 2.03468421e+02] [-6.80253947e-01 7.28382787e-01 -8.19334107e-02 -1.37817611e+02] [-1.19457978e-01 1.16621283e-04 9.92839251e-01 -2.47600577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38592 meters 0.026375682633442667 Centerline is valid? [True, True] Translation: X:203.49, Y:-137.84, Z:-24.76 [[ 7.23776043e-01 6.84510325e-01 8.71427225e-02 2.03493333e+02] [-6.79555581e-01 7.29003110e-01 -8.22111811e-02 -1.37838551e+02] [-1.19801718e-01 2.84159971e-04 9.92797798e-01 -2.47631138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41592 meters 0.02637362500883983 Centerline is valid? [True, True] Translation: X:203.52, Y:-137.86, Z:-24.77 [[ 7.25604661e-01 6.82608119e-01 8.68563808e-02 2.03518947e+02] [-6.77661951e-01 7.30784318e-01 -8.20278076e-02 -1.37859760e+02] [-1.19466128e-01 6.60495087e-04 9.92838057e-01 -2.47663139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44592 meters 0.026824303079050572 Centerline is valid? [True, True] Translation: X:203.54, Y:-137.88, Z:-24.77 [[ 7.27354808e-01 6.80659635e-01 8.75068251e-02 2.03543005e+02] [-6.75614457e-01 7.32599042e-01 -8.27269534e-02 -1.37880624e+02] [-1.20416314e-01 1.05097112e-03 9.92722925e-01 -2.47688950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47592 meters 0.02706873037731827 Centerline is valid? [True, True] Translation: X:203.57, Y:-137.90, Z:-24.77 [[ 7.28896958e-01 6.79051640e-01 8.71670549e-02 2.03567497e+02] [-6.74024872e-01 7.34089229e-01 -8.24831842e-02 -1.37901959e+02] [-1.19998738e-01 1.36897905e-03 9.92773100e-01 -2.47718153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50592 meters 0.0273323911162737 Centerline is valid? [True, True] Translation: X:203.59, Y:-137.92, Z:-24.77 [[ 7.30460011e-01 6.77265603e-01 8.79742844e-02 2.03590492e+02] [-6.72121775e-01 7.35736552e-01 -8.33309440e-02 -1.37924517e+02] [-1.21163079e-01 1.74049015e-03 9.92631089e-01 -2.47747096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53592 meters 0.02760209556742941 Centerline is valid? [True, True] Translation: X:203.61, Y:-137.95, Z:-24.78 [[ 7.30671414e-01 6.76968707e-01 8.85022882e-02 2.03613195e+02] [-6.71751278e-01 7.36009459e-01 -8.39064805e-02 -1.37946701e+02] [-1.21940583e-01 1.85654156e-03 9.92535666e-01 -2.47784676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56592 meters 0.02740828324257116 Centerline is valid? [True, True] Translation: X:203.64, Y:-137.97, Z:-24.78 [[ 7.30715362e-01 6.77027526e-01 8.76857367e-02 2.03635702e+02] [-6.71899126e-01 7.35955305e-01 -8.31946743e-02 -1.37970265e+02] [-1.20857868e-01 1.87565674e-03 9.92668050e-01 -2.47813536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59592 meters 0.02753575308601178 Centerline is valid? [True, True] Translation: X:203.66, Y:-138.00, Z:-24.79 [[ 7.28907602e-01 6.78866976e-01 8.85061377e-02 2.03655920e+02] [-6.73650189e-01 7.34259501e-01 -8.40143273e-02 -1.37995942e+02] [-1.22021025e-01 1.61650544e-03 9.92526199e-01 -2.47851718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62592 meters 0.02754997731332184 Centerline is valid? [True, True] Translation: X:203.68, Y:-138.02, Z:-24.79 [[ 7.27667592e-01 6.80248477e-01 8.81015653e-02 2.03677139e+02] [-6.75079400e-01 7.32980175e-01 -8.37130037e-02 -1.38019644e+02] [-1.21522344e-01 1.43968791e-03 9.92587652e-01 -2.47883056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65592 meters 0.027405720565319622 Centerline is valid? [True, True] Translation: X:203.70, Y:-138.04, Z:-24.79 [[ 7.26097077e-01 6.81822423e-01 8.88887978e-02 2.03700394e+02] [-6.76562130e-01 7.31516666e-01 -8.45402415e-02 -1.38042289e+02] [-1.22665069e-01 1.24562791e-03 9.92447343e-01 -2.47913503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68592 meters 0.027251861217619314 Centerline is valid? [True, True] Translation: X:203.72, Y:-138.07, Z:-24.79 [[ 7.25174937e-01 6.82906831e-01 8.80884281e-02 2.03723425e+02] [-6.77738962e-01 7.30504633e-01 -8.38622699e-02 -1.38065178e+02] [-1.21619122e-01 1.11385650e-03 9.92576218e-01 -2.47937695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71592 meters 0.02716855285306831 Centerline is valid? [True, True] Translation: X:203.75, Y:-138.09, Z:-24.80 [[ 7.22815711e-01 6.85345887e-01 8.85350918e-02 2.03745300e+02] [-6.80133692e-01 7.28217295e-01 -8.43666616e-02 -1.38089932e+02] [-1.22293130e-01 7.65849691e-04 9.92493730e-01 -2.47979655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74592 meters 0.027187312683950207 Centerline is valid? [True, True] Translation: X:203.77, Y:-138.11, Z:-24.80 [[ 7.20897778e-01 6.87251534e-01 8.93964348e-02 2.03768449e+02] [-6.81940776e-01 7.26419347e-01 -8.52743243e-02 -1.38112506e+02] [-1.23544210e-01 5.10996781e-04 9.92338938e-01 -2.48014847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77592 meters 0.027154765212126834 Centerline is valid? [True, True] Translation: X:203.79, Y:-138.13, Z:-24.80 [[ 7.20518174e-01 6.87884830e-01 8.75672396e-02 2.03792141e+02] [-6.82785498e-01 7.25819716e-01 -8.36044496e-02 -1.38134268e+02] [-1.21068262e-01 4.48884149e-04 9.92644083e-01 -2.48029952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80592000000001 meters 0.027137568400848727 Centerline is valid? [True, True] Translation: X:203.82, Y:-138.16, Z:-24.81 [[ 7.20007988e-01 6.88424815e-01 8.75201234e-02 2.03816596e+02] [-6.83325310e-01 7.25307591e-01 -8.36386261e-02 -1.38156893e+02] [-1.21057916e-01 4.15763465e-04 9.92645359e-01 -2.48058831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83592000000002 meters 0.027264498399374594 Centerline is valid? [True, True] Translation: X:203.84, Y:-138.18, Z:-24.81 [[ 7.19710968e-01 6.88543674e-01 8.90153478e-02 2.03840370e+02] [-6.83257765e-01 7.25194727e-01 -8.51553617e-02 -1.38178552e+02] [-1.23186646e-01 4.66820258e-04 9.92383410e-01 -2.48097664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86592000000002 meters 0.027300168899596987 Centerline is valid? [True, True] Translation: X:203.86, Y:-138.20, Z:-24.81 [[ 7.19685896e-01 6.88660795e-01 8.83092326e-02 2.03864085e+02] [-6.83450106e-01 7.25083485e-01 -8.45570342e-02 -1.38199680e+02] [-1.22262680e-01 4.99550500e-04 9.92497651e-01 -2.48117312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89592000000002 meters 0.02734376132675371 Centerline is valid? [True, True] Translation: X:203.89, Y:-138.22, Z:-24.82 [[ 7.19382244e-01 6.89003999e-01 8.81060500e-02 2.03889862e+02] [-6.83810071e-01 7.24757367e-01 -8.44425625e-02 -1.38220621e+02] [-1.22036772e-01 4.98675791e-04 9.92525454e-01 -2.48150218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92592 meters 0.027143197860347447 Centerline is valid? [True, True] Translation: X:203.91, Y:-138.24, Z:-24.82 [[ 7.18298772e-01 6.90152906e-01 8.79536248e-02 2.03914611e+02] [-6.84974663e-01 7.23663479e-01 -8.43853082e-02 -1.38242476e+02] [-1.21887592e-01 3.67858755e-04 9.92543843e-01 -2.48181250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95592 meters 0.027183236156583003 Centerline is valid? [True, True] Translation: X:203.94, Y:-138.26, Z:-24.82 [[ 7.17264840e-01 6.91201962e-01 8.81532587e-02 2.03939993e+02] [-6.85997016e-01 7.22661596e-01 -8.46658774e-02 -1.38262826e+02] [-1.22226195e-01 2.54984584e-04 9.92502238e-01 -2.48214803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98592 meters 0.027306409187720312 Centerline is valid? [True, True] Translation: X:203.97, Y:-138.28, Z:-24.82 [[ 7.16896662e-01 6.91630172e-01 8.77888469e-02 2.03965295e+02] [-6.86460597e-01 7.22251787e-01 -8.44050045e-02 -1.38284225e+02] [-1.21782699e-01 2.46081702e-04 9.92556756e-01 -2.48245842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01592 meters 0.027441203239644874 Centerline is valid? [True, True] Translation: X:203.99, Y:-138.31, Z:-24.83 [[ 7.16052491e-01 6.92480343e-01 8.79761615e-02 2.03990962e+02] [-6.87283985e-01 7.21436724e-01 -8.46745335e-02 -1.38305212e+02] [-1.22104684e-01 1.66803735e-04 9.92517213e-01 -2.48281201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04592 meters 0.02750654554635534 Centerline is valid? [True, True] Translation: X:204.02, Y:-138.32, Z:-24.83 [[ 7.15650708e-01 6.92742906e-01 8.91702344e-02 2.04017473e+02] [-6.87394998e-01 7.21184603e-01 -8.59120772e-02 -1.38324270e+02] [-1.23823182e-01 1.87865757e-04 9.92304280e-01 -2.48322101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07592 meters 0.02733961840549653 Centerline is valid? [True, True] Translation: X:204.04, Y:-138.35, Z:-24.83 [[ 7.16166310e-01 6.92477073e-01 8.70707816e-02 2.04042275e+02] [-6.87369178e-01 7.21439830e-01 -8.39534689e-02 -1.38345403e+02] [-1.20952182e-01 2.74874405e-04 9.92658297e-01 -2.48348138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10592 meters 0.02746211717833136 Centerline is valid? [True, True] Translation: X:204.07, Y:-138.36, Z:-24.84 [[ 7.17509902e-01 6.91229138e-01 8.59175176e-02 2.04068797e+02] [-6.86242651e-01 7.22635470e-01 -8.28794346e-02 -1.38363990e+02] [-1.19375726e-01 5.06549933e-04 9.92849022e-01 -2.48376778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13592 meters 0.027317594836049525 Centerline is valid? [True, True] Translation: X:204.09, Y:-138.38, Z:-24.84 [[ 7.17716564e-01 6.91135144e-01 8.49420119e-02 2.04093695e+02] [-6.86252138e-01 7.22725319e-01 -8.20129024e-02 -1.38383730e+02] [-1.18071742e-01 5.70381229e-04 9.93004904e-01 -2.48407485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16592 meters 0.027660787651071266 Centerline is valid? [True, True] Translation: X:204.12, Y:-138.40, Z:-24.84 [[ 7.18207990e-01 6.90475578e-01 8.61438301e-02 2.04120393e+02] [-6.85438914e-01 7.23355322e-01 -8.32500696e-02 -1.38402718e+02] [-1.19794738e-01 7.44531821e-04 9.92798402e-01 -2.48437140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19592 meters 0.027691928820781555 Centerline is valid? [True, True] Translation: X:204.15, Y:-138.42, Z:-24.85 [[ 7.17466526e-01 6.91351912e-01 8.52896116e-02 2.04145210e+02] [-6.86412273e-01 7.22517900e-01 -8.24989459e-02 -1.38423767e+02] [-1.18659075e-01 6.46395894e-04 9.92934845e-01 -2.48470344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22592 meters 0.027764801685816447 Centerline is valid? [True, True] Translation: X:204.17, Y:-138.44, Z:-24.85 [[ 7.16890538e-01 6.91941572e-01 8.53511456e-02 2.04172788e+02] [-6.86990886e-01 7.21953256e-01 -8.26257785e-02 -1.38442506e+02] [-1.18791748e-01 5.98179631e-04 9.92919011e-01 -2.48499439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25592 meters 0.02769597759252924 Centerline is valid? [True, True] Translation: X:204.20, Y:-138.46, Z:-24.85 [[ 7.16225018e-01 6.92758340e-01 8.43066140e-02 2.04197903e+02] [-6.87928840e-01 7.21169635e-01 -8.16594651e-02 -1.38463101e+02] [-1.17369646e-01 4.89600652e-04 9.93088177e-01 -2.48532602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28592 meters 0.02749189455682142 Centerline is valid? [True, True] Translation: X:204.22, Y:-138.48, Z:-24.86 [[ 7.16758592e-01 6.92273608e-01 8.37518506e-02 2.04224599e+02] [-6.87495423e-01 7.21634857e-01 -8.11983724e-02 -1.38482372e+02] [-1.16649745e-01 6.20617173e-04 9.93172921e-01 -2.48563409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31592 meters 0.02768667742230607 Centerline is valid? [True, True] Translation: X:204.25, Y:-138.50, Z:-24.86 [[ 7.16726839e-01 6.92281855e-01 8.39551696e-02 2.04250525e+02] [-6.87470423e-01 7.21626889e-01 -8.14803693e-02 -1.38503529e+02] [-1.16991689e-01 6.82471574e-04 9.93132659e-01 -2.48599648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34592 meters 0.0275078126484335 Centerline is valid? [True, True] Translation: X:204.28, Y:-138.52, Z:-24.86 [[ 7.16846876e-01 6.92254857e-01 8.31490771e-02 2.04275887e+02] [-6.87526046e-01 7.21652733e-01 -8.07791353e-02 -1.38523600e+02] [-1.15924508e-01 7.39114585e-04 9.93257752e-01 -2.48620244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37592 meters 0.028180744088124446 Centerline is valid? [True, True] Translation: X:204.30, Y:-138.54, Z:-24.87 [[ 7.17667263e-01 6.91242294e-01 8.44854485e-02 2.04302808e+02] [-6.86343826e-01 7.22622410e-01 -8.21523295e-02 -1.38541598e+02] [-1.17838243e-01 9.71971527e-04 9.93032328e-01 -2.48660962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40592 meters 0.028064305956939373 Centerline is valid? [True, True] Translation: X:204.33, Y:-138.56, Z:-24.87 [[ 7.19198009e-01 6.89717515e-01 8.39283822e-02 2.04330021e+02] [-6.84864367e-01 7.24077440e-01 -8.16863516e-02 -1.38560801e+02] [-1.17111156e-01 1.26910312e-03 9.93118002e-01 -2.48691077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43592 meters 0.02809546025507426 Centerline is valid? [True, True] Translation: X:204.36, Y:-138.58, Z:-24.87 [[ 7.18927314e-01 6.89952499e-01 8.43152837e-02 2.04355789e+02] [-6.85045964e-01 7.23853483e-01 -8.21472046e-02 -1.38581600e+02] [-1.17709581e-01 1.29802434e-03 9.93047214e-01 -2.48721666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46592 meters 0.02823888769221325 Centerline is valid? [True, True] Translation: X:204.38, Y:-138.60, Z:-24.88 [[ 7.19157955e-01 6.89718259e-01 8.42648140e-02 2.04381329e+02] [-6.84806055e-01 7.24076496e-01 -8.21820840e-02 -1.38602598e+02] [-1.17696655e-01 1.39684465e-03 9.93048612e-01 -2.48759171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49592 meters 0.028093553621937897 Centerline is valid? [True, True] Translation: X:204.41, Y:-138.62, Z:-24.88 [[ 7.19956817e-01 6.88919969e-01 8.39729632e-02 2.04407743e+02] [-6.84026617e-01 7.24835686e-01 -8.19805793e-02 -1.38622728e+02] [-1.17344659e-01 1.58273499e-03 9.93089989e-01 -2.48794244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52592 meters 0.02848723043016317 Centerline is valid? [True, True] Translation: X:204.43, Y:-138.64, Z:-24.88 [[ 7.21263100e-01 6.87590074e-01 8.36625944e-02 2.04432651e+02] [-6.82714562e-01 7.26096731e-01 -8.17579667e-02 -1.38643663e+02] [-1.16963103e-01 1.85133307e-03 9.93134535e-01 -2.48823764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55592000000001 meters 0.028918648567048164 Centerline is valid? [True, True] Translation: X:204.46, Y:-138.66, Z:-24.89 [[ 7.24350179e-01 6.84311973e-01 8.38685938e-02 2.04458243e+02] [-6.79381782e-01 7.29185275e-01 -8.20318784e-02 -1.38663174e+02] [-1.17291140e-01 2.44101109e-03 9.93094573e-01 -2.48854245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58592000000002 meters 0.029467137492709534 Centerline is valid? [True, True] Translation: X:204.48, Y:-138.68, Z:-24.89 [[ 7.26936911e-01 6.81627995e-01 8.33426926e-02 2.04482304e+02] [-6.76733756e-01 7.31693117e-01 -8.15880266e-02 -1.38684171e+02] [-1.16593957e-01 2.90853458e-03 9.93175407e-01 -2.48881728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61592000000002 meters 0.030178000546678956 Centerline is valid? [True, True] Translation: X:204.51, Y:-138.71, Z:-24.89 [[ 7.30112744e-01 6.78278169e-01 8.29102296e-02 2.04505329e+02] [-6.73405007e-01 7.34796997e-01 -8.12346543e-02 -1.38706463e+02] [-1.16021880e-01 3.47829263e-03 9.93240567e-01 -2.48913873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64592000000002 meters 0.030783854493113504 Centerline is valid? [True, True] Translation: X:204.53, Y:-138.73, Z:-24.90 [[ 7.31642046e-01 6.76636657e-01 8.28417218e-02 2.04529209e+02] [-6.71753033e-01 7.36307337e-01 -8.12364974e-02 -1.38728440e+02] [-1.15964560e-01 3.78685934e-03 9.93246133e-01 -2.48950918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67592 meters 0.03129848445534084 Centerline is valid? [True, True] Translation: X:204.55, Y:-138.75, Z:-24.90 [[ 7.32471074e-01 6.75696101e-01 8.31919746e-02 2.04552967e+02] [-6.70756716e-01 7.37169412e-01 -8.16497694e-02 -1.38750171e+02] [-1.16497010e-01 4.00451860e-03 9.93182969e-01 -2.48984095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70592 meters 0.03180521094540825 Centerline is valid? [True, True] Translation: X:204.58, Y:-138.77, Z:-24.90 [[ 7.34360479e-01 6.73645982e-01 8.31611587e-02 2.04575240e+02] [-6.68689083e-01 7.39041209e-01 -8.16884427e-02 -1.38773052e+02] [-1.16488614e-01 4.37980494e-03 9.93182370e-01 -2.49008891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73592 meters 0.03207716325123491 Centerline is valid? [True, True] Translation: X:204.60, Y:-138.80, Z:-24.90 [[ 7.35400216e-01 6.72490180e-01 8.33275467e-02 2.04595620e+02] [-6.67497868e-01 7.40091602e-01 -8.19207930e-02 -1.38797791e+02] [-1.16760946e-01 4.62360901e-03 9.93149286e-01 -2.49032283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76592 meters 0.03202076580531418 Centerline is valid? [True, True] Translation: X:204.62, Y:-138.82, Z:-24.91 [[ 7.36183066e-01 6.71802104e-01 8.19538006e-02 2.04618310e+02] [-6.66961436e-01 7.40715732e-01 -8.06389950e-02 -1.38822139e+02] [-1.14877916e-01 4.70503807e-03 9.93368475e-01 -2.49059573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79592 meters 0.032307306689591184 Centerline is valid? [True, True] Translation: X:204.64, Y:-138.85, Z:-24.91 [[ 7.36900773e-01 6.71145610e-01 8.08753496e-02 2.04640818e+02] [-6.66419578e-01 7.41310019e-01 -7.96517474e-02 -1.38845407e+02] [-1.13411628e-01 4.79851787e-03 9.93536500e-01 -2.49081606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82592 meters 0.03309470865303911 Centerline is valid? [True, True] Translation: X:204.66, Y:-138.87, Z:-24.91 [[ 7.38179393e-01 6.69589635e-01 8.21030122e-02 2.04660468e+02] [-6.64701048e-01 7.42713291e-01 -8.09288850e-02 -1.38870332e+02] [-1.15168141e-01 5.16607699e-03 9.93332578e-01 -2.49125655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85592 meters 0.03305496248885481 Centerline is valid? [True, True] Translation: X:204.68, Y:-138.90, Z:-24.91 [[ 7.38756732e-01 6.69129294e-01 8.06503557e-02 2.04682290e+02] [-6.64402818e-01 7.43127874e-01 -7.95604081e-02 -1.38895406e+02] [-1.13169727e-01 5.19146348e-03 9.93562108e-01 -2.49139929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88592 meters 0.03392422885268892 Centerline is valid? [True, True] Translation: X:204.70, Y:-138.92, Z:-24.92 [[ 7.40501963e-01 6.67297407e-01 7.98186280e-02 2.04703468e+02] [-6.62649518e-01 7.44771282e-01 -7.88121363e-02 -1.38919599e+02] [-1.12037756e-01 5.46876625e-03 9.93688902e-01 -2.49163130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91592 meters 0.03392422885268892 Centerline is valid? [True, True] Translation: X:204.73, Y:-138.94, Z:-24.92 [[ 7.40190691e-01 6.67646655e-01 7.97852408e-02 2.04726797e+02] [-6.62997155e-01 7.44458254e-01 -7.88459238e-02 -1.38942168e+02] [-1.12037998e-01 5.46363114e-03 9.93688903e-01 -2.49193317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94592 meters 0.03375558787795368 Centerline is valid? [True, True] Translation: X:204.75, Y:-138.97, Z:-24.92 [[ 7.39699420e-01 6.68144264e-01 8.01748723e-02 2.04748760e+02] [-6.63443507e-01 7.44011634e-01 -7.93057423e-02 -1.38967039e+02] [-1.12638715e-01 5.47091314e-03 9.93620948e-01 -2.49223019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97592 meters 0.03381417561594026 Centerline is valid? [True, True] Translation: X:204.77, Y:-138.99, Z:-24.93 [[ 7.39713927e-01 6.68024649e-01 8.10331714e-02 2.04766714e+02] [-6.63213122e-01 7.44118042e-01 -8.02290081e-02 -1.38994070e+02] [-1.13893200e-01 5.60425202e-03 9.93477192e-01 -2.49263468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00592 meters 0.03379775648924447 Centerline is valid? [True, True] Translation: X:204.79, Y:-139.02, Z:-24.93 [[ 7.39042735e-01 6.68697100e-01 8.16089772e-02 2.04787893e+02] [-6.63812831e-01 7.43513902e-01 -8.08678145e-02 -1.39019711e+02] [-1.14753482e-01 5.59168463e-03 9.93378262e-01 -2.49289126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03592 meters 0.03340262793850419 Centerline is valid? [True, True] Translation: X:204.81, Y:-139.05, Z:-24.93 [[ 7.38465844e-01 6.69441217e-01 8.07257965e-02 2.04807060e+02] [-6.64658519e-01 7.42844888e-01 -8.00657537e-02 -1.39045874e+02] [-1.13566061e-01 5.47073600e-03 9.93515385e-01 -2.49314048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06592 meters 0.033113749021348046 Centerline is valid? [True, True] Translation: X:204.83, Y:-139.07, Z:-24.93 [[ 7.37586740e-01 6.70400909e-01 8.07986523e-02 2.04827406e+02] [-6.65607684e-01 7.41979586e-01 -8.02041436e-02 -1.39070770e+02] [-1.13719881e-01 5.37730898e-03 9.93498301e-01 -2.49347541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09592 meters 0.0328755676418683 Centerline is valid? [True, True] Translation: X:204.85, Y:-139.10, Z:-24.94 [[ 7.36901589e-01 6.71183965e-01 8.05489504e-02 2.04845195e+02] [-6.66417534e-01 7.41271953e-01 -8.00222609e-02 -1.39098646e+02] [-1.13418336e-01 5.28929826e-03 9.93533243e-01 -2.49375061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12592 meters 0.03294394201537788 Centerline is valid? [True, True] Translation: X:204.87, Y:-139.12, Z:-24.94 [[ 7.36930288e-01 6.71122038e-01 8.08019854e-02 2.04866305e+02] [-6.66317471e-01 7.41327472e-01 -8.03405704e-02 -1.39122578e+02] [-1.13819059e-01 5.36562517e-03 9.93487006e-01 -2.49400677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15592 meters 0.03254015814859144 Centerline is valid? [True, True] Translation: X:204.89, Y:-139.15, Z:-24.94 [[ 7.35991695e-01 6.72148471e-01 8.08248523e-02 2.04885929e+02] [-6.67339651e-01 7.40397719e-01 -8.04301402e-02 -1.39147805e+02] [-1.13903532e-01 5.25828650e-03 9.93477899e-01 -2.49436814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18592 meters 0.03241884849325678 Centerline is valid? [True, True] Translation: X:204.91, Y:-139.17, Z:-24.95 [[ 7.35135064e-01 6.73047281e-01 8.11405903e-02 2.04907068e+02] [-6.68198358e-01 7.39581251e-01 -8.08116747e-02 -1.39171903e+02] [-1.14400137e-01 5.18948639e-03 9.93421199e-01 -2.49469555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21592 meters 0.03248851313237299 Centerline is valid? [True, True] Translation: X:204.93, Y:-139.20, Z:-24.95 [[ 7.34753925e-01 6.73464440e-01 8.11314843e-02 2.04929219e+02] [-6.68611156e-01 7.39201503e-01 -8.08718721e-02 -1.39196939e+02] [-1.14436845e-01 5.17550990e-03 9.93417044e-01 -2.49496037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24592 meters 0.03206831815872268 Centerline is valid? [True, True] Translation: X:204.95, Y:-139.22, Z:-24.95 [[ 7.33697887e-01 6.74665318e-01 8.07100979e-02 2.04948337e+02] [-6.69862060e-01 7.38106762e-01 -8.05184911e-02 -1.39223729e+02] [-1.13895702e-01 5.01161423e-03 9.93480072e-01 -2.49524517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27592 meters 0.031339119902843084 Centerline is valid? [True, True] Translation: X:204.97, Y:-139.25, Z:-24.96 [[ 7.32882093e-01 6.75731864e-01 7.91851313e-02 2.04966473e+02] [-6.71112481e-01 7.37132067e-01 -7.90212207e-02 -1.39251498e+02] [-1.11767056e-01 4.77110769e-03 9.93722980e-01 -2.49550809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30592000000001 meters 0.030992588131665638 Centerline is valid? [True, True] Translation: X:204.99, Y:-139.28, Z:-24.96 [[ 7.31543921e-01 6.77060953e-01 8.01994918e-02 2.04987150e+02] [-6.72325831e-01 7.35912225e-01 -8.00698094e-02 -1.39276322e+02] [-1.13231928e-01 4.65439237e-03 9.93557682e-01 -2.49582843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33592000000002 meters 0.031189409188303863 Centerline is valid? [True, True] Translation: X:205.01, Y:-139.30, Z:-24.96 [[ 7.30961471e-01 6.77721344e-01 7.99318952e-02 2.05008306e+02] [-6.73014089e-01 7.35304522e-01 -7.98704965e-02 -1.39300483e+02] [-1.12904224e-01 4.58696404e-03 9.93595288e-01 -2.49616050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36592000000002 meters 0.030708447928176896 Centerline is valid? [True, True] Translation: X:205.03, Y:-139.33, Z:-24.96 [[ 7.29752947e-01 6.79001753e-01 8.01077765e-02 2.05028217e+02] [-6.74274473e-01 7.34123202e-01 -8.01065526e-02 -1.39326596e+02] [-1.13201467e-01 4.44336406e-03 9.93562119e-01 -2.49640508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39592000000002 meters 0.030256233838290965 Centerline is valid? [True, True] Translation: X:205.18, Y:-139.50, Z:-23.07 [[ 7.31244389e-01 -6.80175599e-01 -5.14081640e-02 2.05177881e+02] [-6.78087498e-01 -7.33037156e-01 5.34216508e-02 -1.39503479e+02] [-7.40201976e-02 -4.20504907e-03 -9.97247877e-01 -2.30688117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42592 meters 0.029996225342425523 Centerline is valid? [True, True] Translation: X:205.07, Y:-139.40, Z:-24.97 [[ 7.77136762e-01 6.23773277e-01 8.34586860e-02 2.05073563e+02] [-6.19656989e-01 7.81595262e-01 -7.16523716e-02 -1.39403291e+02] [-1.09925748e-01 3.96793397e-03 9.93931882e-01 -2.49717896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45592 meters 0.029753439745118293 Centerline is valid? [True, True] Translation: X:205.10, Y:-139.43, Z:-24.97 [[ 7.75736355e-01 6.25399276e-01 8.43140187e-02 2.05095595e+02] [-6.21200342e-01 7.80295524e-01 -7.24501943e-02 -1.39426238e+02] [-1.11100150e-01 3.82635240e-03 9.93801849e-01 -2.49749749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48592 meters 0.02910984206777546 Centerline is valid? [True, True] Translation: X:205.12, Y:-139.45, Z:-24.98 [[ 7.74581311e-01 6.26739973e-01 8.49752857e-02 2.05115758e+02] [-6.22476053e-01 7.79219639e-01 -7.30774734e-02 -1.39452388e+02] [-1.12014985e-01 3.70936463e-03 9.93699594e-01 -2.49765298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51592 meters 0.029036873044161225 Centerline is valid? [True, True] Translation: X:205.14, Y:-139.48, Z:-24.98 [[ 7.73705217e-01 6.27794184e-01 8.51745250e-02 2.05138688e+02] [-6.23511969e-01 7.78371072e-01 -7.32891448e-02 -1.39475640e+02] [-1.12307885e-01 3.59685790e-03 9.93666947e-01 -2.49789039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54592 meters 0.02834535420280643 Centerline is valid? [True, True] Translation: X:205.16, Y:-139.50, Z:-24.98 [[ 7.71129411e-01 6.30733053e-01 8.68058033e-02 2.05158006e+02] [-6.26296327e-01 7.75992962e-01 -7.47518202e-02 -1.39502920e+02] [-1.14509136e-01 3.27717138e-03 9.93416790e-01 -2.49825407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57592 meters 0.02782421752556931 Centerline is valid? [True, True] Translation: X:205.18, Y:-139.53, Z:-24.99 [[ 7.69623071e-01 6.32587127e-01 8.66825003e-02 2.05179436e+02] [-6.28171058e-01 7.74483308e-01 -7.46774904e-02 -1.39526491e+02] [-1.14374169e-01 3.02208152e-03 9.93433147e-01 -2.49856050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60592 meters 0.02769459069798726 Centerline is valid? [True, True] Translation: X:205.20, Y:-139.55, Z:-24.99 [[ 7.67606605e-01 6.35085293e-01 8.62946748e-02 2.05201692e+02] [-6.30716851e-01 7.72437334e-01 -7.44098078e-02 -1.39549310e+02] [-1.13913803e-01 2.68995440e-03 9.93486995e-01 -2.49889089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63592 meters 0.027123337818287328 Centerline is valid? [True, True] Translation: X:205.22, Y:-139.57, Z:-24.99 [[ 7.64373826e-01 6.39122083e-01 8.51799077e-02 2.05222332e+02] [-6.34883545e-01 7.69102397e-01 -7.35145373e-02 -1.39574063e+02] [-1.12496835e-01 2.11326630e-03 9.93649836e-01 -2.49920746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66592 meters 0.026493438380242876 Centerline is valid? [True, True] Translation: X:205.24, Y:-139.60, Z:-25.00 [[ 7.59792711e-01 6.44324552e-01 8.69534830e-02 2.05243207e+02] [-6.39932825e-01 7.64750833e-01 -7.51142017e-02 -1.39599458e+02] [-1.14895673e-01 1.42683491e-03 9.93376539e-01 -2.49954184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69592 meters 0.026163379042520144 Centerline is valid? [True, True] Translation: X:205.27, Y:-139.62, Z:-25.00 [[ 7.57508557e-01 6.46968740e-01 8.72481255e-02 2.05266480e+02] [-6.42556482e-01 7.62515754e-01 -7.54380009e-02 -1.39621491e+02] [-1.15334099e-01 1.08308261e-03 9.93326166e-01 -2.49977102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72592 meters 0.026037875795594113 Centerline is valid? [True, True] Translation: X:205.29, Y:-139.64, Z:-25.00 [[ 7.55394288e-01 6.49357657e-01 8.78299653e-02 2.05291171e+02] [-6.44893655e-01 7.60482758e-01 -7.60141323e-02 -1.39643520e+02] [-1.16153533e-01 7.79653983e-04 9.93230965e-01 -2.50012055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75592 meters 0.02593268595680467 Centerline is valid? [True, True] Translation: X:205.32, Y:-139.67, Z:-25.01 [[ 7.51039820e-01 6.54408073e-01 8.76884388e-02 2.05315080e+02] [-6.49983380e-01 7.56141568e-01 -7.59706223e-02 -1.39665094e+02] [-1.16020662e-01 6.09346609e-05 9.93246798e-01 -2.50052482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78592 meters 0.025961108314736244 Centerline is valid? [True, True] Translation: X:205.34, Y:-139.69, Z:-25.01 [[ 7.49683225e-01 6.56018968e-01 8.72592494e-02 2.05340454e+02] [-6.51639999e-01 7.54744392e-01 -7.56717614e-02 -1.39686619e+02] [-1.15500540e-01 -1.31767053e-04 9.93307409e-01 -2.50087308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81592 meters 0.02593133262621732 Centerline is valid? [True, True] Translation: X:205.36, Y:-139.71, Z:-25.01 [[ 7.47515850e-01 6.58357808e-01 8.82329312e-02 2.05364935e+02] [-6.53886828e-01 7.52704993e-01 -7.65977136e-02 -1.39706649e+02] [-1.16842071e-01 -4.36346450e-04 9.93150412e-01 -2.50125589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84592 meters 0.025943145173108927 Centerline is valid? [True, True] Translation: X:205.39, Y:-139.73, Z:-25.01 [[ 7.47799455e-01 6.58200402e-01 8.69954302e-02 2.05390010e+02] [-6.53845111e-01 7.52842684e-01 -7.55940802e-02 -1.39727253e+02] [-1.15249927e-01 -3.52324704e-04 9.93336464e-01 -2.50142525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87592 meters 0.025839467610733604 Centerline is valid? [True, True] Translation: X:205.42, Y:-139.75, Z:-25.02 [[ 7.48894996e-01 6.56977265e-01 8.68168058e-02 2.05415432e+02] [-6.52623194e-01 7.53910380e-01 -7.55122851e-02 -1.39747342e+02] [-1.15061946e-01 -1.07888589e-04 9.93358313e-01 -2.50172725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90592 meters 0.025867695588974383 Centerline is valid? [True, True] Translation: X:205.44, Y:-139.77, Z:-25.02 [[ 7.49365067e-01 6.56492393e-01 8.64276315e-02 2.05440682e+02] [-6.52164735e-01 7.54332644e-01 -7.52557062e-02 -1.39768254e+02] [-1.14599982e-01 2.89439269e-05 9.93411719e-01 -2.50200815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93592 meters 0.025822834796315263 Centerline is valid? [True, True] Translation: X:205.47, Y:-139.79, Z:-25.02 [[ 7.50462805e-01 6.55260551e-01 8.62507338e-02 2.05465951e+02] [-6.50933128e-01 7.55402895e-01 -7.51833053e-02 -1.39789245e+02] [-1.14418708e-01 2.78814184e-04 9.93432575e-01 -2.50233989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96592 meters 0.02592136935338326 Centerline is valid? [True, True] Translation: X:205.49, Y:-139.81, Z:-25.03 [[ 7.51099402e-01 6.54621432e-01 8.55597415e-02 2.05490915e+02] [-6.50350013e-01 7.55956740e-01 -7.46610240e-02 -1.39810529e+02] [-1.13554170e-01 4.34071473e-04 9.93531712e-01 -2.50264490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99592 meters 0.025915939590911617 Centerline is valid? [True, True] Translation: X:205.52, Y:-139.83, Z:-25.03 [[ 7.50661619e-01 6.55041239e-01 8.61864715e-02 2.05515775e+02] [-6.50700117e-01 7.55593002e-01 -7.52899217e-02 -1.39832724e+02] [-1.14439898e-01 4.35707426e-04 9.93430078e-01 -2.50292241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02592 meters 0.025984602484597476 Centerline is valid? [True, True] Translation: X:205.54, Y:-139.85, Z:-25.03 [[ 7.51194847e-01 6.54393897e-01 8.64576691e-02 2.05540493e+02] [-6.50011547e-01 7.56153601e-01 -7.56089991e-02 -1.39854167e+02] [-1.14853345e-01 5.98607349e-04 9.93382278e-01 -2.50318607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05592000000001 meters 0.026051349005898086 Centerline is valid? [True, True] Translation: X:205.56, Y:-139.88, Z:-25.03 [[ 7.50681880e-01 6.54997035e-01 8.63458121e-02 2.05564561e+02] [-6.50620632e-01 7.55631234e-01 -7.55925330e-02 -1.39876053e+02] [-1.14758478e-01 5.67577984e-04 9.93393260e-01 -2.50346131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08592000000002 meters 0.026170087621497386 Centerline is valid? [True, True] Translation: X:205.59, Y:-139.90, Z:-25.04 [[ 7.50385447e-01 6.55299246e-01 8.66289767e-02 2.05588395e+02] [-6.50886511e-01 7.55369152e-01 -7.59222906e-02 -1.39898632e+02] [-1.15188676e-01 5.85349608e-04 9.93343458e-01 -2.50387092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11592000000002 meters 0.02610087126900027 Centerline is valid? [True, True] Translation: X:205.61, Y:-139.92, Z:-25.04 [[ 7.49738097e-01 6.56026673e-01 8.67282556e-02 2.05612801e+02] [-6.51599107e-01 7.54737515e-01 -7.60913099e-02 -1.39921074e+02] [-1.15374997e-01 5.36500007e-04 9.93321862e-01 -2.50416812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14592000000002 meters 0.026080041125705153 Centerline is valid? [True, True] Translation: X:205.64, Y:-139.94, Z:-25.04 [[ 7.49354593e-01 6.56539571e-01 8.61596519e-02 2.05636541e+02] [-6.52164128e-01 7.54291406e-01 -7.56731476e-02 -1.39943476e+02] [-1.14671901e-01 5.15786456e-04 9.93403286e-01 -2.50444329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17592 meters 0.026171007214268124 Centerline is valid? [True, True] Translation: X:205.66, Y:-139.96, Z:-25.05 [[ 7.48970956e-01 6.56955324e-01 8.63261801e-02 2.05661147e+02] [-6.52556170e-01 7.53929331e-01 -7.59013044e-02 -1.39964764e+02] [-1.14947605e-01 5.15191077e-04 9.93371422e-01 -2.50472733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20592 meters 0.026168444893021878 Centerline is valid? [True, True] Translation: X:205.69, Y:-139.99, Z:-25.05 [[ 7.49047466e-01 6.57009060e-01 8.52466371e-02 2.05685263e+02] [-6.52711962e-01 7.53882477e-01 -7.50220336e-02 -1.39986629e+02] [-1.13556102e-01 5.53564442e-04 9.93531431e-01 -2.50499566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23592 meters 0.026238328576475275 Centerline is valid? [True, True] Translation: X:205.71, Y:-140.01, Z:-25.05 [[ 7.48921636e-01 6.57164708e-01 8.51523932e-02 2.05709064e+02] [-6.52874078e-01 7.53746799e-01 -7.49746666e-02 -1.40008529e+02] [-1.13454049e-01 5.56359763e-04 9.93543089e-01 -2.50532772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26592 meters 0.026392836893901258 Centerline is valid? [True, True] Translation: X:205.73, Y:-140.03, Z:-25.06 [[ 7.48430877e-01 6.57636685e-01 8.58208201e-02 2.05732577e+02] [-6.53271903e-01 7.53335043e-01 -7.56447879e-02 -1.40030936e+02] [-1.14398619e-01 5.50564451e-04 9.93434775e-01 -2.50567521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29592 meters 0.026330258122146222 Centerline is valid? [True, True] Translation: X:205.76, Y:-140.05, Z:-25.06 [[ 7.48478497e-01 6.57538507e-01 8.61571337e-02 2.05757311e+02] [-6.53129179e-01 7.53420676e-01 -7.60234181e-02 -1.40052575e+02] [-1.14900891e-01 6.30155668e-04 9.93376760e-01 -2.50609493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32592 meters 0.026387179495525544 Centerline is valid? [True, True] Translation: X:205.78, Y:-140.07, Z:-25.06 [[ 7.47933051e-01 6.58254388e-01 8.54243016e-02 2.05781024e+02] [-6.53915579e-01 7.52795344e-01 -7.54558563e-02 -1.40073905e+02] [-1.13976165e-01 5.75647215e-04 9.93483318e-01 -2.50636062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35592 meters 0.02644447641289345 Centerline is valid? [True, True] Translation: X:205.80, Y:-140.10, Z:-25.07 [[ 7.47937418e-01 6.58078187e-01 8.67336139e-02 2.05804134e+02] [-6.53595247e-01 7.52949305e-01 -7.66850533e-02 -1.40095649e+02] [-1.15770775e-01 6.66942927e-04 9.93275734e-01 -2.50666422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38592 meters 0.02653635328831724 Centerline is valid? [True, True] Translation: X:205.83, Y:-140.12, Z:-25.07 [[ 7.47558071e-01 6.58480288e-01 8.69519464e-02 2.05828014e+02] [-6.53968698e-01 7.52597682e-01 -7.69523981e-02 -1.40117540e+02] [-1.16111471e-01 6.62535140e-04 9.93235968e-01 -2.50698313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41592 meters 0.026421120289059682 Centerline is valid? [True, True] Translation: X:205.85, Y:-140.14, Z:-25.07 [[ 7.47457843e-01 6.58528904e-01 8.74440122e-02 2.05852645e+02] [-6.53956459e-01 7.52555089e-01 -7.74712083e-02 -1.40139657e+02] [-1.16823466e-01 7.21885630e-04 9.93152434e-01 -2.50739488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44592 meters 0.026569058997437337 Centerline is valid? [True, True] Translation: X:205.88, Y:-140.16, Z:-25.08 [[ 7.47383684e-01 6.58676983e-01 8.69612610e-02 2.05876944e+02] [-6.54146460e-01 7.52425451e-01 -7.71255422e-02 -1.40160997e+02] [-1.16232685e-01 7.56970849e-04 9.93221722e-01 -2.50778908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47592 meters 0.026467838341746285 Centerline is valid? [True, True] Translation: X:205.90, Y:-140.18, Z:-25.08 [[ 7.47738237e-01 6.58405789e-01 8.59612994e-02 2.05899791e+02] [-6.53968311e-01 7.52662670e-01 -7.63174545e-02 -1.40183378e+02] [-1.14947715e-01 8.49513153e-04 9.93371180e-01 -2.50807362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50592 meters 0.026669262968293913 Centerline is valid? [True, True] Translation: X:205.92, Y:-140.21, Z:-25.08 [[ 7.47643892e-01 6.58405914e-01 8.67770907e-02 2.05922849e+02] [-6.53875004e-01 7.52662487e-01 -7.71145868e-02 -1.40205018e+02] [-1.16086561e-01 9.12879212e-04 9.93238681e-01 -2.50839609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53592 meters 0.026692822256628237 Centerline is valid? [True, True] Translation: X:205.95, Y:-140.23, Z:-25.09 [[ 7.46993469e-01 6.59055773e-01 8.74428116e-02 2.05946610e+02] [-6.54450449e-01 7.52093559e-01 -7.77810253e-02 -1.40228046e+02] [-1.17027209e-01 8.74930589e-04 9.93128323e-01 -2.50866314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56592 meters 0.026534338879521932 Centerline is valid? [True, True] Translation: X:205.97, Y:-140.25, Z:-25.09 [[ 7.46094373e-01 6.60054188e-01 8.75879888e-02 2.05970882e+02] [-6.55430571e-01 7.51217583e-01 -7.79930112e-02 -1.40250627e+02] [-1.17277251e-01 7.82301252e-04 9.93098905e-01 -2.50893026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59592 meters 0.026471734275478304 Centerline is valid? [True, True] Translation: X:205.99, Y:-140.27, Z:-25.09 [[ 7.44966157e-01 6.61366939e-01 8.72880088e-02 2.05994261e+02] [-6.56774246e-01 7.50062242e-01 -7.78088937e-02 -1.40273392e+02] [-1.16931669e-01 6.36476441e-04 9.93139758e-01 -2.50942520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62592 meters 0.02636668199313646 Centerline is valid? [True, True] Translation: X:206.02, Y:-140.30, Z:-25.10 [[ 7.43391084e-01 6.63087103e-01 8.76652145e-02 2.06018091e+02] [-6.58456387e-01 7.48542122e-01 -7.82296560e-02 -1.40296132e+02] [-1.17494182e-01 4.31508454e-04 9.93073477e-01 -2.50980154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65592 meters 0.026381874595448534 Centerline is valid? [True, True] Translation: X:206.04, Y:-140.32, Z:-25.10 [[ 7.41035275e-01 6.65756549e-01 8.73781385e-02 2.06042138e+02] [-6.61164769e-01 7.46169024e-01 -7.80572596e-02 -1.40318154e+02] [-1.17165992e-01 7.18360577e-05 9.93112343e-01 -2.51002990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68592 meters 0.02614884563189437 Centerline is valid? [True, True] Translation: X:206.07, Y:-140.34, Z:-25.10 [[ 7.40021030e-01 6.67021827e-01 8.63177729e-02 2.06066841e+02] [-6.62540324e-01 7.45038172e-01 -7.71909412e-02 -1.40339240e+02] [-1.15798078e-01 -6.60854417e-05 9.93272773e-01 -2.51023052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71592 meters 0.026171328558570087 Centerline is valid? [True, True] Translation: X:206.09, Y:-140.36, Z:-25.11 [[ 7.38912116e-01 6.68302498e-01 8.59107460e-02 2.06092310e+02] [-6.63863241e-01 7.43889593e-01 -7.69016899e-02 -1.40360757e+02] [-1.15301701e-01 -2.09395897e-04 9.93330496e-01 -2.51050347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74592 meters 0.026249758038815966 Centerline is valid? [True, True] Translation: X:206.12, Y:-140.38, Z:-25.11 [[ 7.37228216e-01 6.70107410e-01 8.63169555e-02 2.06116714e+02] [-6.65628377e-01 7.42264019e-01 -7.73497899e-02 -1.40382680e+02] [-1.15902638e-01 -4.30567387e-04 9.93260486e-01 -2.51084892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77592 meters 0.026254838068104677 Centerline is valid? [True, True] Translation: X:206.14, Y:-140.40, Z:-25.11 [[ 7.36419950e-01 6.70882053e-01 8.71947701e-02 2.06141150e+02] [-6.66306702e-01 7.41563905e-01 -7.82199075e-02 -1.40403667e+02] [-1.17136826e-01 -4.95759292e-04 9.93115662e-01 -2.51114198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80592000000001 meters 0.02628912064065242 Centerline is valid? [True, True] Translation: X:206.17, Y:-140.42, Z:-25.11 [[ 7.36161285e-01 6.71189343e-01 8.70139523e-02 2.06166945e+02] [-6.66626228e-01 7.41285794e-01 -7.81335005e-02 -1.40424393e+02] [-1.16944580e-01 -4.86924673e-04 9.93138323e-01 -2.51145139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83592000000002 meters 0.026177526541037645 Centerline is valid? [True, True] Translation: X:206.19, Y:-140.44, Z:-25.12 [[ 7.35881965e-01 6.71519455e-01 8.68294644e-02 2.06192334e+02] [-6.66968134e-01 7.40986772e-01 -7.80519845e-02 -1.40444655e+02] [-1.16752911e-01 -4.75438109e-04 9.93160879e-01 -2.51180368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86592000000002 meters 0.026177526541037645 Centerline is valid? [True, True] Translation: X:206.22, Y:-140.47, Z:-25.12 [[ 7.35521997e-01 6.71919131e-01 8.67875153e-02 2.06216630e+02] [-6.67365082e-01 7.40624368e-01 -7.80986061e-02 -1.40466028e+02] [-1.16752896e-01 -4.75714486e-04 9.93160881e-01 -2.51210432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89592000000002 meters 0.026175618334917612 Centerline is valid? [True, True] Translation: X:206.24, Y:-140.49, Z:-25.12 [[ 7.36289649e-01 6.71355206e-01 8.46152475e-02 2.06241895e+02] [-6.67014234e-01 7.41135673e-01 -7.62228690e-02 -1.40485994e+02] [-1.13883998e-01 -3.17465051e-04 9.93494003e-01 -2.51237622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92592 meters 0.026144633026062188 Centerline is valid? [True, True] Translation: X:206.27, Y:-140.51, Z:-25.13 [[ 7.37452412e-01 6.69915570e-01 8.58898704e-02 2.06266352e+02] [-6.65423981e-01 7.42437289e-01 -7.74454515e-02 -1.40506518e+02] [-1.15649756e-01 -4.08444811e-05 9.93290054e-01 -2.51276002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95592 meters 0.026082548131465155 Centerline is valid? [True, True] Translation: X:206.29, Y:-140.53, Z:-25.13 [[ 7.38154751e-01 6.69278676e-01 8.48151952e-02 2.06291318e+02] [-6.64886680e-01 7.43011468e-01 -7.65484222e-02 -1.40527291e+02] [-1.14250889e-01 1.12087949e-04 9.93451922e-01 -2.51293056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98592 meters 0.026013642646729018 Centerline is valid? [True, True] Translation: X:206.32, Y:-140.55, Z:-25.13 [[ 7.38498305e-01 6.68801035e-01 8.55887230e-02 2.06316126e+02] [-6.64316449e-01 7.43441401e-01 -7.73210125e-02 -1.40547667e+02] [-1.15342573e-01 2.43440080e-04 9.93325743e-01 -2.51330595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01592 meters 0.026177285109823537 Centerline is valid? [True, True] Translation: X:206.34, Y:-140.57, Z:-25.14 [[ 7.40213929e-01 6.66928385e-01 8.53807255e-02 2.06341652e+02] [-6.62444182e-01 7.45121586e-01 -7.72109285e-02 -1.40568747e+02] [-1.15113181e-01 5.92639953e-04 9.93352206e-01 -2.51370024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04592 meters 0.02616680296057595 Centerline is valid? [True, True] Translation: X:206.37, Y:-140.59, Z:-25.14 [[ 7.41177529e-01 6.65935744e-01 8.47670619e-02 2.06366024e+02] [-6.61500081e-01 7.46008673e-01 -7.67378854e-02 -1.40590660e+02] [-1.14339464e-01 8.02977976e-04 9.93441414e-01 -2.51400621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07592 meters 0.026465329039844047 Centerline is valid? [True, True] Translation: X:206.39, Y:-140.61, Z:-25.14 [[ 7.42690137e-01 6.64211857e-01 8.50527430e-02 2.06389924e+02] [-6.59725602e-01 7.47543528e-01 -7.70766128e-02 -1.40612128e+02] [-1.14775828e-01 1.13256813e-03 9.93390772e-01 -2.51436769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10592 meters 0.026686185454635532 Centerline is valid? [True, True] Translation: X:206.41, Y:-140.63, Z:-25.15 [[ 7.44681113e-01 6.61974530e-01 8.50867864e-02 2.06412820e+02] [-6.57461817e-01 7.49524765e-01 -7.71789222e-02 -1.40634064e+02] [-1.14865134e-01 1.53237246e-03 9.93379914e-01 -2.51470619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13592 meters 0.026942511147027295 Centerline is valid? [True, True] Translation: X:206.43, Y:-140.66, Z:-25.15 [[ 7.47713852e-01 6.58614009e-01 8.45670282e-02 2.06434875e+02] [-6.54126879e-01 7.52478052e-01 -7.67776559e-02 -1.40657402e+02] [-1.14201672e-01 2.09015068e-03 9.93455389e-01 -2.51496301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16592 meters 0.027384392041585867 Centerline is valid? [True, True] Translation: X:206.46, Y:-140.68, Z:-25.15 [[ 7.48938345e-01 6.57097620e-01 8.55223510e-02 2.06458369e+02] [-6.52489993e-01 7.53801662e-01 -7.77165567e-02 -1.40679393e+02] [-1.15534255e-01 2.40243120e-03 9.93300591e-01 -2.51530827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19592 meters 0.027467926612482405 Centerline is valid? [True, True] Translation: X:206.48, Y:-140.70, Z:-25.16 [[ 7.49478823e-01 6.56539129e-01 8.50756527e-02 2.06482682e+02] [-6.51967768e-01 7.54287725e-01 -7.73825403e-02 -1.40701995e+02] [-1.14976186e-01 2.52999179e-03 9.93365026e-01 -2.51561800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22592 meters 0.02749298776521268 Centerline is valid? [True, True] Translation: X:206.51, Y:-140.73, Z:-25.16 [[ 7.49922908e-01 6.56074680e-01 8.47446019e-02 2.06505094e+02] [-6.51526860e-01 7.54691319e-01 -7.71606377e-02 -1.40725697e+02] [-1.14579156e-01 2.65114537e-03 9.93410584e-01 -2.51587809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25592 meters 0.027445160666899643 Centerline is valid? [True, True] Translation: X:206.53, Y:-140.75, Z:-25.16 [[ 7.48156890e-01 6.57939432e-01 8.58893038e-02 2.06526456e+02] [-6.53270130e-01 7.53066830e-01 -7.82846483e-02 -1.40750920e+02] [-1.16186943e-01 2.46028234e-03 9.93224316e-01 -2.51629809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28592 meters 0.02720558858295597 Centerline is valid? [True, True] Translation: X:206.55, Y:-140.77, Z:-25.16 [[ 7.46939112e-01 6.59352808e-01 8.56495023e-02 2.06548952e+02] [-6.54709691e-01 7.51830176e-01 -7.81447856e-02 -1.40774004e+02] [-1.15918864e-01 2.29383759e-03 9.93256037e-01 -2.51648980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31592 meters 0.02695206577391404 Centerline is valid? [True, True] Translation: X:206.57, Y:-140.80, Z:-25.17 [[ 7.45138556e-01 6.61391686e-01 8.56129092e-02 2.06571554e+02] [-6.56757688e-01 7.50037945e-01 -7.81819674e-02 -1.40796496e+02] [-1.15921834e-01 2.02946196e-03 9.93256266e-01 -2.51676437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34592 meters 0.026463509773130355 Centerline is valid? [True, True] Translation: X:206.59, Y:-140.82, Z:-25.17 [[ 7.42170243e-01 6.64817369e-01 8.48598658e-02 2.06594367e+02] [-6.60278911e-01 7.47004358e-01 -7.75644841e-02 -1.40819697e+02] [-1.14956906e-01 1.53487218e-03 9.93369294e-01 -2.51693039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37592 meters 0.02648155639147944 Centerline is valid? [True, True] Translation: X:206.62, Y:-140.84, Z:-25.17 [[ 7.41227548e-01 6.65946480e-01 8.42437424e-02 2.06618051e+02] [-6.61473079e-01 7.45998203e-01 -7.70717070e-02 -1.40841330e+02] [-1.14171312e-01 1.40270473e-03 9.93460087e-01 -2.51727753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40592 meters 0.02616538376496747 Centerline is valid? [True, True] Translation: X:206.64, Y:-140.86, Z:-25.18 [[ 7.37751416e-01 6.69699629e-01 8.50014988e-02 2.06641789e+02] [-6.65161418e-01 7.42631553e-01 -7.78374187e-02 -1.40862915e+02] [-1.15252486e-01 8.84948392e-04 9.93335835e-01 -2.51757826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43592 meters 0.026022734534739255 Centerline is valid? [True, True] Translation: X:206.67, Y:-140.88, Z:-25.18 [[ 7.35311592e-01 6.72208561e-01 8.63279448e-02 2.06666223e+02] [-6.67535345e-01 7.40361629e-01 -7.91278837e-02 -1.40884715e+02] [-1.17104339e-01 5.56695719e-04 9.93119461e-01 -2.51793644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46592 meters 0.026065298562743963 Centerline is valid? [True, True] Translation: X:206.69, Y:-140.91, Z:-25.18 [[ 7.31900383e-01 6.76019263e-01 8.55557413e-02 2.06689969e+02] [-6.71446427e-01 7.36883950e-01 -7.84967489e-02 -1.40906067e+02] [-1.16109967e-01 5.70384341e-06 9.93236364e-01 -2.51825227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49592 meters 0.025974717206504773 Centerline is valid? [True, True] Translation: X:206.71, Y:-140.93, Z:-25.19 [[ 7.30310548e-01 6.77748786e-01 8.54580962e-02 2.06714543e+02] [-6.73189252e-01 7.35293505e-01 -7.84837101e-02 -1.40927361e+02] [-1.16029022e-01 -2.11990525e-04 9.93245801e-01 -2.51855433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52592 meters 0.026120275774890987 Centerline is valid? [True, True] Translation: X:206.74, Y:-140.95, Z:-25.19 [[ 7.28765728e-01 6.79406172e-01 8.54854835e-02 2.06740687e+02] [-6.74845062e-01 7.33762280e-01 -7.85942659e-02 -1.40947338e+02] [-1.16123453e-01 -4.12649075e-04 9.93234702e-01 -2.51890690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55592000000001 meters 0.02615784785525039 Centerline is valid? [True, True] Translation: X:206.77, Y:-140.97, Z:-25.19 [[ 7.28055358e-01 6.80126454e-01 8.58102630e-02 2.06765728e+02] [-6.75525426e-01 7.33094666e-01 -7.89785429e-02 -1.40968053e+02] [-1.16622442e-01 -4.66263118e-04 9.93176212e-01 -2.51918637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58592000000002 meters 0.026305585957120823 Centerline is valid? [True, True] Translation: X:206.79, Y:-140.99, Z:-25.20 [[ 7.27839133e-01 6.80369378e-01 8.57187641e-02 2.06790892e+02] [-6.75769832e-01 7.32869235e-01 -7.89798664e-02 -1.40989601e+02] [-1.16556128e-01 -4.41517298e-04 9.93184008e-01 -2.51952962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61592000000002 meters 0.02616053518186493 Centerline is valid? [True, True] Translation: X:206.81, Y:-141.01, Z:-25.20 [[ 7.28608402e-01 6.79510333e-01 8.59971170e-02 2.06814954e+02] [-6.74864717e-01 7.33665897e-01 -7.93219061e-02 -1.41012380e+02] [-1.16993207e-01 -2.41812816e-04 9.93132686e-01 -2.51990140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64592000000002 meters 0.026125425639290142 Centerline is valid? [True, True] Translation: X:206.84, Y:-141.03, Z:-25.20 [[ 7.29604534e-01 6.78487841e-01 8.56240293e-02 2.06839220e+02] [-6.73865619e-01 7.34611632e-01 -7.90624907e-02 -1.41033930e+02] [-1.16543346e-01 -1.47378279e-05 9.93185606e-01 -2.52021978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67592 meters 0.02605512278522757 Centerline is valid? [True, True] Translation: X:206.86, Y:-141.06, Z:-25.21 [[ 7.29623136e-01 6.78494152e-01 8.54152524e-02 2.06863514e+02] [-6.73884595e-01 7.34605801e-01 -7.89548576e-02 -1.41055707e+02] [-1.16316949e-01 4.72679926e-05 9.93212145e-01 -2.52051830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70592 meters 0.026010044783655484 Centerline is valid? [True, True] Translation: X:206.89, Y:-141.08, Z:-25.21 [[ 7.29574279e-01 6.78591046e-01 8.50621189e-02 2.06887597e+02] [-6.74010383e-01 7.34516293e-01 -7.87135309e-02 -1.41078453e+02] [-1.15893809e-01 9.46162205e-05 9.93261605e-01 -2.52087462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73592 meters 0.02615830995503201 Centerline is valid? [True, True] Translation: X:206.91, Y:-141.10, Z:-25.21 [[ 7.30039132e-01 6.78095629e-01 8.50246068e-02 2.06909720e+02] [-6.73505745e-01 7.34973648e-01 -7.87638838e-02 -1.41103507e+02] [-1.15900291e-01 2.36156312e-04 9.93260825e-01 -2.52113705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76592 meters 0.025991870198499824 Centerline is valid? [True, True] Translation: X:206.93, Y:-141.13, Z:-25.21 [[ 7.28461088e-01 6.79904269e-01 8.41108177e-02 2.06931000e+02] [-6.75415397e-01 7.33300883e-01 -7.79990780e-02 -1.41127033e+02] [-1.14710443e-01 9.55190595e-06 9.93398970e-01 -2.52137734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79592 meters 0.026148542197902972 Centerline is valid? [True, True] Translation: X:206.95, Y:-141.15, Z:-25.22 [[ 7.26932698e-01 6.81579750e-01 8.37728895e-02 2.06954233e+02] [-6.77129406e-01 7.31743811e-01 -7.77609285e-02 -1.41149901e+02] [-1.14300568e-01 -1.98125333e-04 9.93446194e-01 -2.52165182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82592 meters 0.026173315836869163 Centerline is valid? [True, True] Translation: X:206.98, Y:-141.17, Z:-25.22 [[ 7.25645641e-01 6.83003025e-01 8.33382952e-02 2.06977736e+02] [-6.78598645e-01 7.30415457e-01 -7.74412032e-02 -1.41172623e+02] [-1.13764155e-01 -3.58382634e-04 9.93507719e-01 -2.52199123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85592 meters 0.026260464003035597 Centerline is valid? [True, True] Translation: X:207.00, Y:-141.20, Z:-25.22 [[ 7.23233499e-01 6.85558439e-01 8.33242651e-02 2.07000113e+02] [-6.81162830e-01 7.28017266e-01 -7.75116749e-02 -1.41196897e+02] [-1.13800286e-01 -6.98352359e-04 9.93503401e-01 -2.52233899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88592 meters 0.026342350796507756 Centerline is valid? [True, True] Translation: X:207.02, Y:-141.22, Z:-25.23 [[ 7.21595074e-01 6.87208065e-01 8.39382217e-02 2.07022844e+02] [-6.82748595e-01 7.26460088e-01 -7.81671086e-02 -1.41220142e+02] [-1.14694835e-01 -9.03702428e-04 9.93400361e-01 -2.52263750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91592 meters 0.02689139687893774 Centerline is valid? [True, True] Translation: X:207.04, Y:-141.25, Z:-25.23 [[ 7.17050667e-01 6.91957495e-01 8.38639725e-02 2.07044620e+02] [-6.87528703e-01 7.21936468e-01 -7.81793961e-02 -1.41245004e+02] [-1.14641279e-01 -1.60030011e-03 9.93405665e-01 -2.52289294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94592 meters 0.027150417436869502 Centerline is valid? [True, True] Translation: X:207.07, Y:-141.27, Z:-25.23 [[ 7.14924726e-01 6.94153904e-01 8.38629477e-02 2.07068359e+02] [-6.89730950e-01 7.19824126e-01 -7.82588279e-02 -1.41267718e+02] [-1.14690244e-01 -1.89369950e-03 9.93399498e-01 -2.52318681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97592 meters 0.027615284949595118 Centerline is valid? [True, True] Translation: X:207.09, Y:-141.29, Z:-25.23 [[ 7.10120655e-01 6.99206704e-01 8.26960677e-02 2.07093228e+02] [-6.94931396e-01 7.14914790e-01 -7.72476356e-02 -1.41288487e+02] [-1.13132707e-01 -2.61295217e-03 9.93576451e-01 -2.52348213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00592 meters 0.028008395236829353 Centerline is valid? [True, True] Translation: X:207.12, Y:-141.31, Z:-25.24 [[ 7.07911142e-01 7.01651551e-01 8.09130152e-02 2.07117935e+02] [-6.97566855e-01 7.12514405e-01 -7.56551762e-02 -1.41309386e+02] [-1.10735261e-01 -2.88509536e-03 9.93845752e-01 -2.52377484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03592 meters 0.02901296309925663 Centerline is valid? [True, True] Translation: X:207.14, Y:-141.33, Z:-25.24 [[ 7.02868924e-01 7.06696539e-01 8.09646709e-02 2.07143378e+02] [-7.02631456e-01 7.07507490e-01 -7.57772329e-02 -1.41330668e+02] [-1.10834619e-01 -3.62686242e-03 9.93832246e-01 -2.52410424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06592 meters 0.029726402597253634 Centerline is valid? [True, True] Translation: X:207.17, Y:-141.35, Z:-25.24 [[ 7.00505883e-01 7.09066126e-01 8.07263043e-02 2.07167880e+02] [-7.05032154e-01 7.05131011e-01 -7.56301530e-02 -1.41351708e+02] [-1.10549400e-01 -3.93527303e-03 9.93862840e-01 -2.52438055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09592 meters 0.030095485144139882 Centerline is valid? [True, True] Translation: X:207.20, Y:-141.37, Z:-25.25 [[ 6.97691557e-01 7.11743164e-01 8.15362527e-02 2.07196064e+02] [-7.07637303e-01 7.02426328e-01 -7.64637266e-02 -1.41370154e+02] [-1.11695745e-01 -4.34999747e-03 9.93732931e-01 -2.52454959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12592 meters 0.03028819416686185 Centerline is valid? [True, True] Translation: X:207.22, Y:-141.39, Z:-25.25 [[ 6.96791502e-01 7.12646082e-01 8.13459499e-02 2.07221985e+02] [-7.08557115e-01 7.01509748e-01 -7.63602544e-02 -1.41390256e+02] [-1.11482813e-01 -4.43107522e-03 9.93756483e-01 -2.52488630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15592 meters 0.029953593163205765 Centerline is valid? [True, True] Translation: X:207.25, Y:-141.41, Z:-25.25 [[ 6.96808128e-01 7.12743103e-01 8.03473895e-02 2.07249838e+02] [-7.08747339e-01 7.01411721e-01 -7.54904432e-02 -1.41406907e+02] [-1.10161893e-01 -4.34364411e-03 9.93904165e-01 -2.52520211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18592 meters 0.03004553526556019 Centerline is valid? [True, True] Translation: X:207.28, Y:-141.43, Z:-25.26 [[ 6.97124638e-01 7.12355513e-01 8.10361803e-02 2.07275367e+02] [-7.08283178e-01 7.01805696e-01 -7.61820540e-02 -1.41426102e+02] [-1.11140359e-01 -4.28817653e-03 9.93795468e-01 -2.52559501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21592 meters 0.029623892259401374 Centerline is valid? [True, True] Translation: X:207.30, Y:-141.44, Z:-25.26 [[ 6.98106688e-01 7.11392191e-01 8.10444501e-02 2.07303990e+02] [-7.07305089e-01 7.02783352e-01 -7.62566137e-02 -1.41442080e+02] [-1.11205050e-01 -4.08789994e-03 9.93789075e-01 -2.52575955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24592 meters 0.029233673830933334 Centerline is valid? [True, True] Translation: X:207.33, Y:-141.46, Z:-25.26 [[ 6.98856827e-01 7.10746868e-01 8.02372993e-02 2.07330215e+02] [-7.06729551e-01 7.03437053e-01 -7.55622536e-02 -1.41461241e+02] [-1.10147525e-01 -3.89887366e-03 9.93907602e-01 -2.52603315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27592 meters 0.02903408039005302 Centerline is valid? [True, True] Translation: X:207.36, Y:-141.48, Z:-25.26 [[ 6.99492557e-01 7.10068075e-01 8.07062048e-02 2.07356772e+02] [-7.05991580e-01 7.04122956e-01 -7.60706944e-02 -1.41480318e+02] [-1.10842463e-01 -3.76701652e-03 9.93830850e-01 -2.52639774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30592000000001 meters 0.02839907589765697 Centerline is valid? [True, True] Translation: X:207.39, Y:-141.50, Z:-25.27 [[ 7.01825687e-01 7.07729283e-01 8.09936237e-02 2.07386476e+02] [-7.03600518e-01 7.06475735e-01 -7.64090754e-02 -1.41495103e+02] [-1.11296970e-01 -3.36130374e-03 9.93781508e-01 -2.52678317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33592000000002 meters 0.0278789105488281 Centerline is valid? [True, True] Translation: X:207.42, Y:-141.51, Z:-25.27 [[ 7.05058689e-01 7.04398250e-01 8.19472370e-02 2.07415423e+02] [-7.00141987e-01 7.09799357e-01 -7.73697006e-02 -1.41511805e+02] [-1.12665178e-01 -2.82452168e-03 9.93628995e-01 -2.52718999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36592000000002 meters 0.027533609435762513 Centerline is valid? [True, True] Translation: X:207.44, Y:-141.53, Z:-25.27 [[ 7.06535870e-01 7.02964959e-01 8.15311632e-02 2.07440905e+02] [-6.98738759e-01 7.11219880e-01 -7.70092795e-02 -1.41531091e+02] [-1.12121409e-01 -2.55916551e-03 9.93691220e-01 -2.52739304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39592000000002 meters 0.02682176718220994 Centerline is valid? [True, True] Translation: X:207.47, Y:-141.55, Z:-25.28 [[ 7.10375517e-01 6.99039381e-01 8.19180587e-02 2.07468887e+02] [-6.94738779e-01 7.15080657e-01 -7.74447122e-02 -1.41548139e+02] [-1.12714923e-01 -1.89682457e-03 9.93625557e-01 -2.52770287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42592 meters 0.02666480836673162 Centerline is valid? [True, True] Translation: X:207.49, Y:-141.57, Z:-25.28 [[ 7.12035305e-01 6.97255267e-01 8.27092347e-02 2.07494728e+02] [-6.92850688e-01 7.16821179e-01 -7.82644311e-02 -1.41567806e+02] [-1.13858018e-01 -1.57811219e-03 9.93495778e-01 -2.52804536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45592 meters 0.026502709179142193 Centerline is valid? [True, True] Translation: X:207.52, Y:-141.59, Z:-25.28 [[ 7.13365016e-01 6.95954152e-01 8.22081096e-02 2.07520048e+02] [-6.91586181e-01 7.18085024e-01 -7.78617470e-02 -1.41587162e+02] [-1.13220618e-01 -1.31014621e-03 9.93569009e-01 -2.52836741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48592 meters 0.026279856826657524 Centerline is valid? [True, True] Translation: X:207.55, Y:-141.61, Z:-25.29 [[ 7.16055177e-01 6.93095529e-01 8.29672912e-02 2.07547960e+02] [-6.88618318e-01 7.20845289e-01 -7.86567300e-02 -1.41606182e+02] [-1.14323209e-01 -8.10237821e-04 9.93443278e-01 -2.52863090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51592 meters 0.026106113607282305 Centerline is valid? [True, True] Translation: X:207.57, Y:-141.63, Z:-25.29 [[ 7.18985708e-01 6.90238569e-01 8.14264625e-02 2.07573571e+02] [-6.85899259e-01 7.23581808e-01 -7.72759540e-02 -1.41625839e+02] [-1.12257551e-01 -2.90043704e-04 9.93679102e-01 -2.52881186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54592 meters 0.026133962463577392 Centerline is valid? [True, True] Translation: X:207.60, Y:-141.65, Z:-25.29 [[ 7.20091462e-01 6.89061556e-01 8.16238806e-02 2.07598061e+02] [-6.84685041e-01 7.24702814e-01 -7.75385441e-02 -1.41647406e+02] [-1.12581886e-01 -5.18064359e-05 9.93642449e-01 -2.52919310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57592 meters 0.02608720435663867 Centerline is valid? [True, True] Translation: X:207.62, Y:-141.67, Z:-25.29 [[ 7.20180212e-01 6.88973447e-01 8.15846279e-02 2.07622017e+02] [-6.84591090e-01 7.24786582e-01 -7.75851165e-02 -1.41670119e+02] [-1.12585529e-01 2.31563350e-05 9.93642037e-01 -2.52941752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60592 meters 0.026023155468711222 Centerline is valid? [True, True] Translation: X:207.65, Y:-141.69, Z:-25.30 [[ 7.21600016e-01 6.87332325e-01 8.28715381e-02 2.07645425e+02] [-6.82789825e-01 7.26343002e-01 -7.88916893e-02 -1.41691107e+02] [-1.14417970e-01 3.44401347e-04 9.93432640e-01 -2.52982320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63592 meters 0.026232361090805338 Centerline is valid? [True, True] Translation: X:207.67, Y:-141.71, Z:-25.30 [[ 7.21340510e-01 6.87593308e-01 8.29657275e-02 2.07670001e+02] [-6.83033894e-01 7.26095942e-01 -7.90530365e-02 -1.41712738e+02] [-1.14597417e-01 3.55753744e-04 9.93411952e-01 -2.53013028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66592 meters 0.026174027977279773 Centerline is valid? [True, True] Translation: X:207.70, Y:-141.73, Z:-25.30 [[ 7.20527701e-01 6.88452083e-01 8.29069483e-02 2.07695691e+02] [-6.83895095e-01 7.25281774e-01 -7.90812732e-02 -1.41734213e+02] [-1.14574566e-01 2.80592675e-04 9.93414611e-01 -2.53025822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69592 meters 0.026158914180447714 Centerline is valid? [True, True] Translation: X:207.72, Y:-141.76, Z:-25.31 [[ 7.19957475e-01 6.88981982e-01 8.34569499e-02 2.07719924e+02] [-6.84357846e-01 7.24778422e-01 -7.96905117e-02 -1.41756031e+02] [-1.15393123e-01 2.59361148e-04 9.93319868e-01 -2.53061276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72592 meters 0.026158914180447714 Centerline is valid? [True, True] Translation: X:207.74, Y:-141.78, Z:-25.31 [[ 7.19594149e-01 6.89366573e-01 8.34145625e-02 2.07743589e+02] [-6.84739871e-01 7.24412632e-01 -7.97348602e-02 -1.41778142e+02] [-1.15393110e-01 2.59462074e-04 9.93319869e-01 -2.53091338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75592 meters 0.026168770527760975 Centerline is valid? [True, True] Translation: X:207.77, Y:-141.80, Z:-25.31 [[ 7.19608891e-01 6.89621458e-01 8.11497925e-02 2.07767890e+02] [-6.85236087e-01 7.24169988e-01 -7.76487774e-02 -1.41799200e+02] [-1.12314507e-01 2.69984264e-04 9.93672672e-01 -2.53108716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78592 meters 0.02641689541150984 Centerline is valid? [True, True] Translation: X:207.79, Y:-141.82, Z:-25.31 [[ 7.18523991e-01 6.90675091e-01 8.17997095e-02 2.07791315e+02] [-6.86217194e-01 7.23165190e-01 -7.83458346e-02 -1.41821578e+02] [-1.13266219e-01 1.60994592e-04 9.93564662e-01 -2.53148980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81592 meters 0.026452928706162546 Centerline is valid? [True, True] Translation: X:207.82, Y:-141.84, Z:-25.32 [[ 7.19622488e-01 6.89402717e-01 8.28695877e-02 2.07815445e+02] [-6.84808930e-01 7.24378155e-01 -7.94545055e-02 -1.41843107e+02] [-1.14805071e-01 4.27415258e-04 9.93387947e-01 -2.53176415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84592 meters 0.026345533820739488 Centerline is valid? [True, True] Translation: X:207.84, Y:-141.86, Z:-25.32 [[ 7.19443672e-01 6.89670485e-01 8.21913952e-02 2.07839243e+02] [-6.85145216e-01 7.24123217e-01 -7.88771163e-02 -1.41864765e+02] [-1.13915917e-01 4.34600953e-04 9.93490299e-01 -2.53205402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87592 meters 0.02626193005970112 Centerline is valid? [True, True] Translation: X:207.86, Y:-141.89, Z:-25.32 [[ 7.19214868e-01 6.89997436e-01 8.14463734e-02 2.07863313e+02] [-6.85548021e-01 7.23811683e-01 -7.82339994e-02 -1.41885908e+02] [-1.12933096e-01 4.31655403e-04 9.93602501e-01 -2.53232696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90592 meters 0.02626423102080126 Centerline is valid? [True, True] Translation: X:207.89, Y:-141.91, Z:-25.33 [[ 7.18602122e-01 6.90624975e-01 8.15360957e-02 2.07886699e+02] [-6.86161207e-01 7.23212966e-01 -7.83951785e-02 -1.41908519e+02] [-1.13109630e-01 3.88035750e-04 9.93582438e-01 -2.53270718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93592 meters 0.026177880868953708 Centerline is valid? [True, True] Translation: X:207.91, Y:-141.93, Z:-25.33 [[ 7.17464261e-01 6.91851272e-01 8.11594215e-02 2.07908299e+02] [-6.87428041e-01 7.22039995e-01 -7.81084713e-02 -1.41932006e+02] [-1.12639794e-01 2.48774511e-04 9.93635856e-01 -2.53296155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96592 meters 0.026281053226699342 Centerline is valid? [True, True] Translation: X:207.93, Y:-141.96, Z:-25.33 [[ 7.16195142e-01 6.93066081e-01 8.19995558e-02 2.07931474e+02] [-6.88552823e-01 7.20874052e-01 -7.89658860e-02 -1.41955064e+02] [-1.13839929e-01 9.39582909e-05 9.93499100e-01 -2.53336402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99592 meters 0.02624302949888018 Centerline is valid? [True, True] Translation: X:207.95, Y:-141.98, Z:-25.34 [[ 7.15301420e-01 6.94048098e-01 8.14930464e-02 2.07954776e+02] [-6.89587370e-01 7.19928634e-01 -7.85622121e-02 -1.41977832e+02] [-1.13195131e-01 -9.13627277e-07 9.93572777e-01 -2.53358918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02592 meters 0.026470300701504787 Centerline is valid? [True, True] Translation: X:207.98, Y:-142.00, Z:-25.34 [[ 7.15091689e-01 6.94270072e-01 8.14428892e-02 2.07978249e+02] [-6.89806745e-01 7.19714573e-01 -7.85976334e-02 -1.42000208e+02] [-1.13183619e-01 2.46600881e-05 9.93574088e-01 -2.53395863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05592000000001 meters 0.026434977683499134 Centerline is valid? [True, True] Translation: X:208.00, Y:-142.02, Z:-25.34 [[ 7.15302408e-01 6.94131442e-01 8.07713225e-02 2.08000939e+02] [-6.89732522e-01 7.19848270e-01 -7.80225382e-02 -1.42023638e+02] [-1.12300994e-01 9.91015213e-05 9.93674231e-01 -2.53418393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08592000000002 meters 0.026401571486084685 Centerline is valid? [True, True] Translation: X:208.02, Y:-142.05, Z:-25.34 [[ 7.14690472e-01 6.94724461e-01 8.10891637e-02 2.08023965e+02] [-6.90290355e-01 7.19275971e-01 -7.83664756e-02 -1.42047014e+02] [-1.12768594e-01 3.27058616e-05 9.93621277e-01 -2.53448517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11592000000002 meters 0.026556280938232694 Centerline is valid? [True, True] Translation: X:208.05, Y:-142.07, Z:-25.35 [[ 7.15716741e-01 6.93597584e-01 8.16819297e-02 2.08046741e+02] [-6.89081104e-01 7.20362628e-01 -7.90247839e-02 -1.42070108e+02] [-1.13652009e-01 2.73886535e-04 9.93520582e-01 -2.53495416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14592000000002 meters 0.026708347934661203 Centerline is valid? [True, True] Translation: X:208.07, Y:-142.09, Z:-25.35 [[ 7.15528616e-01 6.93759724e-01 8.19527052e-02 2.08069943e+02] [-6.89204440e-01 7.20206463e-01 -7.93718526e-02 -1.42092670e+02] [-1.14087862e-01 3.10663528e-04 9.93470615e-01 -2.53535785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17592 meters 0.026688276413882966 Centerline is valid? [True, True] Translation: X:208.09, Y:-142.12, Z:-25.36 [[ 7.16268785e-01 6.93006623e-01 8.18587056e-02 2.08093498e+02] [-6.88447271e-01 7.20931050e-01 -7.93648273e-02 -1.42115554e+02] [-1.14014834e-01 4.91145944e-04 9.93478926e-01 -2.53557114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20592 meters 0.02695788218744298 Centerline is valid? [True, True] Translation: X:208.12, Y:-142.14, Z:-25.36 [[ 7.17741968e-01 6.91523813e-01 8.14940658e-02 2.08115905e+02] [-6.86986020e-01 7.22353238e-01 -7.90949291e-02 -1.42139511e+02] [-1.13563529e-01 7.84466197e-04 9.93530427e-01 -2.53578575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23592 meters 0.02683144642708822 Centerline is valid? [True, True] Translation: X:208.14, Y:-142.16, Z:-25.36 [[ 7.17947928e-01 6.91339265e-01 8.12452698e-02 2.08139204e+02] [-6.86818523e-01 7.22529765e-01 -7.89370369e-02 -1.42163388e+02] [-1.13274399e-01 8.71925869e-04 9.93563360e-01 -2.53603521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26592 meters 0.026859163163736 Centerline is valid? [True, True] Translation: X:208.16, Y:-142.19, Z:-25.36 [[ 7.17472619e-01 6.91924775e-01 8.04558650e-02 2.08160229e+02] [-6.87486360e-01 7.21969124e-01 -7.82501682e-02 -1.42187866e+02] [-1.12229880e-01 8.30043395e-04 9.93681923e-01 -2.53637498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29592 meters 0.026980770781871673 Centerline is valid? [True, True] Translation: X:208.18, Y:-142.21, Z:-25.37 [[ 7.16809772e-01 6.92631143e-01 8.02860564e-02 2.08181908e+02] [-6.88207621e-01 7.21291553e-01 -7.81585960e-02 -1.42213281e+02] [-1.12044732e-01 7.71369532e-04 9.93702865e-01 -2.53671873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32592 meters 0.027038051390642148 Centerline is valid? [True, True] Translation: X:208.20, Y:-142.24, Z:-25.37 [[ 7.15888961e-01 6.93442464e-01 8.14895366e-02 2.08204176e+02] [-6.88880630e-01 7.20511651e-01 -7.94130908e-02 -1.42236269e+02] [-1.13782570e-01 7.14391760e-04 9.93505418e-01 -2.53704095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35592 meters 0.02702507499021461 Centerline is valid? [True, True] Translation: X:208.23, Y:-142.26, Z:-25.37 [[ 7.14840536e-01 6.94703204e-01 7.99403873e-02 2.08226333e+02] [-6.90313587e-01 7.19296288e-01 -7.79743650e-02 -1.42259329e+02] [-1.11669865e-01 5.55301348e-04 9.93745205e-01 -2.53725916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38592 meters 0.026992876621821767 Centerline is valid? [True, True] Translation: X:208.25, Y:-142.28, Z:-25.38 [[ 7.11974848e-01 6.97691870e-01 7.94850356e-02 2.08246893e+02] [-6.93362745e-01 7.16397959e-01 -7.76019893e-02 -1.42283585e+02] [-1.11085194e-01 1.38702003e-04 9.93810878e-01 -2.53750857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41592 meters 0.027020233331093737 Centerline is valid? [True, True] Translation: X:208.27, Y:-142.31, Z:-25.38 [[ 7.09527024e-01 7.00117978e-01 8.00388561e-02 2.08268097e+02] [-6.95734991e-01 7.14027157e-01 -7.82179097e-02 -1.42309180e+02] [-1.11911682e-01 -1.88112130e-04 9.93718139e-01 -2.53781373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44592 meters 0.027174816341326697 Centerline is valid? [True, True] Translation: X:208.29, Y:-142.33, Z:-25.38 [[ 7.08354603e-01 7.01288674e-01 8.01745109e-02 2.08290911e+02] [-6.96888758e-01 7.12877337e-01 -7.84344335e-02 -1.42332772e+02] [-1.12159772e-01 -3.13323356e-04 9.93690137e-01 -2.53808253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47592 meters 0.02719086018149669 Centerline is valid? [True, True] Translation: X:208.31, Y:-142.36, Z:-25.38 [[ 7.07419347e-01 7.02256595e-01 7.99596367e-02 2.08313596e+02] [-6.97876971e-01 7.11923810e-01 -7.83085032e-02 -1.42356002e+02] [-1.11917832e-01 -4.05038880e-04 9.93717382e-01 -2.53830071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50592 meters 0.02714799524150523 Centerline is valid? [True, True] Translation: X:208.34, Y:-142.38, Z:-25.39 [[ 7.05411536e-01 7.04235561e-01 8.02922187e-02 2.08335577e+02] [-6.99822364e-01 7.09966083e-01 -7.87198833e-02 -1.42380129e+02] [-1.12442093e-01 -6.60376541e-04 9.93658060e-01 -2.53866169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53592 meters 0.02723574229355452 Centerline is valid? [True, True] Translation: X:208.36, Y:-142.40, Z:-25.39 [[ 7.04674532e-01 7.05036416e-01 7.97336568e-02 2.08358830e+02] [-7.00680224e-01 7.09170734e-01 -7.82565873e-02 -1.42403583e+02] [-1.11718520e-01 -7.22372406e-04 9.93739629e-01 -2.53892038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56592 meters 0.027353459262468932 Centerline is valid? [True, True] Translation: X:208.38, Y:-142.43, Z:-25.39 [[ 7.02895058e-01 7.06774735e-01 8.00500557e-02 2.08382465e+02] [-7.02385434e-01 7.07438045e-01 -7.86518631e-02 -1.42426983e+02] [-1.12219605e-01 -9.41987229e-04 9.93682984e-01 -2.53917837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59592 meters 0.027416388401975675 Centerline is valid? [True, True] Translation: X:208.41, Y:-142.45, Z:-25.39 [[ 7.01689501e-01 7.08038406e-01 7.94572853e-02 2.08405963e+02] [-7.03712812e-01 7.06173108e-01 -7.81525436e-02 -1.42450409e+02] [-1.11445600e-01 -1.07629035e-03 9.93769953e-01 -2.53949665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62592 meters 0.027445202461465174 Centerline is valid? [True, True] Translation: X:208.43, Y:-142.47, Z:-25.40 [[ 7.00936000e-01 7.08864270e-01 7.87411620e-02 2.08429591e+02] [-7.04612572e-01 7.05343995e-01 -7.75304573e-02 -1.42472543e+02] [-1.10498177e-01 -1.13812406e-03 9.93875675e-01 -2.53983786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65592 meters 0.02746042467320038 Centerline is valid? [True, True] Translation: X:208.45, Y:-142.49, Z:-25.40 [[ 7.00412977e-01 7.09368706e-01 7.88523932e-02 2.08453706e+02] [-7.05098830e-01 7.04836643e-01 -7.77235321e-02 -1.42494887e+02] [-1.10712697e-01 -1.16015964e-03 9.93851776e-01 -2.54025520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68592 meters 0.02751079636913449 Centerline is valid? [True, True] Translation: X:208.48, Y:-142.52, Z:-25.41 [[ 6.99723024e-01 7.09975293e-01 7.95158636e-02 2.08478854e+02] [-7.05627468e-01 7.04225551e-01 -7.84617778e-02 -1.42516685e+02] [-1.11703027e-01 -1.20706508e-03 9.93740900e-01 -2.54052550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71592 meters 0.027661078981076982 Centerline is valid? [True, True] Translation: X:208.50, Y:-142.54, Z:-25.41 [[ 6.98633726e-01 7.10993178e-01 7.99976057e-02 2.08501980e+02] [-7.06589627e-01 7.03197667e-01 -7.90198642e-02 -1.42538951e+02] [-1.12436714e-01 -1.31953621e-03 9.93658012e-01 -2.54089769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74592 meters 0.027744176916235035 Centerline is valid? [True, True] Translation: X:208.53, Y:-142.56, Z:-25.41 [[ 6.98073458e-01 7.11522094e-01 8.01857601e-02 2.08526752e+02] [-7.07092608e-01 7.02662419e-01 -7.92815817e-02 -1.42559937e+02] [-1.12754117e-01 -1.35439028e-03 9.93621998e-01 -2.54125583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77592 meters 0.02761308519460838 Centerline is valid? [True, True] Translation: X:208.55, Y:-142.58, Z:-25.42 [[ 6.97365858e-01 7.12214612e-01 8.01948020e-02 2.08551229e+02] [-7.07779124e-01 7.01960374e-01 -7.93747120e-02 -1.42581703e+02] [-1.12825403e-01 -1.40699255e-03 9.93613833e-01 -2.54152066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80592000000001 meters 0.027654590233981334 Centerline is valid? [True, True] Translation: X:208.58, Y:-142.60, Z:-25.42 [[ 6.96812128e-01 7.12787690e-01 7.99160019e-02 2.08577626e+02] [-7.08377271e-01 7.01378393e-01 -7.91832772e-02 -1.42602517e+02] [-1.12492222e-01 -1.43481144e-03 9.93651569e-01 -2.54173574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83592000000002 meters 0.027777250034058985 Centerline is valid? [True, True] Translation: X:208.60, Y:-142.62, Z:-25.42 [[ 6.96248207e-01 7.13131128e-01 8.17461207e-02 2.08601326e+02] [-7.08508128e-01 7.01029137e-01 -8.10825590e-02 -1.42624157e+02] [-1.15128909e-01 -1.46420461e-03 9.93349481e-01 -2.54204784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86592000000002 meters 0.02766418721757167 Centerline is valid? [True, True] Translation: X:208.63, Y:-142.64, Z:-25.42 [[ 6.95353777e-01 7.14164727e-01 8.03235187e-02 2.08625960e+02] [-7.09700318e-01 6.99975945e-01 -7.97441821e-02 -1.42644780e+02] [-1.13175013e-01 -1.55520859e-03 9.93573851e-01 -2.54232700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89592000000002 meters 0.027664516850650203 Centerline is valid? [True, True] Translation: X:208.65, Y:-142.67, Z:-25.43 [[ 6.94296982e-01 7.15216236e-01 8.01089059e-02 2.08650833e+02] [-7.10774148e-01 6.98901245e-01 -7.96062860e-02 -1.42666261e+02] [-1.12923922e-01 -1.66893521e-03 9.93602236e-01 -2.54256673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92592 meters 0.027656806376422472 Centerline is valid? [True, True] Translation: X:208.68, Y:-142.69, Z:-25.43 [[ 6.93878434e-01 7.15786751e-01 7.86259839e-02 2.08677366e+02] [-7.11502837e-01 6.98316926e-01 -7.82124298e-02 -1.42685337e+02] [-1.10889276e-01 -1.67269226e-03 9.93831359e-01 -2.54277813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95592 meters 0.0275601591222132 Centerline is valid? [True, True] Translation: X:208.70, Y:-142.71, Z:-25.43 [[ 6.92676354e-01 7.16893371e-01 7.91414123e-02 2.08701753e+02] [-7.12551871e-01 6.97180477e-01 -7.87985626e-02 -1.42705740e+02] [-1.11666015e-01 -1.81046039e-03 9.93744144e-01 -2.54309677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98592 meters 0.027693751641538738 Centerline is valid? [True, True] Translation: X:208.73, Y:-142.73, Z:-25.43 [[ 6.92108187e-01 7.17332896e-01 8.01234904e-02 2.08727231e+02] [-7.12877003e-01 6.96728129e-01 -7.98516861e-02 -1.42725281e+02] [-1.13104531e-01 -1.85218799e-03 9.93581368e-01 -2.54332327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01592 meters 0.02771072261216214 Centerline is valid? [True, True] Translation: X:208.75, Y:-142.75, Z:-25.44 [[ 6.91512142e-01 7.17776025e-01 8.12929052e-02 2.08751958e+02] [-7.13182829e-01 6.96271479e-01 -8.10942671e-02 -1.42745958e+02] [-1.14809452e-01 -1.89903381e-03 9.93385717e-01 -2.54362113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04592 meters 0.027755559716984127 Centerline is valid? [True, True] Translation: X:208.78, Y:-142.77, Z:-25.44 [[ 6.91267356e-01 7.18089852e-01 8.06002903e-02 2.08778485e+02] [-7.13568446e-01 6.95947858e-01 -8.04776443e-02 -1.42765444e+02] [-1.13883779e-01 -1.88225548e-03 9.93492296e-01 -2.54381824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07592 meters 0.027662000524757237 Centerline is valid? [True, True] Translation: X:208.80, Y:-142.79, Z:-25.44 [[ 6.91125805e-01 7.18227420e-01 8.05884344e-02 2.08803994e+02] [-7.13699466e-01 6.95805970e-01 -8.05426815e-02 -1.42786784e+02] [-1.13921876e-01 -1.85079709e-03 9.93487987e-01 -2.54416676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10592 meters 0.027225416954957914 Centerline is valid? [True, True] Translation: X:208.95, Y:-142.95, Z:-23.54 [[ 7.64853199e-01 -6.42254286e-01 -5.00900828e-02 2.08954305e+02] [-6.40172140e-01 -7.66450740e-01 5.22770934e-02 -1.42952239e+02] [-7.19667683e-02 -7.91802657e-03 -9.97375601e-01 -2.35408832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13592 meters 0.027168245374422712 Centerline is valid? [True, True] Translation: X:208.86, Y:-142.85, Z:-25.45 [[ 7.47638526e-01 6.58647182e-01 8.49736691e-02 2.08855845e+02] [-6.54601656e-01 7.52451081e-01 -7.28974790e-02 -1.42846839e+02] [-1.11952248e-01 -1.12294083e-03 9.93712953e-01 -2.54484987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16592 meters 0.02702326170087799 Centerline is valid? [True, True] Translation: X:208.88, Y:-142.87, Z:-25.45 [[ 7.51114835e-01 6.54491257e-01 8.64158505e-02 2.08883205e+02] [-6.50270132e-01 7.56069436e-01 -7.42143162e-02 -1.42865967e+02] [-1.13909004e-01 -4.50172665e-04 9.93491085e-01 -2.54522623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19592 meters 0.027063432291477892 Centerline is valid? [True, True] Translation: X:208.91, Y:-142.89, Z:-25.46 [[ 7.52194574e-01 6.53201397e-01 8.67828166e-02 2.08909452e+02] [-6.48926275e-01 7.57184190e-01 -7.46109402e-02 -1.42885341e+02] [-1.14446547e-01 -1.93705445e-04 9.93429389e-01 -2.54552791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22592 meters 0.026919629175527166 Centerline is valid? [True, True] Translation: X:208.94, Y:-142.90, Z:-25.46 [[ 7.55031177e-01 6.50201819e-01 8.46493740e-02 2.08936222e+02] [-6.46107643e-01 7.59761473e-01 -7.28520215e-02 -1.42903095e+02] [-1.11681850e-01 3.12940007e-04 9.93743964e-01 -2.54576273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25592 meters 0.026899651214672728 Centerline is valid? [True, True] Translation: X:208.96, Y:-142.92, Z:-25.46 [[ 7.55195183e-01 6.50051851e-01 8.43375817e-02 2.08961177e+02] [-6.45979157e-01 7.59889756e-01 -7.26531954e-02 -1.42923878e+02] [-1.11315609e-01 3.87023301e-04 9.93785030e-01 -2.54605834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28592 meters 0.02683915892194092 Centerline is valid? [True, True] Translation: X:208.99, Y:-142.94, Z:-25.46 [[ 7.55485143e-01 6.49635778e-01 8.49444236e-02 2.08986877e+02] [-6.45492575e-01 7.60245417e-01 -7.32546386e-02 -1.42944945e+02] [-1.12167443e-01 5.11796301e-04 9.93689188e-01 -2.54639095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31592 meters 0.02698799070706918 Centerline is valid? [True, True] Translation: X:209.01, Y:-142.96, Z:-25.47 [[ 7.55309284e-01 6.49726423e-01 8.58106145e-02 2.09012495e+02] [-6.45489729e-01 7.60167915e-01 -7.40793576e-02 -1.42964605e+02] [-1.13361792e-01 5.62956267e-04 9.93553616e-01 -2.54674839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34592 meters 0.026869725354056104 Centerline is valid? [True, True] Translation: X:209.04, Y:-142.98, Z:-25.47 [[ 7.55271466e-01 6.49835675e-01 8.53147586e-02 2.09039220e+02] [-6.45640770e-01 7.60074496e-01 -7.37208007e-02 -1.42983651e+02] [-1.12751978e-01 5.96530773e-04 9.93622985e-01 -2.54701979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37592 meters 0.026952333533686746 Centerline is valid? [True, True] Translation: X:209.06, Y:-143.00, Z:-25.47 [[ 7.54649016e-01 6.50585918e-01 8.51047974e-02 2.09064440e+02] [-6.46407665e-01 7.59432465e-01 -7.36169978e-02 -1.43004405e+02] [-1.12525528e-01 5.42601552e-04 9.93648686e-01 -2.54730673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40592 meters 0.02683188550352289 Centerline is valid? [True, True] Translation: X:209.09, Y:-143.02, Z:-25.48 [[ 7.54531967e-01 6.50766853e-01 8.47585600e-02 2.09089942e+02] [-6.46615054e-01 7.59277403e-01 -7.33948012e-02 -1.43024872e+02] [-1.12118163e-01 5.72562876e-04 9.93694717e-01 -2.54758435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43592 meters 0.026870766774369014 Centerline is valid? [True, True] Translation: X:209.12, Y:-143.04, Z:-25.48 [[ 7.55064271e-01 6.50301704e-01 8.35801474e-02 2.09116167e+02] [-6.46253798e-01 7.59675732e-01 -7.24486712e-02 -1.43043606e+02] [-1.10607304e-01 6.89415354e-04 9.93863949e-01 -2.54780590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46592 meters 0.026892333406257928 Centerline is valid? [True, True] Translation: X:209.14, Y:-143.06, Z:-25.48 [[ 7.55058038e-01 6.50191213e-01 8.44910965e-02 2.09140630e+02] [-6.46045860e-01 7.59770228e-01 -7.33072116e-02 -1.43063808e+02] [-1.11857524e-01 7.66076219e-04 9.93723959e-01 -2.54812575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49592 meters 0.027168091750238266 Centerline is valid? [True, True] Translation: X:209.17, Y:-143.09, Z:-25.49 [[ 7.55816198e-01 6.49325089e-01 8.43729990e-02 2.09165472e+02] [-6.45178213e-01 7.60510377e-01 -7.32737321e-02 -1.43085234e+02] [-1.11745014e-01 9.45852913e-04 9.93736463e-01 -2.54850242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52592 meters 0.02695529627167322 Centerline is valid? [True, True] Translation: X:209.19, Y:-143.11, Z:-25.49 [[ 7.56622088e-01 6.48494844e-01 8.35311505e-02 2.09191149e+02] [-6.44417101e-01 7.61218229e-01 -7.26182285e-02 -1.43105958e+02] [-1.10677981e-01 1.11565378e-03 9.93855694e-01 -2.54866088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55592000000001 meters 0.027511032431328686 Centerline is valid? [True, True] Translation: X:209.21, Y:-143.13, Z:-25.49 [[ 7.57411060e-01 6.47221224e-01 8.62158487e-02 2.09214706e+02] [-6.42859661e-01 7.62300942e-01 -7.50248554e-02 -1.43126628e+02] [-1.14280102e-01 1.39996399e-03 9.93447582e-01 -2.54915054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58592000000002 meters 0.027486129758886497 Centerline is valid? [True, True] Translation: X:209.24, Y:-143.15, Z:-25.49 [[ 7.57732284e-01 6.46834098e-01 8.62985269e-02 2.09238536e+02] [-6.42456551e-01 7.62629280e-01 -7.51409512e-02 -1.43148773e+02] [-1.14417513e-01 1.49367065e-03 9.93431629e-01 -2.54938293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61592000000002 meters 0.027381802958218963 Centerline is valid? [True, True] Translation: X:209.26, Y:-143.17, Z:-25.50 [[ 7.57725281e-01 6.47058297e-01 8.46638060e-02 2.09260661e+02] [-6.42838639e-01 7.62439077e-01 -7.37911783e-02 -1.43172677e+02] [-1.12298188e-01 1.48827540e-03 9.93673438e-01 -2.54958478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64592000000002 meters 0.027463650680420913 Centerline is valid? [True, True] Translation: X:209.28, Y:-143.19, Z:-25.50 [[ 7.57782571e-01 6.47157732e-01 8.33813218e-02 2.09283596e+02] [-6.43058700e-01 7.62354653e-01 -7.27385124e-02 -1.43194756e+02] [-1.10639429e-01 1.50089250e-03 9.93859479e-01 -2.54980266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67592 meters 0.027463650680420913 Centerline is valid? [True, True] Translation: X:209.31, Y:-143.22, Z:-25.50 [[ 7.57448444e-01 6.47553099e-01 8.33476956e-02 2.09308233e+02] [-6.43452216e-01 7.62018865e-01 -7.27770258e-02 -1.43215799e+02] [-1.10639505e-01 1.49458552e-03 9.93859480e-01 -2.55010243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70592 meters 0.027509605334424782 Centerline is valid? [True, True] Translation: X:209.33, Y:-143.24, Z:-25.51 [[ 7.56687681e-01 6.48523691e-01 8.27089828e-02 2.09330118e+02] [-6.44483241e-01 7.61193186e-01 -7.22930523e-02 -1.43239817e+02] [-1.09841271e-01 1.39870883e-03 9.93948157e-01 -2.55050634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73592 meters 0.027251155083444212 Centerline is valid? [True, True] Translation: X:209.35, Y:-143.26, Z:-25.51 [[ 7.55620778e-01 6.49842288e-01 8.21111504e-02 2.09353461e+02] [-6.45860792e-01 7.60068051e-01 -7.18358931e-02 -1.43262449e+02] [-1.09092063e-01 1.24832085e-03 9.94030866e-01 -2.55071286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76592 meters 0.027039603212486277 Centerline is valid? [True, True] Translation: X:209.38, Y:-143.29, Z:-25.51 [[ 7.53280172e-01 6.52372542e-01 8.35407001e-02 2.09376169e+02] [-6.48258440e-01 7.57897857e-01 -7.31562307e-02 -1.43285708e+02] [-1.11040434e-01 9.51174158e-04 9.93815434e-01 -2.55102346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79592 meters 0.02693538168174344 Centerline is valid? [True, True] Translation: X:209.40, Y:-143.31, Z:-25.51 [[ 7.51347842e-01 6.54591565e-01 8.35841115e-02 2.09399817e+02] [-6.50478167e-01 7.55982419e-01 -7.32716643e-02 -1.43309162e+02] [-1.11151132e-01 6.82867242e-04 9.93803280e-01 -2.55125464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82592 meters 0.027041443380558153 Centerline is valid? [True, True] Translation: X:209.42, Y:-143.33, Z:-25.52 [[ 7.50011450e-01 6.55924145e-01 8.51254400e-02 2.09422709e+02] [-6.51656723e-01 7.54826608e-01 -7.47014522e-02 -1.43331652e+02] [-1.13253433e-01 5.54379181e-04 9.93565978e-01 -2.55167724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85592 meters 0.026912090305667186 Centerline is valid? [True, True] Translation: X:209.44, Y:-143.36, Z:-25.52 [[ 7.47957290e-01 6.58657059e-01 8.20412689e-02 2.09444532e+02] [-6.54703360e-01 7.52443250e-01 -7.20601639e-02 -1.43355967e+02] [-1.09194335e-01 1.85230582e-04 9.94020404e-01 -2.55181797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88592 meters 0.026691185975973315 Centerline is valid? [True, True] Translation: X:209.47, Y:-143.38, Z:-25.52 [[ 7.45325625e-01 6.61699571e-01 8.15070009e-02 2.09467909e+02] [-6.57808066e-01 7.49769055e-01 -7.16583071e-02 -1.43379537e+02] [-1.08527698e-01 -2.07190056e-04 9.94093404e-01 -2.55214558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91592 meters 0.026688674134204525 Centerline is valid? [True, True] Translation: X:209.49, Y:-143.40, Z:-25.52 [[ 7.43695708e-01 6.63552945e-01 8.13276225e-02 2.09492471e+02] [-6.59681291e-01 7.48129209e-01 -7.15770989e-02 -1.43401864e+02] [-1.08338765e-01 -4.18729725e-04 9.94113946e-01 -2.55239258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94592 meters 0.026772806887279527 Centerline is valid? [True, True] Translation: X:209.52, Y:-143.42, Z:-25.53 [[ 7.41295342e-01 6.66209900e-01 8.15204611e-02 2.09517475e+02] [-6.62327261e-01 7.45763908e-01 -7.18247313e-02 -1.43423254e+02] [-1.08645365e-01 -7.49884997e-04 9.94080290e-01 -2.55261245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97592 meters 0.027004721057286418 Centerline is valid? [True, True] Translation: X:209.54, Y:-143.44, Z:-25.53 [[ 7.37816320e-01 6.69958065e-01 8.23606015e-02 2.09542458e+02] [-6.66009334e-01 7.42397881e-01 -7.26426428e-02 -1.43443875e+02] [-1.09811860e-01 -1.25600189e-03 9.93951597e-01 -2.55287995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00592 meters 0.027159457689249378 Centerline is valid? [True, True] Translation: X:209.57, Y:-143.46, Z:-25.53 [[ 7.34694763e-01 6.73383784e-01 8.23279019e-02 2.09566793e+02] [-6.69451960e-01 7.39291104e-01 -7.26824355e-02 -1.43464941e+02] [-1.09807459e-01 -1.71517052e-03 9.93951397e-01 -2.55317306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03592 meters 0.027269636199711397 Centerline is valid? [True, True] Translation: X:209.59, Y:-143.49, Z:-25.53 [[ 7.33178141e-01 6.75004229e-01 8.25778719e-02 2.09591458e+02] [-6.71050964e-01 7.37811381e-01 -7.29723929e-02 -1.43485301e+02] [-1.10183568e-01 -1.91219720e-03 9.93909415e-01 -2.55345724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06592 meters 0.02747603015502571 Centerline is valid? [True, True] Translation: X:209.62, Y:-143.50, Z:-25.54 [[ 7.30958773e-01 6.77505704e-01 8.17636431e-02 2.09617730e+02] [-6.73638375e-01 7.35514181e-01 -7.23203228e-02 -1.43504007e+02] [-1.09135750e-01 -2.21595321e-03 9.94024385e-01 -2.55373963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09592 meters 0.027330850956813084 Centerline is valid? [True, True] Translation: X:209.64, Y:-143.52, Z:-25.54 [[ 7.30709251e-01 6.77754417e-01 8.19325391e-02 2.09643840e+02] [-6.73864906e-01 7.35285036e-01 -7.25396755e-02 -1.43524280e+02] [-1.09407855e-01 -2.20605077e-03 9.93994494e-01 -2.55397038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12592 meters 0.027372149377158938 Centerline is valid? [True, True] Translation: X:209.67, Y:-143.54, Z:-25.54 [[ 7.30045455e-01 6.78357974e-01 8.28498223e-02 2.09669364e+02] [-6.74375846e-01 7.34728064e-01 -7.34294939e-02 -1.43544249e+02] [-1.10683572e-01 -2.26505066e-03 9.93853116e-01 -2.55428440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15592 meters 0.027102435674909574 Centerline is valid? [True, True] Translation: X:209.70, Y:-143.56, Z:-25.55 [[ 7.30022091e-01 6.78544788e-01 8.15151411e-02 2.09696293e+02] [-6.74684175e-01 7.34555717e-01 -7.23129562e-02 -1.43561982e+02] [-1.08944992e-01 -2.20692025e-03 9.94045330e-01 -2.55454504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18592 meters 0.027038007701447396 Centerline is valid? [True, True] Translation: X:209.72, Y:-143.58, Z:-25.55 [[ 7.30524243e-01 6.78007113e-01 8.14903930e-02 2.09722130e+02] [-6.74138102e-01 7.35052409e-01 -7.23586509e-02 -1.43581570e+02] [-1.08959390e-01 -2.07603017e-03 9.94044034e-01 -2.55488893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21592 meters 0.0269553030078117 Centerline is valid? [True, True] Translation: X:209.75, Y:-143.60, Z:-25.55 [[ 7.32046053e-01 6.76226974e-01 8.26175219e-02 2.09747820e+02] [-6.72230825e-01 7.36691180e-01 -7.34290362e-02 -1.43600774e+02] [-1.10518295e-01 -1.78460882e-03 9.93872488e-01 -2.55533184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24592 meters 0.026948899385774876 Centerline is valid? [True, True] Translation: X:209.77, Y:-143.62, Z:-25.56 [[ 7.32763316e-01 6.75455957e-01 8.25661779e-02 2.09772641e+02] [-6.71452261e-01 7.37398561e-01 -7.34521816e-02 -1.43620706e+02] [-1.10497894e-01 -1.61618267e-03 9.93875044e-01 -2.55564556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27592 meters 0.02644206812180854 Centerline is valid? [True, True] Translation: X:209.80, Y:-143.64, Z:-25.56 [[ 7.35312398e-01 6.72777931e-01 8.17651049e-02 2.09799255e+02] [-6.68827766e-01 7.39843585e-01 -7.28072007e-02 -1.43639053e+02] [-1.09476466e-01 -1.15073513e-03 9.93988722e-01 -2.55585856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30592000000001 meters 0.02639925074056937 Centerline is valid? [True, True] Translation: X:209.82, Y:-143.66, Z:-25.56 [[ 7.36025506e-01 6.71949944e-01 8.21567244e-02 2.09824309e+02] [-6.67948737e-01 7.40595918e-01 -7.32268526e-02 -1.43659965e+02] [-1.10049714e-01 -9.79649005e-04 9.93925601e-01 -2.55614811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33592000000002 meters 0.026410423722729146 Centerline is valid? [True, True] Translation: X:209.85, Y:-143.68, Z:-25.57 [[ 7.38079125e-01 6.69635577e-01 8.26280766e-02 2.09849376e+02] [-6.65564808e-01 7.42689612e-01 -7.37267100e-02 -1.43681341e+02] [-1.10737042e-01 -5.78194306e-04 9.93849573e-01 -2.55664856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36592000000002 meters 0.02644317297058901 Centerline is valid? [True, True] Translation: X:209.87, Y:-143.70, Z:-25.57 [[ 7.39006728e-01 6.68709237e-01 8.18352769e-02 2.09874220e+02] [-6.64702274e-01 7.43523916e-01 -7.30963286e-02 -1.43702173e+02] [-1.09726676e-01 -3.77415990e-04 9.93961727e-01 -2.55685004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39592000000002 meters 0.02656226176927483 Centerline is valid? [True, True] Translation: X:209.90, Y:-143.72, Z:-25.57 [[ 7.41256772e-01 6.65857589e-01 8.46880676e-02 2.09899648e+02] [-6.61538493e-01 7.46078857e-01 -7.57176403e-02 -1.43722183e+02] [-1.13601142e-01 1.01797071e-04 9.93526432e-01 -2.55728277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42592 meters 0.02671132038060525 Centerline is valid? [True, True] Translation: X:209.92, Y:-143.74, Z:-25.58 [[ 7.42004974e-01 6.65061838e-01 8.43882171e-02 2.09924181e+02] [-6.60759935e-01 7.46788240e-01 -7.55224021e-02 -1.43743532e+02] [-1.13247196e-01 2.77645091e-04 9.93566805e-01 -2.55754397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45592 meters 0.026447162468754535 Centerline is valid? [True, True] Translation: X:209.95, Y:-143.77, Z:-25.58 [[ 7.42746868e-01 6.64334372e-01 8.35878714e-02 2.09948995e+02] [-6.60100359e-01 7.47435378e-01 -7.48857233e-02 -1.43765851e+02] [-1.12225692e-01 4.44752455e-04 9.93682644e-01 -2.55779186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48592 meters 0.02651317566313174 Centerline is valid? [True, True] Translation: X:209.97, Y:-143.79, Z:-25.58 [[ 7.43481337e-01 6.63723466e-01 8.18942206e-02 2.09972575e+02] [-6.59647857e-01 7.47977822e-01 -7.34430534e-02 -1.43787732e+02] [-1.10000939e-01 5.82192322e-04 9.93931313e-01 -2.55816112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51592 meters 0.026322921680333133 Centerline is valid? [True, True] Translation: X:210.00, Y:-143.81, Z:-25.58 [[ 7.43061952e-01 6.64131887e-01 8.23879373e-02 2.09995920e+02] [-6.60001943e-01 7.47615212e-01 -7.39522084e-02 -1.43810406e+02] [-1.10708495e-01 5.74873632e-04 9.93852755e-01 -2.55832547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54592 meters 0.02645001675505602 Centerline is valid? [True, True] Translation: X:210.02, Y:-143.83, Z:-25.59 [[ 7.42266107e-01 6.65074323e-01 8.19583500e-02 2.10019968e+02] [-6.60986791e-01 7.46777021e-01 -7.36243327e-02 -1.43832737e+02] [-1.10170266e-01 4.75460053e-04 9.93912615e-01 -2.55868842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57592 meters 0.026426058309826337 Centerline is valid? [True, True] Translation: X:210.04, Y:-143.85, Z:-25.59 [[ 7.41209674e-01 6.66247792e-01 8.19884094e-02 2.10044151e+02] [-6.62155639e-01 7.45730347e-01 -7.37303134e-02 -1.43854932e+02] [-1.10263903e-01 3.60533921e-04 9.93902280e-01 -2.55896431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60592 meters 0.026336173532936394 Centerline is valid? [True, True] Translation: X:210.07, Y:-143.88, Z:-25.59 [[ 7.38610175e-01 6.68983823e-01 8.31604115e-02 2.10066621e+02] [-6.64781815e-01 7.43276963e-01 -7.48631721e-02 -1.43877458e+02] [-1.11893469e-01 1.11713560e-05 9.93720208e-01 -2.55926695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63592 meters 0.026382008329243395 Centerline is valid? [True, True] Translation: X:210.09, Y:-143.90, Z:-25.60 [[ 7.37480373e-01 6.70141062e-01 8.38668954e-02 2.10090727e+02] [-6.65866315e-01 7.42233753e-01 -7.55718650e-02 -1.43900197e+02] [-1.12892650e-01 -1.11373355e-04 9.93607185e-01 -2.55960069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66592 meters 0.026419661296955606 Centerline is valid? [True, True] Translation: X:210.11, Y:-143.92, Z:-25.60 [[ 7.35765919e-01 6.72020776e-01 8.38843724e-02 2.10114054e+02] [-6.67747121e-01 7.40532215e-01 -7.56691585e-02 -1.43923158e+02] [-1.12970327e-01 -3.38760178e-04 9.93598304e-01 -2.55986204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69592 meters 0.026275378473578255 Centerline is valid? [True, True] Translation: X:210.14, Y:-143.94, Z:-25.60 [[ 7.35110811e-01 6.72704816e-01 8.41446735e-02 2.10139024e+02] [-6.68399686e-01 7.39910861e-01 -7.59853746e-02 -1.43944064e+02] [-1.13375285e-01 -3.84603114e-04 9.93552161e-01 -2.56013854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72592 meters 0.026159529173445488 Centerline is valid? [True, True] Translation: X:210.16, Y:-143.97, Z:-25.60 [[ 7.33941272e-01 6.74087214e-01 8.32864739e-02 2.10164986e+02] [-6.69869547e-01 7.38651572e-01 -7.52904140e-02 -1.43965037e+02] [-1.12271990e-01 -5.32330332e-04 9.93677371e-01 -2.56038360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75592 meters 0.026151224951096223 Centerline is valid? [True, True] Translation: X:210.19, Y:-143.99, Z:-25.61 [[ 7.33352046e-01 6.74647803e-01 8.39352053e-02 2.10189574e+02] [-6.70358324e-01 7.38139571e-01 -7.59584847e-02 -1.43987280e+02] [-1.13201121e-01 -5.62353341e-04 9.93571935e-01 -2.56073567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78592 meters 0.02636724181398062 Centerline is valid? [True, True] Translation: X:210.21, Y:-144.01, Z:-25.61 [[ 7.33758377e-01 6.74272360e-01 8.33992156e-02 2.10213175e+02] [-6.70026325e-01 7.38482626e-01 -7.55521990e-02 -1.44009148e+02] [-1.12531631e-01 -4.42611081e-04 9.93648044e-01 -2.56095460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81592 meters 0.026339387485537845 Centerline is valid? [True, True] Translation: X:210.24, Y:-144.03, Z:-25.61 [[ 7.33918071e-01 6.74060945e-01 8.37024953e-02 2.10237650e+02] [-6.69774176e-01 7.38675649e-01 -7.59001869e-02 -1.44030779e+02] [-1.12990347e-01 -3.57251017e-04 9.93596022e-01 -2.56132684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84592 meters 0.026309976543031195 Centerline is valid? [True, True] Translation: X:210.26, Y:-144.05, Z:-25.62 [[ 7.33981486e-01 6.74030464e-01 8.33913100e-02 2.10262113e+02] [-6.69766238e-01 7.38703492e-01 -7.56990005e-02 -1.44052583e+02] [-1.12624884e-01 -2.91019078e-04 9.93637535e-01 -2.56159125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87592 meters 0.026115138200498468 Centerline is valid? [True, True] Translation: X:210.29, Y:-144.07, Z:-25.62 [[ 7.34900767e-01 6.73043812e-01 8.32639735e-02 2.10286324e+02] [-6.68777139e-01 7.39602610e-01 -7.56645129e-02 -1.44074229e+02] [-1.12507784e-01 -7.91334065e-05 9.93650840e-01 -2.56192781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90592 meters 0.026004386899901217 Centerline is valid? [True, True] Translation: X:210.31, Y:-144.10, Z:-25.62 [[ 7.35513319e-01 6.72414223e-01 8.29413680e-02 2.10310788e+02] [-6.68167571e-01 7.40175051e-01 -7.54519061e-02 -1.44095749e+02] [-1.12126066e-01 7.71494483e-05 9.93693987e-01 -2.56218061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93592 meters 0.026050628617168357 Centerline is valid? [True, True] Translation: X:210.33, Y:-144.12, Z:-25.62 [[ 7.36627092e-01 6.71051937e-01 8.40822532e-02 2.10333810e+02] [-6.66669118e-01 7.41410261e-01 -7.65709578e-02 -1.44117665e+02] [-1.13722535e-01 3.49200351e-04 9.93512488e-01 -2.56247633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96592 meters 0.026394300082482117 Centerline is valid? [True, True] Translation: X:210.36, Y:-144.14, Z:-25.63 [[ 7.37178310e-01 6.70349871e-01 8.48480426e-02 2.10356575e+02] [-6.65873572e-01 7.42045002e-01 -7.73408175e-02 -1.44139549e+02] [-1.14806473e-01 5.15903945e-04 9.93387743e-01 -2.56288132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99592 meters 0.02615134641228302 Centerline is valid? [True, True] Translation: X:210.38, Y:-144.16, Z:-25.63 [[ 7.38020552e-01 6.69701330e-01 8.26183606e-02 2.10378418e+02] [-6.65446244e-01 7.42630261e-01 -7.53763349e-02 -1.44163229e+02] [-1.11834526e-01 6.51206451e-04 9.93726630e-01 -2.56302118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02592 meters 0.026072402195435527 Centerline is valid? [True, True] Translation: X:210.40, Y:-144.19, Z:-25.63 [[ 7.38031889e-01 6.69749827e-01 8.21224749e-02 2.10402317e+02] [-6.65538278e-01 7.42586487e-01 -7.49940671e-02 -1.44186372e+02] [-1.11210304e-01 6.92362365e-04 9.93796654e-01 -2.56339331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05592000000001 meters 0.026199280304769614 Centerline is valid? [True, True] Translation: X:210.42, Y:-144.21, Z:-25.64 [[ 7.38088985e-01 6.69490985e-01 8.37046671e-02 2.10424847e+02] [-6.65104253e-01 7.42819744e-01 -7.65190202e-02 -1.44209814e+02] [-1.13406274e-01 8.05515842e-04 9.93548372e-01 -2.56360984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08592000000002 meters 0.026184077768329917 Centerline is valid? [True, True] Translation: X:210.45, Y:-144.23, Z:-25.64 [[ 7.38034668e-01 6.69443596e-01 8.45582652e-02 2.10447958e+02] [-6.64958051e-01 7.42862373e-01 -7.73710840e-02 -1.44232380e+02] [-1.14610730e-01 8.74843016e-04 9.93410094e-01 -2.56393049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11592000000002 meters 0.026436001162033977 Centerline is valid? [True, True] Translation: X:210.47, Y:-144.26, Z:-25.64 [[ 7.37640965e-01 6.69811128e-01 8.50814901e-02 2.10470471e+02] [-6.65263528e-01 7.42530997e-01 -7.79240462e-02 -1.44257112e+02] [-1.15370037e-01 8.78356433e-04 9.93322195e-01 -2.56426805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14592000000002 meters 0.026443647527877895 Centerline is valid? [True, True] Translation: X:210.49, Y:-144.28, Z:-25.65 [[ 7.37750304e-01 6.69798821e-01 8.42260570e-02 2.10493017e+02] [-6.65333359e-01 7.42542035e-01 -7.72194712e-02 -1.44280192e+02] [-1.14262898e-01 9.30282911e-04 9.93450112e-01 -2.56463196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17592 meters 0.026178211657448054 Centerline is valid? [True, True] Translation: X:210.52, Y:-144.30, Z:-25.65 [[ 7.37256138e-01 6.70300237e-01 8.45634648e-02 2.10516395e+02] [-6.65793624e-01 7.42089457e-01 -7.76021096e-02 -1.44304029e+02] [-1.14770368e-01 9.10815905e-04 9.93391631e-01 -2.56480062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20592 meters 0.026476101815391194 Centerline is valid? [True, True] Translation: X:210.54, Y:-144.33, Z:-25.65 [[ 7.36526945e-01 6.71028848e-01 8.51372118e-02 2.10539451e+02] [-6.66455888e-01 7.41430737e-01 -7.82113292e-02 -1.44327650e+02] [-1.15605404e-01 8.64555309e-04 9.93294842e-01 -2.56516498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23592 meters 0.026346636040939758 Centerline is valid? [True, True] Translation: X:210.56, Y:-144.35, Z:-25.65 [[ 7.36074561e-01 6.71607524e-01 8.44841605e-02 2.10562676e+02] [-6.67099348e-01 7.40906640e-01 -7.76904794e-02 -1.44349568e+02] [-1.14772386e-01 8.26657203e-04 9.93391472e-01 -2.56532981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26592 meters 0.02635218378660397 Centerline is valid? [True, True] Translation: X:210.59, Y:-144.37, Z:-25.66 [[ 7.35468451e-01 6.72194601e-01 8.50915766e-02 2.10586813e+02] [-6.67616403e-01 7.40374085e-01 -7.83233883e-02 -1.44371903e+02] [-1.15648157e-01 7.95848813e-04 9.93289923e-01 -2.56566581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29592 meters 0.02627738251411454 Centerline is valid? [True, True] Translation: X:210.61, Y:-144.39, Z:-25.66 [[ 7.34887131e-01 6.72899591e-01 8.45401999e-02 2.10609783e+02] [-6.68376186e-01 7.39733461e-01 -7.78953145e-02 -1.44394359e+02] [-1.14952940e-01 7.39607873e-04 9.93370663e-01 -2.56592757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32592 meters 0.026222129100499734 Centerline is valid? [True, True] Translation: X:210.63, Y:-144.42, Z:-25.66 [[ 7.33796967e-01 6.74058717e-01 8.47753387e-02 2.10633032e+02] [-6.69509125e-01 7.38677513e-01 -7.81860811e-02 -1.44416978e+02] [-1.15323646e-01 6.14846258e-04 9.93327780e-01 -2.56619896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35592 meters 0.026179919605393096 Centerline is valid? [True, True] Translation: X:210.66, Y:-144.44, Z:-25.66 [[ 7.32487127e-01 6.75541696e-01 8.42972477e-02 2.10656941e+02] [-6.71043937e-01 7.37321656e-01 -7.78255091e-02 -1.44438457e+02] [-1.14728563e-01 4.39026535e-04 9.93396781e-01 -2.56645666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38592 meters 0.026277971502735274 Centerline is valid? [True, True] Translation: X:210.68, Y:-144.46, Z:-25.67 [[ 7.31197161e-01 6.76856496e-01 8.49470148e-02 2.10681840e+02] [-6.72288902e-01 7.36114936e-01 -7.85011649e-02 -1.44459444e+02] [-1.15664790e-01 2.90893675e-04 9.93288262e-01 -2.56687300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41592 meters 0.026242538740865295 Centerline is valid? [True, True] Translation: X:210.71, Y:-144.48, Z:-25.67 [[ 7.30087426e-01 6.78053886e-01 8.49427931e-02 2.10706210e+02] [-6.73485099e-01 7.35012178e-01 -7.85806572e-02 -1.44482187e+02] [-1.15715907e-01 1.63044359e-04 9.93282338e-01 -2.56716651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44592 meters 0.02621001227063158 Centerline is valid? [True, True] Translation: X:210.73, Y:-144.50, Z:-25.67 [[ 7.28780561e-01 6.79464333e-01 8.48947223e-02 2.10730712e+02] [-6.74900518e-01 7.33708539e-01 -7.86197889e-02 -1.44504315e+02] [-1.15707325e-01 1.08177405e-06 9.93283351e-01 -2.56748962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47592 meters 0.026281765781420073 Centerline is valid? [True, True] Translation: X:210.75, Y:-144.53, Z:-25.68 [[ 7.28031248e-01 6.80383610e-01 8.39562063e-02 2.10754559e+02] [-6.75917300e-01 7.32856150e-01 -7.78310193e-02 -1.44525647e+02] [-1.14482772e-01 -8.40381798e-05 9.93425230e-01 -2.56773940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50592 meters 0.026203108282414872 Centerline is valid? [True, True] Translation: X:210.78, Y:-144.55, Z:-25.68 [[ 7.26997749e-01 6.81287539e-01 8.55661250e-02 2.10778891e+02] [-6.76645094e-01 7.32015887e-01 -7.93987313e-02 -1.44546677e+02] [-1.16729129e-01 -1.75199706e-04 9.93163773e-01 -2.56796163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53592 meters 0.026395959681963073 Centerline is valid? [True, True] Translation: X:210.80, Y:-144.57, Z:-25.68 [[ 7.26838003e-01 6.81454476e-01 8.55938925e-02 2.10803682e+02] [-6.76801126e-01 7.31860489e-01 -7.95013189e-02 -1.44568112e+02] [-1.16819318e-01 -1.45462983e-04 9.93153173e-01 -2.56825401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56592 meters 0.026395959681963073 Centerline is valid? [True, True] Translation: X:210.83, Y:-144.59, Z:-25.69 [[ 7.26474438e-01 6.81847390e-01 8.55513165e-02 2.10827650e+02] [-6.77191363e-01 7.31494439e-01 -7.95471139e-02 -1.44589896e+02] [-1.16819304e-01 -1.45667797e-04 9.93153175e-01 -2.56855377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59592 meters 0.026261603186803636 Centerline is valid? [True, True] Translation: X:210.85, Y:-144.61, Z:-25.69 [[ 7.26172642e-01 6.82245555e-01 8.49370178e-02 2.10851937e+02] [-6.77649470e-01 7.31123096e-01 -7.90583018e-02 -1.44610401e+02] [-1.16036590e-01 -1.47549230e-04 9.93244928e-01 -2.56886269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62592 meters 0.0263706406691549 Centerline is valid? [True, True] Translation: X:210.88, Y:-144.63, Z:-25.69 [[ 7.25919144e-01 6.82700161e-01 8.34379179e-02 2.10875621e+02] [-6.78260162e-01 7.30698613e-01 -7.77347414e-02 -1.44631823e+02] [-1.14037491e-01 -1.63478751e-04 9.93476433e-01 -2.56916174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65592 meters 0.026047421096154343 Centerline is valid? [True, True] Translation: X:210.90, Y:-144.65, Z:-25.69 [[ 7.25479291e-01 6.83136863e-01 8.36888522e-02 2.10899655e+02] [-6.78664275e-01 7.30290349e-01 -7.80436268e-02 -1.44653902e+02] [-1.14431640e-01 -1.77599152e-04 9.93431109e-01 -2.56947585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68592 meters 0.02617213623345305 Centerline is valid? [True, True] Translation: X:210.92, Y:-144.68, Z:-25.70 [[ 7.25011978e-01 6.83481044e-01 8.49193379e-02 2.10923824e+02] [-6.78868071e-01 7.29968240e-01 -7.92749020e-02 -1.44675398e+02] [-1.16171312e-01 -1.73773598e-04 9.93229176e-01 -2.56983331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71592 meters 0.02615517230296177 Centerline is valid? [True, True] Translation: X:210.95, Y:-144.70, Z:-25.70 [[ 7.25632310e-01 6.82838037e-01 8.47936667e-02 2.10949154e+02] [-6.78225452e-01 7.30569788e-01 -7.92339638e-02 -1.44697030e+02] [-1.16051655e-01 -1.44987526e-05 9.93243179e-01 -2.57004531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74592 meters 0.026378114524609326 Centerline is valid? [True, True] Translation: X:210.97, Y:-144.72, Z:-25.70 [[ 7.25776426e-01 6.82659576e-01 8.49969562e-02 2.10973851e+02] [-6.78013587e-01 7.30736545e-01 -7.95089786e-02 -1.44718735e+02] [-1.16387948e-01 7.66511519e-05 9.93203826e-01 -2.57038544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77592 meters 0.02639572357228992 Centerline is valid? [True, True] Translation: X:211.00, Y:-144.74, Z:-25.71 [[ 7.26843245e-01 6.81581852e-01 8.45285507e-02 2.10998476e+02] [-6.76969986e-01 7.31741814e-01 -7.91552588e-02 -1.44740469e+02] [-1.15803863e-01 3.10173454e-04 9.93272052e-01 -2.57085490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80592000000001 meters 0.02648265726619194 Centerline is valid? [True, True] Translation: X:211.02, Y:-144.76, Z:-25.71 [[ 7.26853817e-01 6.81682188e-01 8.36237016e-02 2.11022129e+02] [-6.77160190e-01 7.31648325e-01 -7.83888080e-02 -1.44762179e+02] [-1.14619395e-01 3.50562635e-04 9.93409418e-01 -2.57118287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83592000000002 meters 0.026374898262811725 Centerline is valid? [True, True] Translation: X:211.05, Y:-144.78, Z:-25.71 [[ 7.26471549e-01 6.82040471e-01 8.40231163e-02 2.11046262e+02] [-6.77468620e-01 7.31314346e-01 -7.88390592e-02 -1.44783876e+02] [-1.15218739e-01 3.51308829e-04 9.93340082e-01 -2.57147353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86592000000002 meters 0.02656856813434844 Centerline is valid? [True, True] Translation: X:211.07, Y:-144.81, Z:-25.72 [[ 7.27074052e-01 6.81395418e-01 8.40452722e-02 2.11070489e+02] [-6.76807091e-01 7.31915308e-01 -7.89439292e-02 -1.44805735e+02] [-1.15306053e-01 5.15646293e-04 9.93329879e-01 -2.57185588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89592000000002 meters 0.02670828691843664 Centerline is valid? [True, True] Translation: X:211.09, Y:-144.83, Z:-25.72 [[ 7.27027437e-01 6.81394180e-01 8.44575460e-02 2.11094113e+02] [-6.76750630e-01 7.31916412e-01 -7.94163162e-02 -1.44828411e+02] [-1.15929680e-01 5.81143346e-04 9.93257254e-01 -2.57209867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92592 meters 0.026973282781104148 Centerline is valid? [True, True] Translation: X:211.12, Y:-144.85, Z:-25.72 [[ 7.28318165e-01 6.80164752e-01 8.32379760e-02 2.11116417e+02] [-6.75637633e-01 7.33058818e-01 -7.83489501e-02 -1.44851420e+02] [-1.14308527e-01 8.24254515e-04 9.93444956e-01 -2.57242897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95592 meters 0.02691071532780015 Centerline is valid? [True, True] Translation: X:211.14, Y:-144.87, Z:-25.73 [[ 7.28054916e-01 6.80323223e-01 8.42398492e-02 2.11138581e+02] [-6.75678680e-01 7.32911705e-01 -7.93646868e-02 -1.44873737e+02] [-1.15734011e-01 8.62780224e-04 9.93279867e-01 -2.57282939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98592 meters 0.02726487142869565 Centerline is valid? [True, True] Translation: X:211.16, Y:-144.90, Z:-25.73 [[ 7.28940805e-01 6.79170947e-01 8.58611020e-02 2.11161289e+02] [-6.74328846e-01 7.33979273e-01 -8.09631615e-02 -1.44896384e+02] [-1.18008096e-01 1.11873427e-03 9.93012003e-01 -2.57319356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01592 meters 0.027366958779431926 Centerline is valid? [True, True] Translation: X:211.18, Y:-144.92, Z:-25.73 [[ 7.28519488e-01 6.79584338e-01 8.61654425e-02 2.11184894e+02] [-6.74701422e-01 7.33596545e-01 -8.13271214e-02 -1.44919792e+02] [-1.18479309e-01 1.11244628e-03 9.92955898e-01 -2.57349669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04592 meters 0.027377815594358874 Centerline is valid? [True, True] Translation: X:211.21, Y:-144.94, Z:-25.74 [[ 7.28243594e-01 6.79891486e-01 8.60745966e-02 2.11208341e+02] [-6.75010935e-01 7.33311874e-01 -8.13260922e-02 -1.44942746e+02] [-1.18412441e-01 1.12391172e-03 9.92963862e-01 -2.57377539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07592 meters 0.027325721810112388 Centerline is valid? [True, True] Translation: X:211.23, Y:-144.97, Z:-25.74 [[ 7.27207715e-01 6.81006143e-01 8.60207672e-02 2.11232081e+02] [-6.76129386e-01 7.32277014e-01 -8.13598690e-02 -1.44965359e+02] [-1.18397601e-01 1.00435589e-03 9.92965759e-01 -2.57407124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10592 meters 0.027528837484904627 Centerline is valid? [True, True] Translation: X:211.26, Y:-144.99, Z:-25.74 [[ 7.26550380e-01 6.81723736e-01 8.58911698e-02 2.11255696e+02] [-6.76856610e-01 7.31609082e-01 -8.13220837e-02 -1.44988606e+02] [-1.18277955e-01 9.48584841e-04 9.92980073e-01 -2.57448757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13592 meters 0.027487653756412156 Centerline is valid? [True, True] Translation: X:211.28, Y:-145.01, Z:-25.75 [[ 7.25797005e-01 6.82537012e-01 8.58017249e-02 2.11279405e+02] [-6.77675597e-01 7.30850503e-01 -8.13223738e-02 -1.45011320e+02] [-1.18213764e-01 8.77800136e-04 9.92987782e-01 -2.57484790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16592 meters 0.027344964193922287 Centerline is valid? [True, True] Translation: X:211.30, Y:-145.03, Z:-25.75 [[ 7.26022835e-01 6.82357806e-01 8.53151138e-02 2.11303891e+02] [-6.77540381e-01 7.31017713e-01 -8.09452598e-02 -1.45033874e+02] [-1.17600489e-01 9.63672199e-04 9.93060520e-01 -2.57504030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19592 meters 0.027562959785735103 Centerline is valid? [True, True] Translation: X:211.33, Y:-145.06, Z:-25.75 [[ 7.26467312e-01 6.81821528e-01 8.58175361e-02 2.11327905e+02] [-6.76933322e-01 7.31517706e-01 -8.15053548e-02 -1.45055212e+02] [-1.18349153e-01 1.11822617e-03 9.92971413e-01 -2.57541262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22592 meters 0.027592615330133023 Centerline is valid? [True, True] Translation: X:211.35, Y:-145.08, Z:-25.76 [[ 7.26202773e-01 6.82099498e-01 8.58475786e-02 2.11351953e+02] [-6.77200544e-01 7.31258502e-01 -8.16114320e-02 -1.45078252e+02] [-1.18443889e-01 1.13042129e-03 9.92960104e-01 -2.57576421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25592 meters 0.02796038499954849 Centerline is valid? [True, True] Translation: X:211.38, Y:-145.10, Z:-25.76 [[ 7.26270059e-01 6.81860422e-01 8.71674599e-02 2.11375029e+02] [-6.76797105e-01 7.31481238e-01 -8.29510488e-02 -1.45100052e+02] [-1.20322399e-01 1.25017863e-03 9.92734082e-01 -2.57619434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28592 meters 0.02793357328032044 Centerline is valid? [True, True] Translation: X:211.40, Y:-145.12, Z:-25.76 [[ 7.25626615e-01 6.82637289e-01 8.64427371e-02 2.11398482e+02] [-6.77654672e-01 7.30756437e-01 -8.23357477e-02 -1.45121896e+02] [-1.19374038e-01 1.16668526e-03 9.92848668e-01 -2.57646232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31592 meters 0.027729090912322115 Centerline is valid? [True, True] Translation: X:211.42, Y:-145.14, Z:-25.77 [[ 7.24678958e-01 6.83625598e-01 8.65820443e-02 2.11422745e+02] [-6.78624529e-01 7.29832113e-01 -8.25459593e-02 -1.45143657e+02] [-1.19620887e-01 1.06262064e-03 9.92819074e-01 -2.57676416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34592 meters 0.027716841825954866 Centerline is valid? [True, True] Translation: X:211.45, Y:-145.17, Z:-25.77 [[ 7.24021304e-01 6.84307425e-01 8.66977542e-02 2.11446783e+02] [-6.79287363e-01 7.29192923e-01 -8.27427314e-02 -1.45165943e+02] [-1.19840854e-01 1.01481141e-03 9.92792597e-01 -2.57703356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37592 meters 0.027848979047007394 Centerline is valid? [True, True] Translation: X:211.47, Y:-145.19, Z:-25.77 [[ 7.23027874e-01 6.85465063e-01 8.58390486e-02 2.11470483e+02] [-6.80542586e-01 7.28104994e-01 -8.20055296e-02 -1.45187349e+02] [-1.18711765e-01 8.75155622e-04 9.92928371e-01 -2.57732090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40592 meters 0.0276577948160468 Centerline is valid? [True, True] Translation: X:211.49, Y:-145.21, Z:-25.78 [[ 7.22110538e-01 6.86445958e-01 8.57223289e-02 2.11494502e+02] [-6.81534562e-01 7.27180414e-01 -8.19712570e-02 -1.45209706e+02] [-1.18604437e-01 7.69578693e-04 9.92941285e-01 -2.57761815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43592 meters 0.027630035769946482 Centerline is valid? [True, True] Translation: X:211.52, Y:-145.23, Z:-25.78 [[ 7.21714675e-01 6.86946030e-01 8.50475122e-02 2.11517679e+02] [-6.82105615e-01 7.26708057e-01 -8.14084125e-02 -1.45231817e+02] [-1.17727898e-01 7.42260376e-04 9.93045614e-01 -2.57784548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46592 meters 0.02770062781772789 Centerline is valid? [True, True] Translation: X:211.54, Y:-145.25, Z:-25.78 [[ 7.21820218e-01 6.86889890e-01 8.46040897e-02 2.11542064e+02] [-6.82090606e-01 7.26761056e-01 -8.10603023e-02 -1.45254334e+02] [-1.17166460e-01 8.03310262e-04 9.93111965e-01 -2.57813190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49592 meters 0.027684557232498165 Centerline is valid? [True, True] Translation: X:211.57, Y:-145.28, Z:-25.79 [[ 7.21277783e-01 6.87397411e-01 8.51067511e-02 2.11566575e+02] [-6.82534001e-01 7.26281060e-01 -8.16281836e-02 -1.45276682e+02] [-1.17922423e-01 7.88343954e-04 9.93022498e-01 -2.57851538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52592 meters 0.027759744530642404 Centerline is valid? [True, True] Translation: X:211.59, Y:-145.30, Z:-25.79 [[ 7.21611021e-01 6.86931235e-01 8.60407628e-02 2.11591216e+02] [-6.81946581e-01 7.26721819e-01 -8.26090700e-02 -1.45297898e+02] [-1.19274450e-01 9.36411321e-04 9.92860881e-01 -2.57876496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55592000000001 meters 0.027915166602943756 Centerline is valid? [True, True] Translation: X:211.61, Y:-145.32, Z:-25.79 [[ 7.21292776e-01 6.87258446e-01 8.60962207e-02 2.11614401e+02] [-6.82260226e-01 7.26412378e-01 -8.27407990e-02 -1.45321450e+02] [-1.19405673e-01 9.40313543e-04 9.92845104e-01 -2.57914801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58592000000002 meters 0.027943830638874977 Centerline is valid? [True, True] Translation: X:211.64, Y:-145.34, Z:-25.79 [[ 7.21162192e-01 6.87378478e-01 8.62317869e-02 2.11638274e+02] [-6.82354828e-01 7.26298738e-01 -8.29580137e-02 -1.45343883e+02] [-1.19653591e-01 9.85506818e-04 9.92815213e-01 -2.57945380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61592000000002 meters 0.027898863106597248 Centerline is valid? [True, True] Translation: X:211.66, Y:-145.37, Z:-25.80 [[ 7.21704994e-01 6.86814850e-01 8.61815754e-02 2.11663051e+02] [-6.81783979e-01 7.26831533e-01 -8.29851105e-02 -1.45366360e+02] [-1.19634893e-01 1.13355124e-03 9.92817308e-01 -2.57966004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64592000000002 meters 0.027704382222528315 Centerline is valid? [True, True] Translation: X:211.69, Y:-145.39, Z:-25.80 [[ 7.21039286e-01 6.87615421e-01 8.53661600e-02 2.11687114e+02] [-6.82679743e-01 7.26074365e-01 -8.22458887e-02 -1.45387158e+02] [-1.18535722e-01 1.02476875e-03 9.92949260e-01 -2.57997065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67592 meters 0.027940046357489257 Centerline is valid? [True, True] Translation: X:211.71, Y:-145.41, Z:-25.80 [[ 7.20974746e-01 6.87672577e-01 8.54508245e-02 2.11710932e+02] [-6.82718102e-01 7.26020161e-01 -8.24058183e-02 -1.45409251e+02] [-1.18707243e-01 1.07368918e-03 9.92928717e-01 -2.58033860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70592 meters 0.027915522851450034 Centerline is valid? [True, True] Translation: X:211.73, Y:-145.43, Z:-25.81 [[ 7.21152819e-01 6.87479284e-01 8.55034842e-02 2.11734251e+02] [-6.82507043e-01 7.26203049e-01 -8.25425244e-02 -1.45432733e+02] [-1.18839166e-01 1.16904396e-03 9.92912829e-01 -2.58058443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73592 meters 0.027861778893804954 Centerline is valid? [True, True] Translation: X:211.76, Y:-145.45, Z:-25.81 [[ 7.21777393e-01 6.86890554e-01 8.49632975e-02 2.11758555e+02] [-6.81967052e-01 7.26759675e-01 -8.21055112e-02 -1.45454828e+02] [-1.18145399e-01 1.31973232e-03 9.92995430e-01 -2.58080843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76592 meters 0.028050708185195845 Centerline is valid? [True, True] Translation: X:211.78, Y:-145.48, Z:-25.81 [[ 7.23006390e-01 6.85559109e-01 8.52670366e-02 2.11781670e+02] [-6.80581015e-01 7.28015202e-01 -8.24824063e-02 -1.45476430e+02] [-1.18622264e-01 1.60418046e-03 9.92938158e-01 -2.58111571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79592 meters 0.028043314185463793 Centerline is valid? [True, True] Translation: X:211.80, Y:-145.50, Z:-25.81 [[ 7.23019996e-01 6.85523460e-01 8.54381135e-02 2.11804554e+02] [-6.80515926e-01 7.28048625e-01 -8.27240834e-02 -1.45499315e+02] [-1.18912401e-01 1.66916948e-03 9.92903346e-01 -2.58145175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82592 meters 0.02797327088139185 Centerline is valid? [True, True] Translation: X:211.83, Y:-145.52, Z:-25.82 [[ 7.23607661e-01 6.84850364e-01 8.58599570e-02 2.11827178e+02] [-6.79778760e-01 7.28681389e-01 -8.32121994e-02 -1.45522178e+02] [-1.19552458e-01 1.84720989e-03 9.92826167e-01 -2.58184120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85592 meters 0.028213890815462224 Centerline is valid? [True, True] Translation: X:211.85, Y:-145.54, Z:-25.82 [[ 7.23776326e-01 6.84784211e-01 8.49612531e-02 2.11850737e+02] [-6.79809370e-01 7.28743441e-01 -8.24149099e-02 -1.45544344e+02] [-1.18351385e-01 1.89250471e-03 9.92969973e-01 -2.58210154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88592 meters 0.02803402016964036 Centerline is valid? [True, True] Translation: X:211.87, Y:-145.57, Z:-25.82 [[ 7.23842033e-01 6.84840895e-01 8.39384326e-02 2.11872632e+02] [-6.79977406e-01 7.28690118e-01 -8.14950287e-02 -1.45567558e+02] [-1.16976235e-01 1.91328953e-03 9.93132871e-01 -2.58240515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91592 meters 0.02814235784718838 Centerline is valid? [True, True] Translation: X:211.89, Y:-145.59, Z:-25.83 [[ 7.23640370e-01 6.85259314e-01 8.22452842e-02 2.11894782e+02] [-6.80585323e-01 7.28296790e-01 -7.99212281e-02 -1.45590936e+02] [-1.14665743e-01 1.85929371e-03 9.93402391e-01 -2.58260356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94592 meters 0.028200191686812637 Centerline is valid? [True, True] Translation: X:211.92, Y:-145.62, Z:-25.83 [[ 7.23046773e-01 6.85703041e-01 8.37538243e-02 2.11915575e+02] [-6.80849663e-01 7.27878986e-01 -8.14611486e-02 -1.45615182e+02] [-1.16820806e-01 1.87645761e-03 9.93151236e-01 -2.58293964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97592 meters 0.028179502240317296 Centerline is valid? [True, True] Translation: X:211.94, Y:-145.64, Z:-25.83 [[ 7.23596900e-01 6.85181392e-01 8.32705576e-02 2.11938943e+02] [-6.80371929e-01 7.28369717e-01 -8.10653652e-02 -1.45638558e+02] [-1.16196232e-01 2.00369709e-03 9.93224255e-01 -2.58326407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00592 meters 0.02828081857725395 Centerline is valid? [True, True] Translation: X:211.96, Y:-145.66, Z:-25.84 [[ 7.23899447e-01 6.84857723e-01 8.33036018e-02 2.11961697e+02] [-6.80032546e-01 7.28673737e-01 -8.11807936e-02 -1.45662175e+02] [-1.16298440e-01 2.11757117e-03 9.93212056e-01 -2.58357349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03592 meters 0.02831354402562058 Centerline is valid? [True, True] Translation: X:211.99, Y:-145.69, Z:-25.84 [[ 7.24105684e-01 6.84691881e-01 8.28733133e-02 2.11985412e+02] [-6.79905903e-01 7.28829347e-01 -8.08439633e-02 -1.45685732e+02] [-1.15753708e-01 2.19351842e-03 9.93275525e-01 -2.58377234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06592 meters 0.0280693697819827 Centerline is valid? [True, True] Translation: X:212.01, Y:-145.71, Z:-25.84 [[ 7.23512545e-01 6.85423274e-01 8.20032441e-02 2.12007970e+02] [-6.80733180e-01 7.28141795e-01 -8.00741160e-02 -1.45708813e+02] [-1.14594652e-01 2.11229827e-03 9.93410089e-01 -2.58396498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09592 meters 0.02800668553850496 Centerline is valid? [True, True] Translation: X:212.03, Y:-145.73, Z:-25.84 [[ 7.22715938e-01 6.86228900e-01 8.22895467e-02 2.12031604e+02] [-6.81502491e-01 7.27382782e-01 -8.04278813e-02 -1.45731693e+02] [-1.15047936e-01 2.04598068e-03 9.93357834e-01 -2.58435462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12592 meters 0.02772081236353846 Centerline is valid? [True, True] Translation: X:212.05, Y:-145.75, Z:-25.85 [[ 7.20836255e-01 6.88285667e-01 8.15961721e-02 2.12054207e+02] [-6.83642818e-01 7.25437619e-01 -7.98295575e-02 -1.45754250e+02] [-1.14138473e-01 1.76140215e-03 9.93463289e-01 -2.58463440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15592 meters 0.027629545822601114 Centerline is valid? [True, True] Translation: X:212.08, Y:-145.78, Z:-25.85 [[ 7.19612387e-01 6.89703309e-01 8.04198856e-02 2.12076654e+02] [-6.85194688e-01 7.24090392e-01 -7.87486084e-02 -1.45777023e+02] [-1.12544442e-01 1.56519567e-03 9.93645459e-01 -2.58482776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18592 meters 0.027610282337618967 Centerline is valid? [True, True] Translation: X:212.10, Y:-145.80, Z:-25.85 [[ 7.18760995e-01 6.90523656e-01 8.09920553e-02 2.12100380e+02] [-6.85947159e-01 7.23308252e-01 -7.93830476e-02 -1.45799802e+02] [-1.13398094e-01 1.50116805e-03 9.93548498e-01 -2.58516199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21592 meters 0.027354132696797068 Centerline is valid? [True, True] Translation: X:212.12, Y:-145.82, Z:-25.85 [[ 7.16404392e-01 6.92973605e-01 8.09464643e-02 2.12123959e+02] [-6.88408577e-01 7.20962003e-01 -7.94192767e-02 -1.45821013e+02] [-1.13394787e-01 1.17207838e-03 9.93549319e-01 -2.58537629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24592 meters 0.027285836378462887 Centerline is valid? [True, True] Translation: X:212.15, Y:-145.84, Z:-25.86 [[ 7.15243050e-01 6.94156069e-01 8.10847108e-02 2.12147729e+02] [-6.89574412e-01 7.19823776e-01 -7.96295272e-02 -1.45843105e+02] [-1.13642022e-01 1.04052420e-03 9.93521217e-01 -2.58564171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27592 meters 0.02722967364020046 Centerline is valid? [True, True] Translation: X:212.17, Y:-145.87, Z:-25.86 [[ 7.14136075e-01 6.95199980e-01 8.18941701e-02 2.12171767e+02] [-6.90523119e-01 7.18815759e-01 -8.05091690e-02 -1.45865128e+02] [-1.14836793e-01 9.44684146e-04 9.93383923e-01 -2.58597203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30592000000001 meters 0.027137469086961945 Centerline is valid? [True, True] Translation: X:212.19, Y:-145.89, Z:-25.86 [[ 7.12907669e-01 6.96491777e-01 8.16202170e-02 2.12194960e+02] [-6.91845223e-01 7.17564335e-01 -8.03219276e-02 -1.45886986e+02] [-1.14511319e-01 7.93560927e-04 9.93421627e-01 -2.58636066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33592000000002 meters 0.027130931318792906 Centerline is valid? [True, True] Translation: X:212.22, Y:-145.91, Z:-25.87 [[ 7.12915701e-01 6.96600525e-01 8.06158312e-02 2.12219890e+02] [-6.92060461e-01 7.17458737e-01 -7.94057927e-02 -1.45907122e+02] [-1.13152649e-01 8.18607052e-04 9.93577278e-01 -2.58654188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36592000000002 meters 0.027225793876827116 Centerline is valid? [True, True] Translation: X:212.24, Y:-145.93, Z:-25.87 [[ 7.11954875e-01 6.97440538e-01 8.18349065e-02 2.12243287e+02] [-6.92758479e-01 7.16642264e-01 -8.06818192e-02 -1.45928383e+02] [-1.14917124e-01 7.49989138e-04 9.93374799e-01 -2.58694682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39592000000002 meters 0.02724558132604397 Centerline is valid? [True, True] Translation: X:212.27, Y:-145.95, Z:-25.87 [[ 7.11756384e-01 6.97723599e-01 8.11457289e-02 2.12266354e+02] [-6.93113779e-01 7.16366677e-01 -8.00754249e-02 -1.45949983e+02] [-1.14000610e-01 7.50972053e-04 9.93480396e-01 -2.58726479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42592 meters 0.02740144016468532 Centerline is valid? [True, True] Translation: X:212.29, Y:-145.97, Z:-25.88 [[ 7.10905092e-01 6.98343734e-01 8.32465020e-02 2.12290943e+02] [-6.93486417e-01 7.15762185e-01 -8.22258184e-02 -1.45970990e+02] [-1.17006583e-01 7.24434628e-04 9.93130875e-01 -2.58767460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45592 meters 0.02740144016468532 Centerline is valid? [True, True] Translation: X:212.31, Y:-145.99, Z:-25.88 [[ 7.10540092e-01 6.98719770e-01 8.32073350e-02 2.12314225e+02] [-6.93860383e-01 7.15395112e-01 -8.22654380e-02 -1.45993503e+02] [-1.17006609e-01 7.18618577e-04 9.93130876e-01 -2.58797436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48592 meters 0.027258846077291107 Centerline is valid? [True, True] Translation: X:212.34, Y:-146.01, Z:-25.88 [[ 7.09899431e-01 6.99273372e-01 8.40211228e-02 2.12339495e+02] [-6.94311789e-01 7.14854018e-01 -8.31557100e-02 -1.46013121e+02] [-1.18211411e-01 6.95335079e-04 9.92988207e-01 -2.58821513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51592 meters 0.027373242773117916 Centerline is valid? [True, True] Translation: X:212.36, Y:-146.03, Z:-25.89 [[ 7.10031962e-01 6.99139513e-01 8.40152014e-02 2.12363590e+02] [-6.94168304e-01 7.14984854e-01 -8.32287522e-02 -1.46034787e+02] [-1.18258106e-01 7.74384382e-04 9.92982588e-01 -2.58856760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54592 meters 0.0275071022307412 Centerline is valid? [True, True] Translation: X:212.39, Y:-146.06, Z:-25.89 [[ 7.10166153e-01 6.99058982e-01 8.35498311e-02 2.12388388e+02] [-6.94132052e-01 7.15063510e-01 -8.28545144e-02 -1.46057022e+02] [-1.17663628e-01 8.45856106e-04 9.93053148e-01 -2.58886675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57592 meters 0.027739403284841983 Centerline is valid? [True, True] Translation: X:212.42, Y:-146.08, Z:-25.89 [[ 7.12041180e-01 6.97207502e-01 8.30605614e-02 2.12415047e+02] [-6.92315602e-01 7.16868357e-01 -8.24552367e-02 -1.46076176e+02] [-1.17031898e-01 1.20740138e-03 9.93127422e-01 -2.58941848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60592 meters 0.027998967391108767 Centerline is valid? [True, True] Translation: X:212.44, Y:-146.10, Z:-25.90 [[ 7.14001755e-01 6.95120487e-01 8.37197839e-02 2.12441405e+02] [-6.90125961e-01 7.18891419e-01 -8.31942637e-02 -1.46095260e+02] [-1.18015471e-01 1.62365394e-03 9.93010429e-01 -2.58983552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63592 meters 0.028073287400488228 Centerline is valid? [True, True] Translation: X:212.47, Y:-146.12, Z:-25.90 [[ 7.14950475e-01 6.94113403e-01 8.39785826e-02 2.12465318e+02] [-6.89071959e-01 7.19863294e-01 -8.35264854e-02 -1.46116904e+02] [-1.18429952e-01 1.85001398e-03 9.92960686e-01 -2.59011685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66592 meters 0.028096704056850188 Centerline is valid? [True, True] Translation: X:212.49, Y:-146.14, Z:-25.90 [[ 7.15699450e-01 6.93308243e-01 8.42494987e-02 2.12488946e+02] [-6.88219602e-01 7.20638261e-01 -8.38705941e-02 -1.46138704e+02] [-1.18861586e-01 2.04398160e-03 9.92908730e-01 -2.59039317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69592 meters 0.028500155323767696 Centerline is valid? [True, True] Translation: X:212.51, Y:-146.16, Z:-25.91 [[ 7.18313927e-01 6.90624415e-01 8.40417709e-02 2.12514583e+02] [-6.85533747e-01 7.23209156e-01 -8.37376706e-02 -1.46157957e+02] [-1.18611058e-01 2.53646492e-03 9.92937553e-01 -2.59068324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72592 meters 0.028745509869747266 Centerline is valid? [True, True] Translation: X:212.54, Y:-146.18, Z:-25.91 [[ 7.18750887e-01 6.90122677e-01 8.44266139e-02 2.12538807e+02] [-6.84972731e-01 7.23687417e-01 -8.41954905e-02 -1.46179109e+02] [-1.19203695e-01 2.68565515e-03 9.92866187e-01 -2.59098841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75592 meters 0.028763566312492946 Centerline is valid? [True, True] Translation: X:212.56, Y:-146.20, Z:-25.91 [[ 7.19351865e-01 6.89449764e-01 8.48051737e-02 2.12562421e+02] [-6.84239710e-01 7.24327840e-01 -8.46475043e-02 -1.46200895e+02] [-1.19786950e-01 2.86427264e-03 9.92795489e-01 -2.59137775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78592 meters 0.028983209854194666 Centerline is valid? [True, True] Translation: X:212.59, Y:-146.22, Z:-25.92 [[ 7.19634891e-01 6.89164038e-01 8.47263349e-02 2.12586131e+02] [-6.83952550e-01 7.24599296e-01 -8.46449628e-02 -1.46223516e+02] [-1.19726907e-01 2.96467576e-03 9.92802437e-01 -2.59180978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81592 meters 0.029053230155636454 Centerline is valid? [True, True] Translation: X:212.61, Y:-146.25, Z:-25.92 [[ 7.18895990e-01 6.89839095e-01 8.55019258e-02 2.12609675e+02] [-6.84525674e-01 7.23956747e-01 -8.55057313e-02 -1.46246841e+02] [-1.20884892e-01 2.94146390e-03 9.92662173e-01 -2.59225685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84592 meters 0.028913955534671593 Centerline is valid? [True, True] Translation: X:212.75, Y:-146.43, Z:-24.01 [[ 7.40854527e-01 -6.70214574e-01 -4.41247646e-02 2.12750869e+02] [-6.68576080e-01 -7.42147517e-01 4.71496418e-02 -1.46430086e+02] [-6.43474616e-02 -5.43026343e-03 -9.97912780e-01 -2.40136335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87592 meters 0.028632918632167954 Centerline is valid? [True, True] Translation: X:212.66, Y:-146.32, Z:-25.93 [[ 7.68694780e-01 6.33264414e-01 8.99139397e-02 2.12659706e+02] [-6.28548389e-01 7.73930369e-01 -7.71926536e-02 -1.46316512e+02] [-1.18470489e-01 2.82232794e-03 9.92953563e-01 -2.59271280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90592 meters 0.028662808752107173 Centerline is valid? [True, True] Translation: X:212.68, Y:-146.34, Z:-25.93 [[ 7.67943217e-01 6.34156883e-01 9.00458949e-02 2.12684692e+02] [-6.29424383e-01 7.73199529e-01 -7.73785169e-02 -1.46337799e+02] [-1.18693563e-01 2.74522529e-03 9.92927138e-01 -2.59304379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93592 meters 0.028645955162053323 Centerline is valid? [True, True] Translation: X:212.71, Y:-146.36, Z:-25.93 [[ 7.67168439e-01 6.34975819e-01 9.08751721e-02 2.12710458e+02] [-6.30151521e-01 7.72527276e-01 -7.81707613e-02 -1.46358784e+02] [-1.19840092e-01 2.70501298e-03 9.92789522e-01 -2.59348358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96592 meters 0.028633583738038076 Centerline is valid? [True, True] Translation: X:212.73, Y:-146.38, Z:-25.94 [[ 7.66489934e-01 6.35812091e-01 9.07533252e-02 2.12734635e+02] [-6.30997361e-01 7.71839404e-01 -7.81425886e-02 -1.46379216e+02] [-1.19730995e-01 2.63039887e-03 9.92802886e-01 -2.59380660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99592 meters 0.028772434568018257 Centerline is valid? [True, True] Translation: X:212.76, Y:-146.40, Z:-25.94 [[ 7.66001694e-01 6.36210292e-01 9.20753493e-02 2.12758168e+02] [-6.31247873e-01 7.71511103e-01 -7.93520122e-02 -1.46401562e+02] [-1.21521721e-01 2.66140735e-03 9.92585205e-01 -2.59415120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02592 meters 0.028675619163237975 Centerline is valid? [True, True] Translation: X:212.78, Y:-146.42, Z:-25.94 [[ 7.65707768e-01 6.36578606e-01 9.19744091e-02 2.12783273e+02] [-6.31620852e-01 7.71207249e-01 -7.93377520e-02 -1.46423203e+02] [-1.21436047e-01 2.65657844e-03 9.92595703e-01 -2.59440465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05592000000001 meters 0.028608326463765325 Centerline is valid? [True, True] Translation: X:212.81, Y:-146.44, Z:-25.95 [[ 7.65481890e-01 6.36976921e-01 9.10926910e-02 2.12807361e+02] [-6.32107588e-01 7.70878392e-01 -7.86543174e-02 -1.46444103e+02] [-1.20322372e-01 2.62807440e-03 9.92731394e-01 -2.59471715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08592000000002 meters 0.02855409837430231 Centerline is valid? [True, True] Translation: X:212.83, Y:-146.47, Z:-25.95 [[ 7.64928046e-01 6.37803171e-01 8.99566580e-02 2.12830967e+02] [-6.33052482e-01 7.70195278e-01 -7.77418076e-02 -1.46465432e+02] [-1.18868165e-01 2.51960338e-03 9.92906849e-01 -2.59502118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11592000000002 meters 0.028651942597988447 Centerline is valid? [True, True] Translation: X:212.85, Y:-146.49, Z:-25.95 [[ 7.63724321e-01 6.39112624e-01 9.08857296e-02 2.12854547e+02] [-6.34263304e-01 7.69109426e-01 -7.86177644e-02 -1.46488927e+02] [-1.20146677e-01 2.39681555e-03 9.92753258e-01 -2.59549589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14592000000002 meters 0.02863196205767463 Centerline is valid? [True, True] Translation: X:212.88, Y:-146.51, Z:-25.96 [[ 7.63567116e-01 6.39409879e-01 9.01125148e-02 2.12878677e+02] [-6.34635873e-01 7.68862340e-01 -7.80257071e-02 -1.46509940e+02] [-1.19174527e-01 2.38922965e-03 9.92870447e-01 -2.59573559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17592 meters 0.028487889007210606 Centerline is valid? [True, True] Translation: X:212.90, Y:-146.53, Z:-25.96 [[ 7.63301141e-01 6.39866657e-01 8.91180604e-02 2.12902855e+02] [-6.35192818e-01 7.68482376e-01 -7.72329007e-02 -1.46530639e+02] [-1.17904417e-01 2.34480934e-03 9.93022180e-01 -2.59590629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20592 meters 0.028354348557477205 Centerline is valid? [True, True] Translation: X:212.93, Y:-146.55, Z:-25.96 [[ 7.62930998e-01 6.40389722e-01 8.85285078e-02 2.12927209e+02] [-6.35773200e-01 7.68046683e-01 -7.67901770e-02 -1.46551782e+02] [-1.17169667e-01 2.30155363e-03 9.93109245e-01 -2.59614115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23592 meters 0.02849198776917623 Centerline is valid? [True, True] Translation: X:212.95, Y:-146.57, Z:-25.96 [[ 7.62755718e-01 6.40427769e-01 8.97551535e-02 2.12950189e+02] [-6.35673897e-01 7.68014713e-01 -7.79236583e-02 -1.46573511e+02] [-1.18837753e-01 2.38170776e-03 9.92910830e-01 -2.59644067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26592 meters 0.02843453791173496 Centerline is valid? [True, True] Translation: X:212.97, Y:-146.60, Z:-25.97 [[ 7.62946139e-01 6.40320994e-01 8.88943947e-02 2.12974116e+02] [-6.35649507e-01 7.68103596e-01 -7.72435783e-02 -1.46595940e+02] [-1.17740789e-01 2.42701168e-03 9.93041397e-01 -2.59663240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29592 meters 0.02853556713737463 Centerline is valid? [True, True] Translation: X:213.00, Y:-146.62, Z:-25.97 [[ 7.62877996e-01 6.40356799e-01 8.92206932e-02 2.12997413e+02] [-6.35641581e-01 7.68073537e-01 -7.76068413e-02 -1.46619542e+02] [-1.18224122e-01 2.49216916e-03 9.92983810e-01 -2.59706279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32592 meters 0.028788974785836904 Centerline is valid? [True, True] Translation: X:213.02, Y:-146.64, Z:-25.97 [[ 7.62755759e-01 6.40537062e-01 8.89714828e-02 2.13022209e+02] [-6.35840019e-01 7.67923126e-01 -7.74696249e-02 -1.46641196e+02] [-1.17945425e-01 2.51877329e-03 9.93016884e-01 -2.59738872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35592 meters 0.028685745188680258 Centerline is valid? [True, True] Translation: X:213.05, Y:-146.66, Z:-25.98 [[ 7.61699464e-01 6.41741698e-01 8.93393497e-02 2.13045645e+02] [-6.37004294e-01 7.66917085e-01 -7.78698592e-02 -1.46663973e+02] [-1.18488209e-01 2.40388068e-03 9.92952550e-01 -2.59768574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38592 meters 0.028673234307443965 Centerline is valid? [True, True] Translation: X:213.07, Y:-146.69, Z:-25.98 [[ 7.60903052e-01 6.42818155e-01 8.83819238e-02 2.13068939e+02] [-6.38180399e-01 7.66015447e-01 -7.71110470e-02 -1.46685762e+02] [-1.17270300e-01 2.27041958e-03 9.93097438e-01 -2.59796613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41592 meters 0.028382064589569565 Centerline is valid? [True, True] Translation: X:213.09, Y:-146.71, Z:-25.98 [[ 7.58935495e-01 6.45185228e-01 8.80507591e-02 2.13091522e+02] [-6.40590083e-01 7.64023703e-01 -7.68903617e-02 -1.46708678e+02] [-1.16881392e-01 1.95038160e-03 9.93143965e-01 -2.59831762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44592 meters 0.02831108990708192 Centerline is valid? [True, True] Translation: X:213.12, Y:-146.73, Z:-25.99 [[ 7.58339098e-01 6.45807006e-01 8.86291370e-02 2.13115269e+02] [-6.41146753e-01 7.63498275e-01 -7.74675797e-02 -1.46731170e+02] [-1.17697299e-01 1.92241105e-03 9.93047658e-01 -2.59854324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47592 meters 0.028393347602845318 Centerline is valid? [True, True] Translation: X:213.14, Y:-146.75, Z:-25.99 [[ 7.58046531e-01 6.46130914e-01 8.87710536e-02 2.13139510e+02] [-6.41448343e-01 7.63224142e-01 -7.76719514e-02 -1.46753905e+02] [-1.17938460e-01 1.93690801e-03 9.93019017e-01 -2.59893524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50592 meters 0.02855996203988882 Centerline is valid? [True, True] Translation: X:213.16, Y:-146.78, Z:-25.99 [[ 7.57670993e-01 6.46498285e-01 8.93008025e-02 2.13162711e+02] [-6.41752263e-01 7.62912937e-01 -7.82168943e-02 -1.46777310e+02] [-1.18695826e-01 1.95367980e-03 9.92928741e-01 -2.59931128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53592 meters 0.02848459650539016 Centerline is valid? [True, True] Translation: X:213.19, Y:-146.80, Z:-26.00 [[ 7.57508069e-01 6.46822405e-01 8.83306384e-02 2.13185596e+02] [-6.42172387e-01 7.62638189e-01 -7.74442838e-02 -1.46800321e+02] [-1.17457016e-01 1.94117291e-03 9.93076070e-01 -2.59953537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56592 meters 0.02844751356961011 Centerline is valid? [True, True] Translation: X:213.21, Y:-146.82, Z:-26.00 [[ 7.57004391e-01 6.47371132e-01 8.86282690e-02 2.13209683e+02] [-6.42684777e-01 7.62172513e-01 -7.77774863e-02 -1.46823189e+02] [-1.17900930e-01 1.91785933e-03 9.93023511e-01 -2.59976059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59592 meters 0.028549633571646305 Centerline is valid? [True, True] Translation: X:213.23, Y:-146.85, Z:-26.00 [[ 7.56455278e-01 6.47897932e-01 8.94633047e-02 2.13232640e+02] [-6.43116701e-01 7.61724758e-01 -7.85894602e-02 -1.46845129e+02] [-1.19064363e-01 1.91406661e-03 9.92884693e-01 -2.60014986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62592 meters 0.02838659191792289 Centerline is valid? [True, True] Translation: X:213.26, Y:-146.87, Z:-26.00 [[ 7.55177059e-01 6.49574472e-01 8.80943533e-02 2.13255243e+02] [-6.44942138e-01 7.60296121e-01 -7.74561015e-02 -1.46868390e+02] [-1.17291301e-01 1.67731036e-03 9.93096137e-01 -2.60034570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65592 meters 0.028147840698040917 Centerline is valid? [True, True] Translation: X:213.28, Y:-146.89, Z:-26.01 [[ 7.54384993e-01 6.50526431e-01 8.78558225e-02 2.13279686e+02] [-6.45917152e-01 7.59481971e-01 -7.73186106e-02 -1.46890849e+02] [-1.17022713e-01 1.58041678e-03 9.93127981e-01 -2.60067669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68592 meters 0.028343760666668674 Centerline is valid? [True, True] Translation: X:213.30, Y:-146.91, Z:-26.01 [[ 7.53441758e-01 6.51639192e-01 8.77033664e-02 2.13302982e+02] [-6.47043925e-01 7.58527660e-01 -7.72654359e-02 -1.46913813e+02] [-1.16874615e-01 1.46707537e-03 9.93145595e-01 -2.60094799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71592 meters 0.02831646038105525 Centerline is valid? [True, True] Translation: X:213.33, Y:-146.94, Z:-26.01 [[ 7.52398174e-01 6.52891079e-01 8.73511662e-02 2.13326232e+02] [-6.48331970e-01 7.57450643e-01 -7.70336329e-02 -1.46936203e+02] [-1.16458769e-01 1.32741109e-03 9.93194640e-01 -2.60129900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74592 meters 0.028441851331736066 Centerline is valid? [True, True] Translation: X:213.35, Y:-146.96, Z:-26.02 [[ 7.51688081e-01 6.53574939e-01 8.83449334e-02 2.13349954e+02] [-6.48907271e-01 7.56860709e-01 -7.79821819e-02 -1.46957049e+02] [-1.17832009e-01 1.29060708e-03 9.93032704e-01 -2.60162958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77592 meters 0.028520440965609038 Centerline is valid? [True, True] Translation: X:213.38, Y:-146.98, Z:-26.02 [[ 7.51981780e-01 6.53214982e-01 8.85075744e-02 2.13375081e+02] [-6.48518756e-01 7.57171190e-01 -7.81998206e-02 -1.46978498e+02] [-1.18096680e-01 1.40601816e-03 9.93001106e-01 -2.60187218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80592000000001 meters 0.028311079867014134 Centerline is valid? [True, True] Translation: X:213.40, Y:-147.00, Z:-26.02 [[ 7.51178671e-01 6.54160727e-01 8.83422185e-02 2.13399820e+02] [-6.49478928e-01 7.56354420e-01 -7.81352291e-02 -1.47000203e+02] [-1.17931026e-01 1.31710819e-03 9.93020915e-01 -2.60211346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83592000000002 meters 0.02840800918758315 Centerline is valid? [True, True] Translation: X:213.42, Y:-147.02, Z:-26.02 [[ 7.50820562e-01 6.54498512e-01 8.88829643e-02 2.13424678e+02] [-6.49751482e-01 7.56062111e-01 -7.86962257e-02 -1.47022053e+02] [-1.18707604e-01 1.33490658e-03 9.92928357e-01 -2.60249237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86592000000002 meters 0.028661262908930955 Centerline is valid? [True, True] Translation: X:213.45, Y:-147.04, Z:-26.03 [[ 7.50879606e-01 6.54448866e-01 8.87496359e-02 2.13449480e+02] [-6.49705913e-01 7.56104960e-01 -7.86607645e-02 -1.47043488e+02] [-1.18583488e-01 1.40360065e-03 9.92943093e-01 -2.60291612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89592000000002 meters 0.02861225501748212 Centerline is valid? [True, True] Translation: X:213.47, Y:-147.06, Z:-26.03 [[ 7.50606984e-01 6.54537847e-01 9.03845256e-02 2.13473451e+02] [-6.49608477e-01 7.56027791e-01 -8.01923035e-02 -1.47064514e+02] [-1.20822111e-01 1.47834905e-03 9.92673074e-01 -2.60322996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92592 meters 0.028466925260862783 Centerline is valid? [True, True] Translation: X:213.50, Y:-147.09, Z:-26.03 [[ 7.49838937e-01 6.55297082e-01 9.12540586e-02 2.13497780e+02] [-6.50268515e-01 7.55369911e-01 -8.10379994e-02 -1.47085216e+02] [-1.22034535e-01 1.42580620e-03 9.92524831e-01 -2.60337239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95592 meters 0.028472541957036447 Centerline is valid? [True, True] Translation: X:213.52, Y:-147.11, Z:-26.04 [[ 7.49807980e-01 6.55490031e-01 9.01155467e-02 2.13521704e+02] [-6.50579177e-01 7.55202468e-01 -8.00997311e-02 -1.47105995e+02] [-1.20560059e-01 1.43211947e-03 9.92705002e-01 -2.60357839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98592 meters 0.02857596374006204 Centerline is valid? [True, True] Translation: X:213.54, Y:-147.13, Z:-26.04 [[ 7.49184188e-01 6.56292607e-01 8.94598591e-02 2.13544636e+02] [-6.51450115e-01 7.54505264e-01 -7.95899096e-02 -1.47127871e+02] [-1.19732204e-01 1.34886623e-03 9.92805308e-01 -2.60401143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01592 meters 0.028467672810881334 Centerline is valid? [True, True] Translation: X:213.57, Y:-147.15, Z:-26.04 [[ 7.49062702e-01 6.56569023e-01 8.84431230e-02 2.13568522e+02] [-6.51829718e-01 7.54264748e-01 -7.87572780e-02 -1.47149880e+02] [-1.18419119e-01 1.34428354e-03 9.92962791e-01 -2.60432295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04592 meters 0.02862987073484104 Centerline is valid? [True, True] Translation: X:213.59, Y:-147.17, Z:-26.05 [[ 7.48414741e-01 6.57205697e-01 8.91966772e-02 2.13592411e+02] [-6.52380641e-01 7.53710127e-01 -7.95018492e-02 -1.47171715e+02] [-1.19477507e-01 1.31017049e-03 9.92836043e-01 -2.60460746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07592 meters 0.028542686923963473 Centerline is valid? [True, True] Translation: X:213.62, Y:-147.19, Z:-26.05 [[ 7.47952661e-01 6.57677590e-01 8.95935481e-02 2.13617146e+02] [-6.52803507e-01 7.53298415e-01 -7.99317145e-02 -1.47193713e+02] [-1.20059975e-01 1.29815615e-03 9.92765792e-01 -2.60482222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10592 meters 0.02847882356287971 Centerline is valid? [True, True] Translation: X:213.64, Y:-147.22, Z:-26.05 [[ 7.47286027e-01 6.58437513e-01 8.95747433e-02 2.13641268e+02] [-6.53560777e-01 7.52634377e-01 -7.99987855e-02 -1.47216263e+02] [-1.20091232e-01 1.23943579e-03 9.92762086e-01 -2.60510851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13592 meters 0.028559648165325913 Centerline is valid? [True, True] Translation: X:213.67, Y:-147.24, Z:-26.05 [[ 7.46423442e-01 6.59390154e-01 8.97589566e-02 2.13665578e+02] [-6.54489901e-01 7.51800038e-01 -8.02475703e-02 -1.47238843e+02] [-1.20395245e-01 1.15233705e-03 9.92725368e-01 -2.60546569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16592 meters 0.028424605263185194 Centerline is valid? [True, True] Translation: X:213.69, Y:-147.26, Z:-26.06 [[ 7.44646597e-01 6.61716981e-01 8.73617899e-02 2.13688874e+02] [-6.57082608e-01 7.49753276e-01 -7.81822968e-02 -1.47261171e+02] [-1.17234342e-01 8.14268490e-04 9.93103945e-01 -2.60570257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19592 meters 0.02823894022251568 Centerline is valid? [True, True] Translation: X:213.71, Y:-147.28, Z:-26.06 [[ 7.43699719e-01 6.62839610e-01 8.69159330e-02 2.13712388e+02] [-6.58251900e-01 7.48761096e-01 -7.78540758e-02 -1.47282337e+02] [-1.16684035e-01 6.87476312e-04 9.93168849e-01 -2.60598685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22592 meters 0.02827142589723819 Centerline is valid? [True, True] Translation: X:213.74, Y:-147.30, Z:-26.06 [[ 7.42612566e-01 6.63799444e-01 8.88643647e-02 2.13735284e+02] [-6.59000965e-01 7.47910377e-01 -7.96730506e-02 -1.47303971e+02] [-1.19349507e-01 6.04506396e-04 9.92852119e-01 -2.60633576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25592 meters 0.028305488759424575 Centerline is valid? [True, True] Translation: X:213.76, Y:-147.33, Z:-26.07 [[ 7.42049926e-01 6.64468799e-01 8.85614101e-02 2.13759772e+02] [-6.59699258e-01 7.47315806e-01 -7.94731029e-02 -1.47325778e+02] [-1.18990739e-01 5.49113537e-04 9.92895212e-01 -2.60656667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28592 meters 0.028213186670307294 Centerline is valid? [True, True] Translation: X:213.78, Y:-147.35, Z:-26.07 [[ 7.41593644e-01 6.65027036e-01 8.81924501e-02 2.13784458e+02] [-6.60291213e-01 7.46819101e-01 -7.92259072e-02 -1.47347687e+02] [-1.18551177e-01 5.20729396e-04 9.92947807e-01 -2.60682437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31592 meters 0.02807607981636152 Centerline is valid? [True, True] Translation: X:213.81, Y:-147.37, Z:-26.07 [[ 7.40227830e-01 6.66771280e-01 8.64801771e-02 2.13807592e+02] [-6.62220699e-01 7.45262352e-01 -7.77674330e-02 -1.47370243e+02] [-1.16303511e-01 2.96654922e-04 9.93213676e-01 -2.60707807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34592 meters 0.028203521200641252 Centerline is valid? [True, True] Translation: X:213.83, Y:-147.39, Z:-26.07 [[ 7.40086692e-01 6.66871100e-01 8.69173351e-02 2.13831648e+02] [-6.62265977e-01 7.45173014e-01 -7.82365371e-02 -1.47391942e+02] [-1.16942138e-01 3.39426129e-04 9.93138672e-01 -2.60740138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37592 meters 0.028203521200641252 Centerline is valid? [True, True] Translation: X:213.86, Y:-147.41, Z:-26.08 [[ 7.39730603e-01 6.67271511e-01 8.68755720e-02 2.13855939e+02] [-6.62663696e-01 7.44814484e-01 -7.82828898e-02 -1.47413340e+02] [-1.16942127e-01 3.38961681e-04 9.93138673e-01 -2.60770027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40592 meters 0.028173805062536788 Centerline is valid? [True, True] Translation: X:213.88, Y:-147.44, Z:-26.08 [[ 7.39650987e-01 6.67368865e-01 8.68056185e-02 2.13880281e+02] [-6.62759205e-01 7.44727231e-01 -7.83044490e-02 -1.47435905e+02] [-1.16904459e-01 3.86740286e-04 9.93143090e-01 -2.60796360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43592 meters 0.028085416431168558 Centerline is valid? [True, True] Translation: X:213.90, Y:-147.46, Z:-26.08 [[ 7.39448566e-01 6.67662943e-01 8.62671008e-02 2.13904290e+02] [-6.63102696e-01 7.44463588e-01 -7.79023795e-02 -1.47458090e+02] [-1.16235247e-01 4.00855705e-04 9.93221630e-01 -2.60822818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46592 meters 0.028084859125643655 Centerline is valid? [True, True] Translation: X:213.93, Y:-147.48, Z:-26.08 [[ 7.38494008e-01 6.68877839e-01 8.50237444e-02 2.13927131e+02] [-6.64447403e-01 7.43372293e-01 -7.68588464e-02 -1.47480475e+02] [-1.14613475e-01 2.65991367e-04 9.93410127e-01 -2.60843933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49592 meters 0.02783562658177177 Centerline is valid? [True, True] Translation: X:213.95, Y:-147.50, Z:-26.09 [[ 7.37923754e-01 6.69555079e-01 8.46435482e-02 2.13951708e+02] [-6.65160317e-01 7.42762378e-01 -7.65885258e-02 -1.47502056e+02] [-1.14150280e-01 2.14963115e-04 9.93463471e-01 -2.60870696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52592 meters 0.027692300237223848 Centerline is valid? [True, True] Translation: X:213.98, Y:-147.52, Z:-26.09 [[ 7.37668081e-01 6.69995058e-01 8.33811994e-02 2.13976126e+02] [-6.65724780e-01 7.42365531e-01 -7.55244102e-02 -1.47523658e+02] [-1.12500310e-01 2.03016111e-04 9.93651669e-01 -2.60887294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55592000000001 meters 0.028007385986409276 Centerline is valid? [True, True] Translation: X:214.00, Y:-147.55, Z:-26.09 [[ 7.36426283e-01 6.71187056e-01 8.47600500e-02 2.13997809e+02] [-6.66773338e-01 7.41288021e-01 -7.68465038e-02 -1.47546816e+02] [-1.14409988e-01 7.60436106e-05 9.93433616e-01 -2.60934636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58592000000002 meters 0.02789671164816821 Centerline is valid? [True, True] Translation: X:214.02, Y:-147.57, Z:-26.10 [[ 7.35987872e-01 6.71670772e-01 8.47362155e-02 2.14021318e+02] [-6.67254162e-01 7.40849763e-01 -7.68993660e-02 -1.47569780e+02] [-1.14427862e-01 5.64082471e-05 9.93431558e-01 -2.60963984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61592000000002 meters 0.027709373930513412 Centerline is valid? [True, True] Translation: X:214.05, Y:-147.59, Z:-26.10 [[ 7.35336080e-01 6.72527972e-01 8.35881418e-02 2.14045843e+02] [-6.68227139e-01 7.40071704e-01 -7.59365806e-02 -1.47591162e+02] [-1.12930693e-01 -1.69573718e-05 9.93602868e-01 -2.60983536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64592000000002 meters 0.02785712118308506 Centerline is valid? [True, True] Translation: X:214.07, Y:-147.61, Z:-26.10 [[ 7.35126499e-01 6.72652933e-01 8.44219229e-02 2.14070217e+02] [-6.68257986e-01 7.39958128e-01 -7.67673976e-02 -1.47612424e+02] [-1.14106503e-01 1.81241590e-05 9.93468523e-01 -2.61018848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67592 meters 0.02774782912664643 Centerline is valid? [True, True] Translation: X:214.09, Y:-147.64, Z:-26.10 [[ 7.33846162e-01 6.74059601e-01 8.43413562e-02 2.14093377e+02] [-6.69673734e-01 7.38676948e-01 -7.67688559e-02 -1.47635652e+02] [-1.14047800e-01 -1.44660668e-04 9.93475253e-01 -2.61044128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70592 meters 0.02788579477888308 Centerline is valid? [True, True] Translation: X:214.12, Y:-147.66, Z:-26.11 [[ 7.32254006e-01 6.75805176e-01 8.42106644e-02 2.14117328e+02] [-6.71434893e-01 7.37080212e-01 -7.67329490e-02 -1.47658598e+02] [-1.13926538e-01 -3.53969194e-04 9.93489113e-01 -2.61074886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73592 meters 0.02769994006249099 Centerline is valid? [True, True] Translation: X:214.14, Y:-147.68, Z:-26.11 [[ 7.31913114e-01 6.76215437e-01 8.38801315e-02 2.14142505e+02] [-6.71872748e-01 7.36703846e-01 -7.65144034e-02 -1.47680242e+02] [-1.13535036e-01 -3.54879258e-04 9.93533930e-01 -2.61095893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76592 meters 0.027853647907503686 Centerline is valid? [True, True] Translation: X:214.17, Y:-147.70, Z:-26.11 [[ 7.31208947e-01 6.77009562e-01 8.36153590e-02 2.14166924e+02] [-6.72690121e-01 7.35974103e-01 -7.63552328e-02 -1.47702850e+02] [-1.13231962e-01 -4.15596570e-04 9.93568493e-01 -2.61131939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79592 meters 0.02781600491211147 Centerline is valid? [True, True] Translation: X:214.19, Y:-147.73, Z:-26.12 [[ 7.29541913e-01 6.78850845e-01 8.32473871e-02 2.14190232e+02] [-6.74572072e-01 7.34275918e-01 -7.61012195e-02 -1.47726756e+02] [-1.12787929e-01 -6.37333170e-04 9.93618879e-01 -2.61156053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82592 meters 0.02787399681956916 Centerline is valid? [True, True] Translation: X:214.21, Y:-147.75, Z:-26.12 [[ 7.28100086e-01 6.80294027e-01 8.40850828e-02 2.14213760e+02] [-6.75928633e-01 7.32938866e-01 -7.69486942e-02 -1.47748676e+02] [-1.13976962e-01 -8.09164188e-04 9.93483063e-01 -2.61188807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85592 meters 0.027883674640216117 Centerline is valid? [True, True] Translation: X:214.24, Y:-147.77, Z:-26.12 [[ 7.25984651e-01 6.82692369e-01 8.29301895e-02 2.14237632e+02] [-6.78453776e-01 7.30705061e-01 -7.59643839e-02 -1.47771158e+02] [-1.12457814e-01 -1.11532350e-03 9.93655874e-01 -2.61205347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88592 meters 0.027881285125394294 Centerline is valid? [True, True] Translation: X:214.26, Y:-147.79, Z:-26.12 [[ 7.24603394e-01 6.84066602e-01 8.36827656e-02 2.14261117e+02] [-6.79750412e-01 7.29418427e-01 -7.67341867e-02 -1.47793270e+02] [-1.13531046e-01 -1.28154224e-03 9.93533623e-01 -2.61233941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91592 meters 0.028020479074071812 Centerline is valid? [True, True] Translation: X:214.28, Y:-147.82, Z:-26.13 [[ 7.22234438e-01 6.86668099e-01 8.28512994e-02 2.14284818e+02] [-6.82446468e-01 7.26969253e-01 -7.60429082e-02 -1.47815375e+02] [-1.12446587e-01 -1.62076951e-03 9.93656449e-01 -2.61256645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94592 meters 0.028080957209867318 Centerline is valid? [True, True] Translation: X:214.31, Y:-147.84, Z:-26.13 [[ 7.21129156e-01 6.87914674e-01 8.21348975e-02 2.14309436e+02] [-6.83765551e-01 7.25789473e-01 -7.54606619e-02 -1.47836622e+02] [-1.11523141e-01 -1.74412999e-03 9.93760307e-01 -2.61285400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97592 meters 0.028270576648074593 Centerline is valid? [True, True] Translation: X:214.33, Y:-147.86, Z:-26.13 [[ 7.19500345e-01 6.89433388e-01 8.36711240e-02 2.14333917e+02] [-6.85128141e-01 7.24346442e-01 -7.69523353e-02 -1.47857187e+02] [-1.13660390e-01 -1.95820987e-03 9.93517731e-01 -2.61330185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00592 meters 0.02827847916327209 Centerline is valid? [True, True] Translation: X:214.36, Y:-147.88, Z:-26.14 [[ 7.19211801e-01 6.89627623e-01 8.45465950e-02 2.14358191e+02] [-6.85224435e-01 7.24161524e-01 -7.78303362e-02 -1.47878799e+02] [-1.14899341e-01 -1.95689656e-03 9.93375212e-01 -2.61360498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03592 meters 0.028304021750804657 Centerline is valid? [True, True] Translation: X:214.38, Y:-147.90, Z:-26.14 [[ 7.19402319e-01 6.89531994e-01 8.37014477e-02 2.14382840e+02] [-6.85208299e-01 7.24252803e-01 -7.71198115e-02 -1.47900249e+02] [-1.13797585e-01 -1.87275534e-03 9.93502190e-01 -2.61375218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06592 meters 0.028000845502623564 Centerline is valid? [True, True] Translation: X:214.41, Y:-147.92, Z:-26.14 [[ 7.20040433e-01 6.88804956e-01 8.41992083e-02 2.14408894e+02] [-6.84419029e-01 7.24944638e-01 -7.76264433e-02 -1.47920384e+02] [-1.14509243e-01 -1.73336256e-03 9.93420671e-01 -2.61401687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09592 meters 0.028181135709403563 Centerline is valid? [True, True] Translation: X:214.43, Y:-147.94, Z:-26.15 [[ 7.20181360e-01 6.88522066e-01 8.53004930e-02 2.14434737e+02] [-6.84008460e-01 7.25213517e-01 -7.87259904e-02 -1.47940881e+02] [-1.16065652e-01 -1.64926810e-03 9.93240175e-01 -2.61450130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12592 meters 0.027895238893348065 Centerline is valid? [True, True] Translation: X:214.46, Y:-147.96, Z:-26.15 [[ 7.20736699e-01 6.87989122e-01 8.49092376e-02 2.14459086e+02] [-6.83503874e-01 7.25719454e-01 -7.84457057e-02 -1.47961071e+02] [-1.15590078e-01 -1.49709386e-03 9.93295874e-01 -2.61480737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15592 meters 0.027947085387183435 Centerline is valid? [True, True] Translation: X:214.48, Y:-147.98, Z:-26.15 [[ 7.20257223e-01 6.88416962e-01 8.55080054e-02 2.14484457e+02] [-6.83862153e-01 7.25313567e-01 -7.90745561e-02 -1.47982382e+02] [-1.16456382e-01 -1.52166846e-03 9.93194641e-01 -2.61513877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18592 meters 0.027887128982144144 Centerline is valid? [True, True] Translation: X:214.51, Y:-148.00, Z:-26.15 [[ 7.20054032e-01 6.88561467e-01 8.60540367e-02 2.14509482e+02] [-6.83939151e-01 7.25176445e-01 -7.96640553e-02 -1.48003992e+02] [-1.17257959e-01 -1.49330056e-03 9.93100368e-01 -2.61544314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21592 meters 0.028003046319898677 Centerline is valid? [True, True] Translation: X:214.53, Y:-148.03, Z:-26.16 [[ 7.19920234e-01 6.88813258e-01 8.51537030e-02 2.14533286e+02] [-6.84279809e-01 7.24937354e-01 -7.89111956e-02 -1.48025562e+02] [-1.16086178e-01 -1.45919323e-03 9.93238073e-01 -2.61560916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24592 meters 0.02775904631147749 Centerline is valid? [True, True] Translation: X:214.56, Y:-148.05, Z:-26.16 [[ 7.20896379e-01 6.87881430e-01 8.44248127e-02 2.14558121e+02] [-6.83410733e-01 7.25822009e-01 -7.83082447e-02 -1.48045182e+02] [-1.15144175e-01 -1.24469315e-03 9.93348010e-01 -2.61591488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27592 meters 0.027711305976762322 Centerline is valid? [True, True] Translation: X:214.58, Y:-148.07, Z:-26.16 [[ 7.20705118e-01 6.88122022e-01 8.40964615e-02 2.14583509e+02] [-6.83679147e-01 7.25593954e-01 -7.80784113e-02 -1.48066071e+02] [-1.14747358e-01 -1.22348637e-03 9.93393954e-01 -2.61627064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30592000000001 meters 0.027611079560359145 Centerline is valid? [True, True] Translation: X:214.61, Y:-148.09, Z:-26.17 [[ 7.21208173e-01 6.87466846e-01 8.51358148e-02 2.14608890e+02] [-6.82898609e-01 7.26214974e-01 -7.91283837e-02 -1.48086980e+02] [-1.16225044e-01 -1.07109244e-03 9.93222328e-01 -2.61670818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33592000000002 meters 0.02766661977398973 Centerline is valid? [True, True] Translation: X:214.63, Y:-148.11, Z:-26.17 [[ 7.21106608e-01 6.87558749e-01 8.52538947e-02 2.14633849e+02] [-6.82968469e-01 7.26128030e-01 -7.93231040e-02 -1.48108758e+02] [-1.16444537e-01 -1.02530741e-03 9.93196667e-01 -2.61697236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36592000000002 meters 0.027434713631200165 Centerline is valid? [True, True] Translation: X:214.66, Y:-148.13, Z:-26.17 [[ 7.22132029e-01 6.86522894e-01 8.49214279e-02 2.14658581e+02] [-6.81952670e-01 7.27107747e-01 -7.90878054e-02 -1.48129998e+02] [-1.16042617e-01 -8.00557085e-04 9.93243913e-01 -2.61720165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39592000000002 meters 0.027575745510840396 Centerline is valid? [True, True] Translation: X:214.68, Y:-148.15, Z:-26.18 [[ 7.22455396e-01 6.86175718e-01 8.49769619e-02 2.14684562e+02] [-6.81591964e-01 7.27435478e-01 -7.91834520e-02 -1.48150734e+02] [-1.16149019e-01 -7.13102237e-04 9.93231542e-01 -2.61762438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42592 meters 0.027636827310799778 Centerline is valid? [True, True] Translation: X:214.71, Y:-148.17, Z:-26.18 [[ 7.22446886e-01 6.86267335e-01 8.43068283e-02 2.14708502e+02] [-6.81746707e-01 7.27349097e-01 -7.86429894e-02 -1.48172024e+02] [-1.15290610e-01 -6.60519748e-04 9.93331586e-01 -2.61792050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45592 meters 0.027473987164689833 Centerline is valid? [True, True] Translation: X:214.73, Y:-148.19, Z:-26.18 [[ 7.22860362e-01 6.85695707e-01 8.54066449e-02 2.14732527e+02] [-6.81043032e-01 7.27888127e-01 -7.97449891e-02 -1.48193728e+02] [-1.16847279e-01 -5.21108685e-04 9.93149758e-01 -2.61813465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48592 meters 0.027701515522358208 Centerline is valid? [True, True] Translation: X:214.76, Y:-148.22, Z:-26.19 [[ 7.23067278e-01 6.85401866e-01 8.60115835e-02 2.14756908e+02] [-6.80671415e-01 7.28164889e-01 -8.03885472e-02 -1.48215315e+02] [-1.17729076e-01 -4.19298243e-04 9.93045663e-01 -2.61850163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51592 meters 0.0277181892884082 Centerline is valid? [True, True] Translation: X:214.78, Y:-148.24, Z:-26.19 [[ 7.23413531e-01 6.84913545e-01 8.69844723e-02 2.14781187e+02] [-6.80061236e-01 7.28624291e-01 -8.13840178e-02 -1.48236040e+02] [-1.19120016e-01 -2.80468061e-04 9.92879823e-01 -2.61889811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54592 meters 0.027637978659499435 Centerline is valid? [True, True] Translation: X:214.81, Y:-148.26, Z:-26.19 [[ 7.24778883e-01 6.83512193e-01 8.66409440e-02 2.14805248e+02] [-6.78678904e-01 7.29939095e-01 -8.11410131e-02 -1.48257712e+02] [-1.18703484e-01 7.91195678e-06 9.92929747e-01 -2.61922290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57592 meters 0.027754482410496953 Centerline is valid? [True, True] Translation: X:214.83, Y:-148.28, Z:-26.20 [[ 7.25278185e-01 6.83049824e-01 8.61074448e-02 2.14828179e+02] [-6.78262594e-01 7.30371766e-01 -8.07275453e-02 -1.48280605e+02] [-1.18031382e-01 1.46468654e-04 9.93009855e-01 -2.61957851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60592 meters 0.02761058474938381 Centerline is valid? [True, True] Translation: X:214.85, Y:-148.30, Z:-26.20 [[ 7.25687589e-01 6.82725661e-01 8.52243828e-02 2.14851596e+02] [-6.78024499e-01 7.30674761e-01 -7.99823278e-02 -1.48303095e+02] [-1.16877293e-01 2.57963163e-04 9.93146330e-01 -2.61984727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63592 meters 0.027678405361826818 Centerline is valid? [True, True] Translation: X:214.87, Y:-148.33, Z:-26.20 [[ 7.25139656e-01 6.83281336e-01 8.54347417e-02 2.14874910e+02] [-6.78551577e-01 7.30155165e-01 -8.02570346e-02 -1.48325493e+02] [-1.17218752e-01 2.25679681e-04 9.93106094e-01 -2.62024943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66592 meters 0.02760265504799687 Centerline is valid? [True, True] Translation: X:214.90, Y:-148.35, Z:-26.20 [[ 7.24195279e-01 6.84352672e-01 8.48682429e-02 2.14897213e+02] [-6.79683246e-01 7.29151156e-01 -7.98077501e-02 -1.48348186e+02] [-1.16498424e-01 1.12873065e-04 9.93190870e-01 -2.62044478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69592 meters 0.02790518148047801 Centerline is valid? [True, True] Translation: X:214.92, Y:-148.37, Z:-26.21 [[ 7.23878890e-01 6.84505358e-01 8.63236218e-02 2.14920572e+02] [-6.79665747e-01 7.29007815e-01 -8.12531718e-02 -1.48369925e+02] [-1.18548826e-01 1.46246912e-04 9.92948213e-01 -2.62079424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72592 meters 0.02777435458198823 Centerline is valid? [True, True] Translation: X:214.94, Y:-148.39, Z:-26.21 [[ 7.23644568e-01 6.85022817e-01 8.41562859e-02 2.14943248e+02] [-6.80419056e-01 7.28521604e-01 -7.92854349e-02 -1.48392616e+02] [-1.15622004e-01 1.12933643e-04 9.93293280e-01 -2.62102821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75592 meters 0.02780492935959472 Centerline is valid? [True, True] Translation: X:214.97, Y:-148.42, Z:-26.21 [[ 7.23937306e-01 6.84740521e-01 8.39356669e-02 2.14966432e+02] [-6.80150242e-01 7.28786919e-01 -7.91534916e-02 -1.48415113e+02] [-1.15370819e-01 2.13301315e-04 9.93322470e-01 -2.62142635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78592 meters 0.02778095706453537 Centerline is valid? [True, True] Translation: X:214.99, Y:-148.44, Z:-26.22 [[ 7.24860866e-01 6.83849865e-01 8.32231215e-02 2.14990827e+02] [-6.79321955e-01 7.29622636e-01 -7.85651953e-02 -1.48437679e+02] [-1.14448271e-01 4.13541792e-04 9.93429123e-01 -2.62183424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81592 meters 0.0277902437707566 Centerline is valid? [True, True] Translation: X:215.01, Y:-148.46, Z:-26.22 [[ 7.25577752e-01 6.83154078e-01 8.26887615e-02 2.15014639e+02] [-6.78670313e-01 7.30274037e-01 -7.81436982e-02 -1.48459883e+02] [-1.13769642e-01 5.80921201e-04 9.93506986e-01 -2.62203730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84592 meters 0.02794544433467347 Centerline is valid? [True, True] Translation: X:215.04, Y:-148.48, Z:-26.22 [[ 7.27732244e-01 6.80724971e-01 8.37812361e-02 2.15036747e+02] [-6.76095819e-01 7.32538355e-01 -7.92590784e-02 -1.48482534e+02] [-1.15326603e-01 1.03524352e-03 9.93327088e-01 -2.62247296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87592 meters 0.028221904620265508 Centerline is valid? [True, True] Translation: X:215.06, Y:-148.51, Z:-26.23 [[ 7.28579440e-01 6.79699359e-01 8.47394921e-02 2.15059164e+02] [-6.74947566e-01 7.33489725e-01 -8.02409313e-02 -1.48505073e+02] [-1.16695256e-01 1.26717886e-03 9.93166961e-01 -2.62282282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90592 meters 0.02838786619323129 Centerline is valid? [True, True] Translation: X:215.08, Y:-148.53, Z:-26.23 [[ 7.28828888e-01 6.79425467e-01 8.47908401e-02 2.15082145e+02] [-6.74657093e-01 7.33743254e-01 -8.03656927e-02 -1.48528375e+02] [-1.16817205e-01 1.36809680e-03 9.93152490e-01 -2.62308217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93592 meters 0.028341862310978242 Centerline is valid? [True, True] Translation: X:215.10, Y:-148.55, Z:-26.23 [[ 7.29776987e-01 6.78266809e-01 8.59050915e-02 2.15103734e+02] [-6.73353833e-01 7.34813893e-01 -8.15055706e-02 -1.48551982e+02] [-1.18406778e-01 1.63636709e-03 9.92963825e-01 -2.62330556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96592 meters 0.028383765679656493 Centerline is valid? [True, True] Translation: X:215.13, Y:-148.58, Z:-26.24 [[ 7.29694003e-01 6.78358647e-01 8.58848550e-02 2.15126857e+02] [-6.73439497e-01 7.34729019e-01 -8.15629350e-02 -1.48575311e+02] [-1.18431018e-01 1.67773103e-03 9.92960865e-01 -2.62352997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99592 meters 0.028540371588343213 Centerline is valid? [True, True] Translation: X:215.15, Y:-148.60, Z:-26.24 [[ 7.30189982e-01 6.77900030e-01 8.52885644e-02 2.15147934e+02] [-6.73036071e-01 7.35151889e-01 -8.10811153e-02 -1.48601266e+02] [-1.17664940e-01 1.80233785e-03 9.93051717e-01 -2.62383726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02592 meters 0.028601053135752758 Centerline is valid? [True, True] Translation: X:215.17, Y:-148.62, Z:-26.24 [[ 7.30634684e-01 6.77382657e-01 8.55902684e-02 2.15169323e+02] [-6.72470765e-01 7.35628248e-01 -8.14502964e-02 -1.48624676e+02] [-1.18135637e-01 1.95345833e-03 9.92995546e-01 -2.62412050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05592000000001 meters 0.02886172533976904 Centerline is valid? [True, True] Translation: X:215.19, Y:-148.65, Z:-26.24 [[ 7.32125453e-01 6.75909090e-01 8.44939228e-02 2.15190624e+02] [-6.71104137e-01 7.36981669e-01 -8.04814000e-02 -1.48649588e+02] [-1.16668582e-01 2.21826024e-03 9.93168425e-01 -2.62435864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08592000000002 meters 0.02910844525984599 Centerline is valid? [True, True] Translation: X:215.21, Y:-148.67, Z:-26.25 [[ 7.32463349e-01 6.75487997e-01 8.49317815e-02 2.15212080e+02] [-6.70620440e-01 7.37367212e-01 -8.09803678e-02 -1.48672870e+02] [-1.17327177e-01 2.35816267e-03 9.93090516e-01 -2.62465643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11592000000002 meters 0.02943836249917579 Centerline is valid? [True, True] Translation: X:215.23, Y:-148.70, Z:-26.25 [[ 7.33586014e-01 6.74148071e-01 8.58832781e-02 2.15230807e+02] [-6.69152403e-01 7.38591442e-01 -8.19618463e-02 -1.48699557e+02] [-1.18687075e-01 2.65706229e-03 9.92928154e-01 -2.62496534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14592000000002 meters 0.029794893028702682 Centerline is valid? [True, True] Translation: X:215.25, Y:-148.72, Z:-26.25 [[ 7.34299115e-01 6.73386528e-01 8.57635873e-02 2.15251516e+02] [-6.68391011e-01 7.39285178e-01 -8.19199775e-02 -1.48723464e+02] [-1.18567558e-01 2.83015619e-03 9.92941954e-01 -2.62532998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17592 meters 0.029883070108584677 Centerline is valid? [True, True] Translation: X:215.27, Y:-148.75, Z:-26.26 [[ 7.33891488e-01 6.73759737e-01 8.63197604e-02 2.15273458e+02] [-6.68692820e-01 7.38945018e-01 -8.25237716e-02 -1.48747748e+02] [-1.19386752e-01 2.84208946e-03 9.92843757e-01 -2.62565889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20592 meters 0.029547928349297467 Centerline is valid? [True, True] Translation: X:215.29, Y:-148.77, Z:-26.26 [[ 7.32848144e-01 6.74985182e-01 8.56072586e-02 2.15293232e+02] [-6.70000556e-01 7.37826416e-01 -8.19233493e-02 -1.48773051e+02] [-1.18460344e-01 2.68046363e-03 9.92955166e-01 -2.62593250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23592 meters 0.029424394391428417 Centerline is valid? [True, True] Translation: X:215.31, Y:-148.80, Z:-26.26 [[ 7.32483792e-01 6.75441378e-01 8.51260207e-02 2.15314422e+02] [-6.70507303e-01 7.37408940e-01 -8.15353419e-02 -1.48796733e+02] [-1.17845032e-01 2.64569792e-03 9.93028473e-01 -2.62624796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26592 meters 0.029424394391428417 Centerline is valid? [True, True] Translation: X:215.34, Y:-148.82, Z:-26.27 [[ 7.32138338e-01 6.75820599e-01 8.50880299e-02 2.15338021e+02] [-6.70884472e-01 7.37061428e-01 -8.15749731e-02 -1.48818876e+02] [-1.17845152e-01 2.63992717e-03 9.93028474e-01 -2.62654688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29592 meters 0.029588817533089458 Centerline is valid? [True, True] Translation: X:215.36, Y:-148.84, Z:-26.27 [[ 7.31050357e-01 6.76812158e-01 8.65487095e-02 2.15358721e+02] [-6.71700938e-01 7.36151213e-01 -8.30616734e-02 -1.48843998e+02] [-1.19930088e-01 2.58741667e-03 9.92778968e-01 -2.62676124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32592 meters 0.029372328553513134 Centerline is valid? [True, True] Translation: X:215.38, Y:-148.87, Z:-26.27 [[ 7.30164976e-01 6.77800670e-01 8.62864972e-02 2.15380719e+02] [-6.72718097e-01 7.35241544e-01 -8.28868683e-02 -1.48868286e+02] [-1.19622192e-01 2.47460001e-03 9.92816402e-01 -2.62703833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35592 meters 0.029515452847818924 Centerline is valid? [True, True] Translation: X:215.40, Y:-148.89, Z:-26.27 [[ 7.28532870e-01 6.79566675e-01 8.61915984e-02 2.15399789e+02] [-6.74500210e-01 7.33610367e-01 -8.28570812e-02 -1.48894843e+02] [-1.19537961e-01 2.22785587e-03 9.92827131e-01 -2.62730698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38592 meters 0.029351966085597602 Centerline is valid? [True, True] Translation: X:215.42, Y:-148.92, Z:-26.28 [[ 7.28388928e-01 6.79829592e-01 8.53305061e-02 2.15421407e+02] [-6.74856285e-01 7.33366746e-01 -8.21109623e-02 -1.48918839e+02] [-1.18400018e-01 2.22288746e-03 9.92963491e-01 -2.62757968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41592 meters 0.029072846975333307 Centerline is valid? [True, True] Translation: X:215.44, Y:-148.94, Z:-26.28 [[ 7.26472124e-01 6.81800665e-01 8.59424621e-02 2.15442584e+02] [-6.76759017e-01 7.31535330e-01 -8.27846253e-02 -1.48943617e+02] [-1.19312560e-01 1.97838643e-03 9.92854772e-01 -2.62790676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44592 meters 0.02918135350578979 Centerline is valid? [True, True] Translation: X:215.46, Y:-148.97, Z:-26.28 [[ 7.25747188e-01 6.82454663e-01 8.68714770e-02 2.15464926e+02] [-6.77296981e-01 7.30925309e-01 -8.37674917e-02 -1.48967069e+02] [-1.20664076e-01 1.95623238e-03 9.92691470e-01 -2.62829628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47592 meters 0.02924203410425566 Centerline is valid? [True, True] Translation: X:215.49, Y:-148.99, Z:-26.29 [[ 7.25275421e-01 6.83027446e-01 8.63079975e-02 2.15487071e+02] [-6.77930396e-01 7.30390206e-01 -8.33098182e-02 -1.48991010e+02] [-1.19941408e-01 1.91174857e-03 9.92779131e-01 -2.62859957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50592 meters 0.029284963295943663 Centerline is valid? [True, True] Translation: X:215.51, Y:-149.02, Z:-26.29 [[ 7.23305323e-01 6.85152041e-01 8.60005262e-02 2.15507401e+02] [-6.80095986e-01 7.28398288e-01 -8.30986401e-02 -1.49016512e+02] [-1.19577839e-01 1.61707611e-03 9.92823512e-01 -2.62885716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53592 meters 0.02921319805127978 Centerline is valid? [True, True] Translation: X:215.53, Y:-149.04, Z:-26.29 [[ 7.21864338e-01 6.86574286e-01 8.67618972e-02 2.15530093e+02] [-6.81427644e-01 7.27058199e-01 -8.39210369e-02 -1.49039701e+02] [-1.20698975e-01 1.45764858e-03 9.92688084e-01 -2.62916413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56592 meters 0.02916441855291714 Centerline is valid? [True, True] Translation: X:215.55, Y:-149.06, Z:-26.30 [[ 7.19903794e-01 6.88547503e-01 8.74120393e-02 2.15552122e+02] [-6.83326495e-01 7.25190245e-01 -8.46404731e-02 -1.49063806e+02] [-1.21669345e-01 1.20203527e-03 9.92569960e-01 -2.62958881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59592 meters 0.029281041025008482 Centerline is valid? [True, True] Translation: X:215.57, Y:-149.09, Z:-26.30 [[ 7.18755490e-01 6.89776027e-01 8.71755549e-02 2.15574693e+02] [-6.84581188e-01 7.24022039e-01 -8.45025678e-02 -1.49087156e+02] [-1.21404869e-01 1.05793956e-03 9.92602508e-01 -2.62989126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62592 meters 0.029169320143563503 Centerline is valid? [True, True] Translation: X:215.60, Y:-149.11, Z:-26.30 [[ 7.17542445e-01 6.91165407e-01 8.61581168e-02 2.15598518e+02] [-6.86090724e-01 7.22696070e-01 -8.36056748e-02 -1.49109387e+02] [-1.20051483e-01 8.78335480e-04 9.92767279e-01 -2.63019102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65592 meters 0.029130925928689957 Centerline is valid? [True, True] Translation: X:215.62, Y:-149.13, Z:-26.30 [[ 7.17200121e-01 6.91495756e-01 8.63574301e-02 2.15622814e+02] [-6.86388928e-01 7.22379973e-01 -8.38892948e-02 -1.49131347e+02] [-1.20391969e-01 8.90628480e-04 9.92726035e-01 -2.63049968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68592 meters 0.029215728138591385 Centerline is valid? [True, True] Translation: X:215.65, Y:-149.16, Z:-26.31 [[ 7.17378366e-01 6.91221705e-01 8.70679929e-02 2.15645671e+02] [-6.86016995e-01 7.22642051e-01 -8.46708315e-02 -1.49155123e+02] [-1.21445309e-01 1.01089997e-03 9.92597610e-01 -2.63084240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71592 meters 0.02910175651764894 Centerline is valid? [True, True] Translation: X:215.67, Y:-149.18, Z:-26.31 [[ 7.17538312e-01 6.91174406e-01 8.61203319e-02 2.15669347e+02] [-6.86071517e-01 7.22687199e-01 -8.38396453e-02 -1.49178732e+02] [-1.20185879e-01 1.07345083e-03 9.92750826e-01 -2.63103577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74592 meters 0.02892604583919753 Centerline is valid? [True, True] Translation: X:215.69, Y:-149.20, Z:-26.31 [[ 7.17587628e-01 6.91043997e-01 8.67536178e-02 2.15692890e+02] [-6.85852936e-01 7.22811745e-01 -8.45513523e-02 -1.49201688e+02] [-1.21135238e-01 1.17278087e-03 9.92635320e-01 -2.63138722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77592 meters 0.028802991435062184 Centerline is valid? [True, True] Translation: X:215.72, Y:-149.22, Z:-26.32 [[ 7.17997263e-01 6.90667120e-01 8.63646907e-02 2.15716987e+02] [-6.85509092e-01 7.23171660e-01 -8.42617039e-02 -1.49224340e+02] [-1.20653285e-01 1.29589201e-03 9.92693863e-01 -2.63170448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80592000000001 meters 0.02899043935695375 Centerline is valid? [True, True] Translation: X:215.74, Y:-149.25, Z:-26.32 [[ 7.17279725e-01 6.91396582e-01 8.64902395e-02 2.15740570e+02] [-6.86217774e-01 7.22474378e-01 -8.44744932e-02 -1.49247608e+02] [-1.20892358e-01 1.24070171e-03 9.92664847e-01 -2.63205414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83592000000002 meters 0.0288477259906611 Centerline is valid? [True, True] Translation: X:215.76, Y:-149.27, Z:-26.32 [[ 7.15461988e-01 6.93468314e-01 8.49461049e-02 2.15763578e+02] [-6.88477412e-01 7.20486513e-01 -8.30544288e-02 -1.49270735e+02] [-1.18798138e-01 9.38812288e-04 9.92917983e-01 -2.63219665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86592000000002 meters 0.02862163547224716 Centerline is valid? [True, True] Translation: X:215.79, Y:-149.29, Z:-26.33 [[ 7.14487839e-01 6.94352362e-01 8.59181344e-02 2.15787351e+02] [-6.89241443e-01 7.19634661e-01 -8.40962991e-02 -1.49293226e+02] [-1.20222131e-01 8.67444046e-04 9.92746638e-01 -2.63251685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89592000000002 meters 0.02857386309466413 Centerline is valid? [True, True] Translation: X:215.81, Y:-149.32, Z:-26.33 [[ 7.12182897e-01 6.96874047e-01 8.46290965e-02 2.15810315e+02] [-6.91923070e-01 7.17193359e-01 -8.29225617e-02 -1.49316939e+02] [-1.18482007e-01 4.99205985e-04 9.92956074e-01 -2.63276367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92592 meters 0.028562023286855486 Centerline is valid? [True, True] Translation: X:215.83, Y:-149.34, Z:-26.33 [[ 7.11091431e-01 6.98163603e-01 8.31658626e-02 2.15833482e+02] [-6.93381530e-01 7.15938172e-01 -8.15756566e-02 -1.49340396e+02] [-1.16494770e-01 3.42077293e-04 9.93191246e-01 -2.63303425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95592 meters 0.02866602368757486 Centerline is valid? [True, True] Translation: X:215.86, Y:-149.36, Z:-26.33 [[ 7.08784761e-01 7.00486292e-01 8.33253728e-02 2.15857206e+02] [-6.95691322e-01 7.13665856e-01 -8.18207194e-02 -1.49362966e+02] [-1.16780766e-01 2.45402121e-05 9.93157718e-01 -2.63343516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98592 meters 0.02878186704020982 Centerline is valid? [True, True] Translation: X:215.88, Y:-149.39, Z:-26.34 [[ 7.07552976e-01 7.01735696e-01 8.32814439e-02 2.15881111e+02] [-6.96944033e-01 7.12437365e-01 -8.18658438e-02 -1.49385501e+02] [-1.16780997e-01 -1.18083933e-04 9.93157684e-01 -2.63370762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01592 meters 0.028852286723581054 Centerline is valid? [True, True] Translation: X:215.90, Y:-149.41, Z:-26.34 [[ 7.05028975e-01 7.04334941e-01 8.27431854e-02 2.15904700e+02] [-6.99612855e-01 7.09867634e-01 -8.14235518e-02 -1.49407969e+02] [-1.16086162e-01 -4.82232928e-04 9.93239030e-01 -2.63408868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04592 meters 0.029021827692987112 Centerline is valid? [True, True] Translation: X:215.93, Y:-149.43, Z:-26.34 [[ 7.03039946e-01 7.06315648e-01 8.27830903e-02 2.15928177e+02] [-7.01592494e-01 7.07896636e-01 -8.15495238e-02 -1.49431386e+02] [-1.16201576e-01 -7.47421983e-04 9.93225370e-01 -2.63430922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07592 meters 0.029092143232055886 Centerline is valid? [True, True] Translation: X:215.95, Y:-149.45, Z:-26.35 [[ 7.01084020e-01 7.08282616e-01 8.25647213e-02 2.15951728e+02] [-7.03587941e-01 7.05928267e-01 -8.14204607e-02 -1.49454353e+02] [-1.15953468e-01 -1.00895842e-03 9.93254134e-01 -2.63471228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10592 meters 0.02946778104794269 Centerline is valid? [True, True] Translation: X:215.98, Y:-149.48, Z:-26.35 [[ 6.96557172e-01 7.12864864e-01 8.14358129e-02 2.15976494e+02] [-7.08319427e-01 7.01299397e-01 -8.03911933e-02 -1.49475772e+02] [-1.14418944e-01 -1.68550613e-03 9.93431157e-01 -2.63480484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13592 meters 0.029600767122925652 Centerline is valid? [True, True] Translation: X:216.00, Y:-149.50, Z:-26.35 [[ 6.94911987e-01 7.14448030e-01 8.16170488e-02 2.16001256e+02] [-7.09883456e-01 6.99685955e-01 -8.06538488e-02 -1.49496833e+02] [-1.14729286e-01 -1.89126639e-03 9.93394994e-01 -2.63505583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16592 meters 0.029962403444661705 Centerline is valid? [True, True] Translation: X:216.03, Y:-149.52, Z:-26.35 [[ 6.91725671e-01 7.17731573e-01 7.98560290e-02 2.16025525e+02] [-7.13375081e-01 6.96316008e-01 -7.89937366e-02 -1.49519218e+02] [-1.12301330e-01 -2.32530570e-03 9.93671477e-01 -2.63524868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19592 meters 0.029862304071692377 Centerline is valid? [True, True] Translation: X:216.05, Y:-149.54, Z:-26.35 [[ 6.90701087e-01 7.18629308e-01 8.06469190e-02 2.16050384e+02] [-7.14182439e-01 6.95389081e-01 -7.98590580e-02 -1.49541398e+02] [-1.13470046e-01 -2.43787516e-03 9.93538427e-01 -2.63547039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22592 meters 0.03030976309281632 Centerline is valid? [True, True] Translation: X:216.08, Y:-149.56, Z:-26.36 [[ 6.88694144e-01 7.20568975e-01 8.05029665e-02 2.16077931e+02] [-7.16141854e-01 6.93378028e-01 -7.97982238e-02 -1.49560531e+02] [-1.13319112e-01 -2.69497424e-03 9.93554989e-01 -2.63565660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25592 meters 0.030166508010326942 Centerline is valid? [True, True] Translation: X:216.10, Y:-149.58, Z:-26.36 [[ 6.88054723e-01 7.21183953e-01 8.04636785e-02 2.16104382e+02] [-7.16756031e-01 6.92738197e-01 -7.98409859e-02 -1.49581106e+02] [-1.13320301e-01 -2.73785936e-03 9.93554736e-01 -2.63594977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28592 meters 0.03027668815854435 Centerline is valid? [True, True] Translation: X:216.13, Y:-149.60, Z:-26.36 [[ 6.87298627e-01 7.21866894e-01 8.08008986e-02 2.16132937e+02] [-7.17396926e-01 6.92026242e-01 -8.02579071e-02 -1.49599616e+02] [-1.13851868e-01 -2.80516690e-03 9.93493776e-01 -2.63614045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31592 meters 0.030137569020074795 Centerline is valid? [True, True] Translation: X:216.16, Y:-149.62, Z:-26.36 [[ 6.87119413e-01 7.22090052e-01 8.03297515e-02 2.16159230e+02] [-7.17664528e-01 6.91793531e-01 -7.98707482e-02 -1.49619701e+02] [-1.13245475e-01 -2.76907147e-03 9.93563181e-01 -2.63635658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34592 meters 0.030192856272752335 Centerline is valid? [True, True] Translation: X:216.19, Y:-149.64, Z:-26.37 [[ 6.87158833e-01 7.22147078e-01 7.94753804e-02 2.16187234e+02] [-7.17806867e-01 6.91734303e-01 -7.91009247e-02 -1.49637213e+02] [-1.12098348e-01 -2.69307468e-03 9.93693468e-01 -2.63669717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37592 meters 0.030095971890906747 Centerline is valid? [True, True] Translation: X:216.21, Y:-149.66, Z:-26.37 [[ 6.87293936e-01 7.22012440e-01 7.95303786e-02 2.16212879e+02] [-7.17656339e-01 6.91875121e-01 -7.92350622e-02 -1.49658022e+02] [-1.12233791e-01 -2.61770259e-03 9.93678380e-01 -2.63698247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40592 meters 0.029748739707602927 Centerline is valid? [True, True] Translation: X:216.24, Y:-149.68, Z:-26.37 [[ 6.88255365e-01 7.21068991e-01 7.97750761e-02 2.16237688e+02] [-7.16670562e-01 6.92859059e-01 -7.95589753e-02 -1.49678653e+02] [-1.12640394e-01 -2.41555703e-03 9.93632883e-01 -2.63731094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43592 meters 0.02933600371353293 Centerline is valid? [True, True] Translation: X:216.26, Y:-149.70, Z:-26.38 [[ 6.91155251e-01 7.18176746e-01 8.07872493e-02 2.16264104e+02] [-7.13637614e-01 6.95858091e-01 -8.06403942e-02 -1.49698727e+02] [-1.14130517e-01 -1.91778787e-03 9.93463913e-01 -2.63772614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46592 meters 0.029088958900447236 Centerline is valid? [True, True] Translation: X:216.29, Y:-149.72, Z:-26.38 [[ 6.91992959e-01 7.17514784e-01 7.94876082e-02 2.16288987e+02] [-7.13110175e-01 6.96541104e-01 -7.94000562e-02 -1.49720020e+02] [-1.12337101e-01 -1.73914234e-03 9.93668633e-01 -2.63800511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49592 meters 0.02894861232794077 Centerline is valid? [True, True] Translation: X:216.31, Y:-149.74, Z:-26.38 [[ 6.93263674e-01 7.16227892e-01 8.00192823e-02 2.16314879e+02] [-7.11746256e-01 6.97864890e-01 -8.00116433e-02 -1.49740848e+02] [-1.13149218e-01 -1.48425878e-03 9.93576898e-01 -2.63832076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52592 meters 0.029062043072621748 Centerline is valid? [True, True] Translation: X:216.57, Y:-149.81, Z:-24.49 [[ 7.65825230e-01 -6.41233186e-01 -4.82878720e-02 2.16573385e+02] [-6.39273100e-01 -7.67304564e-01 5.07307645e-02 -1.49808641e+02] [-6.95817543e-02 -7.98176174e-03 -9.97544320e-01 -2.44924619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55592000000001 meters 0.028952114732626988 Centerline is valid? [True, True] Translation: X:216.38, Y:-149.82, Z:-26.39 [[ 7.46173249e-01 6.60139637e-01 8.62620538e-02 2.16379754e+02] [-6.55995228e-01 7.51141469e-01 -7.38698544e-02 -1.49817628e+02] [-1.13559425e-01 -1.46778632e-03 9.93530122e-01 -2.63918761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58592000000002 meters 0.029164327076919978 Centerline is valid? [True, True] Translation: X:216.41, Y:-149.84, Z:-26.39 [[ 7.45880199e-01 6.60531533e-01 8.57952323e-02 2.16405558e+02] [-6.56425713e-01 7.50796884e-01 -7.35480912e-02 -1.49838028e+02] [-1.12995627e-01 -1.46013162e-03 9.93594412e-01 -2.63949444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61592000000002 meters 0.02891050530061649 Centerline is valid? [True, True] Translation: X:216.43, Y:-149.86, Z:-26.40 [[ 7.45923242e-01 6.60688519e-01 8.41973797e-02 2.16430569e+02] [-6.56727356e-01 7.50658859e-01 -7.22527409e-02 -1.49858057e+02] [-1.10940065e-01 -1.39972378e-03 9.93826113e-01 -2.63980640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64592000000002 meters 0.02894016490744268 Centerline is valid? [True, True] Translation: X:216.46, Y:-149.88, Z:-26.40 [[ 7.45385639e-01 6.61325244e-01 8.39593424e-02 2.16456081e+02] [-6.57382906e-01 7.50097895e-01 -7.21170032e-02 -1.49878145e+02] [-1.10670521e-01 -1.43845804e-03 9.93856110e-01 -2.64006116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67592 meters 0.028830710117453223 Centerline is valid? [True, True] Translation: X:216.48, Y:-149.90, Z:-26.40 [[ 7.44761617e-01 6.61908262e-01 8.48975075e-02 2.16482761e+02] [-6.57872203e-01 7.49583384e-01 -7.29994209e-02 -1.49896382e+02] [-1.11956681e-01 -1.48454348e-03 9.93711979e-01 -2.64030980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70592 meters 0.028836376328203454 Centerline is valid? [True, True] Translation: X:216.51, Y:-149.92, Z:-26.41 [[ 7.44217007e-01 6.62517156e-01 8.49238731e-02 2.16508746e+02] [-6.58474658e-01 7.49045189e-01 -7.30919219e-02 -1.49916103e+02] [-1.12036471e-01 -1.52396702e-03 9.93702927e-01 -2.64055522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73592 meters 0.02883791138643803 Centerline is valid? [True, True] Translation: X:216.53, Y:-149.94, Z:-26.41 [[ 7.44217887e-01 6.62687478e-01 8.35765691e-02 2.16533764e+02] [-6.58765457e-01 7.48894618e-01 -7.20064177e-02 -1.49935870e+02] [-1.10307794e-01 -1.46889267e-03 9.93896389e-01 -2.64067486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76592 meters 0.028887254721196846 Centerline is valid? [True, True] Translation: X:216.56, Y:-149.96, Z:-26.41 [[ 7.43043406e-01 6.63776068e-01 8.53687797e-02 2.16558549e+02] [-6.59682718e-01 7.47929629e-01 -7.36205339e-02 -1.49955386e+02] [-1.12717388e-01 -1.61305632e-03 9.93625779e-01 -2.64106764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79592 meters 0.028907408932688453 Centerline is valid? [True, True] Translation: X:216.59, Y:-149.97, Z:-26.41 [[ 7.41419855e-01 6.65664698e-01 8.47768133e-02 2.16585778e+02] [-6.61632508e-01 7.46248716e-01 -7.31797739e-02 -1.49974533e+02] [-1.11977780e-01 -1.83415822e-03 9.93709018e-01 -2.64137316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82592 meters 0.028902390410886623 Centerline is valid? [True, True] Translation: X:216.61, Y:-149.99, Z:-26.42 [[ 7.40923471e-01 6.66165536e-01 8.51815090e-02 2.16611497e+02] [-6.62089060e-01 7.45801594e-01 -7.36074604e-02 -1.49994293e+02] [-1.12563259e-01 -1.86025018e-03 9.93642819e-01 -2.64170811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85592 meters 0.02889229657579135 Centerline is valid? [True, True] Translation: X:216.64, Y:-150.02, Z:-26.42 [[ 7.40662088e-01 6.66528089e-01 8.46166518e-02 2.16637147e+02] [-6.62500279e-01 7.45477619e-01 -7.31881137e-02 -1.50015608e+02] [-1.11861754e-01 -1.85089436e-03 9.93722055e-01 -2.64195081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88592 meters 0.02876652699090678 Centerline is valid? [True, True] Translation: X:216.66, Y:-150.04, Z:-26.42 [[ 7.40094820e-01 6.67278693e-01 8.36588541e-02 2.16662378e+02] [-6.63342093e-01 7.44805674e-01 -7.24001111e-02 -1.50036448e+02] [-1.10620641e-01 -1.91149213e-03 9.93860866e-01 -2.64214903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91592 meters 0.02901314629955437 Centerline is valid? [True, True] Translation: X:216.69, Y:-150.06, Z:-26.42 [[ 7.39283664e-01 6.68219495e-01 8.33208879e-02 2.16687150e+02] [-6.64312204e-01 7.43961531e-01 -7.21840359e-02 -1.50057558e+02] [-1.10222315e-01 -1.98660412e-03 9.93904973e-01 -2.64245785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94592 meters 0.02902710433726651 Centerline is valid? [True, True] Translation: X:216.71, Y:-150.08, Z:-26.43 [[ 7.38054413e-01 6.69505990e-01 8.38892946e-02 2.16711118e+02] [-6.65544876e-01 7.42803583e-01 -7.27520172e-02 -1.50078514e+02] [-1.11021180e-01 -2.13714283e-03 9.93815743e-01 -2.64279329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97592 meters 0.028972088653152893 Centerline is valid? [True, True] Translation: X:216.74, Y:-150.10, Z:-26.43 [[ 7.37392648e-01 6.70163685e-01 8.44554173e-02 2.16735507e+02] [-6.66145429e-01 7.42210073e-01 -7.33108153e-02 -1.50099564e+02] [-1.11813907e-01 -2.20073395e-03 9.93726726e-01 -2.64309823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00592 meters 0.029326044902236666 Centerline is valid? [True, True] Translation: X:216.76, Y:-150.12, Z:-26.43 [[ 7.35909337e-01 6.71636753e-01 8.56826691e-02 2.16759515e+02] [-6.67502545e-01 7.40876691e-01 -7.44451589e-02 -1.50120705e+02] [-1.13480397e-01 -2.40851212e-03 9.93537316e-01 -2.64333163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03592 meters 0.029152803270683075 Centerline is valid? [True, True] Translation: X:216.78, Y:-150.14, Z:-26.44 [[ 7.34674645e-01 6.73094180e-01 8.48374379e-02 2.16784379e+02] [-6.69043263e-01 7.39552359e-01 -7.37795382e-02 -1.50141640e+02] [-1.12402305e-01 -2.55596028e-03 9.93659493e-01 -2.64356844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06592 meters 0.02937056562922323 Centerline is valid? [True, True] Translation: X:216.81, Y:-150.16, Z:-26.44 [[ 7.33293189e-01 6.74748577e-01 8.36388503e-02 2.16809168e+02] [-6.70813983e-01 7.38042678e-01 -7.28121210e-02 -1.50163686e+02] [-1.10858916e-01 -2.71347798e-03 9.93832450e-01 -2.64377018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09592 meters 0.029553790714817556 Centerline is valid? [True, True] Translation: X:216.83, Y:-150.18, Z:-26.44 [[ 7.31724224e-01 6.76420567e-01 8.38741714e-02 2.16833855e+02] [-6.72466290e-01 7.36509805e-01 -7.30916971e-02 -1.50184519e+02] [-1.11214877e-01 -2.91958748e-03 9.93792095e-01 -2.64400079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12592 meters 0.030001962012914746 Centerline is valid? [True, True] Translation: X:216.86, Y:-150.20, Z:-26.44 [[ 7.29632813e-01 6.78496048e-01 8.53174699e-02 2.16859163e+02] [-6.74410399e-01 7.34596901e-01 -7.44177856e-02 -1.50204752e+02] [-1.13166122e-01 -3.24133076e-03 9.93570794e-01 -2.64432205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15592 meters 0.029976544364811848 Centerline is valid? [True, True] Translation: X:216.88, Y:-150.22, Z:-26.45 [[ 7.28624973e-01 6.79514457e-01 8.58239577e-02 2.16883573e+02] [-6.75379190e-01 7.33654380e-01 -7.49279630e-02 -1.50224962e+02] [-1.13879757e-01 -3.36933011e-03 9.93488827e-01 -2.64459648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18592 meters 0.029976544364811848 Centerline is valid? [True, True] Translation: X:216.91, Y:-150.25, Z:-26.45 [[ 7.28283224e-01 6.79885040e-01 8.57897322e-02 2.16908181e+02] [-6.75747725e-01 7.33310945e-01 -7.49671331e-02 -1.50246007e+02] [-1.13879582e-01 -3.37491097e-03 9.93488828e-01 -2.64489455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21592 meters 0.030384259241510614 Centerline is valid? [True, True] Translation: X:216.93, Y:-150.27, Z:-26.45 [[ 7.26246917e-01 6.82207192e-01 8.46094729e-02 2.16933389e+02] [-6.78190661e-01 7.31149882e-01 -7.40086308e-02 -1.50265450e+02] [-1.12351426e-01 -3.63281441e-03 9.93661894e-01 -2.64504181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24592 meters 0.030602547680896465 Centerline is valid? [True, True] Translation: X:216.96, Y:-150.29, Z:-26.45 [[ 7.25158733e-01 6.83350833e-01 8.47139404e-02 2.16958651e+02] [-6.79324629e-01 7.30080445e-01 -7.41659785e-02 -1.50285253e+02] [-1.12529374e-01 -3.76615915e-03 9.93641261e-01 -2.64536442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27592 meters 0.03042925649878999 Centerline is valid? [True, True] Translation: X:216.98, Y:-150.31, Z:-26.46 [[ 7.24690435e-01 6.83976218e-01 8.36678358e-02 2.16984888e+02] [-6.80045851e-01 7.29494584e-01 -7.33163824e-02 -1.50305068e+02] [-1.11181895e-01 -3.76628358e-03 9.93792937e-01 -2.64557803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30592000000001 meters 0.030662786438520363 Centerline is valid? [True, True] Translation: X:217.01, Y:-150.32, Z:-26.46 [[ 7.23258953e-01 6.85386536e-01 8.45090696e-02 2.17010915e+02] [-6.81377696e-01 7.28168622e-01 -7.41275517e-02 -1.50324002e+02] [-1.12342879e-01 -3.96917966e-03 9.93661574e-01 -2.64588659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33592000000002 meters 0.030530324059407404 Centerline is valid? [True, True] Translation: X:217.04, Y:-150.34, Z:-26.46 [[ 7.23509580e-01 6.85230211e-01 8.36268253e-02 2.17037604e+02] [-6.81296618e-01 7.28316339e-01 -7.34181750e-02 -1.50342349e+02] [-1.11215135e-01 -3.85592027e-03 9.93788874e-01 -2.64616469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36592000000002 meters 0.030359206049494693 Centerline is valid? [True, True] Translation: X:217.06, Y:-150.36, Z:-26.46 [[ 7.23823060e-01 6.84885114e-01 8.37410236e-02 2.17063861e+02] [-6.80931135e-01 7.28641366e-01 -7.35836174e-02 -1.50361321e+02] [-1.11413498e-01 -3.76035120e-03 9.93767021e-01 -2.64642849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39592000000002 meters 0.02999189584279797 Centerline is valid? [True, True] Translation: X:217.09, Y:-150.38, Z:-26.47 [[ 7.23794698e-01 6.84805367e-01 8.46335864e-02 2.17090742e+02] [-6.80758118e-01 7.28716429e-01 -7.44362250e-02 -1.50380490e+02] [-1.12648211e-01 -3.73845601e-03 9.93627900e-01 -2.64668894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42592 meters 0.029859542854258115 Centerline is valid? [True, True] Translation: X:217.12, Y:-150.40, Z:-26.47 [[ 7.24565197e-01 6.84106300e-01 8.36889790e-02 2.17118136e+02] [-6.80137207e-01 7.29373726e-01 -7.36705327e-02 -1.50398685e+02] [-1.11439018e-01 -3.54088437e-03 9.93764966e-01 -2.64695620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45592 meters 0.030146159266350243 Centerline is valid? [True, True] Translation: X:217.14, Y:-150.42, Z:-26.47 [[ 7.23555557e-01 6.85258866e-01 8.29918197e-02 2.17144270e+02] [-6.81359757e-01 7.28290373e-01 -7.30890822e-02 -1.50419242e+02] [-1.10527085e-01 -3.66327453e-03 9.93866361e-01 -2.64723048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48592 meters 0.03026553892923266 Centerline is valid? [True, True] Translation: X:217.17, Y:-150.44, Z:-26.48 [[ 7.22191717e-01 6.86697466e-01 8.29802078e-02 2.17171290e+02] [-6.82800744e-01 7.26933235e-01 -7.31520096e-02 -1.50436669e+02] [-1.10554370e-01 -3.82917216e-03 9.93862701e-01 -2.64760024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51592 meters 0.030275077371758406 Centerline is valid? [True, True] Translation: X:217.20, Y:-150.46, Z:-26.48 [[ 7.21631347e-01 6.87408873e-01 8.19587709e-02 2.17197516e+02] [-6.83605142e-01 7.26260481e-01 -7.23168321e-02 -1.50456016e+02] [-1.09234648e-01 -3.84134421e-03 9.94008569e-01 -2.64781125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54592 meters 0.030400593478157215 Centerline is valid? [True, True] Translation: X:217.22, Y:-150.47, Z:-26.48 [[ 7.20924870e-01 6.88117573e-01 8.22285654e-02 2.17224377e+02] [-6.84285233e-01 7.25588677e-01 -7.26277583e-02 -1.50473274e+02] [-1.09640553e-01 -3.90863584e-03 9.93963617e-01 -2.64818494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57592 meters 0.029981907945574135 Centerline is valid? [True, True] Translation: X:217.25, Y:-150.49, Z:-26.48 [[ 7.21163535e-01 6.88055147e-01 8.06428565e-02 2.17251018e+02] [-6.84362421e-01 7.25648569e-01 -7.12897657e-02 -1.50491872e+02] [-1.07569664e-01 -3.77736112e-03 9.94190374e-01 -2.64835966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60592 meters 0.029610050967322214 Centerline is valid? [True, True] Translation: X:217.28, Y:-150.51, Z:-26.49 [[ 7.21670062e-01 6.87397525e-01 8.17126935e-02 2.17277254e+02] [-6.83594579e-01 7.26272050e-01 -7.23004905e-02 -1.50510382e+02] [-1.09044824e-01 -3.68125476e-03 9.94030017e-01 -2.64872090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63592 meters 0.029078289472521977 Centerline is valid? [True, True] Translation: X:217.30, Y:-150.53, Z:-26.49 [[ 7.23675965e-01 6.85321974e-01 8.14057073e-02 2.17304678e+02] [-6.81527474e-01 7.28232688e-01 -7.20933687e-02 -1.50527976e+02] [-1.08689467e-01 -3.30798785e-03 9.94070248e-01 -2.64898765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66592 meters 0.028432973864859656 Centerline is valid? [True, True] Translation: X:217.33, Y:-150.55, Z:-26.49 [[ 7.25766866e-01 6.83056379e-01 8.18317805e-02 2.17330667e+02] [-6.79200330e-01 7.30359751e-01 -7.25365132e-02 -1.50547191e+02] [-1.09313167e-01 -2.93557453e-03 9.94003025e-01 -2.64931240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69592 meters 0.028203865909741548 Centerline is valid? [True, True] Translation: X:217.36, Y:-150.57, Z:-26.50 [[ 7.26459844e-01 6.82296978e-01 8.20178639e-02 2.17355999e+02] [-6.78411179e-01 7.31069841e-01 -7.27678548e-02 -1.50566592e+02] [-1.09610074e-01 -2.77891132e-03 9.93970779e-01 -2.64961125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72592 meters 0.02805988446714877 Centerline is valid? [True, True] Translation: X:217.38, Y:-150.59, Z:-26.50 [[ 7.26685246e-01 6.82137730e-01 8.13429171e-02 2.17381304e+02] [-6.78307623e-01 7.31218788e-01 -7.22347085e-02 -1.50586388e+02] [-1.08753489e-01 -2.68362379e-03 9.94065127e-01 -2.64983983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75592 meters 0.02786926700286027 Centerline is valid? [True, True] Translation: X:217.41, Y:-150.61, Z:-26.50 [[ 7.26948771e-01 6.81784738e-01 8.19454404e-02 2.17408039e+02] [-6.77887702e-01 7.31548229e-01 -7.28385342e-02 -1.50605837e+02] [-1.09607243e-01 -2.59992333e-03 9.93971575e-01 -2.65011749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78592 meters 0.027808253212855176 Centerline is valid? [True, True] Translation: X:217.43, Y:-150.63, Z:-26.50 [[ 7.26352427e-01 6.82578708e-01 8.06130188e-02 2.17433093e+02] [-6.78804486e-01 7.30807391e-01 -7.17288450e-02 -1.50627511e+02] [-1.07873172e-01 -2.62005809e-03 9.94161211e-01 -2.65031731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81592 meters 0.027882595450061807 Centerline is valid? [True, True] Translation: X:217.46, Y:-150.65, Z:-26.51 [[ 7.25257623e-01 6.83675641e-01 8.11726423e-02 2.17458180e+02] [-6.79847283e-01 7.29780837e-01 -7.23021493e-02 -1.50647281e+02] [-1.08669457e-01 -2.74731537e-03 9.94074143e-01 -2.65058098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84592 meters 0.027635595305808155 Centerline is valid? [True, True] Translation: X:217.48, Y:-150.67, Z:-26.51 [[ 7.24950901e-01 6.84122650e-01 8.01398197e-02 2.17482915e+02] [-6.80387083e-01 7.29361875e-01 -7.14469922e-02 -1.50668132e+02] [-1.07329435e-01 -2.73053680e-03 9.94219763e-01 -2.65080971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87592 meters 0.027724560438908703 Centerline is valid? [True, True] Translation: X:217.51, Y:-150.69, Z:-26.51 [[ 7.24508360e-01 6.84439603e-01 8.14252174e-02 2.17507707e+02] [-6.80577505e-01 7.29064290e-01 -7.26603097e-02 -1.50687763e+02] [-1.09095812e-01 -2.77316945e-03 9.94027371e-01 -2.65105818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90592 meters 0.027859802413257247 Centerline is valid? [True, True] Translation: X:217.53, Y:-150.71, Z:-26.51 [[ 7.23917814e-01 6.85040682e-01 8.16226794e-02 2.17533799e+02] [-6.81156391e-01 7.28499344e-01 -7.29018244e-02 -1.50708131e+02] [-1.09402784e-01 -2.82288044e-03 9.93993492e-01 -2.65131902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93592 meters 0.027728623442747822 Centerline is valid? [True, True] Translation: X:217.56, Y:-150.73, Z:-26.52 [[ 7.23211949e-01 6.85814264e-01 8.13834873e-02 2.17561066e+02] [-6.81949176e-01 7.27770933e-01 -7.27653032e-02 -1.50726431e+02] [-1.09132019e-01 -2.87466534e-03 9.94023108e-01 -2.65155016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96592 meters 0.027984970778558427 Centerline is valid? [True, True] Translation: X:217.59, Y:-150.75, Z:-26.52 [[ 7.22374292e-01 6.86728213e-01 8.11156207e-02 2.17586798e+02] [-6.82885957e-01 7.26908301e-01 -7.26022799e-02 -1.50747141e+02] [-1.08821652e-01 -2.94669779e-03 9.94056922e-01 -2.65186386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99592 meters 0.02789971689536357 Centerline is valid? [True, True] Translation: X:217.61, Y:-150.77, Z:-26.52 [[ 7.21562517e-01 6.87557272e-01 8.13174689e-02 2.17612902e+02] [-6.83692794e-01 7.26123853e-01 -7.28581757e-02 -1.50766157e+02] [-1.09140722e-01 -3.02443879e-03 9.94021708e-01 -2.65206455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02592 meters 0.027924511253162466 Centerline is valid? [True, True] Translation: X:217.64, Y:-150.79, Z:-26.52 [[ 7.21040460e-01 6.88223796e-01 8.03035578e-02 2.17639352e+02] [-6.84452187e-01 7.25492097e-01 -7.20168093e-02 -1.50786015e+02] [-1.07823278e-01 -3.03691241e-03 9.94165438e-01 -2.65224659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05592000000001 meters 0.0277882172460057 Centerline is valid? [True, True] Translation: X:217.67, Y:-150.80, Z:-26.53 [[ 7.21063215e-01 6.88147097e-01 8.07552720e-02 2.17666469e+02] [-6.84323969e-01 7.25565058e-01 -7.24986394e-02 -1.50804161e+02] [-1.08482932e-01 -2.98666625e-03 9.94093825e-01 -2.65274983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08592000000002 meters 0.027690516646763128 Centerline is valid? [True, True] Translation: X:217.69, Y:-150.82, Z:-26.53 [[ 7.21328888e-01 6.87987971e-01 7.97319704e-02 2.17691957e+02] [-6.84252528e-01 7.25716410e-01 -7.16531300e-02 -1.50824452e+02] [-1.07159291e-01 -2.87132973e-03 9.94237719e-01 -2.65302359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11592000000002 meters 0.027420176827939246 Centerline is valid? [True, True] Translation: X:217.72, Y:-150.84, Z:-26.53 [[ 7.22004869e-01 6.87207576e-01 8.03412497e-02 2.17717419e+02] [-6.83402557e-01 7.26455991e-01 -7.22678180e-02 -1.50844084e+02] [-1.08027374e-01 -2.72769902e-03 9.94144178e-01 -2.65345730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14592000000002 meters 0.027378098605756216 Centerline is valid? [True, True] Translation: X:217.74, Y:-150.86, Z:-26.54 [[ 7.22639139e-01 6.86338906e-01 8.20462149e-02 2.17744566e+02] [-6.82356753e-01 7.27277208e-01 -7.38723525e-02 -1.50863372e+02] [-1.10371812e-01 -2.60173568e-03 9.93886962e-01 -2.65374674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17592 meters 0.027220633241482432 Centerline is valid? [True, True] Translation: X:217.77, Y:-150.88, Z:-26.54 [[ 7.23185634e-01 6.85782065e-01 8.18871084e-02 2.17769100e+02] [-6.81803337e-01 7.27802809e-01 -7.38057001e-02 -1.50883475e+02] [-1.10212293e-01 -2.45568177e-03 9.93905036e-01 -2.65400373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20592 meters 0.026993127255438412 Centerline is valid? [True, True] Translation: X:217.80, Y:-150.90, Z:-26.54 [[ 7.23850319e-01 6.84988300e-01 8.26543690e-02 2.17795277e+02] [-6.80921273e-01 7.28550423e-01 -7.45687719e-02 -1.50903242e+02] [-1.11296612e-01 -2.30448884e-03 9.93784561e-01 -2.65440338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23592 meters 0.027058853420685494 Centerline is valid? [True, True] Translation: X:217.82, Y:-150.92, Z:-26.55 [[ 7.23337709e-01 6.85514866e-01 8.27763756e-02 2.17820688e+02] [-6.81430252e-01 7.28054900e-01 -7.47587693e-02 -1.50924174e+02] [-1.11513994e-01 -2.33048961e-03 9.93760131e-01 -2.65473220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26592 meters 0.026754149495824973 Centerline is valid? [True, True] Translation: X:217.85, Y:-150.94, Z:-26.55 [[ 7.23997248e-01 6.84823170e-01 8.27357869e-02 2.17847645e+02] [-6.80729287e-01 7.28706070e-01 -7.48004111e-02 -1.50942771e+02] [-1.11515125e-01 -2.16538146e-03 9.93760378e-01 -2.65507070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29592 meters 0.027014494872296718 Centerline is valid? [True, True] Translation: X:217.87, Y:-150.96, Z:-26.55 [[ 7.23334629e-01 6.85518662e-01 8.27718471e-02 2.17872872e+02] [-6.81417674e-01 7.28051668e-01 -7.49047580e-02 -1.50963925e+02] [-1.11610791e-01 -2.22099419e-03 9.93749515e-01 -2.65529534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32592 meters 0.026916196688191053 Centerline is valid? [True, True] Translation: X:217.90, Y:-150.98, Z:-26.56 [[ 7.23776405e-01 6.84969166e-01 8.34563135e-02 2.17899211e+02] [-6.80786985e-01 7.28569046e-01 -7.56057288e-02 -1.50983455e+02] [-1.12591280e-01 -2.09432946e-03 9.93639179e-01 -2.65561800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35592 meters 0.026664344344239834 Centerline is valid? [True, True] Translation: X:217.92, Y:-151.00, Z:-26.56 [[ 7.25480224e-01 6.83095869e-01 8.40147547e-02 2.17924381e+02] [-6.78835666e-01 7.30326604e-01 -7.61918034e-02 -1.51002840e+02] [-1.13404517e-01 -1.75656536e-03 9.93547347e-01 -2.65601749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38592 meters 0.02650400140891432 Centerline is valid? [True, True] Translation: X:217.95, Y:-151.02, Z:-26.56 [[ 7.25942320e-01 6.82623576e-01 8.38618055e-02 2.17948916e+02] [-6.78367656e-01 7.30768367e-01 -7.61243602e-02 -1.51024128e+02] [-1.13247838e-01 -1.62724171e-03 9.93565438e-01 -2.65632602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41592 meters 0.026563242442239128 Centerline is valid? [True, True] Translation: X:217.97, Y:-151.05, Z:-26.57 [[ 7.26340802e-01 6.82066703e-01 8.49355702e-02 2.17973627e+02] [-6.77688339e-01 7.31288415e-01 -7.71736305e-02 -1.51045399e+02] [-1.14749962e-01 -1.50548881e-03 9.93393265e-01 -2.65670441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44592 meters 0.026313441032590663 Centerline is valid? [True, True] Translation: X:218.00, Y:-151.07, Z:-26.57 [[ 7.27018743e-01 6.81296245e-01 8.53180788e-02 2.17998494e+02] [-6.76863315e-01 7.32006598e-01 -7.76040745e-02 -1.51066378e+02] [-1.15324761e-01 -1.32906101e-03 9.93326952e-01 -2.65697260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47592 meters 0.026221095433910664 Centerline is valid? [True, True] Translation: X:218.02, Y:-151.09, Z:-26.57 [[ 7.26657677e-01 6.81752388e-01 8.47484704e-02 2.18023462e+02] [-6.77372278e-01 7.31581786e-01 -7.71679188e-02 -1.51087636e+02] [-1.14609850e-01 -1.33160388e-03 9.93409688e-01 -2.65724216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50592 meters 0.02617680202522287 Centerline is valid? [True, True] Translation: X:218.05, Y:-151.11, Z:-26.57 [[ 7.26226982e-01 6.82319493e-01 8.38718062e-02 2.18047572e+02] [-6.78024568e-01 7.31052865e-01 -7.64486314e-02 -1.51108885e+02] [-1.13477116e-01 -1.34808640e-03 9.93539696e-01 -2.65748955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53592 meters 0.0260905518458635 Centerline is valid? [True, True] Translation: X:218.07, Y:-151.13, Z:-26.58 [[ 7.26085255e-01 6.82531641e-01 8.33712272e-02 2.18072087e+02] [-6.78281153e-01 7.30854854e-01 -7.60648404e-02 -1.51131308e+02] [-1.12848926e-01 -1.31957304e-03 9.93611281e-01 -2.65782958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56592 meters 0.02605407674697773 Centerline is valid? [True, True] Translation: X:218.10, Y:-151.15, Z:-26.58 [[ 7.25419012e-01 6.83185394e-01 8.38151212e-02 2.18096195e+02] [-6.78884414e-01 7.30243688e-01 -7.65513506e-02 -1.51153967e+02] [-1.13504228e-01 -1.36897434e-03 9.93536570e-01 -2.65815847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59592 meters 0.02597841000080433 Centerline is valid? [True, True] Translation: X:218.12, Y:-151.17, Z:-26.59 [[ 7.25284365e-01 6.83202411e-01 8.48354684e-02 2.18120531e+02] [-6.78786451e-01 7.30227841e-01 -7.75645101e-02 -1.51174942e+02] [-1.14941481e-01 -1.32884013e-03 9.93371376e-01 -2.65856098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62592 meters 0.02630644539865068 Centerline is valid? [True, True] Translation: X:218.14, Y:-151.20, Z:-26.59 [[ 7.24134938e-01 6.84342001e-01 8.54670577e-02 2.18143979e+02] [-6.79859180e-01 7.29159703e-01 -7.82152294e-02 -1.51196713e+02] [-1.15845101e-01 -1.46718350e-03 9.93266208e-01 -2.65891903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65592 meters 0.026335964203379744 Centerline is valid? [True, True] Translation: X:218.17, Y:-151.22, Z:-26.59 [[ 7.23156688e-01 6.85287792e-01 8.61687113e-02 2.18168041e+02] [-6.80728803e-01 7.28270659e-01 -7.89312653e-02 -1.51218013e+02] [-1.16844777e-01 -1.57785128e-03 9.93148936e-01 -2.65932169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68592 meters 0.026325583050938312 Centerline is valid? [True, True] Translation: X:218.19, Y:-151.24, Z:-26.60 [[ 7.22949062e-01 6.85655617e-01 8.49766321e-02 2.18192547e+02] [-6.81216565e-01 7.27924401e-01 -7.79105756e-02 -1.51239280e+02] [-1.15276388e-01 -1.56211184e-03 9.93332228e-01 -2.65954854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71592 meters 0.026395579994700224 Centerline is valid? [True, True] Translation: X:218.22, Y:-151.26, Z:-26.60 [[ 7.21053423e-01 6.87710306e-01 8.44777881e-02 2.18218082e+02] [-6.83328850e-01 7.25982924e-01 -7.75272683e-02 -1.51259458e+02] [-1.14645733e-01 -1.82480758e-03 9.93404764e-01 -2.65983124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74592 meters 0.02627404988106064 Centerline is valid? [True, True] Translation: X:218.24, Y:-151.28, Z:-26.60 [[ 7.19846873e-01 6.89223669e-01 8.24088190e-02 2.18241997e+02] [-6.85056042e-01 7.24545995e-01 -7.57054864e-02 -1.51280831e+02] [-1.11886993e-01 -1.95830169e-03 9.93719008e-01 -2.66004461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77592 meters 0.026774508011843733 Centerline is valid? [True, True] Translation: X:218.27, Y:-151.30, Z:-26.61 [[ 7.18160066e-01 6.90590575e-01 8.56199637e-02 2.18266177e+02] [-6.86091519e-01 7.23242568e-01 -7.87312918e-02 -1.51302073e+02] [-1.16295090e-01 -2.20146127e-03 9.93212266e-01 -2.66056353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80592000000001 meters 0.026832577850486452 Centerline is valid? [True, True] Translation: X:218.29, Y:-151.32, Z:-26.61 [[ 7.17671954e-01 6.91187504e-01 8.48928769e-02 2.18291474e+02] [-6.86760222e-01 7.22672048e-01 -7.81377553e-02 -1.51323929e+02] [-1.15357549e-01 -2.22377545e-03 9.93321544e-01 -2.66081528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83592000000002 meters 0.026915062521892404 Centerline is valid? [True, True] Translation: X:218.32, Y:-151.34, Z:-26.61 [[ 7.17230568e-01 6.91683193e-01 8.45853006e-02 2.18316956e+02] [-6.87281833e-01 7.22197596e-01 -7.79378850e-02 -1.51344766e+02] [-1.14995626e-01 -2.23450687e-03 9.93363485e-01 -2.66115006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86592000000002 meters 0.026900651722241244 Centerline is valid? [True, True] Translation: X:218.34, Y:-151.37, Z:-26.61 [[ 7.17291345e-01 6.91739550e-01 8.36033595e-02 2.18340990e+02] [-6.87431356e-01 7.22143845e-01 -7.71128905e-02 -1.51365347e+02] [-1.13715688e-01 -2.15916179e-03 9.93510987e-01 -2.66148771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89592000000002 meters 0.02684181469586318 Centerline is valid? [True, True] Translation: X:218.37, Y:-151.39, Z:-26.62 [[ 7.17569164e-01 6.91445269e-01 8.36536600e-02 2.18365914e+02] [-6.87121369e-01 7.22425912e-01 -7.72335882e-02 -1.51386873e+02] [-1.13836371e-01 -2.05977601e-03 9.93497377e-01 -2.66185191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92592 meters 0.02698951078957685 Centerline is valid? [True, True] Translation: X:218.39, Y:-151.41, Z:-26.62 [[ 7.17676355e-01 6.91215951e-01 8.46236350e-02 2.18390226e+02] [-6.86779516e-01 7.22645533e-01 -7.82133619e-02 -1.51408274e+02] [-1.15215215e-01 -1.98589869e-03 9.93338568e-01 -2.66237965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95592 meters 0.027109132710548288 Centerline is valid? [True, True] Translation: X:218.41, Y:-151.43, Z:-26.63 [[ 7.17296689e-01 6.91528181e-01 8.52891251e-02 2.18413644e+02] [-6.87013798e-01 7.22346739e-01 -7.89128000e-02 -1.51431438e+02] [-1.16178746e-01 -1.99091563e-03 9.93226326e-01 -2.66266964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98592 meters 0.027013358996866847 Centerline is valid? [True, True] Translation: X:218.44, Y:-151.45, Z:-26.63 [[ 7.17654681e-01 6.91144060e-01 8.53911408e-02 2.18437828e+02] [-6.86606265e-01 7.22714600e-01 -7.90913664e-02 -1.51453947e+02] [-1.16376952e-01 -1.86980295e-03 9.93203357e-01 -2.66300435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01592 meters 0.027095057189785676 Centerline is valid? [True, True] Translation: X:218.46, Y:-151.48, Z:-26.63 [[ 7.18058539e-01 6.90822836e-01 8.45916293e-02 2.18460745e+02] [-6.86358347e-01 7.23021973e-01 -7.84311536e-02 -1.51476745e+02] [-1.15343639e-01 -1.74201132e-03 9.93324122e-01 -2.66327042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04591999999997 meters 0.02677328380641443 Centerline is valid? [True, True] Translation: X:218.48, Y:-151.50, Z:-26.64 [[ 7.18587867e-01 6.90296297e-01 8.43949070e-02 2.18483892e+02] [-6.85841702e-01 7.23525008e-01 -7.83117007e-02 -1.51498784e+02] [-1.15120103e-01 -1.60770869e-03 9.93350279e-01 -2.66359407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07592 meters 0.02677328380641443 Centerline is valid? [True, True] Translation: X:218.51, Y:-151.52, Z:-26.64 [[ 7.18219297e-01 6.90682075e-01 8.43760188e-02 2.18507871e+02] [-6.86227743e-01 7.23156675e-01 -7.83320459e-02 -1.51520608e+02] [-1.15119621e-01 -1.64157797e-03 9.93350280e-01 -2.66389225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10591999999997 meters 0.026814232801778047 Centerline is valid? [True, True] Translation: X:218.53, Y:-151.54, Z:-26.64 [[ 7.18404158e-01 6.90370781e-01 8.53443075e-02 2.18530541e+02] [-6.85800998e-01 7.23454069e-01 -7.93170897e-02 -1.51544335e+02] [-1.16500888e-01 -1.54748420e-03 9.93189382e-01 -2.66420551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13592 meters 0.02706854127228716 Centerline is valid? [True, True] Translation: X:218.55, Y:-151.57, Z:-26.65 [[ 7.17310969e-01 6.91356567e-01 8.65509685e-02 2.18553442e+02] [-6.86653234e-01 7.22511804e-01 -8.05234714e-02 -1.51566415e+02] [-1.18204527e-01 -1.67013307e-03 9.92987865e-01 -2.66461000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16591999999997 meters 0.02714307678428216 Centerline is valid? [True, True] Translation: X:218.58, Y:-151.59, Z:-26.65 [[ 7.16654855e-01 6.92036525e-01 8.65521057e-02 2.18577577e+02] [-6.87328809e-01 7.21860421e-01 -8.06017388e-02 -1.51588728e+02] [-1.18257887e-01 -1.72612831e-03 9.92981416e-01 -2.66488235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19592 meters 0.027049652468031177 Centerline is valid? [True, True] Translation: X:218.60, Y:-151.61, Z:-26.65 [[ 7.15003413e-01 6.93879410e-01 8.54487141e-02 2.18602178e+02] [-6.89294583e-01 7.20088596e-01 -7.96579667e-02 -1.51611490e+02] [-1.16803668e-01 -1.94361762e-03 9.93153123e-01 -2.66504664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22592 meters 0.027193381859009495 Centerline is valid? [True, True] Translation: X:218.63, Y:-151.63, Z:-26.65 [[ 7.12934753e-01 6.96150191e-01 8.42552663e-02 2.18626520e+02] [-6.91699156e-01 7.17892729e-01 -7.86276519e-02 -1.51634115e+02] [-1.15222898e-01 -2.22291106e-03 9.93337175e-01 -2.66527647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25592 meters 0.027341529529648478 Centerline is valid? [True, True] Translation: X:218.65, Y:-151.66, Z:-26.66 [[ 7.11608522e-01 6.97471095e-01 8.45421970e-02 2.18650059e+02] [-6.92989463e-01 7.16608942e-01 -7.89761239e-02 -1.51655014e+02] [-1.15667258e-01 -2.38676890e-03 9.93285150e-01 -2.66565688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28592 meters 0.027310630747377117 Centerline is valid? [True, True] Translation: X:218.68, Y:-151.68, Z:-26.66 [[ 7.10907631e-01 6.98237315e-01 8.41129730e-02 2.18675432e+02] [-6.93798325e-01 7.15862182e-01 -7.86461759e-02 -1.51676374e+02] [-1.15126991e-01 -2.44727320e-03 9.93347767e-01 -2.66586753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31591999999995 meters 0.027663359653664704 Centerline is valid? [True, True] Translation: X:218.70, Y:-151.70, Z:-26.66 [[ 7.09241785e-01 6.99865393e-01 8.46434955e-02 2.18700383e+02] [-6.95371966e-01 7.14269771e-01 -7.92245122e-02 -1.51696538e+02] [-1.15904784e-01 -2.66937939e-03 9.93256742e-01 -2.66611346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34592 meters 0.02767909202350756 Centerline is valid? [True, True] Translation: X:218.72, Y:-151.72, Z:-26.66 [[ 7.08658836e-01 7.00376638e-01 8.52948996e-02 2.18724455e+02] [-6.95808473e-01 7.13768283e-01 -7.99087400e-02 -1.51717110e+02] [-1.16847009e-01 -2.72087920e-03 9.93146199e-01 -2.66639567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37591999999995 meters 0.027661945282516167 Centerline is valid? [True, True] Translation: X:218.75, Y:-151.74, Z:-26.67 [[ 7.07999006e-01 7.01139931e-01 8.44997358e-02 2.18750685e+02] [-6.96653462e-01 7.13018336e-01 -7.92389219e-02 -1.51737204e+02] [-1.15807433e-01 -2.76595555e-03 9.93267833e-01 -2.66661576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40592 meters 0.027461897303663347 Centerline is valid? [True, True] Translation: X:218.78, Y:-151.76, Z:-26.67 [[ 7.08426466e-01 7.00643344e-01 8.50343886e-02 2.18778279e+02] [-6.96086174e-01 7.13506784e-01 -7.98254747e-02 -1.51756213e+02] [-1.16601801e-01 -2.64078330e-03 9.93175234e-01 -2.66705984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43591999999995 meters 0.02754120096871487 Centerline is valid? [True, True] Translation: X:218.80, Y:-151.78, Z:-26.67 [[ 7.08230563e-01 7.00911947e-01 8.44506549e-02 2.18803026e+02] [-6.96409717e-01 7.13243046e-01 -7.93590749e-02 -1.51776732e+02] [-1.15857566e-01 -2.60773444e-03 9.93262415e-01 -2.66734750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46592 meters 0.027591201962551333 Centerline is valid? [True, True] Translation: X:218.83, Y:-151.80, Z:-26.68 [[ 7.08210191e-01 7.01021793e-01 8.37064660e-02 2.18827621e+02] [-6.96591193e-01 7.13135291e-01 -7.87322514e-02 -1.51797267e+02] [-1.14887059e-01 -2.55020417e-03 9.93375287e-01 -2.66765389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49591999999996 meters 0.027409438995227416 Centerline is valid? [True, True] Translation: X:218.85, Y:-151.82, Z:-26.68 [[ 7.08670368e-01 7.00465043e-01 8.44691252e-02 2.18854253e+02] [-6.95940268e-01 7.13682582e-01 -7.95255689e-02 -1.51817303e+02] [-1.15989024e-01 -2.42805145e-03 9.93247527e-01 -2.66802040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52592 meters 0.027297911918133203 Centerline is valid? [True, True] Translation: X:218.88, Y:-151.84, Z:-26.68 [[ 7.08718624e-01 7.00516861e-01 8.36303718e-02 2.18879041e+02] [-6.96072837e-01 7.13631968e-01 -7.88163745e-02 -1.51837731e+02] [-1.14893506e-01 -2.35419763e-03 9.93375025e-01 -2.66825448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55591999999996 meters 0.02716020601293381 Centerline is valid? [True, True] Translation: X:218.91, Y:-151.86, Z:-26.69 [[ 7.09514182e-01 6.99641878e-01 8.42072969e-02 2.18905303e+02] [-6.95121144e-01 7.14490392e-01 -7.94359863e-02 -1.51857483e+02] [-1.15742047e-01 -2.17331372e-03 9.93276928e-01 -2.66861820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58592 meters 0.027193905075793307 Centerline is valid? [True, True] Translation: X:218.93, Y:-151.88, Z:-26.69 [[ 7.10407464e-01 6.98694341e-01 8.45426117e-02 2.18930003e+02] [-6.94121050e-01 7.15417603e-01 -7.98349571e-02 -1.51878623e+02] [-1.16263505e-01 -1.96745705e-03 9.93216455e-01 -2.66898460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61591999999996 meters 0.02703082134469706 Centerline is valid? [True, True] Translation: X:218.95, Y:-151.90, Z:-26.70 [[ 7.12201114e-01 6.96786397e-01 8.51956017e-02 2.18954579e+02] [-6.92119468e-01 7.17276872e-01 -8.05265813e-02 -1.51899308e+02] [-1.17218661e-01 -1.61441365e-03 9.93104818e-01 -2.66953507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64592 meters 0.027083527851334825 Centerline is valid? [True, True] Translation: X:218.98, Y:-151.92, Z:-26.70 [[ 7.13194632e-01 6.95833675e-01 8.46694395e-02 2.18977752e+02] [-6.91209078e-01 7.18201608e-01 -8.01028163e-02 -1.51920856e+02] [-1.16547965e-01 -1.39538662e-03 9.93184084e-01 -2.66982983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67591999999996 meters 0.027082377466638864 Centerline is valid? [True, True] Translation: X:219.00, Y:-151.94, Z:-26.70 [[ 7.15121525e-01 6.93802824e-01 8.50814045e-02 2.19002337e+02] [-6.89109516e-01 7.20164296e-01 -8.05696083e-02 -1.51942466e+02] [-1.17172012e-01 -1.01334423e-03 9.93111118e-01 -2.67021632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70592 meters 0.02716190982103415 Centerline is valid? [True, True] Translation: X:219.03, Y:-151.96, Z:-26.71 [[ 7.16033143e-01 6.92814035e-01 8.54707664e-02 2.19026676e+02] [-6.88060348e-01 7.21115860e-01 -8.10239094e-02 -1.51964106e+02] [-1.17768827e-01 -7.93240805e-04 9.93040721e-01 -2.67053403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73591999999996 meters 0.02694481734766791 Centerline is valid? [True, True] Translation: X:219.05, Y:-151.99, Z:-26.71 [[ 7.17923544e-01 6.90872782e-01 8.53263379e-02 2.19049484e+02] [-6.86111737e-01 7.22976229e-01 -8.09694841e-02 -1.51986481e+02] [-1.17628527e-01 -4.13502925e-04 9.93057581e-01 -2.67085992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76592 meters 0.027054667406546506 Centerline is valid? [True, True] Translation: X:219.07, Y:-152.01, Z:-26.71 [[ 7.18438069e-01 6.90516270e-01 8.38690811e-02 2.19071761e+02] [-6.85906188e-01 7.23316800e-01 -7.96586954e-02 -1.52009405e+02] [-1.15669541e-01 -2.96482438e-04 9.93287707e-01 -2.67113665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79591999999997 meters 0.02688797225133059 Centerline is valid? [True, True] Translation: X:219.09, Y:-152.03, Z:-26.72 [[ 7.19052112e-01 6.89874847e-01 8.38853689e-02 2.19093843e+02] [-6.85249811e-01 7.23928640e-01 -7.97497353e-02 -1.52034079e+02] [-1.15744357e-01 -1.38217539e-04 9.93279027e-01 -2.67154879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82592 meters 0.026701526525665202 Centerline is valid? [True, True] Translation: X:219.12, Y:-152.06, Z:-26.72 [[ 7.18932594e-01 6.90078432e-01 8.32327046e-02 2.19116764e+02] [-6.85517313e-01 7.23734582e-01 -7.92102797e-02 -1.52056999e+02] [-1.14899692e-01 -1.10608108e-04 9.93377093e-01 -2.67174013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85591999999997 meters 0.02684541295779508 Centerline is valid? [True, True] Translation: X:219.14, Y:-152.08, Z:-26.72 [[ 7.16849255e-01 6.92101281e-01 8.43976448e-02 2.19136781e+02] [-6.87416375e-01 7.21800296e-01 -8.03931559e-02 -1.52081989e+02] [-1.16558451e-01 -3.86549152e-04 9.93183758e-01 -2.67207519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88592 meters 0.026692274199557473 Centerline is valid? [True, True] Translation: X:219.16, Y:-152.11, Z:-26.72 [[ 7.16103795e-01 6.93053223e-01 8.29010604e-02 2.19158581e+02] [-6.88531655e-01 7.20886260e-01 -7.90389749e-02 -1.52105205e+02] [-1.14540452e-01 -4.79894465e-04 9.93418469e-01 -2.67227822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91591999999997 meters 0.026746548492540396 Centerline is valid? [True, True] Translation: X:219.18, Y:-152.13, Z:-26.73 [[ 7.13483085e-01 6.95831064e-01 8.22254113e-02 2.19180506e+02] [-6.91394113e-01 7.18204965e-01 -7.84589587e-02 -1.52130199e+02] [-1.13648879e-01 -8.71025352e-04 9.93520595e-01 -2.67252561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94592 meters 0.02685430002504129 Centerline is valid? [True, True] Translation: X:219.20, Y:-152.15, Z:-26.73 [[ 7.12125126e-01 6.97120356e-01 8.30723401e-02 2.19203146e+02] [-6.92594809e-01 7.16953342e-01 -7.93116333e-02 -1.52152588e+02] [-1.14848746e-01 -1.05566469e-03 9.93382429e-01 -2.67285486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97592 meters 0.02692006284289942 Centerline is valid? [True, True] Translation: X:219.22, Y:-152.18, Z:-26.73 [[ 7.08970309e-01 7.00334327e-01 8.30236766e-02 2.19224405e+02] [-6.95827451e-01 7.13813362e-01 -7.93387820e-02 -1.52176124e+02] [-1.14827082e-01 -1.52131254e-03 9.93384330e-01 -2.67316801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00592 meters 0.02697659330928476 Centerline is valid? [True, True] Translation: X:219.25, Y:-152.20, Z:-26.73 [[ 7.07600222e-01 7.01719664e-01 8.30146897e-02 2.19248667e+02] [-6.97214549e-01 7.12451157e-01 -7.94054292e-02 -1.52198890e+02] [-1.14864263e-01 -1.69175002e-03 9.93379756e-01 -2.67339599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03592 meters 0.027119572870829174 Centerline is valid? [True, True] Translation: X:219.27, Y:-152.22, Z:-26.74 [[ 7.05388376e-01 7.04027374e-01 8.22963875e-02 2.19272942e+02] [-6.99606282e-01 7.10170048e-01 -7.88007215e-02 -1.52220729e+02] [-1.13922295e-01 -1.98995666e-03 9.93487670e-01 -2.67365605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06591999999995 meters 0.02720620068662888 Centerline is valid? [True, True] Translation: X:219.30, Y:-152.24, Z:-26.74 [[ 7.02889241e-01 7.06545643e-01 8.20973103e-02 2.19297629e+02] [-7.02153890e-01 7.07663623e-01 -7.86899717e-02 -1.52240640e+02] [-1.13695337e-01 -2.33461124e-03 9.93512919e-01 -2.67391468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09592 meters 0.027466635064399305 Centerline is valid? [True, True] Translation: X:219.32, Y:-152.26, Z:-26.74 [[ 7.01442537e-01 7.07894796e-01 8.28451837e-02 2.19321870e+02] [-7.03423728e-01 7.06313366e-01 -7.94763405e-02 -1.52262138e+02] [-1.14775548e-01 -2.52718201e-03 9.93388236e-01 -2.67418828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12591999999995 meters 0.027493398742012877 Centerline is valid? [True, True] Translation: X:219.35, Y:-152.28, Z:-26.74 [[ 6.99651679e-01 7.09624705e-01 8.31883729e-02 2.19347095e+02] [-7.05119996e-01 7.04574413e-01 -7.98792010e-02 -1.52282131e+02] [-1.15296653e-01 -2.77016806e-03 9.93327241e-01 -2.67439939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15592 meters 0.027652521685090563 Centerline is valid? [True, True] Translation: X:219.37, Y:-152.30, Z:-26.75 [[ 6.98652554e-01 7.10651466e-01 8.28196961e-02 2.19372388e+02] [-7.06185207e-01 7.03538371e-01 -7.96003400e-02 -1.52303343e+02] [-1.14834932e-01 -2.87306341e-03 9.93380433e-01 -2.67475876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18591999999995 meters 0.027811901452755375 Centerline is valid? [True, True] Translation: X:219.40, Y:-152.32, Z:-26.75 [[ 6.97762920e-01 7.11523598e-01 8.28316233e-02 2.19398954e+02] [-7.07052407e-01 7.02655979e-01 -7.96961064e-02 -1.52322828e+02] [-1.14907796e-01 -2.95731079e-03 9.93371760e-01 -2.67521581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21592 meters 0.02779494112653221 Centerline is valid? [True, True] Translation: X:219.42, Y:-152.34, Z:-26.76 [[ 6.97927618e-01 7.11354513e-01 8.28963003e-02 2.19424123e+02] [-7.06865391e-01 7.02827509e-01 -7.98424255e-02 -1.52343782e+02] [-1.15058070e-01 -2.87229177e-03 9.93354615e-01 -2.67550307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24591999999996 meters 0.027764418622537236 Centerline is valid? [True, True] Translation: X:219.45, Y:-152.36, Z:-26.76 [[ 6.98081792e-01 7.11026354e-01 8.43998587e-02 2.19450078e+02] [-7.06360013e-01 7.03159745e-01 -8.13750938e-02 -1.52362995e+02] [-1.17206419e-01 -2.81021395e-03 9.93103599e-01 -2.67582084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.27592 meters 0.027540822005140422 Centerline is valid? [True, True] Translation: X:219.47, Y:-152.38, Z:-26.76 [[ 6.99107038e-01 7.10144879e-01 8.33282710e-02 2.19474769e+02] [-7.05581867e-01 7.04050861e-01 -8.04152624e-02 -1.52383491e+02] [-1.15773828e-01 -2.57604114e-03 9.93272261e-01 -2.67612348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30591999999996 meters 0.02734041842953416 Centerline is valid? [True, True] Translation: X:219.50, Y:-152.40, Z:-26.77 [[ 7.01765616e-01 7.07609803e-01 8.25432460e-02 2.19500747e+02] [-7.03106667e-01 7.06600327e-01 -7.97307443e-02 -1.52403121e+02] [-1.14743341e-01 -2.08441170e-03 9.93392984e-01 -2.67651190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.33592 meters 0.027208459310241625 Centerline is valid? [True, True] Translation: X:219.53, Y:-152.42, Z:-26.77 [[ 7.03077959e-01 7.06294412e-01 8.26413145e-02 2.19525638e+02] [-7.01762909e-01 7.07915881e-01 -7.98994658e-02 -1.52423887e+02] [-1.14935645e-01 -1.81905601e-03 9.93371274e-01 -2.67682900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36591999999996 meters 0.027002466207361235 Centerline is valid? [True, True] Translation: X:219.55, Y:-152.45, Z:-26.77 [[ 7.04540805e-01 7.04926357e-01 8.18601582e-02 2.19550117e+02] [-7.00462860e-01 7.09278856e-01 -7.92167102e-02 -1.52445024e+02] [-1.13903626e-01 -1.52859574e-03 9.93490628e-01 -2.67711290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39592 meters 0.027025161622840237 Centerline is valid? [True, True] Translation: X:219.58, Y:-152.46, Z:-26.77 [[ 7.06576687e-01 7.02837846e-01 8.22699675e-02 2.19575615e+02] [-6.98306745e-01 7.11349178e-01 -7.96871270e-02 -1.52464885e+02] [-1.14529802e-01 -1.14460697e-03 9.93419153e-01 -2.67745235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42591999999996 meters 0.026949383329299026 Centerline is valid? [True, True] Translation: X:219.60, Y:-152.49, Z:-26.78 [[ 7.06591514e-01 7.02814846e-01 8.23390806e-02 2.19600975e+02] [-6.98267193e-01 7.11371991e-01 -7.98299277e-02 -1.52485479e+02] [-1.14679374e-01 -1.08752922e-03 9.93401962e-01 -2.67771628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45592 meters 0.027103333355380177 Centerline is valid? [True, True] Translation: X:219.62, Y:-152.51, Z:-26.78 [[ 7.05396611e-01 7.03905397e-01 8.32635145e-02 2.19624988e+02] [-6.99252488e-01 7.10292690e-01 -8.08099791e-02 -1.52506352e+02] [-1.16024046e-01 -1.21913432e-03 9.93245657e-01 -2.67806705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48591999999996 meters 0.027227916541008982 Centerline is valid? [True, True] Translation: X:219.65, Y:-152.53, Z:-26.78 [[ 7.04733526e-01 7.04576254e-01 8.32043268e-02 2.19650176e+02] [-6.99925687e-01 7.09627142e-01 -8.08291561e-02 -1.52527986e+02] [-1.15994353e-01 -1.27382942e-03 9.93249056e-01 -2.67830700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51592 meters 0.027269632642512722 Centerline is valid? [True, True] Translation: X:219.68, Y:-152.55, Z:-26.79 [[ 7.03505022e-01 7.05734037e-01 8.37863542e-02 2.19675645e+02] [-7.01016454e-01 7.08475450e-01 -8.14767866e-02 -1.52547049e+02] [-1.16861517e-01 -1.41628435e-03 9.93147210e-01 -2.67868562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54591999999997 meters 0.027371093315115943 Centerline is valid? [True, True] Translation: X:219.70, Y:-152.57, Z:-26.79 [[ 7.02983707e-01 7.06151718e-01 8.46383996e-02 2.19699370e+02] [-7.01331860e-01 7.08059072e-01 -8.23770174e-02 -1.52568166e+02] [-1.18099659e-01 -1.44990514e-03 9.93000689e-01 -2.67898154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57592 meters 0.027550876776199464 Centerline is valid? [True, True] Translation: X:219.72, Y:-152.59, Z:-26.79 [[ 7.04304818e-01 7.04925355e-01 8.38747125e-02 2.19724091e+02] [-7.00176203e-01 7.09280505e-01 -8.16973085e-02 -1.52589473e+02] [-1.17081203e-01 -1.18726974e-03 9.93121635e-01 -2.67925493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60591999999997 meters 0.027393310429380778 Centerline is valid? [True, True] Translation: X:219.75, Y:-152.61, Z:-26.79 [[ 7.06157639e-01 7.03172308e-01 8.30065913e-02 2.19750460e+02] [-6.98505781e-01 7.11018956e-01 -8.08808946e-02 -1.52609117e+02] [-1.15892465e-01 -8.65922263e-04 9.93261389e-01 -2.67947117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63592 meters 0.027502342554271045 Centerline is valid? [True, True] Translation: X:219.78, Y:-152.63, Z:-26.80 [[ 7.06371776e-01 7.02917201e-01 8.33446087e-02 2.19775737e+02] [-6.98204790e-01 7.11271244e-01 -8.12606210e-02 -1.52630286e+02] [-1.16400112e-01 -7.91395854e-04 9.93202088e-01 -2.67983260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66591999999997 meters 0.02726356733251366 Centerline is valid? [True, True] Translation: X:219.80, Y:-152.65, Z:-26.80 [[ 7.06724168e-01 7.02657973e-01 8.25392209e-02 2.19799715e+02] [-6.98025267e-01 7.11527446e-01 -8.05569402e-02 -1.52651210e+02] [-1.15332897e-01 -6.82925128e-04 9.93326661e-01 -2.68004440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69592 meters 0.027150853840209054 Centerline is valid? [True, True] Translation: X:219.82, Y:-152.67, Z:-26.80 [[ 7.08328697e-01 7.01202546e-01 8.11507673e-02 2.19824810e+02] [-6.96707262e-01 7.12962019e-01 -7.92726369e-02 -1.52671412e+02] [-1.13443590e-01 -3.87245283e-04 9.93544363e-01 -2.68034954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72592 meters 0.02734540917138387 Centerline is valid? [True, True] Translation: X:219.85, Y:-152.69, Z:-26.81 [[ 7.08806208e-01 7.00632407e-01 8.19023212e-02 2.19849399e+02] [-6.96040657e-01 7.13522369e-01 -8.00826633e-02 -1.52693518e+02] [-1.14547647e-01 -2.44256569e-04 9.93417725e-01 -2.68077945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75592 meters 0.027349747735811846 Centerline is valid? [True, True] Translation: X:219.87, Y:-152.71, Z:-26.81 [[ 7.10905361e-01 6.98521938e-01 8.17353590e-02 2.19874715e+02] [-6.93925396e-01 7.15588623e-01 -8.00029246e-02 -1.52714797e+02] [-1.14372691e-01 1.56266668e-04 9.93437901e-01 -2.68100909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78592 meters 0.02742059233615876 Centerline is valid? [True, True] Translation: X:219.90, Y:-152.74, Z:-26.81 [[ 7.11456746e-01 6.97839284e-01 8.27625053e-02 2.19898014e+02] [-6.93111821e-01 7.16254302e-01 -8.10911694e-02 -1.52736435e+02] [-1.15867604e-01 3.29188783e-04 9.93264612e-01 -2.68133382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81591999999995 meters 0.027425255528805904 Centerline is valid? [True, True] Translation: X:219.92, Y:-152.76, Z:-26.82 [[ 7.14253258e-01 6.95035803e-01 8.22649142e-02 2.19922081e+02] [-6.90337942e-01 7.18974643e-01 -8.06783026e-02 -1.52759082e+02] [-1.15220696e-01 8.34148940e-04 9.93339567e-01 -2.68169753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84592 meters 0.02766188620091253 Centerline is valid? [True, True] Translation: X:219.95, Y:-152.78, Z:-26.82 [[ 7.15623122e-01 6.93650853e-01 8.20490232e-02 2.19945238e+02] [-6.88959004e-01 7.20310524e-01 -8.05496089e-02 -1.52782045e+02] [-1.14974080e-01 1.11474927e-03 9.93367867e-01 -2.68204840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87591999999995 meters 0.028066541734264344 Centerline is valid? [True, True] Translation: X:219.97, Y:-152.80, Z:-26.82 [[ 7.18320041e-01 6.90705010e-01 8.33241131e-02 2.19967516e+02] [-6.85836230e-01 7.23134700e-01 -8.18832832e-02 -1.52804881e+02] [-1.16811751e-01 1.67170772e-03 9.93152667e-01 -2.68243985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90592 meters 0.028198039761545137 Centerline is valid? [True, True] Translation: X:219.99, Y:-152.83, Z:-26.83 [[ 7.19366716e-01 6.89587960e-01 8.35462373e-02 2.19989352e+02] [-6.84677050e-01 7.24199416e-01 -8.21738594e-02 -1.52828037e+02] [-1.17170240e-01 1.91094805e-03 9.93110006e-01 -2.68281605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93591999999995 meters 0.028682054263406098 Centerline is valid? [True, True] Translation: X:220.01, Y:-152.85, Z:-26.83 [[ 7.22367862e-01 6.86396544e-01 8.39312588e-02 2.20008524e+02] [-6.81409996e-01 7.27223188e-01 -8.26247649e-02 -1.52853914e+02] [-1.17750111e-01 2.49387601e-03 9.93040126e-01 -2.68312134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96592 meters 0.028682054263406098 Centerline is valid? [True, True] Translation: X:220.03, Y:-152.88, Z:-26.83 [[ 7.22028069e-01 6.86758490e-01 8.38942410e-02 2.20031893e+02] [-6.81770014e-01 7.26881411e-01 -8.26623382e-02 -1.52876436e+02] [-1.17750227e-01 2.48795061e-03 9.93040127e-01 -2.68341946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99591999999996 meters 0.029062855579495624 Centerline is valid? [True, True] Translation: X:220.05, Y:-152.90, Z:-26.84 [[ 7.23451918e-01 6.85439934e-01 8.23979274e-02 2.20054039e+02] [-6.80610610e-01 7.28124124e-01 -8.12678179e-02 -1.52901415e+02] [-1.15700126e-01 2.71245508e-03 9.93280486e-01 -2.68366485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02592 meters 0.029474893958517927 Centerline is valid? [True, True] Translation: X:220.07, Y:-152.93, Z:-26.84 [[ 7.25718178e-01 6.83057382e-01 8.22541101e-02 2.20072138e+02] [-6.78221646e-01 7.30357970e-01 -8.11950421e-02 -1.52928382e+02] [-1.15535818e-01 3.13820008e-03 9.93298357e-01 -2.68394108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05591999999996 meters 0.029834442020080676 Centerline is valid? [True, True] Translation: X:220.09, Y:-152.95, Z:-26.84 [[ 7.26812778e-01 6.81833214e-01 8.27445120e-02 2.20093152e+02] [-6.76927440e-01 7.31499865e-01 -8.17140628e-02 -1.52952551e+02] [-1.16242961e-01 3.37879429e-03 9.93215061e-01 -2.68430654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08592 meters 0.030015019913423042 Centerline is valid? [True, True] Translation: X:220.11, Y:-152.98, Z:-26.84 [[ 7.27536760e-01 6.81197612e-01 8.16092909e-02 2.20111592e+02] [-6.76413816e-01 7.32091301e-01 -8.06639682e-02 -1.52981432e+02] [-1.14693554e-01 3.48435021e-03 9.93394810e-01 -2.68449587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11591999999996 meters 0.0300780240866893 Centerline is valid? [True, True] Translation: X:220.13, Y:-153.01, Z:-26.85 [[ 7.28139823e-01 6.80567625e-01 8.14868406e-02 2.20131438e+02] [-6.75785445e-01 7.32676256e-01 -8.06197041e-02 -1.53006973e+02] [-1.14570634e-01 3.63479620e-03 9.93408455e-01 -2.68478115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14592 meters 0.030041757794380414 Centerline is valid? [True, True] Translation: X:220.15, Y:-153.04, Z:-26.85 [[ 7.28565689e-01 6.80257663e-01 8.02592586e-02 2.20148859e+02] [-6.75609316e-01 7.32963836e-01 -7.94736877e-02 -1.53036470e+02] [-1.12889719e-01 3.67789913e-03 9.93600717e-01 -2.68504825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17591999999996 meters 0.030211770374125393 Centerline is valid? [True, True] Translation: X:220.17, Y:-153.06, Z:-26.85 [[ 7.28537638e-01 6.80089640e-01 8.19206449e-02 2.20168606e+02] [-6.75236007e-01 7.33118912e-01 -8.11972603e-02 -1.53061765e+02] [-1.15278990e-01 3.83949102e-03 9.93325734e-01 -2.68536205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20592 meters 0.029966499053632457 Centerline is valid? [True, True] Translation: X:220.18, Y:-153.09, Z:-26.85 [[ 7.28476539e-01 6.80296561e-01 8.07373666e-02 2.20184792e+02] [-6.75576129e-01 7.32927106e-01 -8.00921459e-02 -1.53090820e+02] [-1.13661016e-01 3.80101161e-03 9.93512318e-01 -2.68549297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23591999999996 meters 0.03012332784288992 Centerline is valid? [True, True] Translation: X:220.20, Y:-153.12, Z:-26.86 [[ 7.27480646e-01 6.81321141e-01 8.10765841e-02 2.20204914e+02] [-6.76559164e-01 7.31975242e-01 -8.04980851e-02 -1.53116645e+02] [-1.14191099e-01 3.70769292e-03 9.93451884e-01 -2.68581603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26592 meters 0.029827591038420108 Centerline is valid? [True, True] Translation: X:220.22, Y:-153.14, Z:-26.86 [[ 7.26746490e-01 6.82101063e-01 8.11028898e-02 2.20224468e+02] [-6.77332826e-01 7.31248869e-01 -8.05936357e-02 -1.53142487e+02] [-1.14279401e-01 3.63749232e-03 9.93441990e-01 -2.68604644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29591999999997 meters 0.029030831128098483 Centerline is valid? [True, True] Translation: X:220.24, Y:-153.17, Z:-26.86 [[ 7.23969802e-01 6.85123354e-01 8.04594038e-02 2.20242019e+02] [-6.80441497e-01 7.28420100e-01 -8.00220443e-02 -1.53170482e+02] [-1.13433218e-01 3.18562642e-03 9.93540516e-01 -2.68635321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32592 meters 0.02879941646716925 Centerline is valid? [True, True] Translation: X:220.26, Y:-153.20, Z:-26.87 [[ 7.21582989e-01 6.87605986e-01 8.07217379e-02 2.20262279e+02] [-6.82900893e-01 7.26078406e-01 -8.03524647e-02 -1.53195139e+02] [-1.13861146e-01 2.85602477e-03 9.93492568e-01 -2.68663377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35591999999997 meters 0.028284231378162387 Centerline is valid? [True, True] Translation: X:220.28, Y:-153.22, Z:-26.87 [[ 7.18250140e-01 6.91019061e-01 8.12981715e-02 2.20280577e+02] [-6.86259767e-01 7.22832602e-01 -8.09972990e-02 -1.53221838e+02] [-1.14735646e-01 2.38465712e-03 9.93393198e-01 -2.68694469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38592 meters 0.027906165042503185 Centerline is valid? [True, True] Translation: X:220.30, Y:-153.25, Z:-26.87 [[ 7.15177958e-01 6.94074421e-01 8.23479587e-02 2.20299781e+02] [-6.89202567e-01 7.19900552e-01 -8.21158715e-02 -1.53248330e+02] [-1.16276867e-01 1.97303670e-03 9.93214880e-01 -2.68742378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41591999999997 meters 0.02775632005988395 Centerline is valid? [True, True] Translation: X:220.32, Y:-153.27, Z:-26.88 [[ 7.13850156e-01 6.95345684e-01 8.31404528e-02 2.20321323e+02] [-6.90378787e-01 7.18673082e-01 -8.29827184e-02 -1.53272699e+02] [-1.17452481e-01 1.83882153e-03 9.93076801e-01 -2.68780985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44592 meters 0.027878926062619873 Centerline is valid? [True, True] Translation: X:220.34, Y:-153.30, Z:-26.88 [[ 7.13168529e-01 6.96047631e-01 8.31164570e-02 2.20343465e+02] [-6.91079028e-01 7.17993404e-01 -8.30376397e-02 -1.53297624e+02] [-1.17475220e-01 1.77979102e-03 9.93074219e-01 -2.68822339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47592 meters 0.02765938187832944 Centerline is valid? [True, True] Translation: X:220.36, Y:-153.32, Z:-26.88 [[ 7.11471302e-01 6.97812219e-01 8.28655212e-02 2.20364270e+02] [-6.92879441e-01 7.16279130e-01 -8.28389263e-02 -1.53322862e+02] [-1.17160858e-01 1.52170268e-03 9.93111785e-01 -2.68848098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50592 meters 0.02742046360926209 Centerline is valid? [True, True] Translation: X:220.39, Y:-153.35, Z:-26.89 [[ 7.10977313e-01 6.98376829e-01 8.23472216e-02 2.20386946e+02] [-6.93506482e-01 7.15728814e-01 -8.23469731e-02 -1.53346307e+02] [-1.16447497e-01 1.43849767e-03 9.93195807e-01 -2.68868469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53592 meters 0.027764656413526084 Centerline is valid? [True, True] Translation: X:220.52, Y:-153.53, Z:-24.99 [[ 7.51185512e-01 -6.58623906e-01 -4.39872323e-02 2.20515944e+02] [-6.56979490e-01 -7.52445359e-01 4.69460572e-02 -1.53525090e+02] [-6.40177844e-02 -6.36648860e-03 -9.97928450e-01 -2.49868023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56591999999995 meters 0.027681629926764335 Centerline is valid? [True, True] Translation: X:220.43, Y:-153.41, Z:-26.90 [[ 7.57661322e-01 6.46136677e-01 9.19604053e-02 2.20425946e+02] [-6.41296803e-01 7.63221262e-01 -7.89412191e-02 -1.53410872e+02] [-1.21192954e-01 8.36794519e-04 9.92628615e-01 -2.68958140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59592 meters 0.02766658918880526 Centerline is valid? [True, True] Translation: X:220.45, Y:-153.43, Z:-26.90 [[ 7.56961789e-01 6.46999823e-01 9.16519512e-02 2.20449385e+02] [-6.42188966e-01 7.62489774e-01 -7.87570736e-02 -1.53434233e+02] [-1.20839488e-01 7.58223442e-04 9.92671770e-01 -2.68983323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62591999999995 meters 0.027818932477190975 Centerline is valid? [True, True] Translation: X:220.47, Y:-153.46, Z:-26.90 [[ 7.57136844e-01 6.47099219e-01 8.94784898e-02 2.20473582e+02] [-6.42506054e-01 7.62405394e-01 -7.69674295e-02 -1.53455698e+02] [-1.18024447e-01 7.84405220e-04 9.93010380e-01 -2.69009081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65592 meters 0.027658336890710997 Centerline is valid? [True, True] Translation: X:220.50, Y:-153.48, Z:-26.90 [[ 7.56807883e-01 6.47545736e-01 8.90300395e-02 2.20496432e+02] [-6.42993079e-01 7.62026201e-01 -7.66548756e-02 -1.53480045e+02] [-1.17480761e-01 7.67314906e-04 9.93074862e-01 -2.69047322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68591999999995 meters 0.027784229626399044 Centerline is valid? [True, True] Translation: X:220.52, Y:-153.50, Z:-26.91 [[ 7.56222486e-01 6.48140713e-01 8.96725590e-02 2.20519985e+02] [-6.43516254e-01 7.61520233e-01 -7.72901459e-02 -1.53502360e+02] [-1.18382358e-01 7.42797089e-04 9.92967807e-01 -2.69078183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71592 meters 0.027653396261560152 Centerline is valid? [True, True] Translation: X:220.54, Y:-153.52, Z:-26.91 [[ 7.55313849e-01 6.49037525e-01 9.08365618e-02 2.20543742e+02] [-6.44288467e-01 7.60756097e-01 -7.83743102e-02 -1.53524348e+02] [-1.19972337e-01 6.72252739e-04 9.92777007e-01 -2.69090582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74591999999996 meters 0.02785004939613136 Centerline is valid? [True, True] Translation: X:220.57, Y:-153.55, Z:-26.91 [[ 7.54485712e-01 6.49881430e-01 9.16811726e-02 2.20567715e+02] [-6.45040579e-01 7.60035373e-01 -7.91762819e-02 -1.53545590e+02] [-1.21136130e-01 5.99296782e-04 9.92635723e-01 -2.69125547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.77592 meters 0.027798495644226148 Centerline is valid? [True, True] Translation: X:220.59, Y:-153.57, Z:-26.92 [[ 7.52096083e-01 6.52422430e-01 9.32547831e-02 2.20589892e+02] [-6.47423320e-01 7.57855468e-01 -8.06110138e-02 -1.53569348e+02] [-1.23266081e-01 2.51906510e-04 9.92373624e-01 -2.69173206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80591999999996 meters 0.027743874088435358 Centerline is valid? [True, True] Translation: X:220.61, Y:-153.59, Z:-26.92 [[ 7.50706927e-01 6.54049990e-01 9.30468731e-02 2.20614405e+02] [-6.49076043e-01 7.56451326e-01 -8.05088926e-02 -1.53591832e+02] [-1.23042271e-01 4.40872324e-05 9.92401430e-01 -2.69210765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.83592 meters 0.027959294508382544 Centerline is valid? [True, True] Translation: X:220.64, Y:-153.61, Z:-26.92 [[ 7.48268234e-01 6.56719619e-01 9.38828611e-02 2.20638302e+02] [-6.51665884e-01 7.54134756e-01 -8.13163298e-02 -1.53612745e+02] [-1.24202358e-01 -3.33831120e-04 9.92256853e-01 -2.69244982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86591999999996 meters 0.027869921941517755 Centerline is valid? [True, True] Translation: X:220.66, Y:-153.63, Z:-26.93 [[ 7.47332793e-01 6.57568724e-01 9.53785644e-02 2.20662940e+02] [-6.52348993e-01 7.53394448e-01 -8.26897639e-02 -1.53633536e+02] [-1.26231883e-01 -4.23338248e-04 9.92000672e-01 -2.69275566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89592 meters 0.027892983628411406 Centerline is valid? [True, True] Translation: X:220.69, Y:-153.65, Z:-26.93 [[ 7.46778136e-01 6.58293605e-01 9.47203481e-02 2.20687834e+02] [-6.53142130e-01 7.52761114e-01 -8.21952782e-02 -1.53653909e+02] [-1.25410421e-01 -4.84213168e-04 9.92104829e-01 -2.69310706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92591999999996 meters 0.027868626536574258 Centerline is valid? [True, True] Translation: X:220.71, Y:-153.67, Z:-26.93 [[ 7.46629111e-01 6.58433958e-01 9.49194060e-02 2.20713388e+02] [-6.53251628e-01 7.52638375e-01 -8.24487000e-02 -1.53674582e+02] [-1.25727011e-01 -4.47656821e-04 9.92064775e-01 -2.69338659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95592 meters 0.02805486341542604 Centerline is valid? [True, True] Translation: X:220.74, Y:-153.69, Z:-26.94 [[ 7.47599612e-01 6.57301072e-01 9.51321240e-02 2.20739481e+02] [-6.52074939e-01 7.53628068e-01 -8.27224854e-02 -1.53694057e+02] [-1.26067817e-01 -1.89976011e-04 9.92021607e-01 -2.69387328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98591999999996 meters 0.0281265012689982 Centerline is valid? [True, True] Translation: X:220.76, Y:-153.71, Z:-26.94 [[ 7.48203983e-01 6.56516090e-01 9.57988715e-02 2.20764268e+02] [-6.51198698e-01 7.54312020e-01 -8.33884380e-02 -1.53714787e+02] [-1.27008092e-01 7.46105588e-06 9.91901681e-01 -2.69420350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01592 meters 0.028128886443254193 Centerline is valid? [True, True] Translation: X:220.79, Y:-153.73, Z:-26.95 [[ 7.50082867e-01 6.54397926e-01 9.55983630e-02 2.20790142e+02] [-6.49075405e-01 7.56150231e-01 -8.32943432e-02 -1.53734786e+02] [-1.26794370e-01 4.27113606e-04 9.91928932e-01 -2.69450783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04591999999997 meters 0.028076902522014797 Centerline is valid? [True, True] Translation: X:220.82, Y:-153.75, Z:-26.95 [[ 7.50730514e-01 6.53719818e-01 9.51530094e-02 2.20816577e+02] [-6.48430353e-01 7.56736435e-01 -8.29942550e-02 -1.53754621e+02] [-1.26260738e-01 6.06220246e-04 9.91996904e-01 -2.69476304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07592 meters 0.02809653365681371 Centerline is valid? [True, True] Translation: X:220.84, Y:-153.77, Z:-26.95 [[ 7.51422610e-01 6.52902784e-01 9.52996090e-02 2.20843351e+02] [-6.47579144e-01 7.57441281e-01 -8.32103214e-02 -1.53773683e+02] [-1.26512109e-01 8.12077678e-04 9.91964731e-01 -2.69516328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10591999999997 meters 0.028305348669092994 Centerline is valid? [True, True] Translation: X:220.87, Y:-153.79, Z:-26.96 [[ 7.50432847e-01 6.53893220e-01 9.63026434e-02 2.20867753e+02] [-6.48453401e-01 7.56586506e-01 -8.41727148e-02 -1.53794917e+02] [-1.27901248e-01 7.18193337e-04 9.91786648e-01 -2.69556632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13592 meters 0.02833010342001692 Centerline is valid? [True, True] Translation: X:220.89, Y:-153.82, Z:-26.96 [[ 7.50147867e-01 6.54273255e-01 9.59410569e-02 2.20893048e+02] [-6.48867183e-01 7.56257893e-01 -8.39367450e-02 -1.53815815e+02] [-1.27473749e-01 7.11966842e-04 9.91841689e-01 -2.69586081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16591999999997 meters 0.028244006444250718 Centerline is valid? [True, True] Translation: X:220.92, Y:-153.83, Z:-26.96 [[ 7.48892930e-01 6.55681729e-01 9.61293354e-02 2.20920011e+02] [-6.50254459e-01 7.55037203e-01 -8.41900328e-02 -1.53834860e+02] [-1.27783091e-01 5.40791411e-04 9.91801991e-01 -2.69609626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19592 meters 0.028633673432429937 Centerline is valid? [True, True] Translation: X:220.95, Y:-153.85, Z:-26.97 [[ 7.48270434e-01 6.56205296e-01 9.73959267e-02 2.20945103e+02] [-6.50626438e-01 7.54582225e-01 -8.53867933e-02 -1.53854905e+02] [-1.29524501e-01 5.24048095e-04 9.91576083e-01 -2.69653672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22592 meters 0.028650737982756 Centerline is valid? [True, True] Translation: X:220.97, Y:-153.88, Z:-26.97 [[ 7.48590622e-01 6.55909836e-01 9.69245434e-02 2.20970527e+02] [-6.50372022e-01 7.54838979e-01 -8.50549751e-02 -1.53876227e+02] [-1.28950818e-01 6.34345459e-04 9.91650787e-01 -2.69687829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25592 meters 0.02877597834862499 Centerline is valid? [True, True] Translation: X:221.00, Y:-153.90, Z:-26.97 [[ 7.48626539e-01 6.55982978e-01 9.61490352e-02 2.20996001e+02] [-6.50523424e-01 7.54775376e-01 -8.44594963e-02 -1.53896087e+02] [-1.27974916e-01 6.81420794e-04 9.91777171e-01 -2.69711577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28592 meters 0.0286536223509834 Centerline is valid? [True, True] Translation: X:221.02, Y:-153.92, Z:-26.97 [[ 7.48412440e-01 6.56208644e-01 9.62758280e-02 2.21021950e+02] [-6.50726053e-01 7.54579166e-01 -8.46515558e-02 -1.53917086e+02] [-1.28196817e-01 7.05087880e-04 9.91748496e-01 -2.69743206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31591999999995 meters 0.028744454991650098 Centerline is valid? [True, True] Translation: X:221.05, Y:-153.94, Z:-26.98 [[ 7.48448488e-01 6.56250046e-01 9.57117462e-02 2.21046019e+02] [-6.50821289e-01 7.54543109e-01 -8.42398129e-02 -1.53937919e+02] [-1.27501020e-01 7.57918520e-04 9.91838150e-01 -2.69771774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34592 meters 0.028714093091077808 Centerline is valid? [True, True] Translation: X:221.07, Y:-153.96, Z:-26.98 [[ 7.47669135e-01 6.57227507e-01 9.50940010e-02 2.21070025e+02] [-6.51867035e-01 7.53691972e-01 -8.37721961e-02 -1.53958619e+02] [-1.26728977e-01 6.45240900e-04 9.91937170e-01 -2.69813962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37591999999995 meters 0.02885138388937887 Centerline is valid? [True, True] Translation: X:221.09, Y:-153.98, Z:-26.98 [[ 7.45649971e-01 6.59412350e-01 9.58200046e-02 2.21094879e+02] [-6.53977494e-01 7.51781379e-01 -8.44878461e-02 -1.53978161e+02] [-1.27748024e-01 3.34233579e-04 9.91806599e-01 -2.69844449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40592 meters 0.028785456597180473 Centerline is valid? [True, True] Translation: X:221.12, Y:-154.00, Z:-26.99 [[ 7.44152259e-01 6.61125093e-01 9.56610010e-02 2.21119935e+02] [-6.55712566e-01 7.50275684e-01 -8.44240992e-02 -1.53999453e+02] [-1.27587013e-01 9.82636890e-05 9.91827376e-01 -2.69874575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43591999999995 meters 0.028734319876556332 Centerline is valid? [True, True] Translation: X:221.14, Y:-154.02, Z:-26.99 [[ 7.42512248e-01 6.62986022e-01 9.55253745e-02 2.21144922e+02] [-6.57592761e-01 7.48631760e-01 -8.43934182e-02 -1.54021012e+02] [-1.27464986e-01 -1.53648140e-04 9.91843059e-01 -2.69906988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46592 meters 0.02874434370818797 Centerline is valid? [True, True] Translation: X:221.17, Y:-154.04, Z:-26.99 [[ 7.40552694e-01 6.65394697e-01 9.39766197e-02 2.21169031e+02] [-6.60185970e-01 7.46491555e-01 -8.30953888e-02 -1.54042853e+02] [-1.25443984e-01 -5.05531791e-04 9.92100575e-01 -2.69934018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49591999999996 meters 0.0286475792519802 Centerline is valid? [True, True] Translation: X:221.19, Y:-154.06, Z:-27.00 [[ 7.39037905e-01 6.67220864e-01 9.29478049e-02 2.21193911e+02] [-6.62135354e-01 7.44859528e-01 -8.22256392e-02 -1.54063539e+02] [-1.24095720e-01 -7.76163615e-04 9.92269948e-01 -2.69966338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52592 meters 0.02875141782501283 Centerline is valid? [True, True] Translation: X:221.22, Y:-154.08, Z:-27.00 [[ 7.36626061e-01 6.69851918e-01 9.31689506e-02 2.21219679e+02] [-6.64753375e-01 7.42493806e-01 -8.24978658e-02 -1.54082842e+02] [-1.24438722e-01 -1.16429640e-03 9.92226612e-01 -2.70002191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55591999999996 meters 0.028677502055824703 Centerline is valid? [True, True] Translation: X:221.25, Y:-154.10, Z:-27.00 [[ 7.36309140e-01 6.70269967e-01 9.26661879e-02 2.21245482e+02] [-6.65220359e-01 7.42116433e-01 -8.21284068e-02 -1.54102435e+02] [-1.23817305e-01 -1.17153817e-03 9.92304340e-01 -2.70024938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58592 meters 0.02867961391716647 Centerline is valid? [True, True] Translation: X:221.27, Y:-154.12, Z:-27.00 [[ 7.34823501e-01 6.71794310e-01 9.34174848e-02 2.21272658e+02] [-6.66664686e-01 7.40736454e-01 -8.28716022e-02 -1.54120699e+02] [-1.24870407e-01 -1.38213724e-03 9.92172098e-01 -2.70045652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61591999999996 meters 0.028831405252699067 Centerline is valid? [True, True] Translation: X:221.30, Y:-154.14, Z:-27.01 [[ 7.35007824e-01 6.71579196e-01 9.35140805e-02 2.21300927e+02] [-6.66427103e-01 7.40931661e-01 -8.30372789e-02 -1.54138373e+02] [-1.25053652e-01 -1.28726814e-03 9.92149146e-01 -2.70095939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64592 meters 0.0289641671449724 Centerline is valid? [True, True] Translation: X:221.33, Y:-154.16, Z:-27.01 [[ 7.34679854e-01 6.71826576e-01 9.43109944e-02 2.21325870e+02] [-6.66577101e-01 7.40707379e-01 -8.38304626e-02 -1.54157696e+02] [-1.26176382e-01 -1.27699717e-03 9.92007001e-01 -2.70134365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67591999999996 meters 0.029063637332755958 Centerline is valid? [True, True] Translation: X:221.35, Y:-154.18, Z:-27.02 [[ 7.36097905e-01 6.70270361e-01 9.43266560e-02 2.21353106e+02] [-6.64997006e-01 7.42116386e-01 -8.39181214e-02 -1.54175176e+02] [-1.26249187e-01 -9.54990458e-04 9.91998100e-01 -2.70164787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70592 meters 0.028929816020931958 Centerline is valid? [True, True] Translation: X:221.38, Y:-154.19, Z:-27.02 [[ 7.35825472e-01 6.70504050e-01 9.47902611e-02 2.21379561e+02] [-6.65169983e-01 7.41905276e-01 -8.44124129e-02 -1.54194825e+02] [-1.26924259e-01 -9.38832716e-04 9.91911967e-01 -2.70200227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73591999999996 meters 0.028929601569921422 Centerline is valid? [True, True] Translation: X:221.41, Y:-154.21, Z:-27.02 [[ 7.36968858e-01 6.69373258e-01 9.38953851e-02 2.21406848e+02] [-6.64119884e-01 7.42925964e-01 -8.37006065e-02 -1.54212698e+02] [-1.25784267e-01 -6.73051792e-04 9.92057390e-01 -2.70230606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76592 meters 0.028780832236096548 Centerline is valid? [True, True] Translation: X:221.43, Y:-154.23, Z:-27.03 [[ 7.37012493e-01 6.69379120e-01 9.35103194e-02 2.21432125e+02] [-6.64159219e-01 7.42920734e-01 -8.34344929e-02 -1.54232665e+02] [-1.25320063e-01 -6.13477041e-04 9.92116175e-01 -2.70264061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79591999999997 meters 0.02868526126465332 Centerline is valid? [True, True] Translation: X:221.46, Y:-154.25, Z:-27.03 [[ 7.37826511e-01 6.68607946e-01 9.26037475e-02 2.21458182e+02] [-6.63473638e-01 7.43614979e-01 -8.27012355e-02 -1.54251708e+02] [-1.24156237e-01 -4.20981195e-04 9.92262592e-01 -2.70284199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82592 meters 0.028651347183989713 Centerline is valid? [True, True] Translation: X:221.48, Y:-154.27, Z:-27.03 [[ 7.38076884e-01 6.68418380e-01 9.19749024e-02 2.21483165e+02] [-6.63343009e-01 7.43785426e-01 -8.22149210e-02 -1.54271395e+02] [-1.23363556e-01 -3.29975843e-04 9.92361489e-01 -2.70305285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85591999999997 meters 0.028618018516864772 Centerline is valid? [True, True] Translation: X:221.51, Y:-154.29, Z:-27.03 [[ 7.38367530e-01 6.68118735e-01 9.18190970e-02 2.21509819e+02] [-6.63048550e-01 7.44054640e-01 -8.21541967e-02 -1.54291293e+02] [-1.23207183e-01 -2.20527818e-04 9.92380946e-01 -2.70345923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88592 meters 0.028618018516864772 Centerline is valid? [True, True] Translation: X:221.53, Y:-154.31, Z:-27.04 [[ 7.38018192e-01 6.68510553e-01 9.17757519e-02 2.21534220e+02] [-6.63437368e-01 7.43702624e-01 -8.22025966e-02 -1.54312648e+02] [-1.23207171e-01 -2.20451507e-04 9.92380947e-01 -2.70375641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91591999999997 meters 0.02875174569668724 Centerline is valid? [True, True] Translation: X:221.56, Y:-154.33, Z:-27.04 [[ 7.37983803e-01 6.68478946e-01 9.22811168e-02 2.21559504e+02] [-6.63338456e-01 7.43731051e-01 -8.27418698e-02 -1.54332888e+02] [-1.23943530e-01 -1.51453859e-04 9.92289262e-01 -2.70412811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94592 meters 0.028901182449996458 Centerline is valid? [True, True] Translation: X:221.59, Y:-154.35, Z:-27.05 [[ 7.37654869e-01 6.68629268e-01 9.38093616e-02 2.21585762e+02] [-6.63307098e-01 7.43595918e-01 -8.41950395e-02 -1.54351962e+02] [-1.26051526e-01 -1.17534571e-04 9.92023689e-01 -2.70455349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97592 meters 0.02883768240872918 Centerline is valid? [True, True] Translation: X:221.61, Y:-154.37, Z:-27.05 [[ 7.37227769e-01 6.69062392e-01 9.40783352e-02 2.21611275e+02] [-6.63702797e-01 7.43206229e-01 -8.45168581e-02 -1.54372357e+02] [-1.26466656e-01 -1.31879473e-04 9.91970850e-01 -2.70474068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00592 meters 0.02878189529619839 Centerline is valid? [True, True] Translation: X:221.64, Y:-154.39, Z:-27.05 [[ 7.36769691e-01 6.69593865e-01 9.38854537e-02 2.21637593e+02] [-6.64249399e-01 7.42727427e-01 -8.44316529e-02 -1.54391600e+02] [-1.26266218e-01 -1.56673451e-04 9.91996380e-01 -2.70516904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03592 meters 0.028690999595078433 Centerline is valid? [True, True] Translation: X:221.66, Y:-154.41, Z:-27.05 [[ 7.36244108e-01 6.70315243e-01 9.28552043e-02 2.21662633e+02] [-6.65083021e-01 7.42076431e-01 -8.35891517e-02 -1.54412313e+02] [-1.24936741e-01 -2.14399419e-04 9.92164686e-01 -2.70543876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06591999999995 meters 0.028440027749656552 Centerline is valid? [True, True] Translation: X:221.69, Y:-154.43, Z:-27.06 [[ 7.35958260e-01 6.70753657e-01 9.19509158e-02 2.21688911e+02] [-6.65617310e-01 7.41680173e-01 -8.28499681e-02 -1.54430899e+02] [-1.23770090e-01 -2.30002926e-04 9.92310895e-01 -2.70576883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09592 meters 0.02876488175321703 Centerline is valid? [True, True] Translation: X:221.71, Y:-154.45, Z:-27.06 [[ 7.35657331e-01 6.71034358e-01 9.23102498e-02 2.21714677e+02] [-6.65849869e-01 7.41426222e-01 -8.32532886e-02 -1.54451237e+02] [-1.24307057e-01 -2.18875645e-04 9.92243774e-01 -2.70615146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12591999999995 meters 0.028743371150196206 Centerline is valid? [True, True] Translation: X:221.74, Y:-154.47, Z:-27.06 [[ 7.35313838e-01 6.71417325e-01 9.22623146e-02 2.21740351e+02] [-6.66230253e-01 7.41079434e-01 -8.32977872e-02 -1.54471906e+02] [-1.24301281e-01 -2.17929579e-04 9.92244498e-01 -2.70643509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15592 meters 0.02867599575556441 Centerline is valid? [True, True] Translation: X:221.77, Y:-154.49, Z:-27.07 [[ 7.35718821e-01 6.70957100e-01 9.23817418e-02 2.21767183e+02] [-6.65741870e-01 7.41496166e-01 -8.34937065e-02 -1.54491557e+02] [-1.24521403e-01 -7.45022132e-05 9.92216919e-01 -2.70678397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18591999999995 meters 0.028571504786826622 Centerline is valid? [True, True] Translation: X:221.79, Y:-154.51, Z:-27.07 [[ 7.35527685e-01 6.71291938e-01 9.14667126e-02 2.21792264e+02] [-6.66172177e-01 7.41193045e-01 -8.27496227e-02 -1.54511591e+02] [-1.23343646e-01 -6.79407235e-05 9.92364016e-01 -2.70703070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21592 meters 0.028543241004828235 Centerline is valid? [True, True] Translation: X:221.82, Y:-154.53, Z:-27.07 [[ 7.35457453e-01 6.71380482e-01 9.13815249e-02 2.21818546e+02] [-6.66261262e-01 7.41112844e-01 -8.27507288e-02 -1.54531251e+02] [-1.23281246e-01 -2.43298559e-05 9.92371772e-01 -2.70746409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24591999999996 meters 0.028559787630486166 Centerline is valid? [True, True] Translation: X:221.84, Y:-154.55, Z:-27.08 [[ 7.35448026e-01 6.71223232e-01 9.26043952e-02 2.21843442e+02] [-6.65953518e-01 7.41255266e-01 -8.39436916e-02 -1.54551814e+02] [-1.24988451e-01 6.59995879e-05 9.92158194e-01 -2.70793449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.27592 meters 0.028528599464423213 Centerline is valid? [True, True] Translation: X:221.87, Y:-154.57, Z:-27.08 [[ 7.35574300e-01 6.70964074e-01 9.34754588e-02 2.21867748e+02] [-6.65582316e-01 7.41489840e-01 -8.48115448e-02 -1.54573037e+02] [-1.26216603e-01 1.69580361e-04 9.92002692e-01 -2.70818038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30591999999996 meters 0.028682772523093796 Centerline is valid? [True, True] Translation: X:221.89, Y:-154.59, Z:-27.09 [[ 7.35681552e-01 6.70879657e-01 9.32370147e-02 2.21892446e+02] [-6.65514631e-01 7.41566199e-01 -8.46749599e-02 -1.54594710e+02] [-1.25948127e-01 2.43208455e-04 9.92036799e-01 -2.70860658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.33592 meters 0.02856912525421154 Centerline is valid? [True, True] Translation: X:221.92, Y:-154.62, Z:-27.09 [[ 7.36830000e-01 6.69689984e-01 9.27193450e-02 2.21916411e+02] [-6.64364199e-01 7.42640604e-01 -8.42920199e-02 -1.54616828e+02] [-1.25306672e-01 5.09475610e-04 9.92117926e-01 -2.70896243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36591999999996 meters 0.028434092809402466 Centerline is valid? [True, True] Translation: X:221.94, Y:-154.64, Z:-27.09 [[ 7.36810834e-01 6.69781788e-01 9.22071151e-02 2.21939305e+02] [-6.64505184e-01 7.42557776e-01 -8.39095335e-02 -1.54638872e+02] [-1.24670188e-01 5.53347376e-04 9.92198084e-01 -2.70928595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39592 meters 0.028269555990338202 Centerline is valid? [True, True] Translation: X:221.96, Y:-154.66, Z:-27.10 [[ 7.37344332e-01 6.69187807e-01 9.22551636e-02 2.21962953e+02] [-6.63891131e-01 7.43092976e-01 -8.40321091e-02 -1.54661940e+02] [-1.24787427e-01 7.13214431e-04 9.92183244e-01 -2.70953659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42591999999996 meters 0.028253772668388372 Centerline is valid? [True, True] Translation: X:221.99, Y:-154.69, Z:-27.10 [[ 7.36553058e-01 6.70004738e-01 9.26457968e-02 2.21985297e+02] [-6.64658297e-01 7.42356543e-01 -8.44755083e-02 -1.54685770e+02] [-1.25375204e-01 6.42896494e-04 9.92109190e-01 -2.70991177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45592 meters 0.02831726333062934 Centerline is valid? [True, True] Translation: X:222.01, Y:-154.71, Z:-27.10 [[ 7.35473898e-01 6.71238394e-01 9.22884840e-02 2.22007564e+02] [-6.65932435e-01 7.41241374e-01 -8.42331150e-02 -1.54709275e+02] [-1.24948544e-01 4.93362617e-04 9.92163101e-01 -2.71026205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48591999999996 meters 0.028229456969775326 Centerline is valid? [True, True] Translation: X:222.03, Y:-154.73, Z:-27.11 [[ 7.32524448e-01 6.74513921e-01 9.18635050e-02 2.22027939e+02] [-6.69273053e-01 7.38262128e-01 -8.39202628e-02 -1.54733918e+02] [-1.24424732e-01 -8.12435234e-06 9.92229049e-01 -2.71064202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51592 meters 0.027951453399034744 Centerline is valid? [True, True] Translation: X:222.05, Y:-154.76, Z:-27.11 [[ 7.31134735e-01 6.75982276e-01 9.21409823e-02 2.22051725e+02] [-6.70711170e-01 7.36917853e-01 -8.42532179e-02 -1.54757096e+02] [-1.24854017e-01 -1.99531768e-04 9.92175103e-01 -2.71095355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54591999999997 meters 0.02811601318960831 Centerline is valid? [True, True] Translation: X:222.07, Y:-154.78, Z:-27.11 [[ 7.29764685e-01 6.77370928e-01 9.28015671e-02 2.22074739e+02] [-6.72024107e-01 7.35641546e-01 -8.49418355e-02 -1.54778715e+02] [-1.25805818e-01 -3.77338435e-04 9.92054814e-01 -2.71127392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57592 meters 0.02801248468044541 Centerline is valid? [True, True] Translation: X:222.10, Y:-154.80, Z:-27.12 [[ 7.28561311e-01 6.78787671e-01 9.19005661e-02 2.22098369e+02] [-6.73546705e-01 7.34334380e-01 -8.41893980e-02 -1.54800539e+02] [-1.24632471e-01 -5.62185292e-04 9.92202818e-01 -2.71157951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60591999999997 meters 0.02805322573901617 Centerline is valid? [True, True] Translation: X:222.12, Y:-154.82, Z:-27.12 [[ 7.28199468e-01 6.79145875e-01 9.21217426e-02 2.22121101e+02] [-6.73872323e-01 7.34003107e-01 -8.44720777e-02 -1.54824538e+02] [-1.24986508e-01 -5.65770620e-04 9.92158280e-01 -2.71196486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63592 meters 0.028103248348814266 Centerline is valid? [True, True] Translation: X:222.15, Y:-154.85, Z:-27.12 [[ 7.28208717e-01 6.79087576e-01 9.24777202e-02 2.22145020e+02] [-6.73761268e-01 7.34057097e-01 -8.48877593e-02 -1.54847069e+02] [-1.25530150e-01 -4.91899792e-04 9.92089683e-01 -2.71226157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66591999999997 meters 0.028173722697120526 Centerline is valid? [True, True] Translation: X:222.17, Y:-154.87, Z:-27.13 [[ 7.28387683e-01 6.78847214e-01 9.28323356e-02 2.22168618e+02] [-6.73466518e-01 7.34279450e-01 -8.53026305e-02 -1.54870349e+02] [-1.26072329e-01 -3.86084367e-04 9.92020977e-01 -2.71268508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69592 meters 0.028097288049184915 Centerline is valid? [True, True] Translation: X:222.19, Y:-154.89, Z:-27.13 [[ 7.27907776e-01 6.79449714e-01 9.21865258e-02 2.22191648e+02] [-6.74137911e-01 7.33721955e-01 -8.47948763e-02 -1.54892258e+02] [-1.25253132e-01 -4.23582020e-04 9.92124727e-01 -2.71295854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72592 meters 0.02829006182278746 Centerline is valid? [True, True] Translation: X:222.21, Y:-154.91, Z:-27.13 [[ 7.27563482e-01 6.79646024e-01 9.34487122e-02 2.22214708e+02] [-6.74178614e-01 7.33540127e-01 -8.60353337e-02 -1.54914440e+02] [-1.27021953e-01 -4.04956251e-04 9.91899823e-01 -2.71339257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75592 meters 0.027912627566034062 Centerline is valid? [True, True] Translation: X:222.24, Y:-154.94, Z:-27.14 [[ 7.27264701e-01 6.80173044e-01 9.19276037e-02 2.22237096e+02] [-6.74877375e-01 7.33051460e-01 -8.47117769e-02 -1.54937128e+02] [-1.25006331e-01 -4.31974787e-04 9.92155850e-01 -2.71359988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78592 meters 0.027966119030239475 Centerline is valid? [True, True] Translation: X:222.26, Y:-154.96, Z:-27.14 [[ 7.26235615e-01 6.81198903e-01 9.24655906e-02 2.22259153e+02] [-6.75839201e-01 7.32098181e-01 -8.52855661e-02 -1.54961084e+02] [-1.25790325e-01 -5.54455318e-04 9.92056695e-01 -2.71392331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81591999999995 meters 0.02802294247780118 Centerline is valid? [True, True] Translation: X:222.28, Y:-154.98, Z:-27.14 [[ 7.26112319e-01 6.81402120e-01 9.19350391e-02 2.22282133e+02] [-6.76095850e-01 7.31909059e-01 -8.48736189e-02 -1.54983919e+02] [-1.25121152e-01 -5.29118177e-04 9.92141329e-01 -2.71423594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84592 meters 0.02789628563973596 Centerline is valid? [True, True] Translation: X:222.31, Y:-155.01, Z:-27.15 [[ 7.27200998e-01 6.80296612e-01 9.15162758e-02 2.22305578e+02] [-6.75020338e-01 7.32936860e-01 -8.45641864e-02 -1.55005159e+02] [-1.24604381e-01 -2.80186778e-04 9.92206465e-01 -2.71451813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87591999999995 meters 0.027830196597049238 Centerline is valid? [True, True] Translation: X:222.33, Y:-155.03, Z:-27.15 [[ 7.28113027e-01 6.79378635e-01 9.10828736e-02 2.22329652e+02] [-6.74135624e-01 7.33787889e-01 -8.42406932e-02 -1.55026177e+02] [-1.24066837e-01 -6.54637189e-05 9.92273861e-01 -2.71491314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90592 meters 0.0278850936198628 Centerline is valid? [True, True] Translation: X:222.35, Y:-155.05, Z:-27.15 [[ 7.30698309e-01 6.76679045e-01 9.04734796e-02 2.22353729e+02] [-6.71475705e-01 7.36277983e-01 -8.37562572e-02 -1.55048567e+02] [-1.23289735e-01 4.49812052e-04 9.92370616e-01 -2.71532113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93591999999995 meters 0.02798312204360544 Centerline is valid? [True, True] Translation: X:222.38, Y:-155.07, Z:-27.16 [[ 7.31286989e-01 6.76001150e-01 9.07842761e-02 2.22377390e+02] [-6.70745687e-01 7.36900296e-01 -8.41319060e-02 -1.55071400e+02] [-1.23772225e-01 6.31406608e-04 9.92310454e-01 -2.71559976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96592 meters 0.028123882256192254 Centerline is valid? [True, True] Translation: X:222.40, Y:-155.09, Z:-27.16 [[ 7.30930954e-01 6.76330087e-01 9.12006222e-02 2.22401550e+02] [-6.71017643e-01 7.36598397e-01 -8.46056980e-02 -1.55094241e+02] [-1.24399611e-01 6.43697057e-04 9.92231990e-01 -2.71592067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99591999999996 meters 0.02818389825175434 Centerline is valid? [True, True] Translation: X:222.43, Y:-155.12, Z:-27.16 [[ 7.31138600e-01 6.75995697e-01 9.20117622e-02 2.22425668e+02] [-6.70574463e-01 7.36905166e-01 -8.54439356e-02 -1.55115639e+02] [-1.25563676e-01 7.70621384e-04 9.92085263e-01 -2.71630715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02592 meters 0.02818110432424333 Centerline is valid? [True, True] Translation: X:222.45, Y:-155.14, Z:-27.17 [[ 7.30489550e-01 6.76676246e-01 9.21643884e-02 2.22449613e+02] [-6.71232183e-01 7.36280346e-01 -8.56656823e-02 -1.55138651e+02] [-1.25826760e-01 7.14182185e-04 9.92051973e-01 -2.71678016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05591999999996 meters 0.028326634183125737 Centerline is valid? [True, True] Translation: X:222.47, Y:-155.16, Z:-27.17 [[ 7.29801245e-01 6.77440501e-01 9.20027733e-02 2.22472972e+02] [-6.72010457e-01 7.35577290e-01 -8.56037203e-02 -1.55161708e+02] [-1.25666578e-01 6.46875946e-04 9.92072322e-01 -2.71722676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08592 meters 0.028162263331208276 Centerline is valid? [True, True] Translation: X:222.50, Y:-155.19, Z:-27.17 [[ 7.29035651e-01 6.78207560e-01 9.24203671e-02 2.22496718e+02] [-6.72722684e-01 7.34870169e-01 -8.60815039e-02 -1.55185207e+02] [-1.26298097e-01 5.83207821e-04 9.91992163e-01 -2.71747657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11591999999996 meters 0.028340148562417462 Centerline is valid? [True, True] Translation: X:222.52, Y:-155.21, Z:-27.18 [[ 7.28393740e-01 6.78791962e-01 9.31881574e-02 2.22519754e+02] [-6.73208783e-01 7.34330423e-01 -8.68836285e-02 -1.55206808e+02] [-1.27406808e-01 5.50405053e-04 9.91850393e-01 -2.71781588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14592 meters 0.028311773708449013 Centerline is valid? [True, True] Translation: X:222.54, Y:-155.23, Z:-27.18 [[ 7.26406790e-01 6.81132966e-01 9.16027183e-02 2.22542967e+02] [-6.75747700e-01 7.32159712e-01 -8.54821734e-02 -1.55228472e+02] [-1.25292546e-01 1.94505020e-04 9.92119821e-01 -2.71809192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17591999999996 meters 0.027966491775812664 Centerline is valid? [True, True] Translation: X:222.57, Y:-155.25, Z:-27.18 [[ 7.25203451e-01 6.82575814e-01 9.03892293e-02 2.22566115e+02] [-6.77334511e-01 7.30814790e-01 -8.44257255e-02 -1.55250397e+02] [-1.23684744e-01 2.08304610e-06 9.92321563e-01 -2.71830834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20592 meters 0.028209841541387472 Centerline is valid? [True, True] Translation: X:222.59, Y:-155.27, Z:-27.19 [[ 7.22372840e-01 6.85517460e-01 9.07925768e-02 2.22590092e+02] [-6.80242428e-01 7.28056051e-01 -8.48800658e-02 -1.55271988e+02] [-1.24288852e-01 -4.45908637e-04 9.92245979e-01 -2.71871398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23591999999996 meters 0.02813181128447602 Centerline is valid? [True, True] Translation: X:222.62, Y:-155.29, Z:-27.19 [[ 7.21248305e-01 6.86765252e-01 9.03015520e-02 2.22615107e+02] [-6.81547116e-01 7.26879034e-01 -8.45008772e-02 -1.55293715e+02] [-1.23670571e-01 -5.98647859e-04 9.92323149e-01 -2.71899027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26592 meters 0.027994136413376756 Centerline is valid? [True, True] Translation: X:222.64, Y:-155.31, Z:-27.19 [[ 7.20099983e-01 6.87993917e-01 9.01131766e-02 2.22640980e+02] [-6.82796242e-01 7.25716072e-01 -8.44125296e-02 -1.55314988e+02] [-1.23471887e-01 -7.43477219e-04 9.92347792e-01 -2.71924155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29591999999997 meters 0.028292897265506007 Centerline is valid? [True, True] Translation: X:222.67, Y:-155.34, Z:-27.20 [[ 7.18086801e-01 6.90041508e-01 9.05210723e-02 2.22665617e+02] [-6.84801892e-01 7.23769053e-01 -8.48806666e-02 -1.55336164e+02] [-1.24087534e-01 -1.03731526e-03 9.92270733e-01 -2.71960493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32592 meters 0.02798711170114886 Centerline is valid? [True, True] Translation: X:222.69, Y:-155.36, Z:-27.20 [[ 7.17442090e-01 6.91004572e-01 8.82583033e-02 2.22689870e+02] [-6.86022807e-01 7.22849520e-01 -8.28328456e-02 -1.55357871e+02] [-1.21035347e-01 -1.11943910e-03 9.92647567e-01 -2.71980427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35591999999997 meters 0.028095650041260318 Centerline is valid? [True, True] Translation: X:222.72, Y:-155.38, Z:-27.20 [[ 7.16347394e-01 6.92115486e-01 8.84452668e-02 2.22715074e+02] [-6.87111280e-01 7.21785692e-01 -8.30873262e-02 -1.55379562e+02] [-1.21344553e-01 -1.25235090e-03 9.92609657e-01 -2.72010264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38592 meters 0.02800552748538135 Centerline is valid? [True, True] Translation: X:222.74, Y:-155.40, Z:-27.20 [[ 7.16683850e-01 6.91775960e-01 8.83757958e-02 2.22742036e+02] [-6.86766335e-01 7.22111311e-01 -8.31099067e-02 -1.55399457e+02] [-1.21310597e-01 -1.12999349e-03 9.92613954e-01 -2.72047783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41591999999997 meters 0.028056787983357923 Centerline is valid? [True, True] Translation: X:222.77, Y:-155.42, Z:-27.21 [[ 7.17141400e-01 6.91323362e-01 8.82055680e-02 2.22767086e+02] [-6.86318998e-01 7.22544832e-01 -8.30373363e-02 -1.55421160e+02] [-1.21138128e-01 -9.87645437e-04 9.92635169e-01 -2.72070199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44592 meters 0.028058991259009017 Centerline is valid? [True, True] Translation: X:222.79, Y:-155.44, Z:-27.21 [[ 7.17512932e-01 6.90964322e-01 8.79971476e-02 2.22792206e+02] [-6.85970394e-01 7.22888348e-01 -8.29280063e-02 -1.55442478e+02] [-1.20912406e-01 -8.61521037e-04 9.92662807e-01 -2.72111367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47592 meters 0.0279563502555553 Centerline is valid? [True, True] Translation: X:222.82, Y:-155.46, Z:-27.22 [[ 7.17972093e-01 6.90413646e-01 8.85724070e-02 2.22818565e+02] [-6.85338952e-01 7.23414469e-01 -8.35585225e-02 -1.55462573e+02] [-1.21764505e-01 -7.09433397e-04 9.92558765e-01 -2.72160507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50592 meters 0.027801072528259186 Centerline is valid? [True, True] Translation: X:222.84, Y:-155.48, Z:-27.22 [[ 7.18036711e-01 6.90456397e-01 8.77111520e-02 2.22844260e+02] [-6.85471466e-01 7.23373718e-01 -8.28210950e-02 -1.55481656e+02] [-1.20632297e-01 -6.54905325e-04 9.92697043e-01 -2.72192242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53592 meters 0.027503218223717707 Centerline is valid? [True, True] Translation: X:222.87, Y:-155.50, Z:-27.22 [[ 7.18001143e-01 6.90472841e-01 8.78727180e-02 2.22870012e+02] [-6.85463165e-01 7.23358052e-01 -8.30263680e-02 -1.55502899e+02] [-1.20890890e-01 -6.20484268e-04 9.92665607e-01 -2.72223293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56591999999995 meters 0.02759155435822199 Centerline is valid? [True, True] Translation: X:222.90, Y:-155.52, Z:-27.23 [[ 7.19165335e-01 6.89362606e-01 8.70655997e-02 2.22895537e+02] [-6.84426629e-01 7.24416359e-01 -8.23476056e-02 -1.55521977e+02] [-1.19839105e-01 -3.68471572e-04 9.92793258e-01 -2.72252061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59592 meters 0.02771693532104221 Centerline is valid? [True, True] Translation: X:222.92, Y:-155.54, Z:-27.23 [[ 7.19417451e-01 6.89091351e-01 8.71300248e-02 2.22920908e+02] [-6.84136594e-01 7.24674436e-01 -8.24868606e-02 -1.55543444e+02] [-1.19981884e-01 -2.66351392e-04 9.92776046e-01 -2.72296093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62591999999995 meters 0.027591898829518187 Centerline is valid? [True, True] Translation: X:222.95, Y:-155.56, Z:-27.23 [[ 7.20221116e-01 6.88365042e-01 8.62270959e-02 2.22945426e+02] [-6.83497759e-01 7.25364434e-01 -8.17144540e-02 -1.55563736e+02] [-1.18795442e-01 -8.35515383e-05 9.92918746e-01 -2.72330541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65592 meters 0.02763830127695103 Centerline is valid? [True, True] Translation: X:222.97, Y:-155.59, Z:-27.24 [[ 7.20993677e-01 6.87555681e-01 8.62282052e-02 2.22970244e+02] [-6.82673270e-01 7.26131650e-01 -8.17926175e-02 -1.55585367e+02] [-1.18850008e-01 1.06269211e-04 9.92912214e-01 -2.72363373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68591999999995 meters 0.027480681838185198 Centerline is valid? [True, True] Translation: X:223.00, Y:-155.61, Z:-27.24 [[ 7.21643619e-01 6.86926136e-01 8.58077558e-02 2.22995605e+02] [-6.82076815e-01 7.26727191e-01 -8.14788767e-02 -1.55607035e+02] [-1.18328799e-01 2.71230675e-04 9.92974432e-01 -2.72393367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71592 meters 0.027544505562549896 Centerline is valid? [True, True] Translation: X:223.02, Y:-155.63, Z:-27.24 [[ 7.22242867e-01 6.86331756e-01 8.55217012e-02 2.23019889e+02] [-6.81500575e-01 7.27288482e-01 -8.12922554e-02 -1.55629216e+02] [-1.17992405e-01 4.29663157e-04 9.93014405e-01 -2.72420171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74591999999996 meters 0.027516989791399892 Centerline is valid? [True, True] Translation: X:223.04, Y:-155.65, Z:-27.24 [[ 7.22609676e-01 6.85987584e-01 8.51838699e-02 2.23043051e+02] [-6.81182275e-01 7.27613041e-01 -8.10553530e-02 -1.55652583e+02] [-1.17583860e-01 5.45640018e-04 9.93062807e-01 -2.72447835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.77592 meters 0.027516989791399892 Centerline is valid? [True, True] Translation: X:223.07, Y:-155.67, Z:-27.25 [[ 7.22256583e-01 6.86364568e-01 8.51416985e-02 2.23066790e+02] [-6.81556650e-01 7.27257439e-01 -8.10996316e-02 -1.55674679e+02] [-1.17583847e-01 5.45851992e-04 9.93062808e-01 -2.72477548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80591999999996 meters 0.027476377537733285 Centerline is valid? [True, True] Translation: X:223.09, Y:-155.70, Z:-27.25 [[ 7.22320561e-01 6.86319471e-01 8.49622927e-02 2.23090234e+02] [-6.81521637e-01 7.27299943e-01 -8.10126637e-02 -1.55697478e+02] [-1.17393639e-01 6.13471868e-04 9.93085272e-01 -2.72507249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.83592 meters 0.02765941692242855 Centerline is valid? [True, True] Translation: X:223.11, Y:-155.72, Z:-27.25 [[ 7.21865779e-01 6.86709784e-01 8.56707013e-02 2.23111636e+02] [-6.81824167e-01 7.26931423e-01 -8.17710967e-02 -1.55721665e+02] [-1.18429737e-01 6.15401924e-04 9.92962244e-01 -2.72546997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86591999999996 meters 0.027589448682473892 Centerline is valid? [True, True] Translation: X:223.13, Y:-155.74, Z:-27.26 [[ 7.21794875e-01 6.87016684e-01 8.37868395e-02 2.23134359e+02] [-6.82338022e-01 7.26641390e-01 -8.00444457e-02 -1.55744218e+02] [-1.15874855e-01 6.04724309e-04 9.93263637e-01 -2.72562918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89592 meters 0.027411108363624946 Centerline is valid? [True, True] Translation: X:223.16, Y:-155.77, Z:-27.26 [[ 7.20644842e-01 6.88225223e-01 8.37678611e-02 2.23156098e+02] [-6.83549413e-01 7.25496957e-01 -8.00897339e-02 -1.55767238e+02] [-1.15893103e-01 4.56781375e-04 9.93261587e-01 -2.72587941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92591999999996 meters 0.027469496308004458 Centerline is valid? [True, True] Translation: X:223.18, Y:-155.79, Z:-27.26 [[ 7.18331740e-01 6.90759314e-01 8.27712645e-02 2.23178436e+02] [-6.86207077e-01 7.23084756e-01 -7.91724878e-02 -1.55789902e+02] [-1.14539773e-01 7.38834423e-05 9.93418660e-01 -2.72625268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95592 meters 0.027295681917790866 Centerline is valid? [True, True] Translation: X:223.20, Y:-155.81, Z:-27.26 [[ 7.15492006e-01 6.93810259e-01 8.18444512e-02 2.23201114e+02] [-6.89372301e-01 7.20157755e-01 -7.83494568e-02 -1.55813079e+02] [-1.13300573e-01 -3.62887669e-04 9.93560692e-01 -2.72643237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98591999999996 meters 0.027423734944897058 Centerline is valid? [True, True] Translation: X:223.22, Y:-155.84, Z:-27.27 [[ 7.13123605e-01 6.96280835e-01 8.15335687e-02 2.23224288e+02] [-6.91888540e-01 7.17769094e-01 -7.80882531e-02 -1.55836735e+02] [-1.12893630e-01 -7.25565281e-04 9.93606815e-01 -2.72675093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01592 meters 0.02748851972534848 Centerline is valid? [True, True] Translation: X:223.25, Y:-155.86, Z:-27.27 [[ 7.10927766e-01 6.98546196e-01 8.13321841e-02 2.23247638e+02] [-6.94181033e-01 7.15564229e-01 -7.79777371e-02 -1.55859878e+02] [-1.12669453e-01 -1.02272118e-03 9.93631998e-01 -2.72692488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04591999999997 meters 0.027888167280097187 Centerline is valid? [True, True] Translation: X:223.27, Y:-155.88, Z:-27.27 [[ 7.06936797e-01 7.02434488e-01 8.26205542e-02 2.23270895e+02] [-6.97946395e-01 7.11746586e-01 -7.92945533e-02 -1.55881103e+02] [-1.14504126e-01 -1.60848045e-03 9.93421470e-01 -2.72728325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07592 meters 0.0279269795309994 Centerline is valid? [True, True] Translation: X:223.30, Y:-155.90, Z:-27.28 [[ 7.05678773e-01 7.03847506e-01 8.13397732e-02 2.23295726e+02] [-6.99499381e-01 7.10348924e-01 -7.81346356e-02 -1.55902577e+02] [-1.12774489e-01 -1.75916732e-03 9.93619052e-01 -2.72755174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10591999999997 meters 0.028102816259789307 Centerline is valid? [True, True] Translation: X:223.32, Y:-155.92, Z:-27.28 [[ 7.02829200e-01 7.06718427e-01 8.11183105e-02 2.23320337e+02] [-7.02404886e-01 7.07491619e-01 -7.79934891e-02 -1.55922882e+02] [-1.12509961e-01 -2.16179613e-03 9.93648245e-01 -2.72798097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13592 meters 0.028167999062227226 Centerline is valid? [True, True] Translation: X:223.35, Y:-155.94, Z:-27.28 [[ 7.00228242e-01 7.09339199e-01 8.07360503e-02 2.23346458e+02] [-7.05079785e-01 7.04862696e-01 -7.76600010e-02 -1.55942523e+02] [-1.11995113e-01 -2.54563105e-03 9.93705497e-01 -2.72823997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16591999999997 meters 0.02845886372431827 Centerline is valid? [True, True] Translation: X:223.37, Y:-155.96, Z:-27.29 [[ 6.98887090e-01 7.10584566e-01 8.14027641e-02 2.23372024e+02] [-7.06254379e-01 7.03606564e-01 -7.83744569e-02 -1.55961844e+02] [-1.12967199e-01 -2.71616247e-03 9.93595005e-01 -2.72854216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19592 meters 0.02844274270270424 Centerline is valid? [True, True] Translation: X:223.40, Y:-155.98, Z:-27.29 [[ 6.97668670e-01 7.11756539e-01 8.16152933e-02 2.23398254e+02] [-7.07403335e-01 7.02420414e-01 -7.86516583e-02 -1.55981274e+02] [-1.13309080e-01 -2.86213284e-03 9.93555666e-01 -2.72883168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22592 meters 0.028582355780011108 Centerline is valid? [True, True] Translation: X:223.42, Y:-156.00, Z:-27.29 [[ 6.95333349e-01 7.14012725e-01 8.18374193e-02 2.23423780e+02] [-7.09642899e-01 7.00125470e-01 -7.89384711e-02 -1.56000479e+02] [-1.13659534e-01 -3.18679202e-03 9.93514647e-01 -2.72909992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25592 meters 0.02863845701867261 Centerline is valid? [True, True] Translation: X:223.45, Y:-156.02, Z:-27.29 [[ 6.95747644e-01 7.13713411e-01 8.09220789e-02 2.23448510e+02] [-7.09431061e-01 7.00431188e-01 -7.81263112e-02 -1.56020612e+02] [-1.12440144e-01 -3.05243935e-03 9.93653811e-01 -2.72938874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28592 meters 0.028231644945003024 Centerline is valid? [True, True] Translation: X:223.48, Y:-156.04, Z:-27.30 [[ 6.98537055e-01 7.11036637e-01 8.04542308e-02 2.23477439e+02] [-7.06778075e-01 7.03150320e-01 -7.77456112e-02 -1.56037269e+02] [-1.11851396e-01 -2.55509613e-03 9.93721660e-01 -2.72964277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31591999999995 meters 0.028014159302118823 Centerline is valid? [True, True] Translation: X:223.50, Y:-156.06, Z:-27.30 [[ 6.99915635e-01 7.09723603e-01 8.00656770e-02 2.23502912e+02] [-7.05489655e-01 7.04476540e-01 -7.74412769e-02 -1.56057347e+02] [-1.11366293e-01 -2.28314642e-03 9.93776804e-01 -2.72990565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34592 meters 0.027639343266872875 Centerline is valid? [True, True] Translation: X:223.53, Y:-156.08, Z:-27.30 [[ 7.04110055e-01 7.05396181e-01 8.15184545e-02 2.23529090e+02] [-7.00969233e-01 7.08811507e-01 -7.89201021e-02 -1.56076717e+02] [-1.13451157e-01 -1.57349101e-03 9.93542329e-01 -2.73037881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37591999999995 meters 0.027421275872733155 Centerline is valid? [True, True] Translation: X:223.55, Y:-156.10, Z:-27.31 [[ 7.05693880e-01 7.03698237e-01 8.24920619e-02 2.23553947e+02] [-6.99144126e-01 7.10497855e-01 -7.99392907e-02 -1.56097792e+02] [-1.14863571e-01 -1.26117227e-03 9.93380476e-01 -2.73072324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40592 meters 0.027350654081961828 Centerline is valid? [True, True] Translation: X:223.58, Y:-156.12, Z:-27.31 [[ 7.10686081e-01 6.98788245e-01 8.13651185e-02 2.23580991e+02] [-6.94317730e-01 7.15328472e-01 -7.89181002e-02 -1.56116694e+02] [-1.13349827e-01 -4.07249038e-04 9.93555057e-01 -2.73100520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43591999999995 meters 0.027203839565651124 Centerline is valid? [True, True] Translation: X:223.60, Y:-156.14, Z:-27.31 [[ 7.13858674e-01 6.95763283e-01 7.94936964e-02 2.23604006e+02] [-6.91474256e-01 7.18271150e-01 -7.71356547e-02 -1.56138790e+02] [-1.10766185e-01 9.61115744e-05 9.93846489e-01 -2.73129392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46592 meters 0.02724949010082042 Centerline is valid? [True, True] Translation: X:223.63, Y:-156.16, Z:-27.32 [[ 7.14438259e-01 6.95128555e-01 7.98390014e-02 2.23626745e+02] [-6.90789961e-01 7.18885408e-01 -7.75435329e-02 -1.56162648e+02] [-1.11297817e-01 2.48085976e-04 9.93787067e-01 -2.73158895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49591999999996 meters 0.02738431852651715 Centerline is valid? [True, True] Translation: X:223.65, Y:-156.19, Z:-27.32 [[ 7.14980730e-01 6.94577599e-01 7.97779098e-02 2.23650214e+02] [-6.90233250e-01 7.19417685e-01 -7.75645206e-02 -1.56185493e+02] [-1.11268218e-01 3.91771640e-04 9.93790335e-01 -2.73183159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52592 meters 0.027407715182589932 Centerline is valid? [True, True] Translation: X:223.67, Y:-156.21, Z:-27.32 [[ 7.15964259e-01 6.93426031e-01 8.09661609e-02 2.23674248e+02] [-6.88934380e-01 7.20527538e-01 -7.88003054e-02 -1.56206903e+02] [-1.12980532e-01 6.37830413e-04 9.93596997e-01 -2.73210367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55591999999996 meters 0.027429342871580446 Centerline is valid? [True, True] Translation: X:223.70, Y:-156.23, Z:-27.33 [[ 7.15743727e-01 6.93635187e-01 8.11242552e-02 2.23696865e+02] [-6.89118862e-01 7.20326171e-01 -7.90278490e-02 -1.56230442e+02] [-1.13252421e-01 6.59432727e-04 9.93566029e-01 -2.73258459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58592 meters 0.0274828260286154 Centerline is valid? [True, True] Translation: X:223.72, Y:-156.26, Z:-27.33 [[ 7.14777345e-01 6.94566439e-01 8.16750210e-02 2.23715384e+02] [-6.89984912e-01 7.19428336e-01 -7.96472827e-02 -1.56257981e+02] [-1.14079654e-01 5.75541111e-04 9.93471440e-01 -2.73299274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61591999999996 meters 0.027352578878381318 Centerline is valid? [True, True] Translation: X:223.74, Y:-156.28, Z:-27.33 [[ 7.13621048e-01 6.95857513e-01 8.07918407e-02 2.23736334e+02] [-6.91374172e-01 7.18179743e-01 -7.88645119e-02 -1.56281853e+02] [-1.12901527e-01 4.21983700e-04 9.93606093e-01 -2.73322898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64592 meters 0.027536274502808118 Centerline is valid? [True, True] Translation: X:223.76, Y:-156.31, Z:-27.34 [[ 7.10311273e-01 6.99129804e-01 8.17032005e-02 2.23758021e+02] [-6.94557243e-01 7.14994766e-01 -7.98293251e-02 -1.56306223e+02] [-1.14228421e-01 -4.38801478e-05 9.93454511e-01 -2.73354123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67591999999996 meters 0.027516890093754718 Centerline is valid? [True, True] Translation: X:223.78, Y:-156.33, Z:-27.34 [[ 7.08114911e-01 7.01339441e-01 8.18306807e-02 2.23780503e+02] [-6.96757572e-01 7.12827379e-01 -8.00375768e-02 -1.56330014e+02] [-1.14464659e-01 -3.40344754e-04 9.93427263e-01 -2.73387392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70592 meters 0.02773018704087878 Centerline is valid? [True, True] Translation: X:223.80, Y:-156.35, Z:-27.34 [[ 7.05088977e-01 7.04395577e-01 8.17092797e-02 2.23802232e+02] [-6.99838140e-01 7.09807207e-01 -8.00019181e-02 -1.56354494e+02] [-1.14350833e-01 -7.74799742e-04 9.93440127e-01 -2.73417054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73591999999996 meters 0.027732426948070297 Centerline is valid? [True, True] Translation: X:223.82, Y:-156.38, Z:-27.34 [[ 7.03862309e-01 7.05840110e-01 7.97971777e-02 2.23824615e+02] [-7.01494588e-01 7.08370577e-01 -7.82078531e-02 -1.56376996e+02] [-1.11728212e-01 -9.29728249e-04 9.93738367e-01 -2.73434156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76592 meters 0.02800700739231932 Centerline is valid? [True, True] Translation: X:223.85, Y:-156.40, Z:-27.35 [[ 7.01826201e-01 7.07789618e-01 8.04601757e-02 2.23847046e+02] [-7.03375871e-01 7.06422268e-01 -7.89301174e-02 -1.56399704e+02] [-1.12704777e-01 -1.19852176e-03 9.93627796e-01 -2.73450916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79591999999997 meters 0.028067350298105344 Centerline is valid? [True, True] Translation: X:223.87, Y:-156.42, Z:-27.35 [[ 7.00271719e-01 7.09279866e-01 8.08801113e-02 2.23869692e+02] [-7.04821355e-01 7.04925619e-01 -7.94149109e-02 -1.56422397e+02] [-1.13341860e-01 -1.39401355e-03 9.93555071e-01 -2.73488882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82592 meters 0.028185783814497236 Centerline is valid? [True, True] Translation: X:223.89, Y:-156.44, Z:-27.35 [[ 6.98799505e-01 7.10900476e-01 7.93710605e-02 2.23891921e+02] [-7.06609782e-01 7.03290859e-01 -7.80037479e-02 -1.56444735e+02] [-1.11273843e-01 -1.57538728e-03 9.93788534e-01 -2.73535810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85591999999997 meters 0.028155035537432576 Centerline is valid? [True, True] Translation: X:223.92, Y:-156.47, Z:-27.36 [[ 6.98126950e-01 7.11592895e-01 7.90842148e-02 2.23915599e+02] [-7.07329505e-01 7.02590138e-01 -7.77950534e-02 -1.56467520e+02] [-1.10922197e-01 -1.62777508e-03 9.93827760e-01 -2.73560463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88592 meters 0.028556805665406148 Centerline is valid? [True, True] Translation: X:223.94, Y:-156.49, Z:-27.36 [[ 6.96163450e-01 7.13411100e-01 8.00065803e-02 2.23938734e+02] [-7.09050094e-01 7.00743219e-01 -7.87839090e-02 -1.56489656e+02] [-1.12269384e-01 -1.88219541e-03 9.93676025e-01 -2.73595421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91591999999997 meters 0.02835120162522995 Centerline is valid? [True, True] Translation: X:223.96, Y:-156.51, Z:-27.36 [[ 6.95271142e-01 7.14369800e-01 7.92075029e-02 2.23963248e+02] [-7.10094695e-01 6.99765607e-01 -7.80616341e-02 -1.56512548e+02] [-1.11191560e-01 -1.97082620e-03 9.93797038e-01 -2.73607487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94592 meters 0.028712061246464055 Centerline is valid? [True, True] Translation: X:223.99, Y:-156.53, Z:-27.36 [[ 6.93044493e-01 7.16365679e-01 8.06817478e-02 2.23987035e+02] [-7.11937901e-01 6.97721226e-01 -7.95582467e-02 -1.56533375e+02] [-1.13286165e-01 -2.30298950e-03 9.93559732e-01 -2.73637879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97592 meters 0.028918126360694185 Centerline is valid? [True, True] Translation: X:224.01, Y:-156.56, Z:-27.37 [[ 6.91987938e-01 7.17388339e-01 8.06638948e-02 2.24011076e+02] [-7.12961245e-01 6.96669303e-01 -7.96124751e-02 -1.56555363e+02] [-1.13309121e-01 -2.41935834e-03 9.93556838e-01 -2.73672719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00592 meters 0.029131435254949718 Centerline is valid? [True, True] Translation: X:224.04, Y:-156.58, Z:-27.37 [[ 6.90824484e-01 7.18521109e-01 8.05540098e-02 2.24035129e+02] [-7.14104221e-01 6.95500504e-01 -7.95877547e-02 -1.56577081e+02] [-1.13210836e-01 -2.54278884e-03 9.93567733e-01 -2.73710888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03592 meters 0.028963787533802503 Centerline is valid? [True, True] Translation: X:224.06, Y:-156.60, Z:-27.37 [[ 6.89531654e-01 7.19955411e-01 7.88054832e-02 2.24060428e+02] [-7.15729070e-01 6.94015221e-01 -7.79408258e-02 -1.56598386e+02] [-1.10806124e-01 -2.66070869e-03 9.93838480e-01 -2.73730628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06591999999995 meters 0.028877434480077947 Centerline is valid? [True, True] Translation: X:224.09, Y:-156.62, Z:-27.38 [[ 6.89489957e-01 7.19956042e-01 7.91637315e-02 2.24085398e+02] [-7.15681840e-01 6.94014738e-01 -7.83775933e-02 -1.56619636e+02] [-1.11369218e-01 -2.61548164e-03 9.93775657e-01 -2.73760814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09592 meters 0.02881285999813943 Centerline is valid? [True, True] Translation: X:224.11, Y:-156.64, Z:-27.38 [[ 6.89758839e-01 7.19770372e-01 7.85070444e-02 2.24110317e+02] [-7.15557863e-01 6.94207672e-01 -7.77988019e-02 -1.56640791e+02] [-1.10497465e-01 -2.51392162e-03 9.93873227e-01 -2.73785094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12591999999995 meters 0.028932001294545776 Centerline is valid? [True, True] Translation: X:224.13, Y:-156.66, Z:-27.38 [[ 6.89507920e-01 7.20030215e-01 7.83282728e-02 2.24134813e+02] [-7.15834688e-01 6.93938120e-01 -7.76568421e-02 -1.56662456e+02] [-1.10270247e-01 -2.52508707e-03 9.93898434e-01 -2.73818043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15592 meters 0.028726688291558146 Centerline is valid? [True, True] Translation: X:224.16, Y:-156.68, Z:-27.38 [[ 6.89942313e-01 7.19681478e-01 7.77056917e-02 2.24162172e+02] [-7.15541665e-01 6.94300251e-01 -7.71186600e-02 -1.56680499e+02] [-1.09451952e-01 -2.39423332e-03 9.93989204e-01 -2.73838168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18591999999995 meters 0.028959539194580847 Centerline is valid? [True, True] Translation: X:224.19, Y:-156.70, Z:-27.39 [[ 6.88851229e-01 7.20696437e-01 7.79784004e-02 2.24188103e+02] [-7.16525984e-01 6.93246221e-01 -7.74608979e-02 -1.56700222e+02] [-1.09884025e-01 -2.51451535e-03 9.93941235e-01 -2.73873047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21592 meters 0.02893087969807411 Centerline is valid? [True, True] Translation: X:224.22, Y:-156.72, Z:-27.39 [[ 6.88290360e-01 7.21220563e-01 7.80850807e-02 2.24216210e+02] [-7.17033905e-01 6.92700796e-01 -7.76401026e-02 -1.56719166e+02] [-1.10085236e-01 -2.55071621e-03 9.93918877e-01 -2.73893169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24591999999996 meters 0.02903503301300338 Centerline is valid? [True, True] Translation: X:224.24, Y:-156.74, Z:-27.39 [[ 6.87593577e-01 7.21987288e-01 7.71325446e-02 2.24241779e+02] [-7.17898458e-01 6.91901493e-01 -7.67732247e-02 -1.56740331e+02] [-1.08797415e-01 -2.58455864e-03 9.94060583e-01 -2.73919212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.27592 meters 0.029182005141240377 Centerline is valid? [True, True] Translation: X:224.27, Y:-156.76, Z:-27.40 [[ 6.87828017e-01 7.21631948e-01 7.83578444e-02 2.24270529e+02] [-7.17400261e-01 6.92272364e-01 -7.80758570e-02 -1.56758208e+02] [-1.10587003e-01 -2.51117615e-03 9.93863275e-01 -2.73955784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30591999999996 meters 0.028862084037455965 Centerline is valid? [True, True] Translation: X:224.30, Y:-156.78, Z:-27.40 [[ 6.88613073e-01 7.20879208e-01 7.83913530e-02 2.24295800e+02] [-7.16630151e-01 6.93056789e-01 -7.81889656e-02 -1.56778046e+02] [-1.10694459e-01 -2.33566330e-03 9.93851740e-01 -2.73994123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.33592 meters 0.02855865290684559 Centerline is valid? [True, True] Translation: X:224.32, Y:-156.80, Z:-27.40 [[ 6.90976367e-01 7.18850066e-01 7.61987134e-02 2.24322645e+02] [-7.14816367e-01 6.95162536e-01 -7.60697738e-02 -1.56796620e+02] [-1.07653253e-01 -1.90567156e-03 9.94186675e-01 -2.74018272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36591999999996 meters 0.028187376808149922 Centerline is valid? [True, True] Translation: X:224.35, Y:-156.82, Z:-27.40 [[ 6.93485364e-01 7.16441215e-01 7.60922752e-02 2.24347316e+02] [-7.12396781e-01 6.97645895e-01 -7.60331001e-02 -1.56817374e+02] [-1.07558710e-01 -1.48004975e-03 9.94197633e-01 -2.74043679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39592 meters 0.028052980767626565 Centerline is valid? [True, True] Translation: X:224.37, Y:-156.84, Z:-27.41 [[ 6.98023443e-01 7.12080880e-01 7.55254445e-02 2.24372737e+02] [-7.08063648e-01 7.02097042e-01 -7.55355145e-02 -1.56837025e+02] [-1.06813587e-01 -7.51261825e-04 9.94278780e-01 -2.74085387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42591999999996 meters 0.028042937626681457 Centerline is valid? [True, True] Translation: X:224.32, Y:-157.16, Z:-25.44 [[ 7.55568755e-01 -6.52967506e-01 -5.24336946e-02 2.24320756e+02] [-6.50756956e-01 -7.57355749e-01 5.41078022e-02 -1.57163143e+02] [-7.50415967e-02 -6.76057326e-03 -9.97157487e-01 -2.54357010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45592 meters 0.02794695961612993 Centerline is valid? [True, True] Translation: X:224.39, Y:-156.86, Z:-27.41 [[ 7.52073061e-01 6.54142847e-01 8.05186072e-02 2.24385192e+02] [-6.50408475e-01 7.56371020e-01 -6.97975312e-02 -1.56864054e+02] [-1.06559497e-01 1.22858401e-04 9.94306320e-01 -2.74110292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48591999999996 meters 0.028031059457255342 Centerline is valid? [True, True] Translation: X:224.41, Y:-156.88, Z:-27.41 [[ 7.52586791e-01 6.53634126e-01 7.98470544e-02 2.24411092e+02] [-6.49951369e-01 7.56810655e-01 -6.92881699e-02 -1.56884792e+02] [-1.05718214e-01 2.48659158e-04 9.94396097e-01 -2.74133637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51592 meters 0.027895421097101282 Centerline is valid? [True, True] Translation: X:224.44, Y:-156.91, Z:-27.42 [[ 7.52367187e-01 6.54097524e-01 7.81027881e-02 2.24435727e+02] [-6.50569723e-01 7.56410190e-01 -6.78429055e-02 -1.56905935e+02] [-1.03453621e-01 2.31466749e-04 9.94634252e-01 -2.74152214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54591999999997 meters 0.027776414637528335 Centerline is valid? [True, True] Translation: X:224.46, Y:-156.93, Z:-27.42 [[ 7.51578811e-01 6.55056988e-01 7.76507178e-02 2.24460145e+02] [-6.51568669e-01 7.55579461e-01 -6.75125792e-02 -1.56927832e+02] [-1.02895874e-01 1.46249215e-04 9.94692122e-01 -2.74171733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57592 meters 0.027748062011157155 Centerline is valid? [True, True] Translation: X:224.48, Y:-156.95, Z:-27.42 [[ 7.49838066e-01 6.57076599e-01 7.74158771e-02 2.24484656e+02] [-6.53612860e-01 7.53823810e-01 -6.73787225e-02 -1.56950682e+02] [-1.02630913e-01 -7.68818875e-05 9.94719503e-01 -2.74184804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60591999999997 meters 0.02769309813147433 Centerline is valid? [True, True] Translation: X:224.51, Y:-156.97, Z:-27.42 [[ 7.48891519e-01 6.58098976e-01 7.78924235e-02 2.24509915e+02] [-6.54590376e-01 7.52931412e-01 -6.78655191e-02 -1.56972302e+02] [-1.03309881e-01 -1.63719138e-04 9.94649205e-01 -2.74217219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63592 meters 0.027624719848738374 Centerline is valid? [True, True] Translation: X:224.53, Y:-156.99, Z:-27.42 [[ 7.45975819e-01 6.61613304e-01 7.60783344e-02 2.24534372e+02] [-6.58277885e-01 7.49844981e-01 -6.63530711e-02 -1.56994568e+02] [-1.00947032e-01 -5.82898582e-04 9.94891631e-01 -2.74246849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66591999999997 meters 0.0276408389835742 Centerline is valid? [True, True] Translation: X:224.56, Y:-157.02, Z:-27.43 [[ 7.43667269e-01 6.64246461e-01 7.57339507e-02 2.24559158e+02] [-6.60947846e-01 7.47513116e-01 -6.61217615e-02 -1.57016650e+02] [-1.00533268e-01 -8.83601743e-04 9.94933305e-01 -2.74272176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69592 meters 0.0276408389835742 Centerline is valid? [True, True] Translation: X:224.58, Y:-157.04, Z:-27.43 [[ 7.43321639e-01 6.64637135e-01 7.56995333e-02 2.24583832e+02] [-6.61336530e-01 7.47165776e-01 -6.61611429e-02 -1.57037734e+02] [-1.00533253e-01 -8.83857566e-04 9.94933306e-01 -2.74301805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72592 meters 0.02807823811242237 Centerline is valid? [True, True] Translation: X:224.61, Y:-157.06, Z:-27.43 [[ 7.40409630e-01 6.67661733e-01 7.75976082e-02 2.24609018e+02] [-6.64202606e-01 7.44463687e-01 -6.78875327e-02 -1.57057119e+02] [-1.03094509e-01 -1.27595057e-03 9.94670747e-01 -2.74324743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75592 meters 0.02807393620655805 Centerline is valid? [True, True] Translation: X:224.63, Y:-157.08, Z:-27.43 [[ 7.38833044e-01 6.69437536e-01 7.73247618e-02 2.24634951e+02] [-6.66009536e-01 7.42866842e-01 -6.76768264e-02 -1.57077709e+02] [-1.02747409e-01 -1.49715302e-03 9.94706353e-01 -2.74345773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78592 meters 0.028384848470647324 Centerline is valid? [True, True] Translation: X:224.66, Y:-157.10, Z:-27.44 [[ 7.36954380e-01 6.71684444e-01 7.57512346e-02 2.24662189e+02] [-6.68400099e-01 7.40835362e-01 -6.63647059e-02 -1.57095522e+02] [-1.00695334e-01 -1.72437202e-03 9.94915814e-01 -2.74378778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81591999999995 meters 0.028410188284313808 Centerline is valid? [True, True] Translation: X:224.69, Y:-157.12, Z:-27.44 [[ 7.36587116e-01 6.72012147e-01 7.64139722e-02 2.24688693e+02] [-6.68668927e-01 7.40538021e-01 -6.69724212e-02 -1.57115186e+02] [-1.01593732e-01 -1.76462625e-03 9.94824406e-01 -2.74411903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84592 meters 0.02831776463090032 Centerline is valid? [True, True] Translation: X:224.72, Y:-157.13, Z:-27.44 [[ 7.36136558e-01 6.72532229e-01 7.61798441e-02 2.24715179e+02] [-6.69205105e-01 7.40065699e-01 -6.68377855e-02 -1.57134891e+02] [-1.01328654e-01 -1.77820313e-03 9.94851417e-01 -2.74434642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87591999999995 meters 0.028201400138344133 Centerline is valid? [True, True] Translation: X:224.74, Y:-157.15, Z:-27.45 [[ 7.36838599e-01 6.71597057e-01 7.76290732e-02 2.24743953e+02] [-6.68129023e-01 7.40914804e-01 -6.81825619e-02 -1.57152431e+02] [-1.03307737e-01 -1.62669347e-03 9.94648111e-01 -2.74462889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90592 meters 0.028046439806576878 Centerline is valid? [True, True] Translation: X:224.77, Y:-157.17, Z:-27.45 [[ 7.37868767e-01 6.70584697e-01 7.65888154e-02 2.24769335e+02] [-6.67196709e-01 7.41831629e-01 -6.73378407e-02 -1.57171651e+02] [-1.01971731e-01 -1.41331608e-03 9.94786293e-01 -2.74488902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93591999999995 meters 0.027764886252017774 Centerline is valid? [True, True] Translation: X:224.80, Y:-157.19, Z:-27.45 [[ 7.41410925e-01 6.66809875e-01 7.53288223e-02 2.24796005e+02] [-6.63507145e-01 7.45227413e-01 -6.62900562e-02 -1.57190023e+02] [-1.00339967e-01 -8.33039988e-04 9.94952862e-01 -2.74509470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96592 meters 0.027590622903575373 Centerline is valid? [True, True] Translation: X:224.82, Y:-157.21, Z:-27.45 [[ 7.44991981e-01 6.62752444e-01 7.58033357e-02 2.24822380e+02] [-6.59380514e-01 7.48838527e-01 -6.67697403e-02 -1.57208841e+02] [-1.01016267e-01 -2.40321366e-04 9.94884745e-01 -2.74536082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99591999999996 meters 0.027724237420872218 Centerline is valid? [True, True] Translation: X:224.85, Y:-157.23, Z:-27.46 [[ 7.46452275e-01 6.61037791e-01 7.64070668e-02 2.24847955e+02] [-6.57596305e-01 7.50352609e-01 -6.73651413e-02 -1.57229497e+02] [-1.01863146e-01 3.98581390e-05 9.94798421e-01 -2.74571775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02592 meters 0.02756509337638859 Centerline is valid? [True, True] Translation: X:224.87, Y:-157.25, Z:-27.46 [[ 7.47452755e-01 6.59977715e-01 7.57878213e-02 2.24873162e+02] [-6.56579451e-01 7.51285139e-01 -6.68884534e-02 -1.57251268e+02] [-1.01083152e-01 2.35232712e-04 9.94877953e-01 -2.74597557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05591999999996 meters 0.027700667373091268 Centerline is valid? [True, True] Translation: X:224.90, Y:-157.27, Z:-27.46 [[ 7.48941615e-01 6.58320363e-01 7.55033523e-02 2.24896945e+02] [-6.54932260e-01 7.52737697e-01 -6.67060365e-02 -1.57273641e+02] [-1.00748162e-01 5.09345564e-04 9.94911830e-01 -2.74614563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08592 meters 0.027637268987226557 Centerline is valid? [True, True] Translation: X:224.92, Y:-157.30, Z:-27.46 [[ 7.49370225e-01 6.57982719e-01 7.41822617e-02 2.24920559e+02] [-6.54704176e-01 7.53032793e-01 -6.56052911e-02 -1.57296995e+02] [-9.90288236e-02 5.95215208e-04 9.95084387e-01 -2.74638067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11591999999996 meters 0.027573038865280952 Centerline is valid? [True, True] Translation: X:224.94, Y:-157.32, Z:-27.47 [[ 7.48463055e-01 6.59055256e-01 7.38188585e-02 2.24943942e+02] [-6.55807408e-01 7.52094354e-01 -6.53507955e-02 -1.57319594e+02] [-9.85885320e-02 5.01701819e-04 9.95128157e-01 -2.74668533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14592 meters 0.027455304824149093 Centerline is valid? [True, True] Translation: X:224.97, Y:-157.34, Z:-27.47 [[ 7.47563931e-01 6.60001668e-01 7.44712511e-02 2.24967621e+02] [-6.56693867e-01 7.51264010e-01 -6.59966103e-02 -1.57342807e+02] [-9.95054436e-02 4.31871584e-04 9.95036924e-01 -2.74695263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17591999999996 meters 0.027222031710000375 Centerline is valid? [True, True] Translation: X:224.99, Y:-157.37, Z:-27.47 [[ 7.44759998e-01 6.63107081e-01 7.49769650e-02 2.24989584e+02] [-6.59762792e-01 7.48524545e-01 -6.65136351e-02 -1.57368232e+02] [-1.00227761e-01 6.96829061e-05 9.94964518e-01 -2.74712172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20592 meters 0.027329468435049815 Centerline is valid? [True, True] Translation: X:225.01, Y:-157.39, Z:-27.48 [[ 7.42409792e-01 6.65584579e-01 7.63208309e-02 2.25013629e+02] [-6.62124704e-01 7.46322398e-01 -6.77772405e-02 -1.57391223e+02] [-1.02071432e-01 -2.15420548e-04 9.94777049e-01 -2.74753016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23591999999996 meters 0.02744897368784935 Centerline is valid? [True, True] Translation: X:225.04, Y:-157.41, Z:-27.48 [[ 7.38559253e-01 6.69888308e-01 7.60255577e-02 2.25036704e+02] [-6.66470656e-01 7.42461506e-01 -6.75853322e-02 -1.57414907e+02] [-1.01720674e-01 -7.53030869e-04 9.94812715e-01 -2.74776359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26592 meters 0.02735287248329044 Centerline is valid? [True, True] Translation: X:225.06, Y:-157.44, Z:-27.48 [[ 7.36035663e-01 6.72767110e-01 7.50727618e-02 2.25060808e+02] [-6.69442745e-01 7.39853526e-01 -6.68069690e-02 -1.57437126e+02] [-1.00488379e-01 -1.08460402e-03 9.94937641e-01 -2.74808427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29591999999997 meters 0.027779577211633644 Centerline is valid? [True, True] Translation: X:225.08, Y:-157.46, Z:-27.48 [[ 7.34261560e-01 6.74717723e-01 7.49396785e-02 2.25083847e+02] [-6.71408601e-01 7.38074728e-01 -6.67546650e-02 -1.57458731e+02] [-1.00351638e-01 -1.29976028e-03 9.94951184e-01 -2.74835900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32592 meters 0.027327213162099573 Centerline is valid? [True, True] Translation: X:225.11, Y:-157.48, Z:-27.49 [[ 7.34402063e-01 6.74669457e-01 7.39914448e-02 2.25108012e+02] [-6.71440315e-01 7.38118930e-01 -6.59420140e-02 -1.57479380e+02] [-9.91035488e-02 -1.25288780e-03 9.95076337e-01 -2.74856124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35591999999997 meters 0.027439748327590146 Centerline is valid? [True, True] Translation: X:225.13, Y:-157.50, Z:-27.49 [[ 7.34710131e-01 6.74184838e-01 7.53380842e-02 2.25134096e+02] [-6.70831491e-01 7.38561704e-01 -6.71693466e-02 -1.57499680e+02] [-1.00926379e-01 -1.18915985e-03 9.94893186e-01 -2.74894303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38592 meters 0.027222576892784376 Centerline is valid? [True, True] Translation: X:225.16, Y:-157.52, Z:-27.49 [[ 7.35872161e-01 6.73064469e-01 7.40025871e-02 2.25158777e+02] [-6.69816761e-01 7.39583185e-01 -6.60470991e-02 -1.57520779e+02] [-9.91850247e-02 -9.65951630e-04 9.95068539e-01 -2.74924893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41591999999997 meters 0.027134846327438383 Centerline is valid? [True, True] Translation: X:225.18, Y:-157.54, Z:-27.50 [[ 7.36407881e-01 6.72409912e-01 7.46213339e-02 2.25183030e+02] [-6.69097889e-01 7.40178496e-01 -6.66618981e-02 -1.57542376e+02] [-1.00057228e-01 -8.38629849e-04 9.94981330e-01 -2.74953509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44592 meters 0.027142970069884677 Centerline is valid? [True, True] Translation: X:225.21, Y:-157.56, Z:-27.50 [[ 7.36571781e-01 6.72138066e-01 7.54482014e-02 2.25208222e+02] [-6.68743342e-01 7.40425450e-01 -6.74721869e-02 -1.57564247e+02] [-1.01214394e-01 -7.57373492e-04 9.94864349e-01 -2.74985140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47592 meters 0.027121396473138933 Centerline is valid? [True, True] Translation: X:225.23, Y:-157.59, Z:-27.50 [[ 7.36504642e-01 6.72104488e-01 7.63967882e-02 2.25233859e+02] [-6.68615962e-01 7.40455978e-01 -6.83932750e-02 -1.57585564e+02] [-1.02535886e-01 -7.08147493e-04 9.94729054e-01 -2.75009685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50592 meters 0.02732224051553407 Centerline is valid? [True, True] Translation: X:225.26, Y:-157.61, Z:-27.50 [[ 7.34613532e-01 6.73981059e-01 7.80544100e-02 2.25257694e+02] [-6.70341948e-01 7.38748032e-01 -6.99501069e-02 -1.57607452e+02] [-1.04807589e-01 -9.36850131e-04 9.94492077e-01 -2.75036937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53592 meters 0.027175024517381092 Centerline is valid? [True, True] Translation: X:225.28, Y:-157.63, Z:-27.50 [[ 7.34334254e-01 6.74414668e-01 7.69289244e-02 2.25281209e+02] [-6.70875946e-01 7.38352203e-01 -6.90035539e-02 -1.57629113e+02] [-1.03337650e-01 -9.38091644e-04 9.94645892e-01 -2.75046356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56591999999995 meters 0.027104491255942293 Centerline is valid? [True, True] Translation: X:225.31, Y:-157.65, Z:-27.51 [[ 7.34244051e-01 6.74479895e-01 7.72175196e-02 2.25305130e+02] [-6.70908080e-01 7.38292663e-01 -6.93274174e-02 -1.57652394e+02] [-1.03769077e-01 -9.02613998e-04 9.94601007e-01 -2.75078759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59592 meters 0.027132654437236916 Centerline is valid? [True, True] Translation: X:225.33, Y:-157.67, Z:-27.51 [[ 7.34733485e-01 6.73916602e-01 7.74797999e-02 2.25329305e+02] [-6.70309530e-01 7.38807024e-01 -6.96370166e-02 -1.57674533e+02] [-1.04172162e-01 -7.70800439e-04 9.94558981e-01 -2.75111555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62591999999995 meters 0.027139909443662964 Centerline is valid? [True, True] Translation: X:225.35, Y:-157.70, Z:-27.51 [[ 7.36466796e-01 6.71966319e-01 7.79610431e-02 2.25351541e+02] [-6.68295440e-01 7.40581575e-01 -7.01436747e-02 -1.57698560e+02] [-1.04870699e-01 -4.42522203e-04 9.94485767e-01 -2.75147021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65592 meters 0.027128551498100915 Centerline is valid? [True, True] Translation: X:225.38, Y:-157.72, Z:-27.52 [[ 7.36562115e-01 6.71724727e-01 7.91337037e-02 2.25375379e+02] [-6.67932722e-01 7.40800758e-01 -7.12749244e-02 -1.57721443e+02] [-1.06499437e-01 -3.57581099e-04 9.94312698e-01 -2.75175220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68591999999995 meters 0.026983923257895493 Centerline is valid? [True, True] Translation: X:225.40, Y:-157.74, Z:-27.52 [[ 7.37191157e-01 6.71138848e-01 7.82422209e-02 2.25399073e+02] [-6.67421116e-01 7.41331640e-01 -7.05439852e-02 -1.57743291e+02] [-1.05348243e-01 -2.16108335e-04 9.94435368e-01 -2.75203104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71592 meters 0.02714600187633067 Centerline is valid? [True, True] Translation: X:225.42, Y:-157.77, Z:-27.52 [[ 7.37755863e-01 6.70475032e-01 7.86099103e-02 2.25422211e+02] [-6.66711374e-01 7.41932090e-01 -7.09416474e-02 -1.57766306e+02] [-1.05887818e-01 -7.25050238e-05 9.94378079e-01 -2.75233195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74591999999996 meters 0.026877918142513595 Centerline is valid? [True, True] Translation: X:225.44, Y:-157.79, Z:-27.53 [[ 7.36661612e-01 6.71676138e-01 7.86182871e-02 2.25444103e+02] [-6.67910532e-01 7.40844875e-01 -7.10238793e-02 -1.57790927e+02] [-1.05949000e-01 -1.89416602e-04 9.94371547e-01 -2.75262810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.77592 meters 0.027002918350428385 Centerline is valid? [True, True] Translation: X:225.47, Y:-157.81, Z:-27.53 [[ 7.36060591e-01 6.72204987e-01 7.97198993e-02 2.25467433e+02] [-6.68327694e-01 7.40365052e-01 -7.20949636e-02 -1.57813292e+02] [-1.07484421e-01 -2.12754929e-04 9.94206746e-01 -2.75292776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80591999999996 meters 0.026968135237863757 Centerline is valid? [True, True] Translation: X:225.49, Y:-157.84, Z:-27.53 [[ 7.34740418e-01 6.73546588e-01 8.05699209e-02 2.25490170e+02] [-6.69586470e-01 7.39144683e-01 -7.29321385e-02 -1.57836465e+02] [-1.08676022e-01 -3.62338994e-04 9.94077155e-01 -2.75329243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.83592 meters 0.027144750238612462 Centerline is valid? [True, True] Translation: X:225.51, Y:-157.86, Z:-27.54 [[ 7.34564106e-01 6.73998124e-01 7.83715661e-02 2.25511274e+02] [-6.70247541e-01 7.38732964e-01 -7.10059302e-02 -1.57861660e+02] [-1.05753523e-01 -3.69941838e-04 9.94392305e-01 -2.75353562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86591999999996 meters 0.027056585637288237 Centerline is valid? [True, True] Translation: X:225.53, Y:-157.88, Z:-27.54 [[ 7.33982859e-01 6.74704278e-01 7.77386641e-02 2.25534841e+02] [-6.71011272e-01 7.38088045e-01 -7.04975913e-02 -1.57884135e+02] [-1.04943005e-01 -4.19496296e-04 9.94478149e-01 -2.75380649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89592 meters 0.02729854119973555 Centerline is valid? [True, True] Translation: X:225.56, Y:-157.91, Z:-27.54 [[ 7.33879539e-01 6.74631037e-01 7.93333846e-02 2.25557668e+02] [-6.70775948e-01 7.38155020e-01 -7.20194043e-02 -1.57906131e+02] [-1.07146861e-01 -3.61358999e-04 9.94243139e-01 -2.75417746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92591999999996 meters 0.027337835767050674 Centerline is valid? [True, True] Translation: X:225.58, Y:-157.93, Z:-27.55 [[ 7.33818811e-01 6.74672678e-01 7.95407469e-02 2.25580438e+02] [-6.70790177e-01 7.38116980e-01 -7.22762924e-02 -1.57930469e+02] [-1.07473216e-01 -3.17448766e-04 9.94207930e-01 -2.75451860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95592 meters 0.02718412361907615 Centerline is valid? [True, True] Translation: X:225.60, Y:-157.95, Z:-27.55 [[ 7.33689989e-01 6.74827479e-01 7.94158289e-02 2.25603678e+02] [-6.70949930e-01 7.37975470e-01 -7.22384813e-02 -1.57953739e+02] [-1.07355446e-01 -2.83394302e-04 9.94220664e-01 -2.75475762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98591999999996 meters 0.027279230186051506 Centerline is valid? [True, True] Translation: X:225.63, Y:-157.98, Z:-27.55 [[ 7.33456687e-01 6.75030039e-01 7.98481978e-02 2.25627401e+02] [-6.71102888e-01 7.37790201e-01 -7.27085481e-02 -1.57976484e+02] [-1.07991672e-01 -2.57785350e-04 9.94151765e-01 -2.75516618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01592 meters 0.027513279537334682 Centerline is valid? [True, True] Translation: X:225.65, Y:-158.00, Z:-27.55 [[ 7.33000880e-01 6.75559738e-01 7.95534386e-02 2.25651307e+02] [-6.71656447e-01 7.37305203e-01 -7.25165809e-02 -1.57998879e+02] [-1.07644447e-01 -2.77862292e-04 9.94189417e-01 -2.75539112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04591999999997 meters 0.027348185832012036 Centerline is valid? [True, True] Translation: X:225.68, Y:-158.02, Z:-27.56 [[ 7.33055699e-01 6.75512100e-01 7.94527802e-02 2.25676095e+02] [-6.71610221e-01 7.37348870e-01 -7.25007226e-02 -1.58021218e+02] [-1.07559533e-01 -2.14231393e-04 9.94198623e-01 -2.75572083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07592 meters 0.027400520681407907 Centerline is valid? [True, True] Translation: X:225.70, Y:-158.04, Z:-27.56 [[ 7.32392722e-01 6.76148381e-01 8.01515324e-02 2.25699842e+02] [-6.72172707e-01 7.36765433e-01 -7.32157678e-02 -1.58044608e+02] [-1.08557601e-01 -2.52977050e-04 9.94090128e-01 -2.75606596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10591999999997 meters 0.027584465832087724 Centerline is valid? [True, True] Translation: X:225.72, Y:-158.07, Z:-27.56 [[ 7.31654674e-01 6.77039041e-01 7.93698677e-02 2.25723328e+02] [-6.73137733e-01 7.35947030e-01 -7.25779605e-02 -1.58067133e+02] [-1.07550131e-01 -3.24848812e-04 9.94199610e-01 -2.75640100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13592 meters 0.027812850930345214 Centerline is valid? [True, True] Translation: X:225.75, Y:-158.09, Z:-27.57 [[ 7.30491232e-01 6.78134748e-01 8.07206512e-02 2.25746042e+02] [-6.74097291e-01 7.34937461e-01 -7.38902551e-02 -1.58089268e+02] [-1.09432180e-01 -4.37388902e-04 9.93994168e-01 -2.75664136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16591999999997 meters 0.027804970459385535 Centerline is valid? [True, True] Translation: X:225.77, Y:-158.11, Z:-27.57 [[ 7.29959806e-01 6.78620949e-01 8.14388739e-02 2.25770666e+02] [-6.74506287e-01 7.34488526e-01 -7.46181945e-02 -1.58111262e+02] [-1.10453388e-01 -4.62749653e-04 9.93881198e-01 -2.75691567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19592 meters 0.02803797643486612 Centerline is valid? [True, True] Translation: X:225.79, Y:-158.13, Z:-27.57 [[ 7.28693510e-01 6.79898265e-01 8.21225806e-02 2.25794200e+02] [-6.75713337e-01 7.33306201e-01 -7.53226451e-02 -1.58133209e+02] [-1.11432733e-01 -6.04200376e-04 9.93771795e-01 -2.75725604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22592 meters 0.028046374952947664 Centerline is valid? [True, True] Translation: X:225.82, Y:-158.16, Z:-27.58 [[ 7.28047195e-01 6.80616213e-01 8.19075803e-02 2.25818487e+02] [-6.76449883e-01 7.32639839e-01 -7.51958866e-02 -1.58155406e+02] [-1.11188296e-01 -6.60218778e-04 9.93799138e-01 -2.75760281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25592 meters 0.02816384268730665 Centerline is valid? [True, True] Translation: X:225.84, Y:-158.18, Z:-27.58 [[ 7.25625911e-01 6.83277634e-01 8.12324558e-02 2.25842652e+02] [-6.79188716e-01 7.30157970e-01 -7.46460165e-02 -1.58177815e+02] [-1.10316479e-01 -1.00708361e-03 9.93896001e-01 -2.75782001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28592 meters 0.028282915687986878 Centerline is valid? [True, True] Translation: X:225.87, Y:-158.20, Z:-27.58 [[ 7.24605585e-01 6.84361529e-01 8.12160397e-02 2.25867869e+02] [-6.80276343e-01 7.29141959e-01 -7.46732927e-02 -1.58199669e+02] [-1.10321551e-01 -1.14066558e-03 9.93895293e-01 -2.75811290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31591999999995 meters 0.02858539581472027 Centerline is valid? [True, True] Translation: X:225.89, Y:-158.22, Z:-27.58 [[ 7.21890909e-01 6.87338994e-01 8.02410309e-02 2.25892539e+02] [-6.83361336e-01 7.26335185e-01 -7.38544752e-02 -1.58221074e+02] [-1.09044945e-01 -1.51874386e-03 9.94035660e-01 -2.75831252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34592 meters 0.028630589613097206 Centerline is valid? [True, True] Translation: X:225.92, Y:-158.24, Z:-27.58 [[ 7.20043370e-01 6.89259095e-01 8.03706792e-02 2.25916651e+02] [-6.85272079e-01 7.24512812e-01 -7.40497368e-02 -1.58242026e+02] [-1.09269041e-01 -1.75676040e-03 9.94010659e-01 -2.75848608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37591999999995 meters 0.028790041842600696 Centerline is valid? [True, True] Translation: X:225.94, Y:-158.26, Z:-27.59 [[ 7.18502810e-01 6.90962470e-01 7.95272054e-02 2.25941960e+02] [-6.87061953e-01 7.22888015e-01 -7.33402370e-02 -1.58263344e+02] [-1.08164615e-01 -1.94495069e-03 9.94131095e-01 -2.75877316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40592 meters 0.029497739957600154 Centerline is valid? [True, True] Translation: X:225.97, Y:-158.28, Z:-27.59 [[ 7.15220993e-01 6.94292696e-01 8.01035830e-02 2.25966832e+02] [-6.90347625e-01 7.19688713e-01 -7.39480402e-02 -1.58283584e+02] [-1.08991229e-01 -2.41012759e-03 9.94039790e-01 -2.75908719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43591999999995 meters 0.02972148597793776 Centerline is valid? [True, True] Translation: X:225.99, Y:-158.30, Z:-27.59 [[ 7.12409744e-01 6.97338715e-01 7.86833758e-02 2.25993316e+02] [-6.93544057e-01 7.16736358e-01 -7.27023629e-02 -1.58302724e+02] [-1.07093409e-01 -2.77651600e-03 9.94245087e-01 -2.75925725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46592 meters 0.029752667408816574 Centerline is valid? [True, True] Translation: X:226.02, Y:-158.32, Z:-27.59 [[ 7.11381403e-01 6.98391884e-01 7.86465227e-02 2.26018814e+02] [-6.94600037e-01 7.15709752e-01 -7.27347208e-02 -1.58322889e+02] [-1.07085422e-01 -2.88574984e-03 9.94245636e-01 -2.75946738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49591999999996 meters 0.030056940003568018 Centerline is valid? [True, True] Translation: X:226.04, Y:-158.34, Z:-27.60 [[ 7.09926376e-01 6.99770975e-01 7.95306411e-02 2.26043859e+02] [-6.95894297e-01 7.14360622e-01 -7.36208405e-02 -1.58342482e+02] [-1.08331286e-01 -3.07954302e-03 9.94110079e-01 -2.75980191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52592 meters 0.03059013265243904 Centerline is valid? [True, True] Translation: X:226.07, Y:-158.36, Z:-27.60 [[ 7.06854793e-01 7.02914288e-01 7.91694699e-02 2.26069380e+02] [-6.99085178e-01 7.11265969e-01 -7.33528179e-02 -1.58361556e+02] [-1.07871293e-01 -3.49641200e-03 9.94158719e-01 -2.76007598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55591999999996 meters 0.030617634378372352 Centerline is valid? [True, True] Translation: X:226.10, Y:-158.38, Z:-27.60 [[ 7.05443263e-01 7.04386602e-01 7.86722230e-02 2.26095086e+02] [-7.00607935e-01 7.09807136e-01 -7.29544506e-02 -1.58381582e+02] [-1.07230243e-01 -3.65315804e-03 9.94227504e-01 -2.76031331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58592 meters 0.030617634378372352 Centerline is valid? [True, True] Translation: X:226.12, Y:-158.40, Z:-27.61 [[ 7.05075187e-01 7.04758832e-01 7.86382182e-02 2.26119106e+02] [-7.00978391e-01 7.09437521e-01 -7.29910889e-02 -1.58403432e+02] [-1.07230017e-01 -3.65948605e-03 9.94227505e-01 -2.76060986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61591999999996 meters 0.03104688921112156 Centerline is valid? [True, True] Translation: X:226.15, Y:-158.42, Z:-27.61 [[ 7.02102782e-01 7.07792130e-01 7.79870859e-02 2.26147820e+02] [-7.04084777e-01 7.06409247e-01 -7.24610409e-02 -1.58419651e+02] [-1.06378153e-01 -4.03442159e-03 9.94317561e-01 -2.76073674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64592 meters 0.03137316761144712 Centerline is valid? [True, True] Translation: X:226.17, Y:-158.44, Z:-27.61 [[ 7.00541376e-01 7.09297445e-01 7.83512367e-02 2.26174069e+02] [-7.05557936e-01 7.04896566e-01 -7.28617252e-02 -1.58437868e+02] [-1.06910153e-01 -4.23868363e-03 9.94259651e-01 -2.76100317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67591999999996 meters 0.032005516575583946 Centerline is valid? [True, True] Translation: X:226.20, Y:-158.45, Z:-27.61 [[ 6.98378601e-01 7.11359073e-01 7.89658105e-02 2.26202771e+02] [-7.07569682e-01 7.02813940e-01 -7.34691160e-02 -1.58453645e+02] [-1.07761195e-01 -4.56455501e-03 9.94166329e-01 -2.76117150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70592 meters 0.03172529900019987 Centerline is valid? [True, True] Translation: X:226.23, Y:-158.47, Z:-27.62 [[ 6.98913095e-01 7.10728524e-01 7.99090147e-02 2.26229350e+02] [-7.06839277e-01 7.03452046e-01 -7.43871999e-02 -1.58472419e+02] [-1.09081265e-01 -4.49264198e-03 9.94022683e-01 -2.76151316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73591999999996 meters 0.031301239257428455 Centerline is valid? [True, True] Translation: X:226.26, Y:-158.49, Z:-27.62 [[ 7.01169397e-01 7.08570019e-01 7.93095473e-02 2.26258158e+02] [-7.04718019e-01 7.05628730e-01 -7.38959436e-02 -1.58488190e+02] [-1.08323545e-01 -4.07729271e-03 9.94107331e-01 -2.76173046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76592 meters 0.030805257374404493 Centerline is valid? [True, True] Translation: X:226.28, Y:-158.51, Z:-27.62 [[ 7.02970645e-01 7.06735173e-01 7.97349818e-02 2.26284329e+02] [-7.02822405e-01 7.07468169e-01 -7.43603222e-02 -1.58507354e+02] [-1.08963017e-01 -3.76640799e-03 9.94038669e-01 -2.76212357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79591999999997 meters 0.030055238681057545 Centerline is valid? [True, True] Translation: X:226.31, Y:-158.52, Z:-27.62 [[ 7.09389760e-01 7.00527617e-01 7.76352156e-02 2.26310252e+02] [-6.96775512e-01 7.13620208e-01 -7.24574643e-02 -1.58523918e+02] [-1.06160514e-01 -2.69373398e-03 9.94345357e-01 -2.76240458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82592 meters 0.029725869462079512 Centerline is valid? [True, True] Translation: X:226.34, Y:-158.54, Z:-27.63 [[ 7.11867935e-01 6.97990278e-01 7.78049788e-02 2.26335715e+02] [-6.94205937e-01 7.16103491e-01 -7.26216721e-02 -1.58544417e+02] [-1.06405638e-01 -2.31563853e-03 9.94320108e-01 -2.76271522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85591999999997 meters 0.029098182223320557 Centerline is valid? [True, True] Translation: X:226.36, Y:-158.56, Z:-27.63 [[ 7.17656789e-01 6.92064923e-01 7.75556319e-02 2.26363156e+02] [-6.88266419e-01 7.21833895e-01 -7.24235030e-02 -1.58562896e+02] [-1.06104050e-01 -1.40371848e-03 9.94354042e-01 -2.76296052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88592 meters 0.02886676093589472 Centerline is valid? [True, True] Translation: X:226.39, Y:-158.58, Z:-27.63 [[ 7.19649662e-01 6.90118358e-01 7.64265382e-02 2.26388690e+02] [-6.86415981e-01 7.23695715e-01 -7.13975725e-02 -1.58583392e+02] [-1.04582334e-01 -1.07915825e-03 9.94515646e-01 -2.76312395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91591999999997 meters 0.02870985843374844 Centerline is valid? [True, True] Translation: X:226.41, Y:-158.60, Z:-27.63 [[ 7.21920746e-01 6.87843532e-01 7.55096758e-02 2.26413531e+02] [-6.84210655e-01 7.25858660e-01 -7.06044318e-02 -1.58603804e+02] [-1.03374154e-01 -6.93720606e-04 9.94642299e-01 -2.76343427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94592 meters 0.028871708816729763 Centerline is valid? [True, True] Translation: X:226.44, Y:-158.63, Z:-27.64 [[ 7.21473011e-01 6.88313957e-01 7.55022595e-02 2.26437831e+02] [-6.84677517e-01 7.25412564e-01 -7.06633552e-02 -1.58626379e+02] [-1.03408861e-01 -7.12995863e-04 9.94638678e-01 -2.76375131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97592 meters 0.028820231357452406 Centerline is valid? [True, True] Translation: X:226.46, Y:-158.65, Z:-27.64 [[ 7.21214242e-01 6.88564410e-01 7.56906236e-02 2.26462317e+02] [-6.84903457e-01 7.25174853e-01 -7.09132344e-02 -1.58648878e+02] [-1.03717266e-01 -6.97135140e-04 9.94606577e-01 -2.76403630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00592 meters 0.028692458498159403 Centerline is valid? [True, True] Translation: X:226.49, Y:-158.67, Z:-27.64 [[ 7.21233694e-01 6.88571376e-01 7.54414896e-02 2.26486054e+02] [-6.84927043e-01 7.25168288e-01 -7.07523824e-02 -1.58671727e+02] [-1.03425841e-01 -6.42914197e-04 9.94636960e-01 -2.76434970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03592 meters 0.02856909077925181 Centerline is valid? [True, True] Translation: X:226.51, Y:-158.69, Z:-27.65 [[ 7.22341187e-01 6.87540928e-01 7.42339755e-02 2.26510309e+02] [-6.84000022e-01 7.26145497e-01 -6.96899332e-02 -1.58693398e+02] [-1.01819348e-01 -4.36131879e-04 9.94802810e-01 -2.76463518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06591999999995 meters 0.028679827332291533 Centerline is valid? [True, True] Translation: X:226.53, Y:-158.72, Z:-27.65 [[ 7.22906182e-01 6.86923697e-01 7.44478711e-02 2.26534042e+02] [-6.83352425e-01 7.26729483e-01 -6.99551419e-02 -1.58715605e+02] [-1.02157308e-01 -3.03128662e-04 9.94768211e-01 -2.76500525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09592 meters 0.028688917076830873 Centerline is valid? [True, True] Translation: X:226.56, Y:-158.74, Z:-27.65 [[ 7.23630808e-01 6.85990760e-01 7.59942835e-02 2.26558452e+02] [-6.82256182e-01 7.27610241e-01 -7.14831418e-02 -1.58738112e+02] [-1.04330994e-01 -1.20165979e-04 9.94542623e-01 -2.76532068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12591999999995 meters 0.028814170222494506 Centerline is valid? [True, True] Translation: X:226.58, Y:-158.76, Z:-27.65 [[ 7.25400990e-01 6.84298474e-01 7.43572589e-02 2.26581647e+02] [-6.80707411e-01 7.29202008e-01 -7.00132256e-02 -1.58760021e+02] [-1.02131406e-01 1.72125946e-04 9.94770901e-01 -2.76545746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15592 meters 0.02871630221213999 Centerline is valid? [True, True] Translation: X:226.61, Y:-158.78, Z:-27.66 [[ 7.25766744e-01 6.83891969e-01 7.45279019e-02 2.26606092e+02] [-6.80275628e-01 7.29583236e-01 -7.02379625e-02 -1.58781618e+02] [-1.02409486e-01 2.76862087e-04 9.94742288e-01 -2.76574328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18591999999995 meters 0.02877664824515952 Centerline is valid? [True, True] Translation: X:226.63, Y:-158.80, Z:-27.66 [[ 7.26202889e-01 6.83435843e-01 7.44635048e-02 2.26630775e+02] [-6.79815973e-01 7.30010475e-01 -7.02491962e-02 -1.58803296e+02] [-1.02369957e-01 3.93689277e-04 9.94746318e-01 -2.76587638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21592 meters 0.028682275269312284 Centerline is valid? [True, True] Translation: X:226.65, Y:-158.83, Z:-27.66 [[ 7.25831358e-01 6.83935824e-01 7.34889691e-02 2.26654480e+02] [-6.80405770e-01 7.29542083e-01 -6.93998376e-02 -1.58825586e+02] [-1.01078331e-01 3.70259720e-04 9.94878402e-01 -2.76614792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24591999999996 meters 0.028615111630903998 Centerline is valid? [True, True] Translation: X:226.68, Y:-158.85, Z:-27.66 [[ 7.24492777e-01 6.85314617e-01 7.38518237e-02 2.26678977e+02] [-6.81749363e-01 7.28247088e-01 -6.98139218e-02 -1.58847221e+02] [-1.01626877e-01 2.31248281e-04 9.94822559e-01 -2.76640948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.27592 meters 0.028470788013895406 Centerline is valid? [True, True] Translation: X:226.70, Y:-158.87, Z:-27.67 [[ 7.23396926e-01 6.86371436e-01 7.47739217e-02 2.26703259e+02] [-6.82714394e-01 7.27251149e-01 -7.07589045e-02 -1.58869780e+02] [-1.02946311e-01 1.37541336e-04 9.94686905e-01 -2.76671829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30591999999996 meters 0.02854693845874618 Centerline is valid? [True, True] Translation: X:226.73, Y:-158.89, Z:-27.67 [[ 7.22754532e-01 6.86843964e-01 7.66241232e-02 2.26726140e+02] [-6.82997841e-01 7.26804894e-01 -7.25850977e-02 -1.58892449e+02] [-1.05545424e-01 1.27097631e-04 9.94414475e-01 -2.76705052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.33592 meters 0.028373773640296075 Centerline is valid? [True, True] Translation: X:226.75, Y:-158.92, Z:-27.67 [[ 7.22726486e-01 6.86865092e-01 7.66992364e-02 2.26749965e+02] [-6.83004460e-01 7.26784917e-01 -7.27227075e-02 -1.58915172e+02] [-1.05694537e-01 1.72706344e-04 9.94398630e-01 -2.76737161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36591999999996 meters 0.02808125656588764 Centerline is valid? [True, True] Translation: X:226.77, Y:-158.94, Z:-27.68 [[ 7.23379035e-01 6.86291864e-01 7.56719856e-02 2.26773448e+02] [-6.82523494e-01 7.27326188e-01 -7.18212788e-02 -1.58938141e+02] [-1.04328576e-01 3.06099338e-04 9.94542837e-01 -2.76752443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39592 meters 0.028141496090257314 Centerline is valid? [True, True] Translation: X:226.80, Y:-158.96, Z:-27.68 [[ 7.23763156e-01 6.85882865e-01 7.57072685e-02 2.26797683e+02] [-6.82100974e-01 7.27711839e-01 -7.19287278e-02 -1.58960441e+02] [-1.04427757e-01 4.19361477e-04 9.94532386e-01 -2.76777800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42591999999996 meters 0.028201513763801544 Centerline is valid? [True, True] Translation: X:226.82, Y:-158.98, Z:-27.68 [[ 7.24461102e-01 6.85050222e-01 7.65656947e-02 2.26820843e+02] [-6.81169299e-01 7.28495596e-01 -7.28186277e-02 -1.58983365e+02] [-1.05662188e-01 6.00062647e-04 9.94401902e-01 -2.76806129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45592 meters 0.02809562654624039 Centerline is valid? [True, True] Translation: X:226.84, Y:-159.01, Z:-27.68 [[ 7.24374051e-01 6.85147983e-01 7.65145471e-02 2.26843810e+02] [-6.81265774e-01 7.28403624e-01 -7.28361605e-02 -1.59006806e+02] [-1.05637022e-01 6.33882447e-04 9.94404554e-01 -2.76831467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48591999999996 meters 0.028034944951515196 Centerline is valid? [True, True] Translation: X:226.86, Y:-159.03, Z:-27.69 [[ 7.25869981e-01 6.83624727e-01 7.59605364e-02 2.26864817e+02] [-6.79782616e-01 7.29833143e-01 -7.23821729e-02 -1.59032470e+02] [-1.04920760e-01 9.03394336e-04 9.94480175e-01 -2.76872691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51592 meters 0.028227561278257207 Centerline is valid? [True, True] Translation: X:226.89, Y:-159.06, Z:-27.69 [[ 7.26209129e-01 6.83156055e-01 7.69292221e-02 2.26886455e+02] [-6.79204523e-01 7.30271681e-01 -7.33790697e-02 -1.59056597e+02] [-1.06308588e-01 1.03787471e-03 9.94332644e-01 -2.76903842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54591999999997 meters 0.028232496657916703 Centerline is valid? [True, True] Translation: X:226.91, Y:-159.08, Z:-27.69 [[ 7.28163119e-01 6.81011540e-01 7.74709941e-02 2.26907051e+02] [-6.76984787e-01 7.32271327e-01 -7.39614971e-02 -1.59081899e+02] [-1.07098421e-01 1.40934996e-03 9.94247425e-01 -2.76933155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57592 meters 0.02813914387558301 Centerline is valid? [True, True] Translation: X:226.93, Y:-159.11, Z:-27.70 [[ 7.29128243e-01 6.80024992e-01 7.70585246e-02 2.26929120e+02] [-6.76028609e-01 7.33187199e-01 -7.36332166e-02 -1.59106483e+02] [-1.06570751e-01 1.59429065e-03 9.94303844e-01 -2.76957961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60591999999997 meters 0.028267473831364378 Centerline is valid? [True, True] Translation: X:226.95, Y:-159.13, Z:-27.70 [[ 7.30174163e-01 6.78979758e-01 7.63687072e-02 2.26950977e+02] [-6.75041429e-01 7.34154822e-01 -7.30463296e-02 -1.59131087e+02] [-1.05663434e-01 1.78450140e-03 9.94400349e-01 -2.76986876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63592 meters 0.028158997234693967 Centerline is valid? [True, True] Translation: X:226.97, Y:-159.16, Z:-27.70 [[ 7.31003887e-01 6.78067112e-01 7.65395971e-02 2.26968280e+02] [-6.74098483e-01 7.34997345e-01 -7.32812278e-02 -1.59159211e+02] [-1.05945991e-01 1.97363605e-03 9.94369927e-01 -2.77005243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66591999999997 meters 0.02819037350311784 Centerline is valid? [True, True] Translation: X:226.99, Y:-159.19, Z:-27.70 [[ 7.30907000e-01 6.78200918e-01 7.62789102e-02 2.26986522e+02] [-6.74253262e-01 7.34873822e-01 -7.30958546e-02 -1.59188055e+02] [-1.05629050e-01 1.99496775e-03 9.94403602e-01 -2.77043332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69592 meters 0.02833764356904678 Centerline is valid? [True, True] Translation: X:227.01, Y:-159.21, Z:-27.71 [[ 7.30709389e-01 6.78400522e-01 7.63971206e-02 2.27007890e+02] [-6.74433914e-01 7.34689485e-01 -7.32820352e-02 -1.59213777e+02] [-1.05842732e-01 2.02306210e-03 9.94380824e-01 -2.77071157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72592 meters 0.028057895299563672 Centerline is valid? [True, True] Translation: X:227.03, Y:-159.24, Z:-27.71 [[ 7.30822101e-01 6.78265319e-01 7.65193659e-02 2.27027168e+02] [-6.74278198e-01 7.34814105e-01 -7.34652512e-02 -1.59239743e+02] [-1.06056441e-01 2.09468909e-03 9.94357905e-01 -2.77106384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75592 meters 0.02852392373514124 Centerline is valid? [True, True] Translation: X:227.04, Y:-159.27, Z:-27.71 [[ 7.32046605e-01 6.77052646e-01 7.55478786e-02 2.27042796e+02] [-6.73157056e-01 7.35931110e-01 -7.25601857e-02 -1.59269639e+02] [-1.04725100e-01 2.26185004e-03 9.94498636e-01 -2.77142200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78592 meters 0.028737760749870295 Centerline is valid? [True, True] Translation: X:227.06, Y:-159.30, Z:-27.72 [[ 7.32384961e-01 6.76521756e-01 7.70102791e-02 2.27062573e+02] [-6.72463421e-01 7.36418629e-01 -7.40307315e-02 -1.59295563e+02] [-1.06795205e-01 2.43239864e-03 9.94278064e-01 -2.77182048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81591999999995 meters 0.028833048350867328 Centerline is valid? [True, True] Translation: X:227.08, Y:-159.33, Z:-27.72 [[ 7.32398211e-01 6.76460781e-01 7.74188087e-02 2.27078152e+02] [-6.72351771e-01 7.36474405e-01 -7.44885680e-02 -1.59325953e+02] [-1.07405566e-01 2.50262077e-03 9.94212141e-01 -2.77195899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84592 meters 0.02871682664794371 Centerline is valid? [True, True] Translation: X:227.10, Y:-159.35, Z:-27.72 [[ 7.31513767e-01 6.77356796e-01 7.79447216e-02 2.27097919e+02] [-6.73189374e-01 7.35650618e-01 -7.50615346e-02 -1.59352734e+02] [-1.08183523e-01 2.43698756e-03 9.94127953e-01 -2.77229746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87591999999995 meters 0.028542027085757513 Centerline is valid? [True, True] Translation: X:227.11, Y:-159.38, Z:-27.73 [[ 7.31568322e-01 6.77563232e-01 7.56032849e-02 2.27112889e+02] [-6.73636860e-01 7.35460657e-01 -7.28766290e-02 -1.59383334e+02] [-1.04981766e-01 2.38507377e-03 9.94471287e-01 -2.77258274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90592 meters 0.028367679279562484 Centerline is valid? [True, True] Translation: X:227.13, Y:-159.41, Z:-27.73 [[ 7.30753665e-01 6.78521579e-01 7.48835616e-02 2.27132239e+02] [-6.74668309e-01 7.34576957e-01 -7.22451903e-02 -1.59409794e+02] [-1.04027659e-01 2.27187170e-03 9.94571810e-01 -2.77288191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93591999999995 meters 0.027989284618923697 Centerline is valid? [True, True] Translation: X:227.15, Y:-159.44, Z:-27.73 [[ 7.27925630e-01 6.81473994e-01 7.56139780e-02 2.27147043e+02] [-6.77553986e-01 7.31839821e-01 -7.30141905e-02 -1.59440449e+02] [-1.05094592e-01 1.91634840e-03 9.94460384e-01 -2.77322449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96592 meters 0.027756649918610772 Centerline is valid? [True, True] Translation: X:227.17, Y:-159.47, Z:-27.73 [[ 7.25797809e-01 6.83653086e-01 7.63937121e-02 2.27165564e+02] [-6.79656560e-01 7.29805236e-01 -7.38327697e-02 -1.59467615e+02] [-1.06228532e-01 1.66617487e-03 9.94340346e-01 -2.77347530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99591999999996 meters 0.02732943307973203 Centerline is valid? [True, True] Translation: X:227.18, Y:-159.50, Z:-27.74 [[ 7.20679216e-01 6.88997682e-01 7.68352882e-02 2.27180797e+02] [-6.84977638e-01 7.24762941e-01 -7.43257351e-02 -1.59498233e+02] [-1.06897629e-01 9.34558331e-04 9.94269593e-01 -2.77366190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02592 meters 0.027198791224411965 Centerline is valid? [True, True] Translation: X:227.20, Y:-159.52, Z:-27.74 [[ 7.18154376e-01 6.91650246e-01 7.66435170e-02 2.27200745e+02] [-6.87658149e-01 7.22232367e-01 -7.42069955e-02 -1.59524109e+02] [-1.06679715e-01 5.87539493e-04 9.94293263e-01 -2.77400618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05591999999996 meters 0.02700570700613392 Centerline is valid? [True, True] Translation: X:227.22, Y:-159.55, Z:-27.74 [[ 7.14069957e-01 6.95983882e-01 7.55680682e-02 2.27218404e+02] [-6.92120416e-01 7.18057404e-01 -7.32317815e-02 -1.59552466e+02] [-1.05230350e-01 -9.58780170e-06 9.94447874e-01 -2.77420066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08592 meters 0.026928663570805766 Centerline is valid? [True, True] Translation: X:227.24, Y:-159.58, Z:-27.74 [[ 7.12911672e-01 6.97074316e-01 7.64483264e-02 2.27240145e+02] [-6.93118738e-01 7.16998873e-01 -7.41554571e-02 -1.59577867e+02] [-1.06505228e-01 -1.21476646e-04 9.94312135e-01 -2.77441183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11591999999996 meters 0.027029228677659018 Centerline is valid? [True, True] Translation: X:227.26, Y:-159.60, Z:-27.75 [[ 7.11085901e-01 6.98979855e-01 7.60526461e-02 2.27259947e+02] [-6.95067718e-01 7.15141274e-01 -7.38500194e-02 -1.59604774e+02] [-1.06008062e-01 -3.48031611e-04 9.94365209e-01 -2.77476113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14592 meters 0.02708672113242836 Centerline is valid? [True, True] Translation: X:227.28, Y:-159.63, Z:-27.75 [[ 7.10150592e-01 6.99909543e-01 7.62415147e-02 2.27281706e+02] [-6.95974772e-01 7.14231367e-01 -7.41125556e-02 -1.59629127e+02] [-1.06326166e-01 -4.31095629e-04 9.94331213e-01 -2.77509192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17591999999996 meters 0.027038498052453598 Centerline is valid? [True, True] Translation: X:227.30, Y:-159.66, Z:-27.75 [[ 7.09050533e-01 7.01012796e-01 7.63439627e-02 2.27301384e+02] [-6.97065268e-01 7.13148489e-01 -7.42916224e-02 -1.59655446e+02] [-1.06523960e-01 -5.40210320e-04 9.94309989e-01 -2.77538938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20592 meters 0.027108749586721118 Centerline is valid? [True, True] Translation: X:227.32, Y:-159.68, Z:-27.76 [[ 7.07865251e-01 7.02216527e-01 7.62806416e-02 2.27323977e+02] [-6.98273990e-01 7.11963137e-01 -7.43096611e-02 -1.59680063e+02] [-1.06490477e-01 -6.63561130e-04 9.94313501e-01 -2.77560958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23591999999996 meters 0.02724957970575524 Centerline is valid? [True, True] Translation: X:227.35, Y:-159.71, Z:-27.76 [[ 7.05745778e-01 7.04247412e-01 7.71911897e-02 2.27345003e+02] [-7.00213338e-01 7.09954033e-01 -7.52765114e-02 -1.59705067e+02] [-1.07815485e-01 -9.24220544e-04 9.94170492e-01 -2.77581854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26592 meters 0.027607012949192326 Centerline is valid? [True, True] Translation: X:227.37, Y:-159.73, Z:-27.76 [[ 7.03992626e-01 7.05886961e-01 7.82175231e-02 2.27366701e+02] [-7.01746674e-01 7.08323585e-01 -7.63498908e-02 -1.59728791e+02] [-1.09297709e-01 -1.13912650e-03 9.94008407e-01 -2.77619533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29591999999997 meters 0.027652577138567072 Centerline is valid? [True, True] Translation: X:227.39, Y:-159.75, Z:-27.76 [[ 7.01947982e-01 7.07959558e-01 7.78607400e-02 2.27388545e+02] [-7.03861811e-01 7.06251580e-01 -7.60740232e-02 -1.59752958e+02] [-1.08846603e-01 -1.40319438e-03 9.94057568e-01 -2.77644380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32592 meters 0.027841760089536646 Centerline is valid? [True, True] Translation: X:227.41, Y:-159.78, Z:-27.77 [[ 7.00415823e-01 7.09474710e-01 7.78672636e-02 2.27411778e+02] [-7.05376668e-01 7.04729123e-01 -7.61618000e-02 -1.59776660e+02] [-1.08910199e-01 -1.58082115e-03 9.94050336e-01 -2.77676716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35591999999997 meters 0.028086444261590283 Centerline is valid? [True, True] Translation: X:227.43, Y:-159.80, Z:-27.77 [[ 6.99014797e-01 7.10848314e-01 7.79293792e-02 2.27434785e+02] [-7.06743231e-01 7.03343198e-01 -7.63043350e-02 -1.59799727e+02] [-1.09051907e-01 -1.73820204e-03 9.94034537e-01 -2.77705396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38592 meters 0.027961588944546215 Centerline is valid? [True, True] Translation: X:227.46, Y:-159.82, Z:-27.77 [[ 6.97609486e-01 7.12313319e-01 7.71410438e-02 2.27457438e+02] [-7.08291322e-01 7.01859076e-01 -7.56124390e-02 -1.59823378e+02] [-1.08001889e-01 -1.89037715e-03 9.94148891e-01 -2.77728371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41591999999997 meters 0.028068353533607718 Centerline is valid? [True, True] Translation: X:227.48, Y:-159.85, Z:-27.78 [[ 6.96978934e-01 7.12901812e-01 7.74039515e-02 2.27479878e+02] [-7.08847056e-01 7.01261204e-01 -7.59511311e-02 -1.59847291e+02] [-1.08426087e-01 -1.93122482e-03 9.94102638e-01 -2.77757150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44592 meters 0.028085618014554795 Centerline is valid? [True, True] Translation: X:227.50, Y:-159.87, Z:-27.78 [[ 6.97237858e-01 7.12673989e-01 7.71696471e-02 2.27502966e+02] [-7.08633857e-01 7.01492994e-01 -7.57999736e-02 -1.59869319e+02] [-1.08154636e-01 -1.83441345e-03 9.94132390e-01 -2.77784963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47592 meters 0.02802026236030173 Centerline is valid? [True, True] Translation: X:227.53, Y:-159.89, Z:-27.78 [[ 6.97108794e-01 7.12794372e-01 7.72237809e-02 2.27526235e+02] [-7.08741477e-01 7.01370750e-01 -7.59248934e-02 -1.59891944e+02] [-1.08281338e-01 -1.80378559e-03 9.94118654e-01 -2.77813789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50592 meters 0.02802026236030173 Centerline is valid? [True, True] Translation: X:227.55, Y:-159.91, Z:-27.78 [[ 6.96734214e-01 7.13164894e-01 7.71833398e-02 2.27549567e+02] [-7.09109715e-01 7.00993995e-01 -7.59659862e-02 -1.59914413e+02] [-1.08281332e-01 -1.80335430e-03 9.94118655e-01 -2.77843425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53592 meters 0.027852959762196167 Centerline is valid? [True, True] Translation: X:227.57, Y:-159.94, Z:-27.79 [[ 6.97667410e-01 7.12116953e-01 7.84195836e-02 2.27572606e+02] [-7.07914672e-01 7.02059013e-01 -7.72655115e-02 -1.59937630e+02] [-1.10077256e-01 -1.60874448e-03 9.93921732e-01 -2.77879814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56591999999995 meters 0.02813146662975809 Centerline is valid? [True, True] Translation: X:227.59, Y:-159.96, Z:-27.79 [[ 6.97359354e-01 7.12536693e-01 7.73394641e-02 2.27594484e+02] [-7.08443723e-01 7.01633033e-01 -7.62796073e-02 -1.59960522e+02] [-1.08615942e-01 -1.59636011e-03 9.94082506e-01 -2.77910581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59592 meters 0.028118313606631952 Centerline is valid? [True, True] Translation: X:227.62, Y:-159.99, Z:-27.80 [[ 6.97504218e-01 7.12324503e-01 7.79850476e-02 2.27615480e+02] [-7.08153239e-01 7.01848615e-01 -7.69903369e-02 -1.59986121e+02] [-1.09575801e-01 -1.52427928e-03 9.93977274e-01 -2.77954018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62591999999995 meters 0.028207087705280704 Centerline is valid? [True, True] Translation: X:227.64, Y:-160.01, Z:-27.80 [[ 6.97424922e-01 7.12508673e-01 7.70056417e-02 2.27637360e+02] [-7.08434316e-01 7.01661747e-01 -7.61026422e-02 -1.60009252e+02] [-1.08255706e-01 -1.47755982e-03 9.94121984e-01 -2.77983570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65592 meters 0.028381600298720118 Centerline is valid? [True, True] Translation: X:227.66, Y:-160.03, Z:-27.80 [[ 6.95185832e-01 7.14687539e-01 7.70608903e-02 2.27659404e+02] [-7.10612846e-01 6.99441633e-01 -7.62285057e-02 -1.60032340e+02] [-1.08379158e-01 -1.76748139e-03 9.94108060e-01 -2.78005994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68591999999995 meters 0.028372310682573447 Centerline is valid? [True, True] Translation: X:227.68, Y:-160.06, Z:-27.80 [[ 6.93951270e-01 7.15805355e-01 7.78095640e-02 2.27681954e+02] [-7.11649897e-01 6.98297247e-01 -7.70414116e-02 -1.60055099e+02] [-1.09480859e-01 -1.91018276e-03 9.93987069e-01 -2.78039443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71592 meters 0.028831794211956023 Centerline is valid? [True, True] Translation: X:227.70, Y:-160.08, Z:-27.81 [[ 6.91802627e-01 7.17868212e-01 7.79381556e-02 2.27703693e+02] [-7.13704010e-01 6.96175579e-01 -7.72408463e-02 -1.60078228e+02] [-1.09707389e-01 -2.18935382e-03 9.93961516e-01 -2.78061941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74591999999996 meters 0.029107882221612754 Centerline is valid? [True, True] Translation: X:227.73, Y:-160.10, Z:-27.81 [[ 6.90554792e-01 7.18999214e-01 7.85761436e-02 2.27726380e+02] [-7.14765569e-01 6.95006953e-01 -7.79455985e-02 -1.60100761e+02] [-1.10653790e-01 -2.33781549e-03 9.93856264e-01 -2.78088407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.77592 meters 0.029377213546891545 Centerline is valid? [True, True] Translation: X:227.75, Y:-160.12, Z:-27.81 [[ 6.88630595e-01 7.20787215e-01 7.90803090e-02 2.27749037e+02] [-7.16502502e-01 6.93151554e-01 -7.85180746e-02 -1.60123887e+02] [-1.11409463e-01 -2.59129088e-03 9.93771209e-01 -2.78115656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80591999999996 meters 0.02947810051335372 Centerline is valid? [True, True] Translation: X:227.77, Y:-160.15, Z:-27.81 [[ 6.87784289e-01 7.21593933e-01 7.90883563e-02 2.27772982e+02] [-7.17305357e-01 6.92311392e-01 -7.86000123e-02 -1.60146147e+02] [-1.11471062e-01 -2.67064808e-03 9.93764092e-01 -2.78148978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.83592 meters 0.029348668782625577 Centerline is valid? [True, True] Translation: X:227.80, Y:-160.17, Z:-27.82 [[ 6.86929757e-01 7.22403070e-01 7.91284625e-02 2.27797597e+02] [-7.18106334e-01 6.91466745e-01 -7.87212416e-02 -1.60168024e+02] [-1.11583167e-01 -2.74668673e-03 9.93751303e-01 -2.78175265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86591999999996 meters 0.029469543095024007 Centerline is valid? [True, True] Translation: X:227.82, Y:-160.19, Z:-27.82 [[ 6.85924606e-01 7.23281819e-01 7.98175743e-02 2.27823517e+02] [-7.18906428e-01 6.90547057e-01 -7.94877988e-02 -1.60186943e+02] [-1.12609871e-01 -2.85873026e-03 9.93635167e-01 -2.78203881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89592 meters 0.029232918333386808 Centerline is valid? [True, True] Translation: X:227.85, Y:-160.21, Z:-27.82 [[ 6.85728577e-01 7.23575029e-01 7.88384248e-02 2.27847494e+02] [-7.19300641e-01 6.90239971e-01 -7.85835268e-02 -1.60208026e+02] [-1.11278510e-01 -2.82155949e-03 9.93785255e-01 -2.78213944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92591999999996 meters 0.029025222932062465 Centerline is valid? [True, True] Translation: X:227.87, Y:-160.23, Z:-27.82 [[ 6.87563011e-01 7.21734617e-01 7.97260835e-02 2.27872317e+02] [-7.17343461e-01 6.92165339e-01 -7.95330240e-02 -1.60229156e+02] [-1.12585368e-01 -2.50701924e-03 9.93638893e-01 -2.78245485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95592 meters 0.02931177322187742 Centerline is valid? [True, True] Translation: X:227.90, Y:-160.25, Z:-27.83 [[ 6.87628228e-01 7.21588286e-01 8.04845703e-02 2.27895629e+02] [-7.17107490e-01 6.92317987e-01 -8.03284057e-02 -1.60252018e+02] [-1.13684952e-01 -2.48000892e-03 9.93513755e-01 -2.78281882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98591999999996 meters 0.029121539271238266 Centerline is valid? [True, True] Translation: X:227.92, Y:-160.27, Z:-27.83 [[ 6.88362525e-01 7.20888681e-01 8.04769800e-02 2.27920476e+02] [-7.16394435e-01 6.93047035e-01 -8.04041160e-02 -1.60273177e+02] [-1.13736749e-01 -2.30608026e-03 9.93508245e-01 -2.78308442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01592 meters 0.029032955158479565 Centerline is valid? [True, True] Translation: X:227.94, Y:-160.30, Z:-27.83 [[ 6.87873970e-01 7.21377218e-01 8.02764707e-02 2.27944759e+02] [-7.16900148e-01 6.92538438e-01 -8.02788238e-02 -1.60295037e+02] [-1.13505856e-01 -2.32850053e-03 9.93534599e-01 -2.78332718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04591999999997 meters 0.02885017139345122 Centerline is valid? [True, True] Translation: X:228.10, Y:-160.46, Z:-25.92 [[ 7.70136616e-01 -6.36063913e-01 -4.80862823e-02 2.28103355e+02] [-6.34115469e-01 -7.71591117e-01 5.04452209e-02 -1.60461863e+02] [-6.91893329e-02 -8.35745625e-03 -9.97568539e-01 -2.59245690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07592 meters 0.028906657121706834 Centerline is valid? [True, True] Translation: X:228.00, Y:-160.36, Z:-27.84 [[ 7.39681345e-01 6.67777719e-01 8.33332180e-02 2.28001078e+02] [-6.63936084e-01 7.44356901e-01 -7.15659105e-02 -1.60363235e+02] [-1.09819776e-01 -2.39196146e-03 9.93948638e-01 -2.78399810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10591999999997 meters 0.02881027624773025 Centerline is valid? [True, True] Translation: X:228.03, Y:-160.38, Z:-27.84 [[ 7.39036201e-01 6.68525948e-01 8.30575101e-02 2.28028227e+02] [-6.64706099e-01 7.43684821e-01 -7.14050993e-02 -1.60382432e+02] [-1.09504771e-01 -2.43788022e-03 9.93983280e-01 -2.78440231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13592 meters 0.02864559907400698 Centerline is valid? [True, True] Translation: X:228.05, Y:-160.40, Z:-27.85 [[ 7.38927539e-01 6.68729830e-01 8.23802547e-02 2.28053471e+02] [-6.64965435e-01 7.43501640e-01 -7.08962695e-02 -1.60402518e+02] [-1.08660305e-01 -2.39281596e-03 9.94076060e-01 -2.78457675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16591999999997 meters 0.028772815039965993 Centerline is valid? [True, True] Translation: X:228.08, Y:-160.42, Z:-27.85 [[ 7.39332731e-01 6.68159141e-01 8.33695149e-02 2.28080112e+02] [-6.64292312e-01 7.44014878e-01 -7.18163287e-02 -1.60422628e+02] [-1.10012896e-01 -2.28556535e-03 9.93927532e-01 -2.78481946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19592 meters 0.028579862701207964 Centerline is valid? [True, True] Translation: X:228.11, Y:-160.44, Z:-27.85 [[ 7.39649394e-01 6.67819889e-01 8.32788729e-02 2.28105244e+02] [-6.63951072e-01 7.44319729e-01 -7.18130544e-02 -1.60442187e+02] [-1.09944294e-01 -2.17661485e-03 9.93935367e-01 -2.78508942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22592 meters 0.02822678188781045 Centerline is valid? [True, True] Translation: X:228.13, Y:-160.46, Z:-27.85 [[ 7.41226428e-01 6.66093007e-01 8.30872360e-02 2.28132452e+02] [-6.62223842e-01 7.45866359e-01 -7.17144233e-02 -1.60459868e+02] [-1.09740450e-01 -1.86572285e-03 9.93958527e-01 -2.78547270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25592 meters 0.0282153431735935 Centerline is valid? [True, True] Translation: X:228.16, Y:-160.48, Z:-27.86 [[ 7.42323032e-01 6.64833200e-01 8.33866460e-02 2.28157720e+02] [-6.60920555e-01 7.46990057e-01 -7.20407900e-02 -1.60479472e+02] [-1.10184104e-01 -1.63441069e-03 9.93909851e-01 -2.78579837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28592 meters 0.028128589150312893 Centerline is valid? [True, True] Translation: X:228.18, Y:-160.50, Z:-27.86 [[ 7.43650423e-01 6.63379071e-01 8.31399764e-02 2.28182646e+02] [-6.59473046e-01 7.48282265e-01 -7.18954351e-02 -1.60499145e+02] [-1.09906097e-01 -1.36350277e-03 9.93941040e-01 -2.78595285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31591999999995 meters 0.028126651887978815 Centerline is valid? [True, True] Translation: X:228.21, Y:-160.52, Z:-27.86 [[ 7.44143925e-01 6.62868122e-01 8.27989820e-02 2.28206971e+02] [-6.58983576e-01 7.48735157e-01 -7.16680595e-02 -1.60519932e+02] [-1.09500981e-01 -1.23181813e-03 9.93985924e-01 -2.78627331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34592 meters 0.02790665244815827 Centerline is valid? [True, True] Translation: X:228.23, Y:-160.54, Z:-27.87 [[ 7.45476598e-01 6.61407326e-01 8.24923749e-02 2.28231975e+02] [-6.57535287e-01 7.50026281e-01 -7.14697423e-02 -1.60540337e+02] [-1.09142060e-01 -9.62627032e-04 9.94025696e-01 -2.78650240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37591999999995 meters 0.027916739980385862 Centerline is valid? [True, True] Translation: X:228.26, Y:-160.56, Z:-27.87 [[ 7.47910634e-01 6.58793715e-01 8.13666018e-02 2.28256705e+02] [-6.55004342e-01 7.52323446e-01 -7.05602135e-02 -1.60561238e+02] [-1.07698627e-01 -5.22743502e-04 9.94183450e-01 -2.78689020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40592 meters 0.02802667962165131 Centerline is valid? [True, True] Translation: X:228.28, Y:-160.58, Z:-27.87 [[ 7.48758733e-01 6.57520520e-01 8.38279546e-02 2.28280233e+02] [-6.53481865e-01 7.53436578e-01 -7.27652012e-02 -1.60582590e+02] [-1.11003660e-01 -2.96468245e-04 9.93819953e-01 -2.78732828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43591999999995 meters 0.027992333955953123 Centerline is valid? [True, True] Translation: X:228.30, Y:-160.60, Z:-27.88 [[ 7.48078374e-01 6.58320012e-01 8.36271973e-02 2.28304355e+02] [-6.54297872e-01 7.52738090e-01 -7.26612918e-02 -1.60604382e+02] [-1.10783759e-01 -3.60756228e-04 9.93844469e-01 -2.78759284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46592 meters 0.027992759725352118 Centerline is valid? [True, True] Translation: X:228.33, Y:-160.63, Z:-27.88 [[ 7.48218365e-01 6.58167771e-01 8.35731075e-02 2.28328700e+02] [-6.54141153e-01 7.52871243e-01 -7.26928026e-02 -1.60625915e+02] [-1.10763849e-01 -2.78519077e-04 9.93846715e-01 -2.78784540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49591999999996 meters 0.027823746614909637 Centerline is valid? [True, True] Translation: X:228.35, Y:-160.65, Z:-27.88 [[ 7.48721104e-01 6.57622852e-01 8.33600272e-02 2.28351606e+02] [-6.53604794e-01 7.53347308e-01 -7.25851706e-02 -1.60649445e+02] [-1.10532719e-01 -1.38464423e-04 9.93872476e-01 -2.78802550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52592 meters 0.02781708632664048 Centerline is valid? [True, True] Translation: X:228.38, Y:-160.67, Z:-27.88 [[ 7.48865195e-01 6.57432694e-01 8.35653809e-02 2.28375400e+02] [-6.53384793e-01 7.53513272e-01 -7.28427148e-02 -1.60672076e+02] [-1.10856806e-01 -5.09753150e-05 9.93836388e-01 -2.78836646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55591999999996 meters 0.02799359155201601 Centerline is valid? [True, True] Translation: X:228.40, Y:-160.70, Z:-27.89 [[ 7.48605034e-01 6.57854948e-01 8.25673698e-02 2.28397712e+02] [-6.53897721e-01 7.53144651e-01 -7.20479386e-02 -1.60695320e+02] [-1.09582266e-01 -5.51654392e-05 9.93977728e-01 -2.78876601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58592 meters 0.027860180093915856 Centerline is valid? [True, True] Translation: X:228.42, Y:-160.72, Z:-27.89 [[ 7.48027129e-01 6.58577997e-01 8.20392412e-02 2.28421877e+02] [-6.54668173e-01 7.52512466e-01 -7.16559303e-02 -1.60717910e+02] [-1.08926571e-01 -1.07900348e-04 9.94049793e-01 -2.78907345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61591999999996 meters 0.028017354402095 Centerline is valid? [True, True] Translation: X:228.44, Y:-160.74, Z:-27.89 [[ 7.45652825e-01 6.61264903e-01 8.20401922e-02 2.28444731e+02] [-6.57362625e-01 7.50152340e-01 -7.17345473e-02 -1.60741821e+02] [-1.08978181e-01 -4.41088281e-04 9.94044044e-01 -2.78934846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64592 meters 0.027963131505432556 Centerline is valid? [True, True] Translation: X:228.47, Y:-160.76, Z:-27.90 [[ 7.44129696e-01 6.62842910e-01 8.31280418e-02 2.28468323e+02] [-6.58837356e-01 7.48758231e-01 -7.27629740e-02 -1.60763272e+02] [-1.10473227e-01 -6.22769477e-04 9.93878905e-01 -2.78954701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67591999999996 meters 0.028108412507003022 Centerline is valid? [True, True] Translation: X:228.49, Y:-160.78, Z:-27.90 [[ 7.42455915e-01 6.64616417e-01 8.39299299e-02 2.28492091e+02] [-6.60536359e-01 7.47184254e-01 -7.35350843e-02 -1.60784557e+02] [-1.11583746e-01 -8.42212050e-04 9.93754677e-01 -2.78985108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70592 meters 0.028309218235182915 Centerline is valid? [True, True] Translation: X:228.51, Y:-160.81, Z:-27.90 [[ 7.39760881e-01 6.67498718e-01 8.48486925e-02 2.28514028e+02] [-6.63339316e-01 7.44609919e-01 -7.44111600e-02 -1.60807528e+02] [-1.12848532e-01 -1.23700838e-03 9.93611432e-01 -2.79018799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73591999999996 meters 0.02843541836634213 Centerline is valid? [True, True] Translation: X:228.54, Y:-160.83, Z:-27.91 [[ 7.37942751e-01 6.69539433e-01 8.46016797e-02 2.28536109e+02] [-6.65409535e-01 7.42775017e-01 -7.42659111e-02 -1.60832309e+02] [-1.12563970e-01 -1.49077352e-03 9.93643362e-01 -2.79051940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76592 meters 0.028379785294062213 Centerline is valid? [True, True] Translation: X:228.56, Y:-160.85, Z:-27.91 [[ 7.37662204e-01 6.69885900e-01 8.43051214e-02 2.28560304e+02] [-6.65778262e-01 7.42462588e-01 -7.40851631e-02 -1.60854786e+02] [-1.12222005e-01 -1.47869255e-03 9.93682059e-01 -2.79081011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79591999999997 meters 0.028313559433629176 Centerline is valid? [True, True] Translation: X:228.58, Y:-160.88, Z:-27.91 [[ 7.37327665e-01 6.70362333e-01 8.34401398e-02 2.28584053e+02] [-6.66333267e-01 7.42032451e-01 -7.34017610e-02 -1.60876341e+02] [-1.11121067e-01 -1.47779194e-03 9.93805778e-01 -2.79104230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82592 meters 0.02826354817521247 Centerline is valid? [True, True] Translation: X:228.61, Y:-160.90, Z:-27.91 [[ 7.36326730e-01 6.71269894e-01 8.49686762e-02 2.28607537e+02] [-6.67089261e-01 7.41211304e-01 -7.48179155e-02 -1.60898479e+02] [-1.13202758e-01 -1.59126032e-03 9.93570633e-01 -2.79134789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85591999999997 meters 0.028343408121786103 Centerline is valid? [True, True] Translation: X:228.63, Y:-160.92, Z:-27.92 [[ 7.35183130e-01 6.72465554e-01 8.54157081e-02 2.28630046e+02] [-6.68240721e-01 7.40126392e-01 -7.52812277e-02 -1.60920713e+02] [-1.13842452e-01 -1.73276572e-03 9.93497304e-01 -2.79161802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88592 meters 0.02845096555177161 Centerline is valid? [True, True] Translation: X:228.65, Y:-160.94, Z:-27.92 [[ 7.33160752e-01 6.74760567e-01 8.46964503e-02 2.28653382e+02] [-6.70614309e-01 7.38033939e-01 -7.47151472e-02 -1.60944759e+02] [-1.12923690e-01 -2.02043799e-03 9.93601609e-01 -2.79178498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91591999999997 meters 0.028372134460209964 Centerline is valid? [True, True] Translation: X:228.68, Y:-160.97, Z:-27.92 [[ 7.32194519e-01 6.75833502e-01 8.45000843e-02 2.28677450e+02] [-6.71704641e-01 7.37051270e-01 -7.46210452e-02 -1.60966708e+02] [-1.12712297e-01 -2.12197852e-03 9.93625400e-01 -2.79210170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94592 meters 0.02870181590677076 Centerline is valid? [True, True] Translation: X:228.70, Y:-160.99, Z:-27.93 [[ 7.31075159e-01 6.77161022e-01 8.35587365e-02 2.28700307e+02] [-6.73123841e-01 7.35831448e-01 -7.38672713e-02 -1.60989746e+02] [-1.11505183e-01 -2.24285053e-03 9.93761321e-01 -2.79250717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97592 meters 0.028509976263491936 Centerline is valid? [True, True] Translation: X:228.72, Y:-161.01, Z:-27.93 [[ 7.30714163e-01 6.77463098e-01 8.42648395e-02 2.28724271e+02] [-6.73350259e-01 7.35553321e-01 -7.45703824e-02 -1.61012617e+02] [-1.12499965e-01 -2.25011689e-03 9.93649181e-01 -2.79281894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00592 meters 0.028555569733555095 Centerline is valid? [True, True] Translation: X:228.75, Y:-161.04, Z:-27.93 [[ 7.29992519e-01 6.78253645e-01 8.41600630e-02 2.28747668e+02] [-6.74147444e-01 7.34824232e-01 -7.45558273e-02 -1.61035359e+02] [-1.12410615e-01 -2.31109520e-03 9.93659153e-01 -2.79302210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03592 meters 0.028468760438396558 Centerline is valid? [True, True] Translation: X:228.77, Y:-161.06, Z:-27.93 [[ 7.29985552e-01 6.78293603e-01 8.38980431e-02 2.28771890e+02] [-6.74204470e-01 7.34787531e-01 -7.44017268e-02 -1.61057671e+02] [-1.12113451e-01 -2.25225004e-03 9.93692861e-01 -2.79317797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06591999999995 meters 0.02857087503005064 Centerline is valid? [True, True] Translation: X:228.80, Y:-161.08, Z:-27.94 [[ 7.29536521e-01 6.78776061e-01 8.39018735e-02 2.28795883e+02] [-6.74680891e-01 7.34341823e-01 -7.44834388e-02 -1.61079567e+02] [-1.12170230e-01 -2.26860190e-03 9.93686416e-01 -2.79359927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09592 meters 0.0286111647212491 Centerline is valid? [True, True] Translation: X:228.82, Y:-161.10, Z:-27.94 [[ 7.28706988e-01 6.79753610e-01 8.31934832e-02 2.28820413e+02] [-6.75725215e-01 7.33436805e-01 -7.39316358e-02 -1.61101616e+02] [-1.11272459e-01 -2.34143472e-03 9.93787179e-01 -2.79387034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12591999999995 meters 0.02863062661701144 Centerline is valid? [True, True] Translation: X:228.85, Y:-161.12, Z:-27.94 [[ 7.28303323e-01 6.80202882e-01 8.30560558e-02 2.28845179e+02] [-6.76182048e-01 7.33020138e-01 -7.38871770e-02 -1.61122487e+02] [-1.11140032e-01 -2.34873731e-03 9.93801981e-01 -2.79419409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15592 meters 0.028723616093528068 Centerline is valid? [True, True] Translation: X:228.87, Y:-161.14, Z:-27.94 [[ 7.27986433e-01 6.80660141e-01 8.20824345e-02 2.28869987e+02] [-6.76727920e-01 7.32595606e-01 -7.30958291e-02 -1.61143327e+02] [-1.09886648e-01 -2.33470331e-03 9.93941383e-01 -2.79444565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18591999999995 meters 0.02860122192402043 Centerline is valid? [True, True] Translation: X:228.89, Y:-161.17, Z:-27.95 [[ 7.27132419e-01 6.81520827e-01 8.25094425e-02 2.28893015e+02] [-6.77545411e-01 7.31794691e-01 -7.35441765e-02 -1.61165049e+02] [-1.10501860e-01 -2.42753919e-03 9.93872953e-01 -2.79469365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21592 meters 0.02892446212517868 Centerline is valid? [True, True] Translation: X:228.92, Y:-161.19, Z:-27.95 [[ 7.26560039e-01 6.81933426e-01 8.41267562e-02 2.28916553e+02] [-6.77794950e-01 7.31410016e-01 -7.50559364e-02 -1.61186259e+02] [-1.12714304e-01 -2.48804645e-03 9.93624323e-01 -2.79504553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24591999999996 meters 0.02873968905025286 Centerline is valid? [True, True] Translation: X:228.94, Y:-161.21, Z:-27.95 [[ 7.27393570e-01 6.81079519e-01 8.38408174e-02 2.28943007e+02] [-6.76955771e-01 7.32205855e-01 -7.48696866e-02 -1.61205294e+02] [-1.12380948e-01 -2.29679660e-03 9.93662542e-01 -2.79525917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.27592 meters 0.028538146662802723 Centerline is valid? [True, True] Translation: X:228.97, Y:-161.22, Z:-27.96 [[ 7.27639306e-01 6.80852193e-01 8.35543608e-02 2.28968262e+02] [-6.76747480e-01 7.32417528e-01 -7.46820780e-02 -1.61224770e+02] [-1.12044135e-01 -2.20358767e-03 9.93700788e-01 -2.79564703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30591999999996 meters 0.02859400424522173 Centerline is valid? [True, True] Translation: X:228.99, Y:-161.25, Z:-27.96 [[ 7.28798960e-01 6.79650718e-01 8.32284661e-02 2.28991915e+02] [-6.75562545e-01 7.33533271e-01 -7.44593069e-02 -1.61245579e+02] [-1.11657170e-01 -1.96016887e-03 9.93744854e-01 -2.79607860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.33592 meters 0.028343130873529014 Centerline is valid? [True, True] Translation: X:229.02, Y:-161.27, Z:-27.96 [[ 7.29359456e-01 6.79247662e-01 8.15928741e-02 2.29015502e+02] [-6.75309163e-01 7.33906897e-01 -7.30629913e-02 -1.61267779e+02] [-1.09509439e-01 -1.81123189e-03 9.93984106e-01 -2.79625286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36591999999996 meters 0.028241895980778548 Centerline is valid? [True, True] Translation: X:229.04, Y:-161.29, Z:-27.96 [[ 7.31038965e-01 6.77416150e-01 8.17887045e-02 2.29039656e+02] [-6.73439704e-01 7.35598491e-01 -7.33063803e-02 -1.61288762e+02] [-1.09822574e-01 -1.48994055e-03 9.93950091e-01 -2.79644522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39592 meters 0.028241895980778548 Centerline is valid? [True, True] Translation: X:229.06, Y:-161.31, Z:-27.97 [[ 7.30682072e-01 6.77805313e-01 8.17537001e-02 2.29063993e+02] [-6.73826930e-01 7.35239907e-01 -7.33454009e-02 -1.61310125e+02] [-1.09822485e-01 -1.49567527e-03 9.93950092e-01 -2.79674070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42591999999996 meters 0.02818796025540919 Centerline is valid? [True, True] Translation: X:229.09, Y:-161.33, Z:-27.97 [[ 7.31161809e-01 6.77188614e-01 8.25711211e-02 2.29088359e+02] [-6.73117220e-01 7.35808220e-01 -7.41584297e-02 -1.61331357e+02] [-1.10975754e-01 -1.35823184e-03 9.93822186e-01 -2.79712305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45592 meters 0.02810763943504417 Centerline is valid? [True, True] Translation: X:229.11, Y:-161.35, Z:-27.97 [[ 7.32235939e-01 6.76114144e-01 8.18547198e-02 2.29111155e+02] [-6.72098155e-01 7.36796031e-01 -7.35912876e-02 -1.61353911e+02] [-1.10066343e-01 -1.12822064e-03 9.93923602e-01 -2.79744934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48591999999996 meters 0.02813015007251738 Centerline is valid? [True, True] Translation: X:229.13, Y:-161.38, Z:-27.98 [[ 7.32129123e-01 6.76161827e-01 8.24143859e-02 2.29134665e+02] [-6.72082869e-01 7.36752330e-01 -7.41661746e-02 -1.61376751e+02] [-1.10867327e-01 -1.09008057e-03 9.93834618e-01 -2.79779533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51592 meters 0.028230510999714808 Centerline is valid? [True, True] Translation: X:229.16, Y:-161.40, Z:-27.98 [[ 7.31668424e-01 6.76646761e-01 8.25256191e-02 2.29158359e+02] [-6.72550872e-01 7.36306959e-01 -7.43463924e-02 -1.61399824e+02] [-1.11070433e-01 -1.10576932e-03 9.93811922e-01 -2.79809683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54591999999997 meters 0.028460402537541573 Centerline is valid? [True, True] Translation: X:229.18, Y:-161.42, Z:-27.98 [[ 7.28812632e-01 6.79576526e-01 8.37131585e-02 2.29179395e+02] [-6.75371613e-01 7.33603061e-01 -7.54965782e-02 -1.61424562e+02] [-1.12717932e-01 -1.51463103e-03 9.93625872e-01 -2.79833850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57592 meters 0.02866246233073747 Centerline is valid? [True, True] Translation: X:229.20, Y:-161.45, Z:-27.99 [[ 7.27340815e-01 6.81152913e-01 8.37021409e-02 2.29202819e+02] [-6.76951236e-01 7.32139196e-01 -7.55593896e-02 -1.61447876e+02] [-1.12749116e-01 -1.70483973e-03 9.93622026e-01 -2.79859830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60591999999997 meters 0.028902727025752892 Centerline is valid? [True, True] Translation: X:229.22, Y:-161.47, Z:-27.99 [[ 7.24054677e-01 6.84836494e-01 8.21206509e-02 2.29224513e+02] [-6.80807666e-01 7.28693509e-01 -7.42070871e-02 -1.61471348e+02] [-1.10660507e-01 -2.17838013e-03 9.93855878e-01 -2.79889015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63592 meters 0.029181666160072735 Centerline is valid? [True, True] Translation: X:229.25, Y:-161.49, Z:-27.99 [[ 7.21859076e-01 6.87115591e-01 8.24114018e-02 2.29247673e+02] [-6.83065291e-01 7.26543860e-01 -7.45374251e-02 -1.61492683e+02] [-1.11091325e-01 -2.48685141e-03 9.93807091e-01 -2.79922560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66591999999997 meters 0.029370499779902783 Centerline is valid? [True, True] Translation: X:229.27, Y:-161.51, Z:-27.99 [[ 7.19520920e-01 6.89582861e-01 8.22503669e-02 2.29271526e+02] [-6.85557284e-01 7.24201321e-01 -7.44557406e-02 -1.61514147e+02] [-1.10909227e-01 -2.81487513e-03 9.93826554e-01 -2.79943134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69592 meters 0.03008190071102297 Centerline is valid? [True, True] Translation: X:229.30, Y:-161.54, Z:-28.00 [[ 7.16176493e-01 6.92967052e-01 8.29933468e-02 2.29295021e+02] [-6.88883047e-01 7.20961615e-01 -7.51963917e-02 -1.61535081e+02] [-1.11943639e-01 -3.31882155e-03 9.93709015e-01 -2.79973642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72592 meters 0.030634091806734366 Centerline is valid? [True, True] Translation: X:229.32, Y:-161.56, Z:-28.00 [[ 7.13332000e-01 6.95832938e-01 8.35103596e-02 2.29318994e+02] [-6.91709890e-01 7.18193915e-01 -7.57293168e-02 -1.61556438e+02] [-1.12671585e-01 -3.74479661e-03 9.93625226e-01 -2.80005783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75592 meters 0.030875827774102974 Centerline is valid? [True, True] Translation: X:229.34, Y:-161.58, Z:-28.00 [[ 7.11623518e-01 6.97568524e-01 8.36069567e-02 2.29343365e+02] [-6.93440262e-01 7.16507044e-01 -7.58831923e-02 -1.61576508e+02] [-1.12838700e-01 -3.97616564e-03 9.93605363e-01 -2.80035308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78592 meters 0.03128304774515499 Centerline is valid? [True, True] Translation: X:229.37, Y:-161.60, Z:-28.01 [[ 7.10369797e-01 6.98952425e-01 8.27058609e-02 2.29368266e+02] [-6.94915286e-01 7.15156383e-01 -7.51271768e-02 -1.61596077e+02] [-1.11657947e-01 -4.10548967e-03 9.93738219e-01 -2.80063588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81591999999995 meters 0.03178107399077881 Centerline is valid? [True, True] Translation: X:229.40, Y:-161.61, Z:-28.01 [[ 7.07699467e-01 7.01563914e-01 8.34837644e-02 2.29396010e+02] [-6.97460624e-01 7.12592254e-01 -7.59009681e-02 -1.61613250e+02] [-1.12739264e-01 -4.51156377e-03 9.93614364e-01 -2.80099807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84592 meters 0.03229089479660829 Centerline is valid? [True, True] Translation: X:229.42, Y:-161.63, Z:-28.01 [[ 7.04885768e-01 7.04387137e-01 8.35153621e-02 2.29422698e+02] [-7.00292819e-01 7.09798976e-01 -7.59959293e-02 -1.61631957e+02] [-1.12809674e-01 -4.91675940e-03 9.93604450e-01 -2.80119240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87591999999995 meters 0.032631616233370624 Centerline is valid? [True, True] Translation: X:229.45, Y:-161.65, Z:-28.01 [[ 7.03267226e-01 7.05974629e-01 8.37557922e-02 2.29449056e+02] [-7.01860223e-01 7.08218480e-01 -7.62811402e-02 -1.61650919e+02] [-1.13169949e-01 -5.13883310e-03 9.93562356e-01 -2.80149359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90592 meters 0.03295797491214214 Centerline is valid? [True, True] Translation: X:229.48, Y:-161.67, Z:-28.02 [[ 7.01974129e-01 7.07321491e-01 8.32384013e-02 2.29475564e+02] [-7.03259908e-01 7.06872318e-01 -7.58750768e-02 -1.61669296e+02] [-1.12506994e-01 -5.27588953e-03 9.93636926e-01 -2.80180926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93591999999995 meters 0.03325946996943875 Centerline is valid? [True, True] Translation: X:229.50, Y:-161.68, Z:-28.02 [[ 6.99645952e-01 7.09592998e-01 8.35064023e-02 2.29504367e+02] [-7.05513793e-01 7.04589435e-01 -7.61840995e-02 -1.61684400e+02] [-1.12897432e-01 -5.61302179e-03 9.93590793e-01 -2.80214559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96592 meters 0.03320053638364691 Centerline is valid? [True, True] Translation: X:229.53, Y:-161.70, Z:-28.02 [[ 6.98536428e-01 7.10788233e-01 8.26253364e-02 2.29530222e+02] [-7.06796488e-01 7.03382951e-01 -7.54397016e-02 -1.61703165e+02] [-1.11738905e-01 -5.70191788e-03 9.93721241e-01 -2.80223422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99591999999996 meters 0.03304857791102251 Centerline is valid? [True, True] Translation: X:229.56, Y:-161.72, Z:-28.02 [[ 6.98951427e-01 7.10356232e-01 8.28307116e-02 2.29559811e+02] [-7.06334637e-01 7.03820023e-01 -7.56885502e-02 -1.61718289e+02] [-1.12063747e-01 -5.60358037e-03 9.93685220e-01 -2.80247828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02592 meters 0.0329584017561984 Centerline is valid? [True, True] Translation: X:229.59, Y:-161.74, Z:-28.03 [[ 6.99027576e-01 7.10398815e-01 8.18166911e-02 2.29586336e+02] [-7.06468536e-01 7.03777892e-01 -7.48257143e-02 -1.61736442e+02] [-1.10736877e-01 -5.49568024e-03 9.93834564e-01 -2.80275619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05591999999996 meters 0.03228890029440721 Centerline is valid? [True, True] Translation: X:229.62, Y:-161.75, Z:-28.03 [[ 7.01148559e-01 7.08203038e-01 8.26991880e-02 2.29615354e+02] [-7.04165553e-01 7.05989940e-01 -7.56906820e-02 -1.61752995e+02] [-1.11989166e-01 -5.16350686e-03 9.93696012e-01 -2.80307477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08592 meters 0.031986222429869565 Centerline is valid? [True, True] Translation: X:229.64, Y:-161.77, Z:-28.03 [[ 7.01661714e-01 7.07528769e-01 8.41063685e-02 2.29642088e+02] [-7.03343724e-01 7.06665997e-01 -7.70115279e-02 -1.61771164e+02] [-1.13922982e-01 -5.11964583e-03 9.93476393e-01 -2.80337226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11591999999996 meters 0.031497568038126894 Centerline is valid? [True, True] Translation: X:229.67, Y:-161.79, Z:-28.04 [[ 7.02732097e-01 7.06668425e-01 8.23852980e-02 2.29668847e+02] [-7.02640250e-01 7.07528375e-01 -7.55001843e-02 -1.61789126e+02] [-1.11643532e-01 -4.83082357e-03 9.93736577e-01 -2.80357611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14592 meters 0.030539642901443547 Centerline is valid? [True, True] Translation: X:229.70, Y:-161.80, Z:-28.04 [[ 7.04432116e-01 7.04982938e-01 8.23070539e-02 2.29698773e+02] [-7.00943530e-01 7.09209914e-01 -7.54948048e-02 -1.61803872e+02] [-1.11595528e-01 -4.51163180e-03 9.93743470e-01 -2.80387690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17591999999996 meters 0.030707720132201608 Centerline is valid? [True, True] Translation: X:229.72, Y:-161.82, Z:-28.04 [[ 7.05101264e-01 7.04279061e-01 8.26027365e-02 2.29724980e+02] [-7.00198768e-01 7.09909774e-01 -7.58274267e-02 -1.61823362e+02] [-1.12044159e-01 -4.37231992e-03 9.93693609e-01 -2.80421644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20592 meters 0.030273478050918002 Centerline is valid? [True, True] Translation: X:229.75, Y:-161.84, Z:-28.04 [[ 7.06185257e-01 7.03266991e-01 8.19629260e-02 2.29754251e+02] [-6.99239237e-01 7.10913695e-01 -7.52742163e-02 -1.61839726e+02] [-1.11206438e-01 -4.15415209e-03 9.93788645e-01 -2.80443342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23591999999996 meters 0.029918564086172522 Centerline is valid? [True, True] Translation: X:229.78, Y:-161.86, Z:-28.05 [[ 7.07464928e-01 7.02060118e-01 8.12709408e-02 2.29780551e+02] [-6.98089725e-01 7.12106927e-01 -7.46623084e-02 -1.61859287e+02] [-1.10291029e-01 -3.91344412e-03 9.93891631e-01 -2.80472696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26592 meters 0.029891519136046478 Centerline is valid? [True, True] Translation: X:229.81, Y:-161.88, Z:-28.05 [[ 7.07422441e-01 7.01913246e-01 8.28932137e-02 2.29807199e+02] [-6.97777281e-01 7.12251530e-01 -7.61880864e-02 -1.61879293e+02] [-1.12518245e-01 -3.94383917e-03 9.93641832e-01 -2.80505124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29591999999997 meters 0.0294403673532461 Centerline is valid? [True, True] Translation: X:229.84, Y:-161.90, Z:-28.05 [[ 7.09045123e-01 7.00203003e-01 8.34911241e-02 2.29835274e+02] [-6.95986268e-01 7.13934509e-01 -7.68155686e-02 -1.61895520e+02] [-1.13393687e-01 -3.64297153e-03 9.93543457e-01 -2.80539944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32592 meters 0.029330661567247875 Centerline is valid? [True, True] Translation: X:229.86, Y:-161.91, Z:-28.06 [[ 7.09835020e-01 6.99324990e-01 8.41356168e-02 2.29862920e+02] [-6.95028416e-01 7.14795393e-01 -7.74793342e-02 -1.61912515e+02] [-1.14322986e-01 -3.47909969e-03 9.93437542e-01 -2.80562189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35591999999997 meters 0.02908083437944171 Centerline is valid? [True, True] Translation: X:229.89, Y:-161.93, Z:-28.06 [[ 7.10127263e-01 6.99174679e-01 8.29098208e-02 2.29888572e+02] [-6.94993875e-01 7.14943018e-01 -7.64198528e-02 -1.61931698e+02] [-1.12706624e-01 -3.35399673e-03 9.93622649e-01 -2.80585009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38592 meters 0.02907720472388647 Centerline is valid? [True, True] Translation: X:229.92, Y:-161.95, Z:-28.06 [[ 7.09758311e-01 6.99543625e-01 8.29569594e-02 2.29915267e+02] [-6.95352376e-01 7.14581982e-01 -7.65353844e-02 -1.61951861e+02] [-1.12819389e-01 -3.36269367e-03 9.93609822e-01 -2.80612408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41591999999997 meters 0.028964484106020528 Centerline is valid? [True, True] Translation: X:229.94, Y:-161.97, Z:-28.06 [[ 7.10315488e-01 6.99014774e-01 8.26453472e-02 2.29940787e+02] [-6.94842634e-01 7.15100023e-01 -7.63260822e-02 -1.61971295e+02] [-1.12452749e-01 -3.20991239e-03 9.93651889e-01 -2.80640437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44592 meters 0.02871052087265691 Centerline is valid? [True, True] Translation: X:229.97, Y:-161.99, Z:-28.07 [[ 7.11180071e-01 6.98141200e-01 8.25940205e-02 2.29969524e+02] [-6.93960380e-01 7.15953736e-01 -7.63494546e-02 -1.61987949e+02] [-1.12436197e-01 -3.01876726e-03 9.93654361e-01 -2.80661055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47592 meters 0.028648050499650992 Centerline is valid? [True, True] Translation: X:230.00, Y:-162.00, Z:-28.07 [[ 7.12541765e-01 6.96727264e-01 8.27970562e-02 2.29998400e+02] [-6.92508209e-01 7.17330852e-01 -7.66082798e-02 -1.62004201e+02] [-1.12767960e-01 -2.75104223e-03 9.93617542e-01 -2.80685147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50592 meters 0.028655806816292453 Centerline is valid? [True, True] Translation: X:230.02, Y:-162.02, Z:-28.07 [[ 7.13242643e-01 6.95886465e-01 8.38269632e-02 2.30024929e+02] [-6.91547019e-01 7.18147120e-01 -7.76365544e-02 -1.62023701e+02] [-1.14226320e-01 -2.59658524e-03 9.93451361e-01 -2.80720172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53592 meters 0.028732805916621112 Centerline is valid? [True, True] Translation: X:230.05, Y:-162.04, Z:-28.08 [[ 7.14058288e-01 6.95113702e-01 8.32928679e-02 2.30050376e+02] [-6.90815170e-01 7.18895810e-01 -7.72218564e-02 -1.62042787e+02] [-1.13556864e-01 -2.39907018e-03 9.93528602e-01 -2.80751487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56591999999995 meters 0.0283249740033409 Centerline is valid? [True, True] Translation: X:230.08, Y:-162.06, Z:-28.08 [[ 7.16856147e-01 6.92221573e-01 8.33460131e-02 2.30077408e+02] [-6.87889799e-01 7.21682565e-01 -7.73427467e-02 -1.62060335e+02] [-1.13687682e-01 -1.88924877e-03 9.93514742e-01 -2.80777290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59592 meters 0.02824826718444149 Centerline is valid? [True, True] Translation: X:230.10, Y:-162.08, Z:-28.08 [[ 7.18314371e-01 6.90778589e-01 8.27611378e-02 2.30103160e+02] [-6.86490004e-01 7.23064582e-01 -7.68705741e-02 -1.62080152e+02] [-1.12942194e-01 -1.59745571e-03 9.93600276e-01 -2.80803870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62591999999995 meters 0.028261316476202995 Centerline is valid? [True, True] Translation: X:230.13, Y:-162.10, Z:-28.08 [[ 7.21433840e-01 6.87589408e-01 8.21828446e-02 2.30129932e+02] [-6.83332131e-01 7.26098979e-01 -7.64033475e-02 -1.62098674e+02] [-1.12207012e-01 -1.03821789e-03 9.93684310e-01 -2.80830535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65592 meters 0.028089634116164653 Centerline is valid? [True, True] Translation: X:230.15, Y:-162.12, Z:-28.09 [[ 7.22335092e-01 6.86557902e-01 8.28870433e-02 2.30154956e+02] [-6.82211923e-01 7.27074657e-01 -7.71319395e-02 -1.62119574e+02] [-1.13220611e-01 -8.31422591e-04 9.93569525e-01 -2.80868866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68591999999995 meters 0.027952063072080903 Centerline is valid? [True, True] Translation: X:230.18, Y:-162.14, Z:-28.09 [[ 7.23749509e-01 6.85156440e-01 8.21419550e-02 2.30179299e+02] [-6.80870680e-01 7.28395738e-01 -7.65164481e-02 -1.62140531e+02] [-1.12257587e-01 -5.49307013e-04 9.93678989e-01 -2.80906967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71592 meters 0.02815996316909149 Centerline is valid? [True, True] Translation: X:230.20, Y:-162.16, Z:-28.09 [[ 7.23338806e-01 6.85371867e-01 8.39426919e-02 2.30202976e+02] [-6.80888483e-01 7.28193044e-01 -7.82672608e-02 -1.62161838e+02] [-1.14768663e-01 -5.41865148e-04 9.93392098e-01 -2.80942323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74591999999996 meters 0.028029698411974894 Centerline is valid? [True, True] Translation: X:230.23, Y:-162.18, Z:-28.10 [[ 7.22626997e-01 6.86219110e-01 8.31478007e-02 2.30226701e+02] [-6.81818027e-01 7.27394633e-01 -7.75965674e-02 -1.62183128e+02] [-1.13729511e-01 -6.18294894e-04 9.93511558e-01 -2.80967070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.77592 meters 0.028015124200953333 Centerline is valid? [True, True] Translation: X:230.25, Y:-162.20, Z:-28.10 [[ 7.21662582e-01 6.87419195e-01 8.15963707e-02 2.30251000e+02] [-6.83181235e-01 7.26260490e-01 -7.62174507e-02 -1.62204352e+02] [-1.11653559e-01 -7.41827119e-04 9.93746916e-01 -2.80996554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80591999999996 meters 0.027862370734023645 Centerline is valid? [True, True] Translation: X:230.27, Y:-162.23, Z:-28.10 [[ 7.20725275e-01 6.88518590e-01 8.06053881e-02 2.30274656e+02] [-6.84382478e-01 7.25218193e-01 -7.53604483e-02 -1.62226198e+02] [-1.10343564e-01 -8.50735449e-04 9.93893140e-01 -2.81017985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.83592 meters 0.027971859791679817 Centerline is valid? [True, True] Translation: X:230.30, Y:-162.25, Z:-28.10 [[ 7.18647011e-01 6.90750766e-01 8.00615564e-02 2.30298499e+02] [-6.86676525e-01 7.23092036e-01 -7.49216742e-02 -1.62249058e+02] [-1.09644078e-01 -1.13415409e-03 9.93970266e-01 -2.81047421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86591999999996 meters 0.028061276106237064 Centerline is valid? [True, True] Translation: X:230.32, Y:-162.27, Z:-28.11 [[ 7.17288405e-01 6.92167071e-01 8.00130540e-02 2.30323103e+02] [-6.88097860e-01 7.21736153e-01 -7.49550530e-02 -1.62270987e+02] [-1.09629733e-01 -1.29242082e-03 9.93971655e-01 -2.81077625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89592 meters 0.028313864308099738 Centerline is valid? [True, True] Translation: X:230.35, Y:-162.29, Z:-28.11 [[ 7.16212240e-01 6.93292481e-01 7.99097162e-02 2.30348037e+02] [-6.89232053e-01 7.20654953e-01 -7.49374148e-02 -1.62292589e+02] [-1.09540879e-01 -1.40524406e-03 9.93981298e-01 -2.81110753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92591999999996 meters 0.028191454166269253 Centerline is valid? [True, True] Translation: X:230.37, Y:-162.31, Z:-28.12 [[ 7.15435281e-01 6.93923442e-01 8.13794483e-02 2.30373781e+02] [-6.89706872e-01 7.20047284e-01 -7.63959420e-02 -1.62312432e+02] [-1.11609986e-01 -1.47161251e-03 9.93750998e-01 -2.81152122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95592 meters 0.0283806913192982 Centerline is valid? [True, True] Translation: X:230.40, Y:-162.33, Z:-28.12 [[ 7.13791984e-01 6.95587466e-01 8.16031930e-02 2.30399630e+02] [-6.91350501e-01 7.18439445e-01 -7.66762570e-02 -1.62331854e+02] [-1.11961996e-01 -1.68551080e-03 9.93711060e-01 -2.81180801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98591999999996 meters 0.02839642685002102 Centerline is valid? [True, True] Translation: X:230.43, Y:-162.35, Z:-28.12 [[ 7.12862809e-01 6.96634997e-01 8.07855003e-02 2.30425290e+02] [-6.92481569e-01 7.17423524e-01 -7.59787100e-02 -1.62352889e+02] [-1.10886847e-01 -1.78007333e-03 9.93831444e-01 -2.81204375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01592 meters 0.028595257967715386 Centerline is valid? [True, True] Translation: X:230.45, Y:-162.37, Z:-28.12 [[ 7.11781108e-01 6.97578583e-01 8.21691859e-02 2.30450367e+02] [-6.93278316e-01 7.16505759e-01 -7.73606750e-02 -1.62372874e+02] [-1.12839845e-01 -1.90224786e-03 9.93611368e-01 -2.81225880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04591999999997 meters 0.02888969215650453 Centerline is valid? [True, True] Translation: X:230.48, Y:-162.39, Z:-28.13 [[ 7.11047698e-01 6.98242171e-01 8.28796867e-02 2.30476932e+02] [-6.93863198e-01 7.15858909e-01 -7.81017560e-02 -1.62391273e+02] [-1.13864102e-01 -1.97309071e-03 9.93494375e-01 -2.81259242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07592 meters 0.028725556963425755 Centerline is valid? [True, True] Translation: X:230.50, Y:-162.41, Z:-28.13 [[ 7.11238229e-01 6.98106930e-01 8.23826143e-02 2.30503157e+02] [-6.93771434e-01 7.15991026e-01 -7.77048793e-02 -1.62411037e+02] [-1.13231527e-01 -1.88802367e-03 9.93566836e-01 -2.81278041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10591999999997 meters 0.028502969987979805 Centerline is valid? [True, True] Translation: X:230.53, Y:-162.43, Z:-28.13 [[ 7.12787556e-01 6.96623667e-01 8.15436450e-02 2.30530860e+02] [-6.92358738e-01 7.17434983e-01 -7.69832632e-02 -1.62428820e+02] [-1.12130627e-01 -1.58474315e-03 9.93692211e-01 -2.81317465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13592 meters 0.02838831237105338 Centerline is valid? [True, True] Translation: X:230.56, Y:-162.45, Z:-28.13 [[ 7.13935325e-01 6.95570285e-01 8.04880767e-02 2.30555778e+02] [-6.91401039e-01 7.18456787e-01 -7.60555652e-02 -1.62449315e+02] [-1.10729196e-01 -1.35078513e-03 9.93849697e-01 -2.81344958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16591999999997 meters 0.028513402436508687 Centerline is valid? [True, True] Translation: X:230.58, Y:-162.47, Z:-28.14 [[ 7.14520980e-01 6.94770887e-01 8.21777583e-02 2.30580482e+02] [-6.90410740e-01 7.19230124e-01 -7.77241138e-02 -1.62469369e+02] [-1.13105171e-01 -1.20089702e-03 9.93582296e-01 -2.81383307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19592 meters 0.028510326247298663 Centerline is valid? [True, True] Translation: X:230.61, Y:-162.49, Z:-28.14 [[ 7.16234667e-01 6.93060847e-01 8.16979994e-02 2.30606909e+02] [-6.88732592e-01 7.20878559e-01 -7.73402795e-02 -1.62488541e+02] [-1.12495856e-01 -8.74285561e-04 9.93651809e-01 -2.81407343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22592 meters 0.028554214584139113 Centerline is valid? [True, True] Translation: X:230.63, Y:-162.51, Z:-28.14 [[ 7.16929990e-01 6.92302699e-01 8.20265895e-02 2.30632610e+02] [-6.87926233e-01 7.21606870e-01 -7.77240178e-02 -1.62508945e+02] [-1.12999498e-01 -7.05563458e-04 9.93594795e-01 -2.81441187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25592 meters 0.02839290619879222 Centerline is valid? [True, True] Translation: X:230.66, Y:-162.53, Z:-28.15 [[ 7.17158377e-01 6.92209679e-01 8.08060832e-02 2.30657768e+02] [-6.87953692e-01 7.21696176e-01 -7.66442971e-02 -1.62529001e+02] [-1.11371366e-01 -6.24743544e-04 9.93778662e-01 -2.81465172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28592 meters 0.02829895963862789 Centerline is valid? [True, True] Translation: X:230.68, Y:-162.55, Z:-28.15 [[ 7.16920920e-01 6.92583876e-01 7.96992371e-02 2.30680766e+02] [-6.88438860e-01 7.21337081e-01 -7.56620860e-02 -1.62550970e+02] [-1.09892356e-01 -6.24319678e-04 9.93943298e-01 -2.81493273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31591999999995 meters 0.02829895963862789 Centerline is valid? [True, True] Translation: X:230.70, Y:-162.57, Z:-28.15 [[ 7.16561906e-01 6.92959349e-01 7.96641373e-02 2.30704549e+02] [-6.88812540e-01 7.20976381e-01 -7.56990274e-02 -1.62573071e+02] [-1.09892310e-01 -6.30617331e-04 9.93943299e-01 -2.81522827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34592 meters 0.02824804890759652 Centerline is valid? [True, True] Translation: X:230.73, Y:-162.60, Z:-28.16 [[ 7.17023668e-01 6.92377354e-01 8.05646265e-02 2.30728550e+02] [-6.88123279e-01 7.21535419e-01 -7.66354489e-02 -1.62595688e+02] [-1.11190881e-01 -4.88964295e-04 9.93798948e-01 -2.81555327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37591999999995 meters 0.028130711526186587 Centerline is valid? [True, True] Translation: X:230.75, Y:-162.62, Z:-28.16 [[ 7.17139114e-01 6.92234148e-01 8.07674123e-02 2.30753416e+02] [-6.87948624e-01 7.21672860e-01 -7.69088760e-02 -1.62617668e+02] [-1.11526600e-01 -4.09466885e-04 9.93761365e-01 -2.81576439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40592 meters 0.027953609651162784 Centerline is valid? [True, True] Translation: X:230.78, Y:-162.64, Z:-28.16 [[ 7.16719960e-01 6.92786632e-01 7.97444755e-02 2.30775343e+02] [-6.88604221e-01 7.21142493e-01 -7.60113962e-02 -1.62640951e+02] [-1.10166809e-01 -4.33497533e-04 9.93913017e-01 -2.81607711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43591999999995 meters 0.027975231446591916 Centerline is valid? [True, True] Translation: X:230.80, Y:-162.66, Z:-28.17 [[ 7.16636248e-01 6.92820739e-01 8.01992016e-02 2.30798243e+02] [-6.88582550e-01 7.21109751e-01 -7.65166609e-02 -1.62664744e+02] [-1.10844756e-01 -3.89157956e-04 9.93837657e-01 -2.81650214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46592 meters 0.027817159760036292 Centerline is valid? [True, True] Translation: X:230.82, Y:-162.69, Z:-28.17 [[ 7.16576320e-01 6.93077435e-01 7.84987131e-02 2.30821505e+02] [-6.89010919e-01 7.20863050e-01 -7.49694411e-02 -1.62687550e+02] [-1.08546450e-01 -3.65144315e-04 9.94091311e-01 -2.81660822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49591999999996 meters 0.027783547859124652 Centerline is valid? [True, True] Translation: X:230.85, Y:-162.71, Z:-28.17 [[ 7.15333970e-01 6.94370662e-01 7.84008650e-02 2.30846111e+02] [-6.90314425e-01 7.19617345e-01 -7.49457908e-02 -1.62709884e+02] [-1.08458781e-01 -5.09978036e-04 9.94100816e-01 -2.81686662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52592 meters 0.027638661682365572 Centerline is valid? [True, True] Translation: X:230.87, Y:-162.73, Z:-28.17 [[ 7.15551830e-01 6.94179064e-01 7.81089314e-02 2.30870688e+02] [-6.90143472e-01 7.19802229e-01 -7.47444983e-02 -1.62732310e+02] [-1.08109049e-01 -4.22806462e-04 9.94138951e-01 -2.81716447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55591999999996 meters 0.02763881690745902 Centerline is valid? [True, True] Translation: X:230.89, Y:-162.76, Z:-28.17 [[ 7.15882642e-01 6.93822512e-01 7.82455447e-02 2.30894126e+02] [-6.89762049e-01 7.20145975e-01 -7.49539291e-02 -1.62755587e+02] [-1.08352937e-01 -3.12590373e-04 9.94112440e-01 -2.81745857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58592 meters 0.027748726581892282 Centerline is valid? [True, True] Translation: X:230.92, Y:-162.78, Z:-28.18 [[ 7.15679004e-01 6.93928089e-01 7.91667341e-02 2.30918400e+02] [-6.89762960e-01 7.20044257e-01 -7.59165764e-02 -1.62778261e+02] [-1.09684197e-01 -2.74381082e-04 9.93966449e-01 -2.81776931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61591999999996 meters 0.02772787357817811 Centerline is valid? [True, True] Translation: X:230.94, Y:-162.80, Z:-28.18 [[ 7.16256772e-01 6.93318725e-01 7.92803954e-02 2.30943308e+02] [-6.89129128e-01 7.20631064e-01 -7.61046375e-02 -1.62799619e+02] [-1.09896686e-01 -1.23967699e-04 9.93943008e-01 -2.81807559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64592 meters 0.027438163424305897 Centerline is valid? [True, True] Translation: X:230.97, Y:-162.82, Z:-28.18 [[ 7.16294550e-01 6.93487947e-01 7.74376177e-02 2.30966893e+02] [-6.89484399e-01 7.20468222e-01 -7.44097095e-02 -1.62822086e+02] [-1.07393579e-01 -9.27599047e-05 9.94216581e-01 -2.81828146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67591999999996 meters 0.027463362510437767 Centerline is valid? [True, True] Translation: X:230.99, Y:-162.84, Z:-28.19 [[ 7.15918658e-01 6.93857810e-01 7.76003572e-02 2.30990510e+02] [-6.89832036e-01 7.20112026e-01 -7.46353217e-02 -1.62844712e+02] [-1.07667251e-01 -9.83931310e-05 9.94186981e-01 -2.81854801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70592 meters 0.02756594186579784 Centerline is valid? [True, True] Translation: X:231.02, Y:-162.87, Z:-28.19 [[ 7.15753643e-01 6.93937077e-01 7.84095422e-02 2.31016040e+02] [-6.89818426e-01 7.20035645e-01 -7.54931034e-02 -1.62865716e+02] [-1.08845129e-01 -5.38832003e-05 9.94058718e-01 -2.81888381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73591999999996 meters 0.02736462788304426 Centerline is valid? [True, True] Translation: X:231.04, Y:-162.89, Z:-28.19 [[ 7.15289032e-01 6.94445240e-01 7.81499163e-02 2.31040578e+02] [-6.90348277e-01 7.19545553e-01 -7.53223308e-02 -1.62888155e+02] [-1.08539659e-01 -7.34230162e-05 9.94092117e-01 -2.81914380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76592 meters 0.02753970205326892 Centerline is valid? [True, True] Translation: X:231.06, Y:-162.91, Z:-28.19 [[ 7.16020069e-01 6.93606403e-01 7.89013303e-02 2.31063692e+02] [-6.89416147e-01 7.20354181e-01 -7.61264117e-02 -1.62912169e+02] [-1.09638670e-01 1.12187356e-04 9.93971503e-01 -2.81943271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79591999999997 meters 0.027478021882355094 Centerline is valid? [True, True] Translation: X:231.09, Y:-162.94, Z:-28.20 [[ 7.15691393e-01 6.93872118e-01 7.95444147e-02 2.31086202e+02] [-6.89605817e-01 7.20098234e-01 -7.68267555e-02 -1.62936003e+02] [-1.10587736e-01 1.29956559e-04 9.93866357e-01 -2.81968402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82592 meters 0.027489360006594514 Centerline is valid? [True, True] Translation: X:231.11, Y:-162.96, Z:-28.20 [[ 7.15741483e-01 6.93806379e-01 7.96670463e-02 2.31110548e+02] [-6.89517525e-01 7.20161558e-01 -7.70254113e-02 -1.62958535e+02] [-1.10813866e-01 1.98457560e-04 9.93841158e-01 -2.81989488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85591999999997 meters 0.027543980903149114 Centerline is valid? [True, True] Translation: X:231.13, Y:-162.98, Z:-28.20 [[ 7.14882742e-01 6.94668177e-01 7.98673175e-02 2.31133432e+02] [-6.90354005e-01 7.19330319e-01 -7.72996744e-02 -1.62981581e+02] [-1.11148607e-01 1.23480711e-04 9.93803789e-01 -2.82021364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88592 meters 0.027552387724316993 Centerline is valid? [True, True] Translation: X:231.16, Y:-163.01, Z:-28.21 [[ 7.14044905e-01 6.95461669e-01 8.04545904e-02 2.31156019e+02] [-6.91079511e-01 7.18563194e-01 -7.79489991e-02 -1.63005766e+02] [-1.12022248e-01 5.85666900e-05 9.93705697e-01 -2.82052940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91591999999997 meters 0.027560155688625767 Centerline is valid? [True, True] Translation: X:231.18, Y:-163.03, Z:-28.21 [[ 7.12023408e-01 6.97453415e-01 8.11258296e-02 2.31177039e+02] [-6.93001148e-01 7.16630096e-01 -7.86810975e-02 -1.63031440e+02] [-1.13013611e-01 -1.97509873e-04 9.93593420e-01 -2.82085577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94592 meters 0.02746514889328669 Centerline is valid? [True, True] Translation: X:231.20, Y:-163.05, Z:-28.21 [[ 7.10396701e-01 6.99252026e-01 7.98945034e-02 2.31199169e+02] [-6.94936942e-01 7.14875113e-01 -7.75642913e-02 -1.63054285e+02] [-1.11351580e-01 -4.20225190e-04 9.93780986e-01 -2.82114915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97592 meters 0.027460772643903977 Centerline is valid? [True, True] Translation: X:231.22, Y:-163.08, Z:-28.21 [[ 7.09111974e-01 7.00601077e-01 7.94879806e-02 2.31222238e+02] [-6.96330381e-01 7.13552940e-01 -7.72411970e-02 -1.63077558e+02] [-1.10834148e-01 -5.77238098e-04 9.93838749e-01 -2.82147017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00592 meters 0.027508767899581628 Centerline is valid? [True, True] Translation: X:231.24, Y:-163.10, Z:-28.22 [[ 7.08788305e-01 7.00806620e-01 8.05556957e-02 2.31244950e+02] [-6.96412290e-01 7.13351084e-01 -7.83591345e-02 -1.63100699e+02] [-1.12379093e-01 -5.59938365e-04 9.93665248e-01 -2.82177819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03592 meters 0.027580306701269784 Centerline is valid? [True, True] Translation: X:231.27, Y:-163.12, Z:-28.22 [[ 7.07907169e-01 7.01538404e-01 8.19225739e-02 2.31267976e+02] [-6.96989573e-01 7.12631367e-01 -7.97625882e-02 -1.63122546e+02] [-1.14337115e-01 -6.34671829e-04 9.93441806e-01 -2.82209206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06591999999995 meters 0.027762119993520736 Centerline is valid? [True, True] Translation: X:231.29, Y:-163.14, Z:-28.22 [[ 7.07001426e-01 7.02488227e-01 8.16043779e-02 2.31292843e+02] [-6.97972551e-01 7.11694988e-01 -7.95271221e-02 -1.63144698e+02] [-1.13944294e-01 -7.31827041e-04 9.93486871e-01 -2.82240263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09592 meters 0.027684560297682802 Centerline is valid? [True, True] Translation: X:231.32, Y:-163.16, Z:-28.23 [[ 7.05235772e-01 7.04383211e-01 8.05406617e-02 2.31319080e+02] [-6.99988043e-01 7.09819243e-01 -7.85708754e-02 -1.63164741e+02] [-1.12513317e-01 -9.66508208e-04 9.93649747e-01 -2.82270025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12591999999995 meters 0.027595640446603186 Centerline is valid? [True, True] Translation: X:231.34, Y:-163.19, Z:-28.23 [[ 7.04271495e-01 7.05323189e-01 8.07518404e-02 2.31343185e+02] [-7.00901708e-01 7.08885092e-01 -7.88588768e-02 -1.63186691e+02] [-1.12864770e-01 -1.06104381e-03 9.93609792e-01 -2.82307992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15592 meters 0.027723090855687058 Centerline is valid? [True, True] Translation: X:231.37, Y:-163.21, Z:-28.23 [[ 7.03700296e-01 7.05956424e-01 8.01961413e-02 2.31368408e+02] [-7.01590709e-01 7.08254421e-01 -7.83973954e-02 -1.63208359e+02] [-1.12144416e-01 -1.09659735e-03 9.93691314e-01 -2.82331084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18591999999995 meters 0.027604196336584116 Centerline is valid? [True, True] Translation: X:231.39, Y:-163.23, Z:-28.23 [[ 7.03861532e-01 7.05874245e-01 7.95015307e-02 2.31393639e+02] [-7.01574785e-01 7.08336441e-01 -7.77965767e-02 -1.63229131e+02] [-1.11228431e-01 -1.01825166e-03 9.93794345e-01 -2.82345106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21592 meters 0.0276032227558874 Centerline is valid? [True, True] Translation: X:231.42, Y:-163.25, Z:-28.24 [[ 7.07517813e-01 7.02176516e-01 7.97915007e-02 2.31419380e+02] [-6.97813912e-01 7.12002803e-01 -7.81521117e-02 -1.63248286e+02] [-1.11688350e-01 -3.85608098e-04 9.93743208e-01 -2.82371755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24591999999996 meters 0.02755922254232801 Centerline is valid? [True, True] Translation: X:231.44, Y:-163.27, Z:-28.24 [[ 7.08737562e-01 7.00987673e-01 7.94188303e-02 2.31443837e+02] [-6.96650255e-01 7.13173374e-01 -7.78598770e-02 -1.63270699e+02] [-1.11218209e-01 -1.44929016e-04 9.93796000e-01 -2.82405834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.27592 meters 0.027669148697183305 Centerline is valid? [True, True] Translation: X:231.47, Y:-163.29, Z:-28.24 [[ 7.10588466e-01 6.99072644e-01 7.97588239e-02 2.31468538e+02] [-6.94676692e-01 7.15050622e-01 -7.82745274e-02 -1.63292929e+02] [-1.11751177e-01 2.14380419e-04 9.93736197e-01 -2.82442011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30591999999996 meters 0.027835055843508053 Centerline is valid? [True, True] Translation: X:231.49, Y:-163.31, Z:-28.25 [[ 7.11393820e-01 6.98170745e-01 8.04763524e-02 2.31492060e+02] [-6.93680261e-01 7.15931168e-01 -7.90585794e-02 -1.63314418e+02] [-1.12811916e-01 4.16927768e-04 9.93616273e-01 -2.82473181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.33592 meters 0.02807142813528549 Centerline is valid? [True, True] Translation: X:231.52, Y:-163.33, Z:-28.25 [[ 7.13069917e-01 6.96390844e-01 8.10622426e-02 2.31516478e+02] [-6.91814820e-01 7.17662331e-01 -7.97059133e-02 -1.63334935e+02] [-1.13681786e-01 7.55828178e-04 9.93516925e-01 -2.82498281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36591999999996 meters 0.028127624851167824 Centerline is valid? [True, True] Translation: X:231.54, Y:-163.36, Z:-28.25 [[ 7.13067486e-01 6.96466361e-01 8.04323803e-02 2.31539802e+02] [-6.91953695e-01 7.17589007e-01 -7.91587059e-02 -1.63358634e+02] [-1.12848768e-01 7.90016644e-04 9.93611862e-01 -2.82519883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39592 meters 0.028058473522880486 Centerline is valid? [True, True] Translation: X:231.56, Y:-163.38, Z:-28.25 [[ 7.13018789e-01 6.96581608e-01 7.98640680e-02 2.31562558e+02] [-6.92125652e-01 7.17477106e-01 -7.86681927e-02 -1.63382032e+02] [-1.12099457e-01 8.15929359e-04 9.93696657e-01 -2.82542251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42591999999996 meters 0.02814333198066766 Centerline is valid? [True, True] Translation: X:231.59, Y:-163.41, Z:-28.26 [[ 7.12063409e-01 6.97566236e-01 7.97937787e-02 2.31585958e+02] [-6.93120306e-01 7.16519976e-01 -7.86343804e-02 -1.63405531e+02] [-1.12026525e-01 6.85976599e-04 9.93704980e-01 -2.82576931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45592 meters 0.028202024342023225 Centerline is valid? [True, True] Translation: X:231.61, Y:-163.43, Z:-28.26 [[ 7.11094434e-01 6.98508632e-01 8.01897525e-02 2.31609114e+02] [-6.94015080e-01 7.15601378e-01 -7.91058580e-02 -1.63429296e+02] [-1.12640022e-01 5.98837875e-04 9.93635681e-01 -2.82606429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48591999999996 meters 0.028156699203597785 Centerline is valid? [True, True] Translation: X:231.63, Y:-163.45, Z:-28.26 [[ 7.10190814e-01 6.99345223e-01 8.09028211e-02 2.31632110e+02] [-6.94767157e-01 7.14783868e-01 -7.98912933e-02 -1.63452754e+02] [-1.13699626e-01 5.29439588e-04 9.93515030e-01 -2.82641101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51592 meters 0.028255554136436174 Centerline is valid? [True, True] Translation: X:231.66, Y:-163.48, Z:-28.27 [[ 7.09454098e-01 7.00088333e-01 8.09395344e-02 2.31655230e+02] [-6.95501531e-01 7.14056094e-01 -8.00094695e-02 -1.63476214e+02] [-1.13809064e-01 4.69475948e-04 9.93502530e-01 -2.82662459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54591999999997 meters 0.028192490450585 Centerline is valid? [True, True] Translation: X:231.68, Y:-163.50, Z:-28.27 [[ 7.09029498e-01 7.00630309e-01 7.99646167e-02 2.31679081e+02] [-6.96148242e-01 7.13524338e-01 -7.91242282e-02 -1.63497872e+02] [-1.12493533e-01 4.34184461e-04 9.93652362e-01 -2.82688514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57592 meters 0.028188225204652674 Centerline is valid? [True, True] Translation: X:231.70, Y:-163.52, Z:-28.27 [[ 7.08868112e-01 7.00838048e-01 7.95740565e-02 2.31704014e+02] [-6.96392974e-01 7.13320284e-01 -7.88098871e-02 -1.63519819e+02] [-1.11994756e-01 4.51002004e-04 9.93708695e-01 -2.82718371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60591999999997 meters 0.028111961717083023 Centerline is valid? [True, True] Translation: X:231.73, Y:-163.54, Z:-28.27 [[ 7.08382634e-01 7.01370449e-01 7.92056645e-02 2.31726783e+02] [-6.96960943e-01 7.12796826e-01 -7.85247001e-02 -1.63542977e+02] [-1.11532450e-01 4.22279251e-04 9.93760703e-01 -2.82749655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63592 meters 0.028220221907206612 Centerline is valid? [True, True] Translation: X:231.75, Y:-163.57, Z:-28.28 [[ 7.08661989e-01 7.01070262e-01 7.93641786e-02 2.31749740e+02] [-6.96632186e-01 7.13092006e-01 -7.87615931e-02 -1.63565923e+02] [-1.11811372e-01 5.27706034e-04 9.93729309e-01 -2.82779688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66591999999997 meters 0.028357856715337443 Centerline is valid? [True, True] Translation: X:231.77, Y:-163.59, Z:-28.28 [[ 7.09113394e-01 7.00653534e-01 7.90115158e-02 2.31774121e+02] [-6.96243803e-01 7.13501373e-01 -7.84879445e-02 -1.63588490e+02] [-1.11367681e-01 6.45574447e-04 9.93779061e-01 -2.82804278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69592 meters 0.02854260551465084 Centerline is valid? [True, True] Translation: X:231.80, Y:-163.61, Z:-28.28 [[ 7.09328643e-01 7.00458478e-01 7.88086160e-02 2.31797667e+02] [-6.96061247e-01 7.13692780e-01 -7.83668031e-02 -1.63610877e+02] [-1.11137832e-01 7.32194572e-04 9.93804732e-01 -2.82836459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72592 meters 0.028402673077019727 Centerline is valid? [True, True] Translation: X:231.82, Y:-163.64, Z:-28.29 [[ 7.10196731e-01 6.99810869e-01 7.67160468e-02 2.31819500e+02] [-6.95632892e-01 7.14327656e-01 -7.63601905e-02 -1.63635002e+02] [-1.08238085e-01 8.64552151e-04 9.94124625e-01 -2.82864491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75592 meters 0.02821963141353756 Centerline is valid? [True, True] Translation: X:231.84, Y:-163.66, Z:-28.29 [[ 7.10003832e-01 7.00091052e-01 7.59412753e-02 2.31841148e+02] [-6.95991544e-01 7.14053062e-01 -7.56570918e-02 -1.63659437e+02] [-1.07192953e-01 8.62339689e-04 9.94237862e-01 -2.82887813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78592 meters 0.02827956324283201 Centerline is valid? [True, True] Translation: X:231.86, Y:-163.68, Z:-28.29 [[ 7.10062454e-01 6.99964411e-01 7.65580534e-02 2.31863710e+02] [-6.95788610e-01 7.14177101e-01 -7.63497144e-02 -1.63683620e+02] [-1.08118091e-01 9.44843969e-04 9.94137609e-01 -2.82930801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81591999999995 meters 0.028342536329394607 Centerline is valid? [True, True] Translation: X:231.88, Y:-163.71, Z:-28.30 [[ 7.09567502e-01 7.00407545e-01 7.70923505e-02 2.31884881e+02] [-6.96167042e-01 7.13742521e-01 -7.69614394e-02 -1.63709464e+02] [-1.08928461e-01 9.40182640e-04 9.94049147e-01 -2.82951998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84592 meters 0.028369240341235988 Centerline is valid? [True, True] Translation: X:231.90, Y:-163.74, Z:-28.30 [[ 7.09831425e-01 7.00046193e-01 7.79402014e-02 2.31903854e+02] [-6.95700842e-01 7.14096771e-01 -7.78854329e-02 -1.63735821e+02] [-1.10180247e-01 1.06246410e-03 9.93911055e-01 -2.82988656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87591999999995 meters 0.02869977874753765 Centerline is valid? [True, True] Translation: X:231.86, Y:-164.06, Z:-26.41 [[ 7.46771821e-01 -6.63287916e-01 -4.87953718e-02 2.31856541e+02] [-6.61359607e-01 -7.48342518e-01 5.08620303e-02 -1.64060732e+02] [-7.02518215e-02 -5.71104306e-03 -9.97512940e-01 -2.64103182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90592 meters 0.02844994348041409 Centerline is valid? [True, True] Translation: X:231.92, Y:-163.78, Z:-28.30 [[ 7.58420687e-01 6.46548931e-01 8.22954530e-02 2.31918172e+02] [-6.42607917e-01 7.62871602e-01 -7.12880278e-02 -1.63775371e+02] [-1.08872062e-01 1.18260533e-03 9.94055067e-01 -2.83033029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93591999999995 meters 0.02840180616863122 Centerline is valid? [True, True] Translation: X:231.94, Y:-163.80, Z:-28.31 [[ 7.58077120e-01 6.46820149e-01 8.33233158e-02 2.31939607e+02] [-6.42774214e-01 7.62641617e-01 -7.22431639e-02 -1.63800246e+02] [-1.10274162e-01 1.20781078e-03 9.93900473e-01 -2.83068420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96592 meters 0.02843460096177649 Centerline is valid? [True, True] Translation: X:231.96, Y:-163.82, Z:-28.31 [[ 7.57265218e-01 6.47936003e-01 8.20263728e-02 2.31961048e+02] [-6.44015075e-01 7.61694017e-01 -7.11815097e-02 -1.63824891e+02] [-1.08600060e-01 1.07706080e-03 9.94084939e-01 -2.83087480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99591999999996 meters 0.02822962244237082 Centerline is valid? [True, True] Translation: X:231.98, Y:-163.85, Z:-28.31 [[ 7.56058843e-01 6.49311585e-01 8.22769188e-02 2.31984740e+02] [-6.45367468e-01 7.60521923e-01 -7.14649299e-02 -1.63848027e+02] [-1.08976407e-01 9.32845492e-04 9.94043899e-01 -2.83108586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02592 meters 0.02813446814563575 Centerline is valid? [True, True] Translation: X:232.01, Y:-163.87, Z:-28.31 [[ 7.55665359e-01 6.49974634e-01 8.06401963e-02 2.32008373e+02] [-6.46182595e-01 7.59955401e-01 -7.01130611e-02 -1.63870010e+02] [-1.06854664e-01 8.73720129e-04 9.94274267e-01 -2.83135398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05591999999996 meters 0.028055346460144532 Centerline is valid? [True, True] Translation: X:232.03, Y:-163.89, Z:-28.32 [[ 7.54606569e-01 6.51257525e-01 8.02032502e-02 2.32029813e+02] [-6.47507063e-01 7.58856438e-01 -6.97962083e-02 -1.63893670e+02] [-1.06318059e-01 7.36506352e-04 9.94331900e-01 -2.83163908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08592 meters 0.02791860064444285 Centerline is valid? [True, True] Translation: X:232.05, Y:-163.92, Z:-28.32 [[ 7.54164562e-01 6.51854147e-01 7.95109082e-02 2.32054289e+02] [-6.48164924e-01 7.58344043e-01 -6.92570798e-02 -1.63916495e+02] [-1.05442138e-01 6.95053545e-04 9.94425197e-01 -2.83184964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11591999999996 meters 0.028028711117851796 Centerline is valid? [True, True] Translation: X:232.08, Y:-163.94, Z:-28.32 [[ 7.53793497e-01 6.52130348e-01 8.07550177e-02 2.32076976e+02] [-6.48318144e-01 7.58106514e-01 -7.04137588e-02 -1.63939872e+02] [-1.07139854e-01 7.22490276e-04 9.94243697e-01 -2.83219990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14592 meters 0.028025475124454 Centerline is valid? [True, True] Translation: X:232.10, Y:-163.96, Z:-28.33 [[ 7.53839166e-01 6.52053687e-01 8.09475169e-02 2.32101609e+02] [-6.48215666e-01 7.58172389e-01 -7.06475665e-02 -1.63962084e+02] [-1.07438179e-01 7.85454067e-04 9.94211457e-01 -2.83254410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17591999999996 meters 0.028044288842390772 Centerline is valid? [True, True] Translation: X:232.13, Y:-163.98, Z:-28.33 [[ 7.53694707e-01 6.52265445e-01 8.05858447e-02 2.32126075e+02] [-6.48455088e-01 7.57990196e-01 -7.04049816e-02 -1.63984160e+02] [-1.07006017e-01 8.07560967e-04 9.94258045e-01 -2.83274570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20592 meters 0.028044288842390772 Centerline is valid? [True, True] Translation: X:232.15, Y:-164.01, Z:-28.33 [[ 7.53362238e-01 6.52653881e-01 8.05496774e-02 2.32150737e+02] [-6.48841316e-01 7.57655766e-01 -7.04463395e-02 -1.64005240e+02] [-1.07006004e-01 8.07653200e-04 9.94258046e-01 -2.83304040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23591999999996 meters 0.02799441861674104 Centerline is valid? [True, True] Translation: X:232.17, Y:-164.03, Z:-28.33 [[ 7.53376836e-01 6.52635070e-01 8.05655503e-02 2.32173964e+02] [-6.48813036e-01 7.57671905e-01 -7.05331740e-02 -1.64028329e+02] [-1.07074677e-01 8.66080102e-04 9.94250604e-01 -2.83321677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26592 meters 0.027914014423479405 Centerline is valid? [True, True] Translation: X:232.20, Y:-164.05, Z:-28.34 [[ 7.53107031e-01 6.52943676e-01 8.05875622e-02 2.32198090e+02] [-6.49113433e-01 7.57405958e-01 -7.06255378e-02 -1.64051137e+02] [-1.07151998e-01 8.78119932e-04 9.94242263e-01 -2.83350986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29591999999997 meters 0.02803998102714075 Centerline is valid? [True, True] Translation: X:232.22, Y:-164.07, Z:-28.34 [[ 7.52980924e-01 6.53019137e-01 8.11525388e-02 2.32221267e+02] [-6.49127196e-01 7.57340836e-01 -7.11950943e-02 -1.64074321e+02] [-1.07951891e-01 9.30227909e-04 9.94155684e-01 -2.83375306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32592 meters 0.02781233970768201 Centerline is valid? [True, True] Translation: X:232.25, Y:-164.10, Z:-28.34 [[ 7.52540295e-01 6.53583748e-01 8.06931817e-02 2.32245786e+02] [-6.49731163e-01 7.56853668e-01 -7.08656610e-02 -1.64096598e+02] [-1.07389575e-01 9.00390653e-04 9.94216610e-01 -2.83408530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35591999999997 meters 0.02779155920184436 Centerline is valid? [True, True] Translation: X:232.27, Y:-164.12, Z:-28.34 [[ 7.51350951e-01 6.55059927e-01 7.98012539e-02 2.32268342e+02] [-6.51292974e-01 7.55576568e-01 -7.01534884e-02 -1.64119867e+02] [-1.06250697e-01 7.35894262e-04 9.94339101e-01 -2.83441801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38592 meters 0.02770809200209241 Centerline is valid? [True, True] Translation: X:232.29, Y:-164.14, Z:-28.35 [[ 7.51026233e-01 6.55486006e-01 7.93580002e-02 2.32292085e+02] [-6.51756407e-01 7.55206975e-01 -6.98284374e-02 -1.64143528e+02] [-1.05703279e-01 7.20903215e-04 9.94397454e-01 -2.83465591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41591999999997 meters 0.0277101436511725 Centerline is valid? [True, True] Translation: X:232.31, Y:-164.17, Z:-28.35 [[ 7.50994683e-01 6.55616339e-01 7.85760905e-02 2.32314749e+02] [-6.51953238e-01 7.55093805e-01 -6.92121522e-02 -1.64168204e+02] [-1.04708937e-01 7.50021720e-04 9.94502627e-01 -2.83483485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44592 meters 0.027604253452533548 Centerline is valid? [True, True] Translation: X:232.34, Y:-164.19, Z:-28.35 [[ 7.50810156e-01 6.55849332e-01 7.83949233e-02 2.32338868e+02] [-6.52196793e-01 7.54891422e-01 -6.91251346e-02 -1.64190037e+02] [-1.04515328e-01 7.70935548e-04 9.94522977e-01 -2.83510686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47592 meters 0.027519743442632742 Centerline is valid? [True, True] Translation: X:232.36, Y:-164.21, Z:-28.35 [[ 7.50765566e-01 6.55854296e-01 7.87794881e-02 2.32363428e+02] [-6.52158028e-01 7.54887047e-01 -6.95374122e-02 -1.64212417e+02] [-1.05076026e-01 8.29619033e-04 9.94463846e-01 -2.83541532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50592 meters 0.027497881598395515 Centerline is valid? [True, True] Translation: X:232.38, Y:-164.24, Z:-28.36 [[ 7.50097222e-01 6.56608231e-01 7.88656365e-02 2.32384792e+02] [-6.52900292e-01 7.54231412e-01 -6.96863410e-02 -1.64237895e+02] [-1.05239565e-01 7.80133668e-04 9.94446592e-01 -2.83578037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53592 meters 0.02740864578875296 Centerline is valid? [True, True] Translation: X:232.41, Y:-164.26, Z:-28.36 [[ 7.49825521e-01 6.56908673e-01 7.89473498e-02 2.32408250e+02] [-6.53186973e-01 7.53969738e-01 -6.98313218e-02 -1.64261143e+02] [-1.05396714e-01 7.93926855e-04 9.94429938e-01 -2.83599019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56591999999995 meters 0.027307389260192574 Centerline is valid? [True, True] Translation: X:232.43, Y:-164.29, Z:-28.36 [[ 7.49154584e-01 6.57667191e-01 7.90017376e-02 2.32431493e+02] [-6.53936776e-01 7.53308246e-01 -6.99526916e-02 -1.64285407e+02] [-1.05518251e-01 7.43237990e-04 9.94417089e-01 -2.83616765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59592 meters 0.02751384121648105 Centerline is valid? [True, True] Translation: X:232.45, Y:-164.31, Z:-28.36 [[ 7.48903450e-01 6.57959495e-01 7.89488803e-02 2.32454815e+02] [-6.54227933e-01 7.53052939e-01 -6.99791521e-02 -1.64308893e+02] [-1.05496134e-01 7.57065569e-04 9.94419425e-01 -2.83649397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62591999999995 meters 0.027368823344089185 Centerline is valid? [True, True] Translation: X:232.48, Y:-164.33, Z:-28.37 [[ 7.48622631e-01 6.58347570e-01 7.83749529e-02 2.32477232e+02] [-6.54664705e-01 7.52713698e-01 -6.95428817e-02 -1.64332957e+02] [-1.04777288e-01 7.52059650e-04 9.94495427e-01 -2.83676687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65592 meters 0.027483445966313875 Centerline is valid? [True, True] Translation: X:232.50, Y:-164.36, Z:-28.37 [[ 7.48695469e-01 6.58174931e-01 7.91255639e-02 2.32497755e+02] [-6.54412116e-01 7.52864566e-01 -7.02831960e-02 -1.64359666e+02] [-1.05829471e-01 8.39982686e-04 9.94383939e-01 -2.83708029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68591999999995 meters 0.02744122319630875 Centerline is valid? [True, True] Translation: X:232.52, Y:-164.38, Z:-28.37 [[ 7.48677057e-01 6.58123355e-01 7.97264922e-02 2.32521033e+02] [-6.54294689e-01 7.52909570e-01 -7.08917497e-02 -1.64382468e+02] [-1.06682355e-01 9.10406150e-04 9.94292737e-01 -2.83735834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71592 meters 0.027742109613823153 Centerline is valid? [True, True] Translation: X:232.54, Y:-164.41, Z:-28.38 [[ 7.49498214e-01 6.57120910e-01 8.02778741e-02 2.32542259e+02] [-6.53225262e-01 7.53784361e-01 -7.14555360e-02 -1.64406287e+02] [-1.07467133e-01 1.11626125e-03 9.94208011e-01 -2.83765766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74591999999996 meters 0.027604532426388488 Centerline is valid? [True, True] Translation: X:232.57, Y:-164.43, Z:-28.38 [[ 7.49496921e-01 6.57098236e-01 8.04752944e-02 2.32565377e+02] [-6.53175944e-01 7.53804041e-01 -7.16983611e-02 -1.64429564e+02] [-1.07775469e-01 1.17317455e-03 9.94174568e-01 -2.83790897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.77592 meters 0.027610526767926472 Centerline is valid? [True, True] Translation: X:232.59, Y:-164.45, Z:-28.38 [[ 7.49335543e-01 6.57398429e-01 7.95207544e-02 2.32588169e+02] [-6.53562911e-01 7.53542259e-01 -7.09195761e-02 -1.64452749e+02] [-1.06544667e-01 1.17074335e-03 9.94307228e-01 -2.83811310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80591999999996 meters 0.027347279796470034 Centerline is valid? [True, True] Translation: X:232.61, Y:-164.48, Z:-28.38 [[ 7.48540393e-01 6.58271057e-01 7.97903268e-02 2.32610732e+02] [-6.54407233e-01 7.52780184e-01 -7.12261728e-02 -1.64476339e+02] [-1.06950705e-01 1.10030037e-03 9.94263716e-01 -2.83839839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.83592 meters 0.027303159405805362 Centerline is valid? [True, True] Translation: X:232.63, Y:-164.50, Z:-28.39 [[ 7.47764204e-01 6.59240665e-01 7.90597296e-02 2.32633127e+02] [-6.55445249e-01 7.51931335e-01 -7.06455479e-02 -1.64498862e+02] [-1.06019906e-01 1.00688773e-03 9.94363498e-01 -2.83865571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86591999999996 meters 0.027164835719798865 Centerline is valid? [True, True] Translation: X:232.65, Y:-164.52, Z:-28.39 [[ 7.46456286e-01 6.60739030e-01 7.89110088e-02 2.32654152e+02] [-6.56959292e-01 7.50615231e-01 -7.05780681e-02 -1.64524270e+02] [-1.05865489e-01 8.42122119e-04 9.94380103e-01 -2.83891932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89592 meters 0.026962551144520123 Centerline is valid? [True, True] Translation: X:232.68, Y:-164.55, Z:-28.39 [[ 7.44833056e-01 6.62619217e-01 7.84824350e-02 2.32676281e+02] [-6.58883281e-01 7.48956194e-01 -7.02669252e-02 -1.64547807e+02] [-1.05340121e-01 6.26364318e-04 9.94436055e-01 -2.83913690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92591999999996 meters 0.02689072502416713 Centerline is valid? [True, True] Translation: X:232.70, Y:-164.57, Z:-28.39 [[ 7.42040318e-01 6.65682961e-01 7.90086226e-02 2.32697296e+02] [-6.61906731e-01 7.46234639e-01 -7.08049708e-02 -1.64573013e+02] [-1.06092634e-01 2.43803932e-04 9.94356221e-01 -2.83939230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95592 meters 0.026750591361123652 Centerline is valid? [True, True] Translation: X:232.72, Y:-164.60, Z:-28.40 [[ 7.39959957e-01 6.68003285e-01 7.89358819e-02 2.32720336e+02] [-6.64239118e-01 7.44158324e-01 -7.08151312e-02 -1.64596829e+02] [-1.06045534e-01 -3.19391390e-05 9.94361274e-01 -2.83960520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98591999999996 meters 0.02668346948061064 Centerline is valid? [True, True] Translation: X:232.74, Y:-164.62, Z:-28.40 [[ 7.38927684e-01 6.69185148e-01 7.85946306e-02 2.32743536e+02] [-6.65452166e-01 7.43095698e-01 -7.05846839e-02 -1.64620844e+02] [-1.05637554e-01 -1.43990170e-04 9.94404689e-01 -2.83982304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01592 meters 0.02659713510775461 Centerline is valid? [True, True] Translation: X:232.77, Y:-164.65, Z:-28.40 [[ 7.36985759e-01 6.71433639e-01 7.76457235e-02 2.32765203e+02] [-6.67795104e-01 7.41064575e-01 -6.98068385e-02 -1.64645828e+02] [-1.04411155e-01 -4.04788119e-04 9.94534136e-01 -2.84017411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04591999999997 meters 0.026674850742094594 Centerline is valid? [True, True] Translation: X:232.79, Y:-164.67, Z:-28.41 [[ 7.35303910e-01 6.73207768e-01 7.82269895e-02 2.32788594e+02] [-6.69516354e-01 7.39453133e-01 -7.04053753e-02 -1.64669577e+02] [-1.05242638e-01 -6.04901020e-04 9.94446389e-01 -2.84054076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07592 meters 0.02647497176980953 Centerline is valid? [True, True] Translation: X:232.81, Y:-164.69, Z:-28.41 [[ 7.33699632e-01 6.74824281e-01 7.93538947e-02 2.32810148e+02] [-6.71026666e-01 7.37978023e-01 -7.14958108e-02 -1.64693965e+02] [-1.06808539e-01 -7.92129369e-04 9.94279291e-01 -2.84081768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10591999999997 meters 0.026707016400749184 Centerline is valid? [True, True] Translation: X:232.83, Y:-164.72, Z:-28.41 [[ 7.32700605e-01 6.75910758e-01 7.93377045e-02 2.32832998e+02] [-6.72113678e-01 7.36982930e-01 -7.15497397e-02 -1.64717229e+02] [-1.06831773e-01 -8.99418814e-04 9.94276704e-01 -2.84113214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13592 meters 0.026703337833161638 Centerline is valid? [True, True] Translation: X:232.86, Y:-164.74, Z:-28.41 [[ 7.32093405e-01 6.76437062e-01 8.04496580e-02 2.32855801e+02] [-6.72527177e-01 7.36499852e-01 -7.26303261e-02 -1.64740571e+02] [-1.08381006e-01 -9.32398658e-04 9.94108992e-01 -2.84138353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16591999999997 meters 0.0266452178490686 Centerline is valid? [True, True] Translation: X:232.88, Y:-164.76, Z:-28.42 [[ 7.31394080e-01 6.77199647e-01 8.03948839e-02 2.32878138e+02] [-6.73292076e-01 7.35798649e-01 -7.26507328e-02 -1.64764453e+02] [-1.08353498e-01 -9.92922372e-04 9.94111932e-01 -2.84159705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19592 meters 0.02642579286425152 Centerline is valid? [True, True] Translation: X:232.90, Y:-164.79, Z:-28.42 [[ 7.31593898e-01 6.76980762e-01 8.04202537e-02 2.32901608e+02] [-6.73060818e-01 7.36000159e-01 -7.27523279e-02 -1.64787317e+02] [-1.08441246e-01 -9.02562610e-04 9.94102450e-01 -2.84190250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22592 meters 0.026405291782447146 Centerline is valid? [True, True] Translation: X:232.92, Y:-164.81, Z:-28.42 [[ 7.31356823e-01 6.77414028e-01 7.89140746e-02 2.32924802e+02] [-6.73634438e-01 7.35601412e-01 -7.14647286e-02 -1.64810037e+02] [-1.06460514e-01 -8.93021362e-04 9.94316530e-01 -2.84216926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25592 meters 0.02638397628902016 Centerline is valid? [True, True] Translation: X:232.95, Y:-164.83, Z:-28.43 [[ 7.30838375e-01 6.77862594e-01 7.98597072e-02 2.32948434e+02] [-6.73986523e-01 7.35188046e-01 -7.23927146e-02 -1.64833201e+02] [-1.07784215e-01 -9.16992444e-04 9.94173889e-01 -2.84253472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28592 meters 0.026394010128289888 Centerline is valid? [True, True] Translation: X:232.97, Y:-164.86, Z:-28.43 [[ 7.30542547e-01 6.78183263e-01 7.98439031e-02 2.32971112e+02] [-6.74302080e-01 7.34892266e-01 -7.24573144e-02 -1.64857179e+02] [-1.07816005e-01 -9.05758925e-04 9.94170453e-01 -2.84296687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31591999999995 meters 0.026418770246941583 Centerline is valid? [True, True] Translation: X:232.99, Y:-164.88, Z:-28.43 [[ 7.29863365e-01 6.78783526e-01 8.09468527e-02 2.32994087e+02] [-6.74789002e-01 7.34337812e-01 -7.35376106e-02 -1.64879839e+02] [-1.09358453e-01 -9.49638059e-04 9.94001925e-01 -2.84334285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34592 meters 0.02645499872306704 Centerline is valid? [True, True] Translation: X:233.02, Y:-164.90, Z:-28.44 [[ 7.29714024e-01 6.79031898e-01 8.02067574e-02 2.33016281e+02] [-6.75104333e-01 7.34108181e-01 -7.29336618e-02 -1.64903577e+02] [-1.08404720e-01 -9.27213561e-04 9.94106411e-01 -2.84364903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37591999999995 meters 0.026393801859700274 Centerline is valid? [True, True] Translation: X:233.04, Y:-164.93, Z:-28.44 [[ 7.28955728e-01 6.79918944e-01 7.95850294e-02 2.33040136e+02] [-6.76049950e-01 7.33286595e-01 -7.24377991e-02 -1.64925609e+02] [-1.07610467e-01 -9.99506571e-04 9.94192631e-01 -2.84385898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40592 meters 0.026381791961000323 Centerline is valid? [True, True] Translation: X:233.06, Y:-164.95, Z:-28.44 [[ 7.27858892e-01 6.80879849e-01 8.13883595e-02 2.33062814e+02] [-6.76830191e-01 7.32394294e-01 -7.41585575e-02 -1.64948291e+02] [-1.10101438e-01 -1.10913337e-03 9.93919737e-01 -2.84435282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43591999999995 meters 0.0263982946722056 Centerline is valid? [True, True] Translation: X:233.09, Y:-164.97, Z:-28.45 [[ 7.27207910e-01 6.81437284e-01 8.25341428e-02 2.33085723e+02] [-6.77267970e-01 7.31875596e-01 -7.52742240e-02 -1.64971059e+02] [-1.11699388e-01 -1.15772026e-03 9.93741368e-01 -2.84471549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46592 meters 0.026357648415250765 Centerline is valid? [True, True] Translation: X:233.11, Y:-164.99, Z:-28.45 [[ 7.26856536e-01 6.81817696e-01 8.24876126e-02 2.33109370e+02] [-6.77647344e-01 7.31521210e-01 -7.53046961e-02 -1.64994560e+02] [-1.11685513e-01 -1.16180104e-03 9.93742923e-01 -2.84496998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49591999999996 meters 0.02647290805492781 Centerline is valid? [True, True] Translation: X:233.13, Y:-165.02, Z:-28.45 [[ 7.27219313e-01 6.81279431e-01 8.37281816e-02 2.33133358e+02] [-6.76969510e-01 7.32022721e-01 -7.65180910e-02 -1.65015869e+02] [-1.13421133e-01 -1.03599253e-03 9.93546463e-01 -2.84532577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52592 meters 0.026549304023281282 Centerline is valid? [True, True] Translation: X:233.16, Y:-165.04, Z:-28.46 [[ 7.27112134e-01 6.81375293e-01 8.38788077e-02 2.33158574e+02] [-6.77041964e-01 7.31933544e-01 -7.67298205e-02 -1.65037695e+02] [-1.13675517e-01 -9.98289116e-04 9.93517428e-01 -2.84563524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55591999999996 meters 0.026246214519656034 Centerline is valid? [True, True] Translation: X:233.18, Y:-165.06, Z:-28.46 [[ 7.27318631e-01 6.81088721e-01 8.44142340e-02 2.33182697e+02] [-6.76688171e-01 7.32200347e-01 -7.73031192e-02 -1.65059804e+02] [-1.14458414e-01 -8.98114726e-04 9.93427634e-01 -2.84589066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58592 meters 0.026480087644932673 Centerline is valid? [True, True] Translation: X:233.21, Y:-165.08, Z:-28.46 [[ 7.27056597e-01 6.81305171e-01 8.49233117e-02 2.33207033e+02] [-6.76842923e-01 7.31998973e-01 -7.78534556e-02 -1.65081715e+02] [-1.15205739e-01 -8.75874049e-04 9.93341266e-01 -2.84621779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61591999999996 meters 0.02635607128888321 Centerline is valid? [True, True] Translation: X:233.23, Y:-165.10, Z:-28.47 [[ 7.27370338e-01 6.80967801e-01 8.49426023e-02 2.33231592e+02] [-6.76491491e-01 7.32312963e-01 -7.79550338e-02 -1.65103287e+02] [-1.15289437e-01 -7.60768397e-04 9.93331650e-01 -2.84657576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64592 meters 0.02633149173607427 Centerline is valid? [True, True] Translation: X:233.26, Y:-165.12, Z:-28.47 [[ 7.28402626e-01 6.79917816e-01 8.45066777e-02 2.33256120e+02] [-6.75471139e-01 7.33288129e-01 -7.76354244e-02 -1.65123728e+02] [-1.14753452e-01 -5.31974920e-04 9.93393861e-01 -2.84684002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67591999999996 meters 0.026327060966246162 Centerline is valid? [True, True] Translation: X:233.28, Y:-165.14, Z:-28.47 [[ 7.31158740e-01 6.76796595e-01 8.57511872e-02 2.33280355e+02] [-6.72187321e-01 7.36170068e-01 -7.88532602e-02 -1.65143867e+02] [-1.16495075e-01 1.33894987e-05 9.93191269e-01 -2.84730231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70592 meters 0.02643342106412501 Centerline is valid? [True, True] Translation: X:233.31, Y:-165.16, Z:-28.48 [[ 7.31583398e-01 6.76387682e-01 8.53547651e-02 2.33305188e+02] [-6.71809432e-01 7.36545780e-01 -7.85646343e-02 -1.65164808e+02] [-1.16007843e-01 1.34445882e-04 9.93248288e-01 -2.84762609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73591999999996 meters 0.02638603014748093 Centerline is valid? [True, True] Translation: X:233.33, Y:-165.19, Z:-28.48 [[ 7.32164762e-01 6.75720694e-01 8.56522340e-02 2.33330643e+02] [-6.71095874e-01 7.37157684e-01 -7.89232289e-02 -1.65186045e+02] [-1.16469261e-01 3.03946217e-04 9.93194250e-01 -2.84794075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76592 meters 0.02656630896518428 Centerline is valid? [True, True] Translation: X:233.35, Y:-165.21, Z:-28.48 [[ 7.33123230e-01 6.74635858e-01 8.60045871e-02 2.33354827e+02] [-6.69955388e-01 7.38150504e-01 -7.93322895e-02 -1.65208096e+02] [-1.17004736e-01 5.41107838e-04 9.93131209e-01 -2.84834243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79591999999997 meters 0.026512737819567048 Centerline is valid? [True, True] Translation: X:233.38, Y:-165.23, Z:-28.49 [[ 7.33679661e-01 6.74076344e-01 8.56459992e-02 2.33378783e+02] [-6.69421364e-01 7.38661361e-01 -7.90849595e-02 -1.65231112e+02] [-1.16572691e-01 6.89764697e-04 9.93181923e-01 -2.84861028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82592 meters 0.026529355112338213 Centerline is valid? [True, True] Translation: X:233.40, Y:-165.25, Z:-28.49 [[ 7.35240683e-01 6.72379734e-01 8.55957384e-02 2.33403566e+02] [-6.67709011e-01 7.40205682e-01 -7.91215852e-02 -1.65252386e+02] [-1.16558202e-01 1.02036253e-03 9.93183339e-01 -2.84905583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85591999999997 meters 0.0264377838065065 Centerline is valid? [True, True] Translation: X:233.43, Y:-165.27, Z:-28.49 [[ 7.35558657e-01 6.72136067e-01 8.47736317e-02 2.33427372e+02] [-6.67544078e-01 7.40426822e-01 -7.84412176e-02 -1.65273867e+02] [-1.15491842e-01 1.10798090e-03 9.93307811e-01 -2.84932058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88592 meters 0.026578202929491514 Centerline is valid? [True, True] Translation: X:233.45, Y:-165.30, Z:-28.50 [[ 7.36162693e-01 6.71343222e-01 8.58065757e-02 2.33448603e+02] [-6.66624313e-01 7.41145454e-01 -7.94697522e-02 -1.65298043e+02] [-1.16946633e-01 1.30191716e-03 9.93137347e-01 -2.84976425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91591999999997 meters 0.02658575527318878 Centerline is valid? [True, True] Translation: X:233.47, Y:-165.32, Z:-28.50 [[ 7.36663965e-01 6.70803773e-01 8.57233980e-02 2.33470847e+02] [-6.66082837e-01 7.41633495e-01 -7.94569862e-02 -1.65322302e+02] [-1.16875389e-01 1.43421435e-03 9.93145551e-01 -2.85002778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94592 meters 0.026667308781304157 Centerline is valid? [True, True] Translation: X:233.49, Y:-165.35, Z:-28.50 [[ 7.36910516e-01 6.70556305e-01 8.55402433e-02 2.33494637e+02] [-6.65848500e-01 7.41857114e-01 -7.93334554e-02 -1.65345747e+02] [-1.16656187e-01 1.50481490e-03 9.93171219e-01 -2.85027872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97592 meters 0.02681810169735045 Centerline is valid? [True, True] Translation: X:233.52, Y:-165.37, Z:-28.51 [[ 7.38090280e-01 6.69207298e-01 8.59321338e-02 2.33516030e+02] [-6.64437360e-01 7.43073616e-01 -7.97784169e-02 -1.65369219e+02] [-1.17242200e-01 1.78715398e-03 9.93101743e-01 -2.85061173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00592 meters 0.02712517637099156 Centerline is valid? [True, True] Translation: X:233.54, Y:-165.39, Z:-28.51 [[ 7.38508731e-01 6.68758371e-01 8.58317861e-02 2.33537778e+02] [-6.63987843e-01 7.43477361e-01 -7.97593770e-02 -1.65393522e+02] [-1.17153741e-01 1.91173375e-03 9.93111951e-01 -2.85101566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03592 meters 0.02722319391295572 Centerline is valid? [True, True] Translation: X:233.56, Y:-165.42, Z:-28.51 [[ 7.39673160e-01 6.67672201e-01 8.42463537e-02 2.33556116e+02] [-6.63060932e-01 7.44452424e-01 -7.83631918e-02 -1.65420201e+02] [-1.15038327e-01 2.10268394e-03 9.93358828e-01 -2.85129589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06591999999995 meters 0.027510773636433047 Centerline is valid? [True, True] Translation: X:233.58, Y:-165.44, Z:-28.52 [[ 7.39899168e-01 6.67358319e-01 8.47472430e-02 2.33578171e+02] [-6.62681534e-01 7.44733480e-01 -7.89001139e-02 -1.65442886e+02] [-1.15768757e-01 2.21769563e-03 9.93273717e-01 -2.85160204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09592 meters 0.02762403259604472 Centerline is valid? [True, True] Translation: X:233.60, Y:-165.47, Z:-28.52 [[ 7.39702039e-01 6.67591697e-01 8.46299056e-02 2.33601058e+02] [-6.62920957e-01 7.44524239e-01 -7.88635683e-02 -1.65466278e+02] [-1.15657679e-01 2.23260422e-03 9.93286624e-01 -2.85192458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12591999999995 meters 0.02762403259604472 Centerline is valid? [True, True] Translation: X:233.62, Y:-165.49, Z:-28.52 [[ 7.39363431e-01 6.67971781e-01 8.45896921e-02 2.33624983e+02] [-6.63298590e-01 7.44183254e-01 -7.89066830e-02 -1.65488106e+02] [-1.15657670e-01 2.23249240e-03 9.93286625e-01 -2.85221938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15592 meters 0.027473751523950502 Centerline is valid? [True, True] Translation: X:233.64, Y:-165.52, Z:-28.52 [[ 7.38071372e-01 6.69335051e-01 8.50954699e-02 2.33644469e+02] [-6.64605043e-01 7.42957745e-01 -7.94602087e-02 -1.65515268e+02] [-1.16407841e-01 2.09242684e-03 9.93199293e-01 -2.85248836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18591999999995 meters 0.027401914757366468 Centerline is valid? [True, True] Translation: X:233.66, Y:-165.54, Z:-28.53 [[ 7.36361578e-01 6.71216174e-01 8.50909781e-02 2.33664349e+02] [-6.66489846e-01 7.41259340e-01 -7.95353794e-02 -1.65540606e+02] [-1.16459915e-01 1.85452463e-03 9.93193661e-01 -2.85281223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21592 meters 0.02733379989700507 Centerline is valid? [True, True] Translation: X:233.69, Y:-165.56, Z:-28.53 [[ 7.35589338e-01 6.72033658e-01 8.53175734e-02 2.33687640e+02] [-6.67278716e-01 7.40518450e-01 -7.98219345e-02 -1.65563998e+02] [-1.16822264e-01 1.78556320e-03 9.93151232e-01 -2.85313473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24591999999996 meters 0.027327776766108834 Centerline is valid? [True, True] Translation: X:233.71, Y:-165.59, Z:-28.54 [[ 7.34816573e-01 6.72906708e-01 8.50950426e-02 2.33710344e+02] [-6.68172777e-01 7.39725395e-01 -7.96961749e-02 -1.65587333e+02] [-1.16575055e-01 1.70387924e-03 9.93180423e-01 -2.85352581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.27592 meters 0.027467753793055837 Centerline is valid? [True, True] Translation: X:233.73, Y:-165.61, Z:-28.54 [[ 7.34177866e-01 6.73671111e-01 8.45582369e-02 2.33730566e+02] [-6.68992679e-01 7.39029479e-01 -7.92730970e-02 -1.65612618e+02] [-1.15895025e-01 1.63171176e-03 9.93260127e-01 -2.85388128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30591999999996 meters 0.02758014231947229 Centerline is valid? [True, True] Translation: X:233.75, Y:-165.64, Z:-28.54 [[ 7.34084765e-01 6.73725169e-01 8.49349954e-02 2.33753146e+02] [-6.68996311e-01 7.38980075e-01 -7.97018526e-02 -1.65636217e+02] [-1.16462413e-01 1.68671722e-03 9.93193668e-01 -2.85425333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.33592 meters 0.027355633712749378 Centerline is valid? [True, True] Translation: X:233.77, Y:-165.66, Z:-28.54 [[ 7.33929915e-01 6.74087118e-01 8.33872769e-02 2.33774423e+02] [-6.69522874e-01 7.38649991e-01 -7.83282268e-02 -1.65659961e+02] [-1.14394060e-01 1.65773950e-03 9.93434070e-01 -2.85442047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36591999999996 meters 0.027441183900720808 Centerline is valid? [True, True] Translation: X:233.80, Y:-165.68, Z:-28.55 [[ 7.33408116e-01 6.74636949e-01 8.35315632e-02 2.33797546e+02] [-6.70051861e-01 7.38147906e-01 -7.85377140e-02 -1.65682607e+02] [-1.14643092e-01 1.62971754e-03 9.93405408e-01 -2.85483904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39592 meters 0.02753537055412116 Centerline is valid? [True, True] Translation: X:233.82, Y:-165.71, Z:-28.55 [[ 7.33139420e-01 6.75084405e-01 8.22656459e-02 2.33820308e+02] [-6.70632239e-01 7.37738787e-01 -7.74201677e-02 -1.65705976e+02] [-1.12955706e-01 1.58978256e-03 9.93598753e-01 -2.85508244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42591999999996 meters 0.027506402065933903 Centerline is valid? [True, True] Translation: X:233.84, Y:-165.73, Z:-28.55 [[ 7.32048258e-01 6.76227772e-01 8.25914499e-02 2.33841347e+02] [-6.71741795e-01 7.36691171e-01 -7.77758331e-02 -1.65730961e+02] [-1.13438570e-01 1.45553435e-03 9.93543946e-01 -2.85539132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45592 meters 0.027507479651014567 Centerline is valid? [True, True] Translation: X:233.86, Y:-165.76, Z:-28.56 [[ 7.31422024e-01 6.76920968e-01 8.24610604e-02 2.33863925e+02] [-6.72444325e-01 7.36054364e-01 -7.77341838e-02 -1.65755527e+02] [-1.13315722e-01 1.40602189e-03 9.93558036e-01 -2.85570429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48591999999996 meters 0.027530950145304704 Centerline is valid? [True, True] Translation: X:233.89, Y:-165.78, Z:-28.56 [[ 7.31217388e-01 6.77216237e-01 8.18492514e-02 2.33886790e+02] [-6.72798707e-01 7.35782700e-01 -7.72380625e-02 -1.65778623e+02] [-1.12530133e-01 1.40974385e-03 9.93647313e-01 -2.85596143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51592 meters 0.027373654401092195 Centerline is valid? [True, True] Translation: X:233.91, Y:-165.80, Z:-28.56 [[ 7.30741150e-01 6.77696838e-01 8.21241019e-02 2.33909265e+02] [-6.73243192e-01 7.35340080e-01 -7.75794527e-02 -1.65802111e+02] [-1.12964493e-01 1.40100597e-03 9.93598038e-01 -2.85624265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54591999999997 meters 0.027572842341554073 Centerline is valid? [True, True] Translation: X:233.93, Y:-165.83, Z:-28.57 [[ 7.31058430e-01 6.77327253e-01 8.23490445e-02 2.33930300e+02] [-6.72837371e-01 7.35680279e-01 -7.78742478e-02 -1.65827028e+02] [-1.13328918e-01 1.52311075e-03 9.93556358e-01 -2.85652514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57592 meters 0.02763955479843708 Centerline is valid? [True, True] Translation: X:233.95, Y:-165.85, Z:-28.57 [[ 7.31680169e-01 6.76744008e-01 8.16191009e-02 2.33953182e+02] [-6.72320807e-01 7.36216540e-01 -7.72653752e-02 -1.65850683e+02] [-1.12378212e-01 1.65932301e-03 9.93664120e-01 -2.85675888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60591999999997 meters 0.027949351089917265 Centerline is valid? [True, True] Translation: X:233.98, Y:-165.87, Z:-28.57 [[ 7.32496594e-01 6.75833473e-01 8.18404351e-02 2.33975497e+02] [-6.71371465e-01 7.37051996e-01 -7.75545645e-02 -1.65874231e+02] [-1.12734627e-01 1.86312151e-03 9.93623386e-01 -2.85706237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63592 meters 0.028205538253531292 Centerline is valid? [True, True] Translation: X:234.00, Y:-165.90, Z:-28.57 [[ 7.34806279e-01 6.73286767e-01 8.21258896e-02 2.33995691e+02] [-6.68769446e-01 7.39377824e-01 -7.78964772e-02 -1.65899512e+02] [-1.13168729e-01 2.31553484e-03 9.93573086e-01 -2.85732364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66591999999997 meters 0.02843804983428238 Centerline is valid? [True, True] Translation: X:234.02, Y:-165.92, Z:-28.58 [[ 7.35300895e-01 6.72781908e-01 8.18357999e-02 2.34018320e+02] [-6.68285204e-01 7.39836845e-01 -7.76938173e-02 -1.65923994e+02] [-1.12816135e-01 2.43867920e-03 9.93612889e-01 -2.85761125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69592 meters 0.028514974578797113 Centerline is valid? [True, True] Translation: X:234.04, Y:-165.95, Z:-28.58 [[ 7.35873167e-01 6.72055294e-01 8.26581123e-02 2.34038864e+02] [-6.67453677e-01 7.40496275e-01 -7.85547928e-02 -1.65949046e+02] [-1.14001189e-01 2.63590321e-03 9.93477117e-01 -2.85783874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72592 meters 0.02854275714630987 Centerline is valid? [True, True] Translation: X:234.06, Y:-165.97, Z:-28.58 [[ 7.35988104e-01 6.72078567e-01 8.14365470e-02 2.34061020e+02] [-6.67604703e-01 7.40475122e-01 -7.74632493e-02 -1.65972684e+02] [-1.12363127e-01 2.64460821e-03 9.93663693e-01 -2.85809285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75592 meters 0.02846259976737686 Centerline is valid? [True, True] Translation: X:234.08, Y:-166.00, Z:-28.58 [[ 7.35366579e-01 6.72715019e-01 8.17954676e-02 2.34081586e+02] [-6.68197124e-01 7.39897071e-01 -7.78776508e-02 -1.65998943e+02] [-1.12909692e-01 2.61312550e-03 9.93601818e-01 -2.85835579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78592 meters 0.028727889340740196 Centerline is valid? [True, True] Translation: X:234.10, Y:-166.02, Z:-28.59 [[ 7.35219870e-01 6.72987922e-01 8.08640847e-02 2.34104026e+02] [-6.68565476e-01 7.39648901e-01 -7.70694954e-02 -1.66022498e+02] [-1.11677871e-01 2.60008908e-03 9.93741059e-01 -2.85867790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81591999999995 meters 0.028421316632442347 Centerline is valid? [True, True] Translation: X:234.12, Y:-166.05, Z:-28.59 [[ 7.33810811e-01 6.74496288e-01 8.10953210e-02 2.34124219e+02] [-6.70048748e-01 7.38274220e-01 -7.73682869e-02 -1.66048408e+02] [-1.12055207e-01 2.43586698e-03 9.93698997e-01 -2.85890718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84592 meters 0.028413685487024942 Centerline is valid? [True, True] Translation: X:234.15, Y:-166.07, Z:-28.59 [[ 7.32716444e-01 6.75616917e-01 8.16602348e-02 2.34147145e+02] [-6.71104868e-01 7.37249149e-01 -7.79868460e-02 -1.66071726e+02] [-1.12893171e-01 2.33966341e-03 9.93604377e-01 -2.85913528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87591999999995 meters 0.028561611540258755 Centerline is valid? [True, True] Translation: X:234.17, Y:-166.10, Z:-28.60 [[ 7.31260890e-01 6.77093664e-01 8.24723050e-02 2.34170391e+02] [-6.72490912e-01 7.35893574e-01 -7.88455493e-02 -1.66095328e+02] [-1.14076661e-01 2.19479095e-03 9.93469526e-01 -2.85959684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90592 meters 0.028387154867141995 Centerline is valid? [True, True] Translation: X:234.19, Y:-166.12, Z:-28.60 [[ 7.30604104e-01 6.77808630e-01 8.24202838e-02 2.34193635e+02] [-6.73206728e-01 7.35235246e-01 -7.88786046e-02 -1.66118421e+02] [-1.14062897e-01 2.14314273e-03 9.93471219e-01 -2.85988269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93591999999995 meters 0.02845062324830005 Centerline is valid? [True, True] Translation: X:234.22, Y:-166.14, Z:-28.60 [[ 7.30375365e-01 6.78252322e-01 8.07812748e-02 2.34216332e+02] [-6.73826013e-01 7.34826114e-01 -7.73891907e-02 -1.66141068e+02] [-1.11849589e-01 2.09063408e-03 9.93722949e-01 -2.86017961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96592 meters 0.02834244771647667 Centerline is valid? [True, True] Translation: X:234.24, Y:-166.16, Z:-28.61 [[ 7.29870447e-01 6.78726378e-01 8.13611315e-02 2.34241083e+02] [-6.74230043e-01 7.34388269e-01 -7.80238335e-02 -1.66163021e+02] [-1.12707494e-01 2.09117101e-03 9.93626010e-01 -2.86054582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99591999999996 meters 0.028766249258212192 Centerline is valid? [True, True] Translation: X:234.26, Y:-166.18, Z:-28.61 [[ 7.31009829e-01 6.77472285e-01 8.15839000e-02 2.34264921e+02] [-6.72934098e-01 7.35544542e-01 -7.83193932e-02 -1.66184985e+02] [-1.13067811e-01 2.35165814e-03 9.93584491e-01 -2.86090209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02592 meters 0.029104121317852987 Centerline is valid? [True, True] Translation: X:234.29, Y:-166.21, Z:-28.61 [[ 7.31804939e-01 6.76533281e-01 8.22450627e-02 2.34287316e+02] [-6.71905807e-01 7.36407549e-01 -7.90348627e-02 -1.66208488e+02] [-1.14035600e-01 2.57716770e-03 9.93473321e-01 -2.86118448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05591999999996 meters 0.029029112154777124 Centerline is valid? [True, True] Translation: X:234.31, Y:-166.23, Z:-28.61 [[ 7.33292628e-01 6.74917199e-01 8.22720920e-02 2.34309503e+02] [-6.70267956e-01 7.37887831e-01 -7.91354299e-02 -1.66232719e+02] [-1.14117438e-01 2.88508050e-03 9.93463078e-01 -2.86144184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08592 meters 0.029674599111567654 Centerline is valid? [True, True] Translation: X:234.33, Y:-166.26, Z:-28.62 [[ 7.34773873e-01 6.73354188e-01 8.18626502e-02 2.34333281e+02] [-6.68734870e-01 7.39313315e-01 -7.88003571e-02 -1.66255143e+02] [-1.13582698e-01 3.15603482e-03 9.93523533e-01 -2.86179811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11591999999996 meters 0.029555414612186203 Centerline is valid? [True, True] Translation: X:234.36, Y:-166.28, Z:-28.62 [[ 7.34793652e-01 6.73589673e-01 7.97197684e-02 2.34355078e+02] [-6.69202766e-01 7.39099036e-01 -7.68132308e-02 -1.66280062e+02] [-1.10661403e-01 3.09318490e-03 9.93853352e-01 -2.86205248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14592 meters 0.029469412067318287 Centerline is valid? [True, True] Translation: X:234.38, Y:-166.30, Z:-28.62 [[ 7.34676417e-01 6.73605733e-01 8.06590310e-02 2.34376753e+02] [-6.69106106e-01 7.39084015e-01 -7.77935590e-02 -1.66304421e+02] [-1.12015988e-01 3.18364306e-03 9.93701305e-01 -2.86240170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17591999999996 meters 0.02970072870984433 Centerline is valid? [True, True] Translation: X:234.40, Y:-166.33, Z:-28.63 [[ 7.34538104e-01 6.73816072e-01 8.01603065e-02 2.34398943e+02] [-6.69364619e-01 7.38892229e-01 -7.73904424e-02 -1.66328892e+02] [-1.11376752e-01 3.18975585e-03 9.93773135e-01 -2.86277505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20592 meters 0.029415661621262315 Centerline is valid? [True, True] Translation: X:234.42, Y:-166.35, Z:-28.63 [[ 7.33614257e-01 6.74862839e-01 7.98139768e-02 2.34419706e+02] [-6.70447233e-01 7.37936776e-01 -7.71350950e-02 -1.66354129e+02] [-1.10953278e-01 3.07634551e-03 9.93820862e-01 -2.86305810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23591999999996 meters 0.029228117087426154 Centerline is valid? [True, True] Translation: X:234.44, Y:-166.38, Z:-28.63 [[ 7.32833791e-01 6.75713172e-01 7.97893759e-02 2.34441488e+02] [-6.71296622e-01 7.37158519e-01 -7.71891356e-02 -1.66378787e+02] [-1.10975134e-01 3.00446831e-03 9.93818642e-01 -2.86332518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26592 meters 0.02915406726557332 Centerline is valid? [True, True] Translation: X:234.46, Y:-166.40, Z:-28.64 [[ 7.31811921e-01 6.76826953e-01 7.97282173e-02 2.34462551e+02] [-6.72414814e-01 7.36136473e-01 -7.72101675e-02 -1.66404337e+02] [-1.10948771e-01 2.89288654e-03 9.93821916e-01 -2.86357998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29591999999997 meters 0.02907731911575958 Centerline is valid? [True, True] Translation: X:234.49, Y:-166.43, Z:-28.64 [[ 7.31079697e-01 6.77671156e-01 7.92734541e-02 2.34485630e+02] [-6.73305369e-01 7.35359719e-01 -7.68502665e-02 -1.66428079e+02] [-1.10373714e-01 2.80842731e-03 9.93886189e-01 -2.86398808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32592 meters 0.029066103811474012 Centerline is valid? [True, True] Translation: X:234.51, Y:-166.45, Z:-28.64 [[ 7.29774459e-01 6.79023125e-01 7.97297572e-02 2.34507112e+02] [-6.74605662e-01 7.34111991e-01 -7.73743240e-02 -1.66453289e+02] [-1.11069526e-01 2.67965976e-03 9.93809026e-01 -2.86437802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35591999999997 meters 0.02894981390783962 Centerline is valid? [True, True] Translation: X:234.53, Y:-166.48, Z:-28.65 [[ 7.28930609e-01 6.80072547e-01 7.84952175e-02 2.34529087e+02] [-6.75788549e-01 7.33140426e-01 -7.62558371e-02 -1.66477536e+02] [-1.09407519e-01 2.53904459e-03 9.93993736e-01 -2.86462344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38592 meters 0.028608247549208692 Centerline is valid? [True, True] Translation: X:234.55, Y:-166.50, Z:-28.65 [[ 7.28126851e-01 6.80998073e-01 7.79288974e-02 2.34551423e+02] [-6.76772443e-01 7.32281138e-01 -7.57851901e-02 -1.66501050e+02] [-1.08675430e-01 2.44110153e-03 9.94074289e-01 -2.86489445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41591999999997 meters 0.028567071702408766 Centerline is valid? [True, True] Translation: X:234.57, Y:-166.53, Z:-28.65 [[ 7.25740005e-01 6.83354127e-01 7.95523831e-02 2.34573962e+02] [-6.78954726e-01 7.30083777e-01 -7.74477843e-02 -1.66525070e+02] [-1.11004167e-01 2.19448891e-03 9.93817518e-01 -2.86526838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44592 meters 0.028197406855844043 Centerline is valid? [True, True] Translation: X:234.60, Y:-166.55, Z:-28.65 [[ 7.24216381e-01 6.85021800e-01 7.90934080e-02 2.34596452e+02] [-6.80673974e-01 7.28519857e-01 -7.70828083e-02 -1.66548995e+02] [-1.10424522e-01 1.98780822e-03 9.93882525e-01 -2.86544862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47592 meters 0.028204811614463865 Centerline is valid? [True, True] Translation: X:234.62, Y:-166.57, Z:-28.66 [[ 7.20889356e-01 6.88359106e-01 8.05001671e-02 2.34618246e+02] [-6.83865758e-01 7.25368380e-01 -7.85387632e-02 -1.66573538e+02] [-1.12455149e-01 1.56645060e-03 9.93655567e-01 -2.86577435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50592 meters 0.02805226307275696 Centerline is valid? [True, True] Translation: X:234.64, Y:-166.60, Z:-28.66 [[ 7.18961284e-01 6.90439122e-01 7.99280387e-02 2.34641311e+02] [-6.86013017e-01 7.23389346e-01 -7.80640450e-02 -1.66596217e+02] [-1.11717562e-01 1.29335099e-03 9.93739158e-01 -2.86617123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53592 meters 0.027654630873486852 Centerline is valid? [True, True] Translation: X:234.66, Y:-166.62, Z:-28.66 [[ 7.14400594e-01 6.95209662e-01 7.94689686e-02 2.34664632e+02] [-6.90854053e-01 7.18806758e-01 -7.77014950e-02 -1.66620283e+02] [-1.11141662e-01 6.08535091e-04 9.93804388e-01 -2.86643257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56591999999995 meters 0.02762910464932728 Centerline is valid? [True, True] Translation: X:234.69, Y:-166.65, Z:-28.67 [[ 7.12202822e-01 6.97554221e-01 7.86463604e-02 2.34687625e+02] [-6.93292508e-01 7.16531935e-01 -7.69901578e-02 -1.66645107e+02] [-1.10057438e-01 3.07675237e-04 9.93925181e-01 -2.86676576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59592 meters 0.027629431558756887 Centerline is valid? [True, True] Translation: X:234.71, Y:-166.67, Z:-28.67 [[ 7.08710076e-01 7.01137225e-01 7.83365809e-02 2.34710127e+02] [-6.96920632e-01 7.13026338e-01 -7.67793818e-02 -1.66669922e+02] [-1.09688928e-01 -1.80058009e-04 9.93965948e-01 -2.86701226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62591999999995 meters 0.027600988214554367 Centerline is valid? [True, True] Translation: X:234.73, Y:-166.69, Z:-28.67 [[ 7.06427565e-01 7.03455168e-01 7.81723855e-02 2.34734609e+02] [-6.99260209e-01 7.10739477e-01 -7.67108628e-02 -1.66692823e+02] [-1.09522853e-01 -4.72170637e-04 9.93984166e-01 -2.86732741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65592 meters 0.027712836228537117 Centerline is valid? [True, True] Translation: X:234.76, Y:-166.72, Z:-28.68 [[ 7.03811067e-01 7.06211954e-01 7.69068104e-02 2.34758943e+02] [-7.02158805e-01 7.08000000e-01 -7.55580099e-02 -1.66716398e+02] [-1.07809992e-01 -8.22230531e-04 9.94171177e-01 -2.86763626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68591999999995 meters 0.02823002208360544 Centerline is valid? [True, True] Translation: X:234.78, Y:-166.74, Z:-28.68 [[ 6.98936641e-01 7.10903607e-01 7.81257500e-02 2.34782872e+02] [-7.06739423e-01 7.03287852e-01 -7.68478060e-02 -1.66740122e+02] [-1.09576273e-01 -1.50280007e-03 9.93977254e-01 -2.86810063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71592 meters 0.02862035574270906 Centerline is valid? [True, True] Translation: X:234.81, Y:-166.76, Z:-28.68 [[ 6.96131383e-01 7.13629862e-01 7.83167769e-02 2.34807034e+02] [-7.09452316e-01 7.00520461e-01 -7.71264864e-02 -1.66763737e+02] [-1.09902268e-01 -1.87185115e-03 9.93940636e-01 -2.86835034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74591999999996 meters 0.02930443909268367 Centerline is valid? [True, True] Translation: X:234.83, Y:-166.79, Z:-28.69 [[ 6.91455816e-01 7.18052040e-01 7.93102917e-02 2.34833467e+02] [-7.13786001e-01 6.95984778e-01 -7.81967634e-02 -1.66785390e+02] [-1.11348101e-01 -2.54096907e-03 9.93778217e-01 -2.86861982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.77592 meters 0.029481909658351242 Centerline is valid? [True, True] Translation: X:234.86, Y:-166.81, Z:-28.69 [[ 6.89227078e-01 7.20304652e-01 7.82767086e-02 2.34858345e+02] [-7.16154232e-01 6.93652173e-01 -7.72643462e-02 -1.66807395e+02] [-1.09950677e-01 -2.80551655e-03 9.93933085e-01 -2.86891516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80591999999996 meters 0.030351188563424693 Centerline is valid? [True, True] Translation: X:234.88, Y:-166.83, Z:-28.69 [[ 6.85863380e-01 7.23449172e-01 7.88208043e-02 2.34883579e+02] [-7.19251870e-01 6.90369888e-01 -7.78855936e-02 -1.66828685e+02] [-1.10761778e-01 -3.27313437e-03 9.93841595e-01 -2.86939914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.83592 meters 0.030501804482111584 Centerline is valid? [True, True] Translation: X:234.91, Y:-166.85, Z:-28.70 [[ 6.84526370e-01 7.24762361e-01 7.83783696e-02 2.34908406e+02] [-7.20611523e-01 6.88990497e-01 -7.75314605e-02 -1.66851338e+02] [-1.10193836e-01 -3.40802712e-03 9.93904273e-01 -2.86959658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86591999999996 meters 0.030559976979187865 Centerline is valid? [True, True] Translation: X:234.93, Y:-166.87, Z:-28.70 [[ 6.83423113e-01 7.25673650e-01 7.95650812e-02 2.34934247e+02] [-7.21391872e-01 6.88029919e-01 -7.87946571e-02 -1.66872534e+02] [-1.11922363e-01 -3.54751303e-03 9.93710622e-01 -2.86989383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89592 meters 0.030767488914455257 Centerline is valid? [True, True] Translation: X:234.96, Y:-166.89, Z:-28.70 [[ 6.82426945e-01 7.26533152e-01 8.02685755e-02 2.34961334e+02] [-7.22170952e-01 6.87121664e-01 -7.95797417e-02 -1.66892341e+02] [-1.12971598e-01 -3.66027360e-03 9.93591476e-01 -2.87014366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92591999999996 meters 0.030512808987079244 Centerline is valid? [True, True] Translation: X:234.99, Y:-166.91, Z:-28.70 [[ 6.82192950e-01 7.26739338e-01 8.03910065e-02 2.34987339e+02] [-7.22355455e-01 6.86903689e-01 -7.97867050e-02 -1.66914401e+02] [-1.13205016e-01 -3.64095442e-03 9.93564979e-01 -2.87042985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95592 meters 0.030553386994719118 Centerline is valid? [True, True] Translation: X:235.01, Y:-166.94, Z:-28.71 [[ 6.81601904e-01 7.27371593e-01 7.96831828e-02 2.35013623e+02] [-7.23059160e-01 6.86234092e-01 -7.91721015e-02 -1.66935078e+02] [-1.12268854e-01 -3.65180012e-03 9.93671157e-01 -2.87081949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98591999999996 meters 0.030760053202118894 Centerline is valid? [True, True] Translation: X:235.04, Y:-166.96, Z:-28.71 [[ 6.80617626e-01 7.28350956e-01 7.91487966e-02 2.35038910e+02] [-7.24093073e-01 6.85194129e-01 -7.87288130e-02 -1.66957439e+02] [-1.11574497e-01 -3.72687756e-03 9.93749084e-01 -2.87109687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01592 meters 0.030760053202118894 Centerline is valid? [True, True] Translation: X:235.06, Y:-166.98, Z:-28.71 [[ 6.80212951e-01 7.28733689e-01 7.91046851e-02 2.35062681e+02] [-7.24473240e-01 6.84787063e-01 -7.87731151e-02 -1.66980576e+02] [-1.11574488e-01 -3.72673443e-03 9.93749086e-01 -2.87139933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04591999999997 meters 0.030575280007386928 Centerline is valid? [True, True] Translation: X:235.09, Y:-167.00, Z:-28.72 [[ 6.79490132e-01 7.29320932e-01 7.99008023e-02 2.35088266e+02] [-7.24967895e-01 6.84161191e-01 -7.96556107e-02 -1.67002409e+02] [-1.12759532e-01 -3.80031502e-03 9.93615039e-01 -2.87169384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07592 meters 0.03115620208943674 Centerline is valid? [True, True] Translation: X:235.11, Y:-167.02, Z:-28.72 [[ 6.77698782e-01 7.30913953e-01 8.05552830e-02 2.35114031e+02] [-7.26490145e-01 6.82457681e-01 -8.03964080e-02 -1.67022877e+02] [-1.13738428e-01 -4.03807142e-03 9.93502523e-01 -2.87198216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10591999999997 meters 0.031533109939420115 Centerline is valid? [True, True] Translation: X:235.14, Y:-167.04, Z:-28.72 [[ 6.75408755e-01 7.33111498e-01 7.98156997e-02 2.35139876e+02] [-7.28775108e-01 6.80094795e-01 -7.97365148e-02 -1.67043041e+02] [-1.12737998e-01 -4.31295499e-03 9.93615390e-01 -2.87226758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13592 meters 0.031921539868981885 Centerline is valid? [True, True] Translation: X:235.17, Y:-167.06, Z:-28.73 [[ 6.73713182e-01 7.34777242e-01 7.88222876e-02 2.35165255e+02] [-7.30551209e-01 6.78293682e-01 -7.88201174e-02 -1.67064534e+02] [-1.11379888e-01 -4.48156545e-03 9.93767798e-01 -2.87270652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16591999999997 meters 0.03203789493286949 Centerline is valid? [True, True] Translation: X:235.49, Y:-167.07, Z:-26.84 [[ 7.84132047e-01 -6.18750942e-01 -4.77933478e-02 2.35493883e+02] [-6.16791131e-01 -7.85525126e-01 5.01894156e-02 -1.67066302e+02] [-6.85976238e-02 -9.87661613e-03 -9.97595518e-01 -2.68352628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19592 meters 0.03297957810377024 Centerline is valid? [True, True] Translation: X:235.24, Y:-167.15, Z:-28.74 [[ 7.24155129e-01 6.84173986e-01 8.66331655e-02 2.35243161e+02] [-6.80166830e-01 7.29299960e-01 -7.41259136e-02 -1.67146631e+02] [-1.13896586e-01 -5.24634503e-03 9.93478759e-01 -2.87372394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22592 meters 0.032959362875401806 Centerline is valid? [True, True] Translation: X:235.27, Y:-167.16, Z:-28.74 [[ 7.21922991e-01 6.86486940e-01 8.69647937e-02 2.35271935e+02] [-6.82456318e-01 7.27120771e-01 -7.44899870e-02 -1.67163637e+02] [-1.14370311e-01 -5.57363871e-03 9.93422552e-01 -2.87381255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25591999999995 meters 0.03338840851215357 Centerline is valid? [True, True] Translation: X:235.30, Y:-167.18, Z:-28.74 [[ 7.21162139e-01 6.87345413e-01 8.64953909e-02 2.35298531e+02] [-6.83356269e-01 7.26308906e-01 -7.41591738e-02 -1.67183326e+02] [-1.13795341e-01 -5.62637927e-03 9.93488281e-01 -2.87412996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28592 meters 0.033274254331833356 Centerline is valid? [True, True] Translation: X:235.33, Y:-167.20, Z:-28.75 [[ 7.20702272e-01 6.87877662e-01 8.60962132e-02 2.35325856e+02] [-6.83920947e-01 7.25804802e-01 -7.38886185e-02 -1.67202350e+02] [-1.13315375e-01 -5.63130842e-03 9.93543111e-01 -2.87450499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31591999999995 meters 0.033724612809387586 Centerline is valid? [True, True] Translation: X:235.35, Y:-167.22, Z:-28.75 [[ 7.19514786e-01 6.89124985e-01 8.60536315e-02 2.35353937e+02] [-6.85172942e-01 7.24619506e-01 -7.39230083e-02 -1.67220101e+02] [-1.13298332e-01 -5.77292239e-03 9.93544242e-01 -2.87495134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34592 meters 0.03377472219393175 Centerline is valid? [True, True] Translation: X:235.38, Y:-167.24, Z:-28.75 [[ 7.18583319e-01 6.89909570e-01 8.75374180e-02 2.35380204e+02] [-6.85817168e-01 7.23871128e-01 -7.52688640e-02 -1.67239342e+02] [-1.15294519e-01 -5.94771402e-03 9.93313545e-01 -2.87526946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37591999999995 meters 0.03388382064913146 Centerline is valid? [True, True] Translation: X:235.41, Y:-167.26, Z:-28.76 [[ 7.17667098e-01 6.90899518e-01 8.72455843e-02 2.35407719e+02] [-6.86833728e-01 7.22925600e-01 -7.50866640e-02 -1.67256704e+02] [-1.14949406e-01 -6.03598165e-03 9.93353009e-01 -2.87554707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40592 meters 0.03380649133430079 Centerline is valid? [True, True] Translation: X:235.44, Y:-167.27, Z:-28.76 [[ 7.17016459e-01 6.91662571e-01 8.65464387e-02 2.35436118e+02] [-6.87659729e-01 7.22195380e-01 -7.45515257e-02 -1.67274497e+02] [-1.14067938e-01 -6.05982961e-03 9.93454470e-01 -2.87585498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43591999999995 meters 0.034016671452124614 Centerline is valid? [True, True] Translation: X:235.46, Y:-167.29, Z:-28.76 [[ 7.16411643e-01 6.92292130e-01 8.65214663e-02 2.35461982e+02] [-6.88288074e-01 7.21591512e-01 -7.46003863e-02 -1.67293261e+02] [-1.14078416e-01 -6.10710804e-03 9.93452977e-01 -2.87617805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46592 meters 0.03426956615424621 Centerline is valid? [True, True] Translation: X:235.49, Y:-167.31, Z:-28.77 [[ 7.15553154e-01 6.93162984e-01 8.66531141e-02 2.35488536e+02] [-6.89145621e-01 7.20754139e-01 -7.47782324e-02 -1.67311969e+02] [-1.14289093e-01 -6.20881411e-03 9.93428132e-01 -2.87651907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49591999999996 meters 0.03449858189139622 Centerline is valid? [True, True] Translation: X:235.52, Y:-167.33, Z:-28.77 [[ 7.14224082e-01 6.94484559e-01 8.70353847e-02 2.35516956e+02] [-6.90433955e-01 7.19479118e-01 -7.51714884e-02 -1.67328702e+02] [-1.14825580e-01 -6.40289761e-03 9.93365033e-01 -2.87680032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52592 meters 0.034364947884362985 Centerline is valid? [True, True] Translation: X:235.54, Y:-167.35, Z:-28.77 [[ 7.13625554e-01 6.95032993e-01 8.75654430e-02 2.35543318e+02] [-6.90929425e-01 7.18948596e-01 -7.56931071e-02 -1.67347168e+02] [-1.15564259e-01 -6.48500564e-03 9.93278836e-01 -2.87705557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55591999999996 meters 0.034761795619624496 Centerline is valid? [True, True] Translation: X:235.57, Y:-167.36, Z:-28.77 [[ 7.13541462e-01 6.95158926e-01 8.72504992e-02 2.35571206e+02] [-6.91078517e-01 7.18827271e-01 -7.54840192e-02 -1.67363948e+02] [-1.15191428e-01 -6.43596822e-03 9.93322462e-01 -2.87742721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58592 meters 0.03474104751414747 Centerline is valid? [True, True] Translation: X:235.60, Y:-167.38, Z:-28.78 [[ 7.13110928e-01 6.95502860e-01 8.80260009e-02 2.35597958e+02] [-6.91344433e-01 7.18493895e-01 -7.62194056e-02 -1.67382239e+02] [-1.16256959e-01 -6.50339463e-03 9.93197878e-01 -2.87780491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61591999999996 meters 0.0342102434646454 Centerline is valid? [True, True] Translation: X:235.63, Y:-167.40, Z:-28.78 [[ 7.13492148e-01 6.95303399e-01 8.64993568e-02 2.35627043e+02] [-6.91279823e-01 7.18688622e-01 -7.49591224e-02 -1.67398208e+02] [-1.14285436e-01 -6.31251482e-03 9.93427899e-01 -2.87803070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64592 meters 0.03364010185106494 Centerline is valid? [True, True] Translation: X:235.65, Y:-167.42, Z:-28.78 [[ 7.13951948e-01 6.94913214e-01 8.58384561e-02 2.35653820e+02] [-6.90941212e-01 7.19067255e-01 -7.44481374e-02 -1.67416198e+02] [-1.13458617e-01 -6.15693418e-03 9.93523646e-01 -2.87829122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67591999999996 meters 0.033685651623901365 Centerline is valid? [True, True] Translation: X:235.68, Y:-167.44, Z:-28.79 [[ 7.14269479e-01 6.94521604e-01 8.63646526e-02 2.35679904e+02] [-6.90490474e-01 7.19446103e-01 -7.49680588e-02 -1.67435478e+02] [-1.14201649e-01 -6.08657363e-03 9.93438945e-01 -2.87863992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70592 meters 0.03294837532029897 Centerline is valid? [True, True] Translation: X:235.71, Y:-167.45, Z:-28.79 [[ 7.15754953e-01 6.93013788e-01 8.61785207e-02 2.35708329e+02] [-6.88982586e-01 7.20901070e-01 -7.48641706e-02 -1.67452457e+02] [-1.14008090e-01 -5.79109914e-03 9.93462943e-01 -2.87891192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73591999999996 meters 0.03263777532407242 Centerline is valid? [True, True] Translation: X:235.74, Y:-167.47, Z:-28.79 [[ 7.16478794e-01 6.92395517e-01 8.51268835e-02 2.35735882e+02] [-6.88453494e-01 7.21496476e-01 -7.39906886e-02 -1.67469480e+02] [-1.12649568e-01 -5.59314102e-03 9.93619038e-01 -2.87918482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76592 meters 0.03240037511326688 Centerline is valid? [True, True] Translation: X:235.76, Y:-167.49, Z:-28.79 [[ 7.16775490e-01 6.92110885e-01 8.49436242e-02 2.35761687e+02] [-6.88176696e-01 7.21770310e-01 -7.38948905e-02 -1.67489141e+02] [-1.12453244e-01 -5.49017622e-03 9.93641850e-01 -2.87941975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79591999999997 meters 0.03230879582563915 Centerline is valid? [True, True] Translation: X:235.79, Y:-167.51, Z:-28.80 [[ 7.16819550e-01 6.92125487e-01 8.44514279e-02 2.35786325e+02] [-6.88229896e-01 7.21756880e-01 -7.35296953e-02 -1.67508867e+02] [-1.11845175e-01 -5.41447431e-03 9.93710894e-01 -2.87984609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82592 meters 0.032149019270924506 Centerline is valid? [True, True] Translation: X:235.81, Y:-167.53, Z:-28.80 [[ 7.16829336e-01 6.92148250e-01 8.41813766e-02 2.35811808e+02] [-6.88270711e-01 7.21735496e-01 -7.33573655e-02 -1.67528207e+02] [-1.11530860e-01 -5.35486431e-03 9.93746544e-01 -2.88011453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85591999999997 meters 0.03228322827202546 Centerline is valid? [True, True] Translation: X:235.84, Y:-167.55, Z:-28.80 [[ 7.16549324e-01 6.92334699e-01 8.50278293e-02 2.35837874e+02] [-6.88372373e-01 7.21556377e-01 -7.41611167e-02 -1.67548699e+02] [-1.12696687e-01 -5.39071061e-03 9.93614813e-01 -2.88048602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88592 meters 0.032281555003378176 Centerline is valid? [True, True] Translation: X:235.87, Y:-167.57, Z:-28.81 [[ 7.16327526e-01 6.92419684e-01 8.61966187e-02 2.35866232e+02] [-6.88339294e-01 7.21474570e-01 -7.52559771e-02 -1.67566146e+02] [-1.14297388e-01 -5.42459177e-03 9.93431770e-01 -2.88082154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91591999999997 meters 0.0320349227446005 Centerline is valid? [True, True] Translation: X:235.89, Y:-167.59, Z:-28.81 [[ 7.16425514e-01 6.92363963e-01 8.58290531e-02 2.35891519e+02] [-6.88309765e-01 7.21528673e-01 -7.50069357e-02 -1.67585440e+02] [-1.13860222e-01 -5.34009292e-03 9.93482427e-01 -2.88101765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94592 meters 0.03184888703266399 Centerline is valid? [True, True] Translation: X:235.92, Y:-167.60, Z:-28.81 [[ 7.17709803e-01 6.91100985e-01 8.52764169e-02 2.35917271e+02] [-6.87082807e-01 7.22740501e-01 -7.45881007e-02 -1.67604279e+02] [-1.13180630e-01 -5.05934882e-03 9.93561547e-01 -2.88137231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97592 meters 0.031567623204119565 Centerline is valid? [True, True] Translation: X:235.94, Y:-167.62, Z:-28.82 [[ 7.18307459e-01 6.90548666e-01 8.47167870e-02 2.35942504e+02] [-6.86572150e-01 7.23269384e-01 -7.41625339e-02 -1.67624257e+02] [-1.12485897e-01 -4.89268539e-03 9.93641276e-01 -2.88159480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00591999999995 meters 0.03121867674916544 Centerline is valid? [True, True] Translation: X:235.97, Y:-167.64, Z:-28.82 [[ 7.18219151e-01 6.90593945e-01 8.50955623e-02 2.35968689e+02] [-6.86574403e-01 7.23226281e-01 -7.45609475e-02 -1.67644743e+02] [-1.13034686e-01 -4.87333446e-03 9.93579091e-01 -2.88183326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03592 meters 0.031198694900359453 Centerline is valid? [True, True] Translation: X:235.99, Y:-167.66, Z:-28.82 [[ 7.18333697e-01 6.90460813e-01 8.52089521e-02 2.35993962e+02] [-6.86421322e-01 7.23353833e-01 -7.47328650e-02 -1.67663940e+02] [-1.13236337e-01 -4.80610629e-03 9.93556457e-01 -2.88217941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06591999999995 meters 0.031354235000321154 Centerline is valid? [True, True] Translation: X:236.02, Y:-167.68, Z:-28.83 [[ 7.17620757e-01 6.91271562e-01 8.46408693e-02 2.36019570e+02] [-6.87283966e-01 7.22578773e-01 -7.43011940e-02 -1.67684982e+02] [-1.12521998e-01 -4.85223324e-03 9.93637387e-01 -2.88250228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09592 meters 0.03185011473130314 Centerline is valid? [True, True] Translation: X:236.05, Y:-167.70, Z:-28.83 [[ 7.15535563e-01 6.93437061e-01 8.45807320e-02 2.36045357e+02] [-6.89462048e-01 7.20498893e-01 -7.43197761e-02 -1.67703405e+02] [-1.12476411e-01 -5.13676186e-03 9.93641118e-01 -2.88279962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12591999999995 meters 0.03225369878308655 Centerline is valid? [True, True] Translation: X:236.07, Y:-167.72, Z:-28.83 [[ 7.13893746e-01 6.95068666e-01 8.50603850e-02 2.36071254e+02] [-6.91052775e-01 7.18923226e-01 -7.48027903e-02 -1.67722833e+02] [-1.13144962e-01 -5.37997088e-03 9.93563925e-01 -2.88314251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15592 meters 0.03343305198652254 Centerline is valid? [True, True] Translation: X:236.10, Y:-167.74, Z:-28.83 [[ 7.10121110e-01 6.98997960e-01 8.44385042e-02 2.36096844e+02] [-6.95061058e-01 7.15099202e-01 -7.43186160e-02 -1.67741811e+02] [-1.12330468e-01 -5.91469792e-03 9.93653301e-01 -2.88333525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18591999999995 meters 0.033726413483230404 Centerline is valid? [True, True] Translation: X:236.12, Y:-167.76, Z:-28.84 [[ 7.07815530e-01 7.01308354e-01 8.46390443e-02 2.36122438e+02] [-6.97362436e-01 7.12830608e-01 -7.45530460e-02 -1.67761411e+02] [-1.12617975e-01 -6.25428634e-03 9.93618677e-01 -2.88356838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21592 meters 0.034423405728419704 Centerline is valid? [True, True] Translation: X:236.15, Y:-167.78, Z:-28.84 [[ 7.06141469e-01 7.02911943e-01 8.53172096e-02 2.36147859e+02] [-6.98907538e-01 7.11246974e-01 -7.52063551e-02 -1.67780831e+02] [-1.13545052e-01 -6.52251480e-03 9.93511438e-01 -2.88393274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24591999999996 meters 0.034801740057919694 Centerline is valid? [True, True] Translation: X:236.18, Y:-167.80, Z:-28.84 [[ 7.05075304e-01 7.03925495e-01 8.57771070e-02 2.36176704e+02] [-6.99877773e-01 7.10242438e-01 -7.56755092e-02 -1.67796532e+02] [-1.14192462e-01 -6.67655792e-03 9.93436211e-01 -2.88425090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.27592 meters 0.03429726906663678 Centerline is valid? [True, True] Translation: X:236.21, Y:-167.81, Z:-28.85 [[ 7.06312963e-01 7.02719113e-01 8.54859462e-02 2.36205090e+02] [-6.98683828e-01 7.11438428e-01 -7.54736467e-02 -1.67813596e+02] [-1.13854761e-01 -6.41963313e-03 9.93476664e-01 -2.88451282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30591999999996 meters 0.033868774645029506 Centerline is valid? [True, True] Translation: X:236.23, Y:-167.83, Z:-28.85 [[ 7.06836990e-01 7.02260232e-01 8.49237045e-02 2.36231615e+02] [-6.98272146e-01 7.11892574e-01 -7.49998186e-02 -1.67831547e+02] [-1.13125945e-01 -6.28721130e-03 9.93560764e-01 -2.88485671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.33592 meters 0.03372977043230839 Centerline is valid? [True, True] Translation: X:236.26, Y:-167.85, Z:-28.85 [[ 7.07422374e-01 7.01628774e-01 8.52680977e-02 2.36258510e+02] [-6.97600017e-01 7.12515797e-01 -7.53356203e-02 -1.67849876e+02] [-1.13612506e-01 -6.18892307e-03 9.93505861e-01 -2.88510517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36591999999996 meters 0.03346241774413916 Centerline is valid? [True, True] Translation: X:236.29, Y:-167.86, Z:-28.86 [[ 7.08251264e-01 7.00850751e-01 8.47842663e-02 2.36288521e+02] [-6.96854871e-01 7.13282853e-01 -7.49723963e-02 -1.67864575e+02] [-1.13019624e-01 -5.98303447e-03 9.93574742e-01 -2.88550149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39592 meters 0.03322794094483343 Centerline is valid? [True, True] Translation: X:236.32, Y:-167.88, Z:-28.86 [[ 7.08274842e-01 7.00808177e-01 8.49390753e-02 2.36315388e+02] [-6.96789974e-01 7.13325035e-01 -7.51739777e-02 -1.67882862e+02] [-1.13271707e-01 -5.94085885e-03 9.93546288e-01 -2.88571990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42591999999996 meters 0.03284950757978375 Centerline is valid? [True, True] Translation: X:236.34, Y:-167.90, Z:-28.86 [[ 7.10136167e-01 6.98840032e-01 8.56109436e-02 2.36343712e+02] [-6.94737064e-01 7.15255832e-01 -7.58254999e-02 -1.67899787e+02] [-1.14223621e-01 -5.63066582e-03 9.93439107e-01 -2.88606051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45592 meters 0.031987084372002296 Centerline is valid? [True, True] Translation: X:236.37, Y:-167.92, Z:-28.86 [[ 7.11100901e-01 6.97771537e-01 8.63156451e-02 2.36371081e+02] [-6.93589824e-01 7.16299365e-01 -7.64746732e-02 -1.67917961e+02] [-1.15189692e-01 -5.48644414e-03 9.93328362e-01 -2.88628895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48591999999996 meters 0.03189767711308592 Centerline is valid? [True, True] Translation: X:236.40, Y:-167.94, Z:-28.87 [[ 7.12538848e-01 6.96335647e-01 8.60526411e-02 2.36399266e+02] [-6.92165838e-01 7.17697319e-01 -7.62693324e-02 -1.67935258e+02] [-1.14868805e-01 -5.21783620e-03 9.93366967e-01 -2.88658933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51592 meters 0.0317065615616003 Centerline is valid? [True, True] Translation: X:236.42, Y:-167.95, Z:-28.87 [[ 7.13093983e-01 6.95739004e-01 8.62798318e-02 2.36424922e+02] [-6.91538825e-01 7.18276490e-01 -7.65044928e-02 -1.67954075e+02] [-1.15199934e-01 -5.11095998e-03 9.93329177e-01 -2.88687835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54591999999997 meters 0.03129056148864854 Centerline is valid? [True, True] Translation: X:236.45, Y:-167.97, Z:-28.87 [[ 7.14849000e-01 6.93972181e-01 8.59855749e-02 2.36453169e+02] [-6.89781271e-01 7.19986031e-01 -7.63014614e-02 -1.67971467e+02] [-1.14859504e-01 -4.76721584e-03 9.93370308e-01 -2.88715256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57592 meters 0.031039090352453308 Centerline is valid? [True, True] Translation: X:236.48, Y:-167.99, Z:-28.87 [[ 7.15218276e-01 6.93538927e-01 8.64093425e-02 2.36480082e+02] [-6.89299387e-01 7.20403846e-01 -7.67115005e-02 -1.67990063e+02] [-1.15452034e-01 -4.69643964e-03 9.93301954e-01 -2.88745630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60591999999997 meters 0.030385485123491932 Centerline is valid? [True, True] Translation: X:236.51, Y:-168.00, Z:-28.88 [[ 7.18347766e-01 6.90314620e-01 8.62682639e-02 2.36508262e+02] [-6.86058514e-01 7.23497555e-01 -7.66485679e-02 -1.68004982e+02] [-1.15326505e-01 -4.12474947e-03 9.93319074e-01 -2.88788213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63592 meters 0.0303540243468708 Centerline is valid? [True, True] Translation: X:236.53, Y:-168.02, Z:-28.88 [[ 7.19368172e-01 6.89165371e-01 8.69512740e-02 2.36534456e+02] [-6.84827342e-01 7.24593400e-01 -7.73040572e-02 -1.68023363e+02] [-1.16279599e-01 -3.93653154e-03 9.93208719e-01 -2.88824236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66591999999997 meters 0.02936766504406529 Centerline is valid? [True, True] Translation: X:236.56, Y:-168.04, Z:-28.88 [[ 7.23769633e-01 6.84741033e-01 8.53653116e-02 2.36563343e+02] [-6.80523030e-01 7.28779780e-01 -7.59502343e-02 -1.68037836e+02] [-1.14218755e-01 -3.12258729e-03 9.93450716e-01 -2.88844393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69592 meters 0.029279285366073982 Centerline is valid? [True, True] Translation: X:236.59, Y:-168.06, Z:-28.89 [[ 7.25640439e-01 6.82724615e-01 8.56332511e-02 2.36589339e+02] [-6.78462902e-01 7.30670442e-01 -7.62154631e-02 -1.68057274e+02] [-1.14603858e-01 -2.79396189e-03 9.93407343e-01 -2.88877199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72592 meters 0.028831805418204084 Centerline is valid? [True, True] Translation: X:236.62, Y:-168.08, Z:-28.89 [[ 7.28383134e-01 6.79999875e-01 8.40129753e-02 2.36615162e+02] [-6.75872551e-01 7.33208717e-01 -7.48416458e-02 -1.68076796e+02] [-1.12491356e-01 -2.26867134e-03 9.93650114e-01 -2.88900711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75591999999995 meters 0.028432085295653726 Centerline is valid? [True, True] Translation: X:236.64, Y:-168.09, Z:-28.89 [[ 7.33287873e-01 6.74743758e-01 8.37242846e-02 2.36641547e+02] [-6.70602705e-01 7.38050738e-01 -7.46533403e-02 -1.68094959e+02] [-1.12164645e-01 -1.40334257e-03 9.93688645e-01 -2.88927260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78592 meters 0.028309431456512994 Centerline is valid? [True, True] Translation: X:236.67, Y:-168.12, Z:-28.90 [[ 7.35234698e-01 6.72618830e-01 8.37487263e-02 2.36666636e+02] [-6.68454733e-01 7.39988406e-01 -7.47357272e-02 -1.68115637e+02] [-1.12241744e-01 -1.03393267e-03 9.93680392e-01 -2.88962373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81591999999995 meters 0.027927220829917544 Centerline is valid? [True, True] Translation: X:236.69, Y:-168.14, Z:-28.90 [[ 7.40040992e-01 6.67386788e-01 8.32718742e-02 2.36691960e+02] [-6.63233198e-01 7.44711240e-01 -7.43430903e-02 -1.68135558e+02] [-1.11629097e-01 -2.11737122e-04 9.93749918e-01 -2.89002289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84592 meters 0.027823182700477074 Centerline is valid? [True, True] Translation: X:236.72, Y:-168.16, Z:-28.90 [[ 7.41698541e-01 6.65588143e-01 8.29198319e-02 2.36716478e+02] [-6.61450617e-01 7.46319243e-01 -7.40990482e-02 -1.68157351e+02] [-1.11204114e-01 1.11781939e-04 9.93797581e-01 -2.89031338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87591999999995 meters 0.028060419548517783 Centerline is valid? [True, True] Translation: X:236.74, Y:-168.18, Z:-28.91 [[ 7.43182137e-01 6.63852635e-01 8.35463362e-02 2.36738473e+02] [-6.59632443e-01 7.47863284e-01 -7.47365249e-02 -1.68180434e+02] [-1.12095276e-01 4.32976496e-04 9.93697369e-01 -2.89054641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90592 meters 0.027980458285476448 Centerline is valid? [True, True] Translation: X:236.76, Y:-168.21, Z:-28.91 [[ 7.44161802e-01 6.62851415e-01 8.27720677e-02 2.36760744e+02] [-6.58695398e-01 7.48750696e-01 -7.41132146e-02 -1.68205557e+02] [-1.11101692e-01 6.30643223e-04 9.93808843e-01 -2.89081913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93591999999995 meters 0.027980458285476448 Centerline is valid? [True, True] Translation: X:236.79, Y:-168.23, Z:-28.91 [[ 7.43818380e-01 6.63241559e-01 8.27336163e-02 2.36785141e+02] [-6.59083177e-01 7.48405129e-01 -7.41561179e-02 -1.68226931e+02] [-1.11101682e-01 6.30348923e-04 9.93808844e-01 -2.89111296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96592 meters 0.02779078372901071 Centerline is valid? [True, True] Translation: X:236.81, Y:-168.25, Z:-28.91 [[ 7.43681376e-01 6.63516825e-01 8.17522780e-02 2.36807345e+02] [-6.59450242e-01 7.48161090e-01 -7.33509481e-02 -1.68250314e+02] [-1.09833462e-01 6.38174423e-04 9.93949799e-01 -2.89136802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99591999999996 meters 0.02782575172341347 Centerline is valid? [True, True] Translation: X:236.83, Y:-168.27, Z:-28.92 [[ 7.43060463e-01 6.64243716e-01 8.14949904e-02 2.36830260e+02] [-6.60199575e-01 7.47515852e-01 -7.31886121e-02 -1.68274498e+02] [-1.09533873e-01 5.80606034e-04 9.93982894e-01 -2.89166427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02592 meters 0.027745356673289794 Centerline is valid? [True, True] Translation: X:236.85, Y:-168.30, Z:-28.92 [[ 7.41687024e-01 6.65540780e-01 8.34016078e-02 2.36850930e+02] [-6.61303946e-01 7.46361347e-01 -7.49788689e-02 -1.68299601e+02] [-1.12149231e-01 4.57041850e-04 9.93691271e-01 -2.89196560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05591999999996 meters 0.027826701082540223 Centerline is valid? [True, True] Translation: X:236.87, Y:-168.32, Z:-28.92 [[ 7.40339723e-01 6.67067063e-01 8.31782882e-02 2.36874002e+02] [-6.62854606e-01 7.44997621e-01 -7.48486214e-02 -1.68323575e+02] [-1.11896677e-01 2.78296142e-04 9.93719808e-01 -2.89220855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08592 meters 0.02788536429815683 Centerline is valid? [True, True] Translation: X:236.90, Y:-168.35, Z:-28.92 [[ 7.38944502e-01 6.68461315e-01 8.43830185e-02 2.36895717e+02] [-6.64125724e-01 7.43746902e-01 -7.60103199e-02 -1.68346621e+02] [-1.13569567e-01 1.26474762e-04 9.93530039e-01 -2.89249673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11591999999996 meters 0.027843917203574337 Centerline is valid? [True, True] Translation: X:236.92, Y:-168.37, Z:-28.93 [[ 7.36463461e-01 6.71286847e-01 8.36393421e-02 2.36916093e+02] [-6.67038370e-01 7.41197614e-01 -7.54049761e-02 -1.68371641e+02] [-1.12611649e-01 -2.57640744e-04 9.93639044e-01 -2.89282670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14592 meters 0.02771027175365218 Centerline is valid? [True, True] Translation: X:236.94, Y:-168.40, Z:-28.93 [[ 7.34609929e-01 6.73290655e-01 8.38328521e-02 2.36938408e+02] [-6.69027243e-01 7.39377733e-01 -7.56512805e-02 -1.68396810e+02] [-1.12919444e-01 -5.12280206e-04 9.93604014e-01 -2.89299211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17591999999996 meters 0.027778758505834337 Centerline is valid? [True, True] Translation: X:236.96, Y:-168.42, Z:-28.93 [[ 7.33752961e-01 6.74256273e-01 8.35767320e-02 2.36961837e+02] [-6.70016197e-01 7.38497203e-01 -7.54995184e-02 -1.68420178e+02] [-1.12627207e-01 -5.99768917e-04 9.93637133e-01 -2.89325401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20592 meters 0.027808614601958284 Centerline is valid? [True, True] Translation: X:236.99, Y:-168.44, Z:-28.93 [[ 7.33091927e-01 6.75056715e-01 8.29135542e-02 2.36985780e+02] [-6.70880046e-01 7.37765544e-01 -7.49797656e-02 -1.68442895e+02] [-1.11786358e-01 -6.57988265e-04 9.93732045e-01 -2.89343993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23591999999996 meters 0.027833623451314144 Centerline is valid? [True, True] Translation: X:237.01, Y:-168.47, Z:-28.94 [[ 7.31918651e-01 6.76406043e-01 8.22797227e-02 2.37009475e+02] [-6.72292895e-01 7.36528497e-01 -7.44851449e-02 -1.68466083e+02] [-1.10983563e-01 -7.99006135e-04 9.93821921e-01 -2.89372769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26592 meters 0.028022497891115876 Centerline is valid? [True, True] Translation: X:237.03, Y:-168.49, Z:-28.94 [[ 7.32088626e-01 6.76126842e-01 8.30586305e-02 2.37033253e+02] [-6.71924346e-01 7.36784905e-01 -7.52706900e-02 -1.68488281e+02] [-1.12088879e-01 -7.04299893e-04 9.93697936e-01 -2.89402241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29591999999997 meters 0.027984627211922197 Centerline is valid? [True, True] Translation: X:237.06, Y:-168.51, Z:-28.94 [[ 7.31434798e-01 6.76727420e-01 8.39233965e-02 2.37056126e+02] [-6.72431532e-01 7.36233281e-01 -7.61340331e-02 -1.68510741e+02] [-1.13309185e-01 -7.45656956e-04 9.93559496e-01 -2.89426610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32592 meters 0.028265751530706363 Centerline is valid? [True, True] Translation: X:237.08, Y:-168.53, Z:-28.95 [[ 7.31510173e-01 6.76633180e-01 8.40262242e-02 2.37079953e+02] [-6.72317784e-01 7.36319957e-01 -7.63001836e-02 -1.68533613e+02] [-1.13497422e-01 -6.77964321e-04 9.93538059e-01 -2.89463251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35591999999997 meters 0.028276368346096092 Centerline is valid? [True, True] Translation: X:237.10, Y:-168.56, Z:-28.95 [[ 7.31378622e-01 6.76776958e-01 8.40134556e-02 2.37102853e+02] [-6.72454565e-01 7.36187842e-01 -7.63696221e-02 -1.68557857e+02] [-1.13534885e-01 -6.40122799e-04 9.93533804e-01 -2.89492707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38592 meters 0.028252099766121246 Centerline is valid? [True, True] Translation: X:237.13, Y:-168.58, Z:-28.95 [[ 7.30555427e-01 6.77666352e-01 8.40064493e-02 2.37125867e+02] [-6.73341302e-01 7.35369159e-01 -7.64440428e-02 -1.68580824e+02] [-1.13579308e-01 -7.18401541e-04 9.93528673e-01 -2.89528307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41591999999997 meters 0.028304846206945594 Centerline is valid? [True, True] Translation: X:237.15, Y:-168.61, Z:-28.96 [[ 7.28690032e-01 6.79682617e-01 8.39188722e-02 2.37147930e+02] [-6.75370668e-01 7.33505689e-01 -7.64451757e-02 -1.68605075e+02] [-1.13513427e-01 -9.71507270e-04 9.93535987e-01 -2.89554144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44592 meters 0.028239397648175874 Centerline is valid? [True, True] Translation: X:237.17, Y:-168.63, Z:-28.96 [[ 7.27732749e-01 6.80732075e-01 8.37191019e-02 2.37171858e+02] [-6.76438401e-01 7.32531700e-01 -7.63439423e-02 -1.68627987e+02] [-1.13296666e-01 -1.07282847e-03 9.93560624e-01 -2.89571153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47592 meters 0.028275673864152043 Centerline is valid? [True, True] Translation: X:237.19, Y:-168.65, Z:-28.96 [[ 7.26452512e-01 6.82325026e-01 8.18492879e-02 2.37193449e+02] [-6.78224018e-01 7.31047891e-01 -7.47071814e-02 -1.68652738e+02] [-1.10810329e-01 -1.24093329e-03 9.93840798e-01 -2.89592766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50591999999995 meters 0.028360164225432943 Centerline is valid? [True, True] Translation: X:237.22, Y:-168.68, Z:-28.96 [[ 7.25655505e-01 6.83227121e-01 8.13928152e-02 2.37216622e+02] [-6.79173694e-01 7.30204691e-01 -7.43249755e-02 -1.68676908e+02] [-1.10214255e-01 -1.34553136e-03 9.93906941e-01 -2.89619406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53592 meters 0.028337658104824963 Centerline is valid? [True, True] Translation: X:237.24, Y:-168.70, Z:-28.97 [[ 7.24634361e-01 6.84278969e-01 8.16537593e-02 2.37239240e+02] [-6.80197160e-01 7.29218888e-01 -7.46433987e-02 -1.68700404e+02] [-1.10620371e-01 -1.45148366e-03 9.93861674e-01 -2.89654769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56591999999995 meters 0.02857645540823236 Centerline is valid? [True, True] Translation: X:237.26, Y:-168.72, Z:-28.97 [[ 7.24067112e-01 6.84670052e-01 8.33890686e-02 2.37262042e+02] [-6.80405700e-01 7.28851643e-01 -7.63109859e-02 -1.68723184e+02] [-1.13026106e-01 -1.48412238e-03 9.93590910e-01 -2.89676224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59592 meters 0.028688122060288587 Centerline is valid? [True, True] Translation: X:237.28, Y:-168.75, Z:-28.97 [[ 7.22974392e-01 6.85749349e-01 8.39991560e-02 2.37284122e+02] [-6.81421075e-01 7.27835993e-01 -7.69420900e-02 -1.68746748e+02] [-1.13900597e-01 -1.61163440e-03 9.93490844e-01 -2.89703011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62591999999995 meters 0.028696817767376852 Centerline is valid? [True, True] Translation: X:237.31, Y:-168.77, Z:-28.97 [[ 7.21950996e-01 6.86819284e-01 8.40596790e-02 2.37306728e+02] [-6.82483486e-01 7.26826173e-01 -7.70714275e-02 -1.68770286e+02] [-1.14030917e-01 -1.72754891e-03 9.93475699e-01 -2.89744770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65592 meters 0.028892566981605645 Centerline is valid? [True, True] Translation: X:237.33, Y:-168.79, Z:-28.98 [[ 7.19065631e-01 6.90040938e-01 8.23900606e-02 2.37328682e+02] [-6.85888223e-01 7.23767192e-01 -7.56200903e-02 -1.68794965e+02] [-1.11812181e-01 -2.13456424e-03 9.93727065e-01 -2.89761202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68591999999995 meters 0.029208339397968557 Centerline is valid? [True, True] Translation: X:237.35, Y:-168.82, Z:-28.98 [[ 7.17115780e-01 6.91937002e-01 8.34754063e-02 2.37351286e+02] [-6.87677495e-01 7.21953880e-01 -7.66958811e-02 -1.68816932e+02] [-1.13334111e-01 -2.40433163e-03 9.93554024e-01 -2.89792610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71592 meters 0.029624468740246653 Centerline is valid? [True, True] Translation: X:237.37, Y:-168.84, Z:-28.98 [[ 7.14676032e-01 6.94554090e-01 8.26606711e-02 2.37374816e+02] [-6.90387442e-01 7.19435261e-01 -7.60137224e-02 -1.68839316e+02] [-1.12264643e-01 -2.74270380e-03 9.93674558e-01 -2.89810455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74591999999996 meters 0.03003409754618256 Centerline is valid? [True, True] Translation: X:237.40, Y:-168.86, Z:-28.98 [[ 7.10817020e-01 6.98632708e-01 8.15567534e-02 2.37397684e+02] [-6.94596013e-01 7.15472927e-01 -7.50657724e-02 -1.68861177e+02] [-1.10795053e-01 -3.29096707e-03 9.93837827e-01 -2.89834863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.77592 meters 0.030488197108699943 Centerline is valid? [True, True] Translation: X:237.42, Y:-168.88, Z:-28.99 [[ 7.08055245e-01 7.01447161e-01 8.14226700e-02 2.37421572e+02] [-6.97435046e-01 7.12711970e-01 -7.50067015e-02 -1.68882289e+02] [-1.10644149e-01 -3.67813517e-03 9.93853281e-01 -2.89864281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80591999999996 meters 0.03109175918368874 Centerline is valid? [True, True] Translation: X:237.45, Y:-168.90, Z:-28.99 [[ 7.06122528e-01 7.03386153e-01 8.14794180e-02 2.37445202e+02] [-6.99373629e-01 7.10797039e-01 -7.51271948e-02 -1.68903973e+02] [-1.10758758e-01 -3.93555159e-03 9.93839529e-01 -2.89890972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.83592 meters 0.03138427909948942 Centerline is valid? [True, True] Translation: X:237.47, Y:-168.93, Z:-28.99 [[ 7.04982933e-01 7.04455372e-01 8.21078181e-02 2.37469859e+02] [-7.00380014e-01 7.09736522e-01 -7.57753546e-02 -1.68925057e+02] [-1.11655273e-01 -4.08634304e-03 9.93738598e-01 -2.89918109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86591999999996 meters 0.031465519943316964 Centerline is valid? [True, True] Translation: X:237.50, Y:-168.94, Z:-28.99 [[ 7.03202690e-01 7.06387860e-01 8.07599424e-02 2.37496281e+02] [-7.02450960e-01 7.07812074e-01 -7.45970267e-02 -1.68943430e+02] [-1.09857296e-01 -4.27306919e-03 9.93938185e-01 -2.89942873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89592 meters 0.03160549086992196 Centerline is valid? [True, True] Translation: X:237.52, Y:-168.96, Z:-29.00 [[ 7.02212483e-01 7.07511614e-01 7.95295175e-02 2.37521837e+02] [-7.03694052e-01 7.06688431e-01 -7.35264720e-02 -1.68964146e+02] [-1.08223423e-01 -4.33324194e-03 9.94117153e-01 -2.89966546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92591999999996 meters 0.031768453260434024 Centerline is valid? [True, True] Translation: X:237.55, Y:-168.98, Z:-29.00 [[ 7.01265784e-01 7.08387752e-01 8.00817895e-02 2.37548820e+02] [-7.04514360e-01 7.05809477e-01 -7.41113997e-02 -1.68982184e+02] [-1.09022094e-01 -4.44698181e-03 9.94029380e-01 -2.90007894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95592 meters 0.03198750505840011 Centerline is valid? [True, True] Translation: X:237.57, Y:-169.00, Z:-29.00 [[ 7.00470832e-01 7.09190273e-01 7.99360416e-02 2.37573801e+02] [-7.05329013e-01 7.05002663e-01 -7.40420700e-02 -1.69002002e+02] [-1.08865038e-01 -4.51689903e-03 9.94046277e-01 -2.90040247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98591999999996 meters 0.03197967096613155 Centerline is valid? [True, True] Translation: X:237.60, Y:-169.02, Z:-29.01 [[ 6.99986919e-01 7.09463794e-01 8.17278342e-02 2.37601309e+02] [-7.05421192e-01 7.04726778e-01 -7.57701139e-02 -1.69019679e+02] [-1.11351946e-01 -4.61445766e-03 9.93770321e-01 -2.90077079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01592 meters 0.03193222028104244 Centerline is valid? [True, True] Translation: X:237.63, Y:-169.04, Z:-29.01 [[ 6.99692606e-01 7.09800334e-01 8.13249290e-02 2.37627386e+02] [-7.05792204e-01 7.04387935e-01 -7.54652401e-02 -1.69039392e+02] [-1.10849551e-01 -4.59603035e-03 9.93826571e-01 -2.90098476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04591999999997 meters 0.03162354422346055 Centerline is valid? [True, True] Translation: X:237.65, Y:-169.06, Z:-29.01 [[ 7.00298381e-01 7.09214493e-01 8.12218010e-02 2.37653311e+02] [-7.05205164e-01 7.04978724e-01 -7.54365659e-02 -1.69059371e+02] [-1.10760347e-01 -4.44992854e-03 9.93837182e-01 -2.90122887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07592 meters 0.03177234985532304 Centerline is valid? [True, True] Translation: X:237.68, Y:-169.08, Z:-29.02 [[ 7.00665601e-01 7.08964126e-01 8.02345566e-02 2.37679921e+02] [-7.05046877e-01 7.05231228e-01 -7.45507597e-02 -1.69078141e+02] [-1.09437729e-01 -4.33397071e-03 9.93984205e-01 -2.90158612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10591999999997 meters 0.031277860918456524 Centerline is valid? [True, True] Translation: X:237.71, Y:-169.10, Z:-29.02 [[ 7.01530405e-01 7.08143354e-01 7.99254684e-02 2.37708445e+02] [-7.04244551e-01 7.06056504e-01 -7.43224415e-02 -1.69095437e+02] [-1.09062840e-01 -4.14762310e-03 9.94026204e-01 -2.90178381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13592 meters 0.03135285381404243 Centerline is valid? [True, True] Translation: X:237.73, Y:-169.12, Z:-29.02 [[ 7.01412169e-01 7.08242155e-01 8.00875671e-02 2.37734688e+02] [-7.04324486e-01 7.05957395e-01 -7.45062127e-02 -1.69115202e+02] [-1.09306851e-01 -4.14807024e-03 9.93999399e-01 -2.90211878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16591999999997 meters 0.03104657935156097 Centerline is valid? [True, True] Translation: X:237.76, Y:-169.14, Z:-29.02 [[ 7.02079011e-01 7.07574088e-01 8.01496927e-02 2.37759982e+02] [-7.03637716e-01 7.06627880e-01 -7.46391610e-02 -1.69135164e+02] [-1.09448744e-01 -3.99375837e-03 9.93984418e-01 -2.90245733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19592 meters 0.030618647104325353 Centerline is valid? [True, True] Translation: X:237.79, Y:-169.16, Z:-29.03 [[ 7.03869443e-01 7.05782643e-01 8.02413122e-02 2.37785670e+02] [-7.01818211e-01 7.08418932e-01 -7.47918158e-02 -1.69155085e+02] [-1.09631230e-01 -3.67114049e-03 9.93965551e-01 -2.90276759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22592 meters 0.029895176134995642 Centerline is valid? [True, True] Translation: X:237.81, Y:-169.17, Z:-29.03 [[ 7.07287808e-01 7.02404181e-01 7.98268309e-02 2.37811914e+02] [-6.98452826e-01 7.11771614e-01 -7.44635517e-02 -1.69173492e+02] [-1.09121982e-01 -3.08811338e-03 9.94023569e-01 -2.90295223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25591999999995 meters 0.029819899705706584 Centerline is valid? [True, True] Translation: X:237.84, Y:-169.20, Z:-29.03 [[ 7.08149826e-01 7.01316185e-01 8.17277949e-02 2.37836980e+02] [-6.97163463e-01 7.12844151e-01 -7.62648144e-02 -1.69195154e+02] [-1.11744929e-01 -2.97071742e-03 9.93732482e-01 -2.90338609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28592 meters 0.029431246523211645 Centerline is valid? [True, True] Translation: X:237.86, Y:-169.22, Z:-29.04 [[ 7.10471342e-01 6.98988891e-01 8.15168905e-02 2.37861021e+02] [-6.94834467e-01 7.15127992e-01 -7.61381568e-02 -1.69217101e+02] [-1.11514736e-01 -2.54676674e-03 9.93759517e-01 -2.90356827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31591999999995 meters 0.029078093907489683 Centerline is valid? [True, True] Translation: X:237.89, Y:-169.24, Z:-29.04 [[ 7.11394587e-01 6.98050838e-01 8.15031904e-02 2.37885057e+02] [-6.93887885e-01 7.16044264e-01 -7.61591384e-02 -1.69238488e+02] [-1.11522842e-01 -2.37487761e-03 9.93759033e-01 -2.90380273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34592 meters 0.029084582747034217 Centerline is valid? [True, True] Translation: X:237.91, Y:-169.26, Z:-29.04 [[ 7.11935716e-01 6.97550051e-01 8.10645604e-02 2.37908677e+02] [-6.93420851e-01 7.16532580e-01 -7.58194190e-02 -1.69259916e+02] [-1.10973238e-01 -2.23330416e-03 9.93820886e-01 -2.90410085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37591999999995 meters 0.028908527174650252 Centerline is valid? [True, True] Translation: X:237.93, Y:-169.28, Z:-29.04 [[ 7.12986979e-01 6.96685260e-01 7.92415032e-02 2.37931408e+02] [-6.92728310e-01 7.17374114e-01 -7.41745875e-02 -1.69283184e+02] [-1.08522145e-01 -2.00731757e-03 9.94092005e-01 -2.90443463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40592 meters 0.02899755968485966 Centerline is valid? [True, True] Translation: X:237.95, Y:-169.31, Z:-29.05 [[ 7.12293662e-01 6.97313833e-01 7.99447152e-02 2.37954088e+02] [-6.93286451e-01 7.16762873e-01 -7.48657482e-02 -1.69305225e+02] [-1.09506326e-01 -2.09818993e-03 9.93983884e-01 -2.90473077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43591999999995 meters 0.029098485511510785 Centerline is valid? [True, True] Translation: X:237.98, Y:-169.33, Z:-29.05 [[ 7.11197701e-01 6.98390838e-01 8.02998626e-02 2.37977986e+02] [-6.94326556e-01 7.15713137e-01 -7.52684546e-02 -1.69326509e+02] [-1.10038466e-01 -2.22357517e-03 9.93924842e-01 -2.90493056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46592 meters 0.029313871168887885 Centerline is valid? [True, True] Translation: X:238.00, Y:-169.35, Z:-29.05 [[ 7.08716033e-01 7.00884535e-01 8.05136786e-02 2.37999942e+02] [-6.96806765e-01 7.13270130e-01 -7.55384329e-02 -1.69349293e+02] [-1.10371721e-01 -2.56717731e-03 9.93887062e-01 -2.90521821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49591999999996 meters 0.029450854172040263 Centerline is valid? [True, True] Translation: X:238.02, Y:-169.37, Z:-29.06 [[ 7.07232371e-01 7.02351979e-01 8.07717204e-02 2.38022545e+02] [-6.98250081e-01 7.11824482e-01 -7.58467559e-02 -1.69372454e+02] [-1.10766407e-01 -2.75757929e-03 9.93842643e-01 -2.90558183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52592 meters 0.029525566536051123 Centerline is valid? [True, True] Translation: X:238.05, Y:-169.39, Z:-29.06 [[ 7.06151378e-01 7.03444372e-01 8.07232741e-02 2.38045735e+02] [-6.99346710e-01 7.10744496e-01 -7.58712180e-02 -1.69394905e+02] [-1.10744804e-01 -2.87699097e-03 9.93844712e-01 -2.90588732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55591999999996 meters 0.02965891274501223 Centerline is valid? [True, True] Translation: X:238.07, Y:-169.42, Z:-29.06 [[ 7.04517876e-01 7.05112237e-01 8.04443613e-02 2.38070914e+02] [-7.01045975e-01 7.09089034e-01 -7.56788133e-02 -1.69415586e+02] [-1.10404272e-01 -3.07811895e-03 9.93881996e-01 -2.90620101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58592 meters 0.029998327403039527 Centerline is valid? [True, True] Translation: X:238.09, Y:-169.44, Z:-29.07 [[ 7.02789701e-01 7.06805444e-01 8.07013056e-02 2.38094675e+02] [-7.02716363e-01 7.07400270e-01 -7.59905914e-02 -1.69437324e+02] [-1.10798689e-01 -3.30472305e-03 9.93837376e-01 -2.90660060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61591999999996 meters 0.030266990491124964 Centerline is valid? [True, True] Translation: X:238.12, Y:-169.46, Z:-29.07 [[ 7.00991426e-01 7.08561373e-01 8.09432044e-02 2.38118313e+02] [-7.04451440e-01 7.05640297e-01 -7.62885347e-02 -1.69458985e+02] [-1.11171896e-01 -3.54294818e-03 9.93794877e-01 -2.90680385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64592 meters 0.030087316716276014 Centerline is valid? [True, True] Translation: X:238.14, Y:-169.48, Z:-29.07 [[ 6.99884713e-01 7.09557215e-01 8.17920984e-02 2.38142790e+02] [-7.05359143e-01 7.04638163e-01 -7.71591795e-02 -1.69479759e+02] [-1.12382686e-01 -3.69027424e-03 9.93658147e-01 -2.90704280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67591999999996 meters 0.030533214511054653 Centerline is valid? [True, True] Translation: X:238.17, Y:-169.50, Z:-29.07 [[ 6.97793436e-01 7.11674555e-01 8.12628336e-02 2.38168293e+02] [-7.07537263e-01 7.02498172e-01 -7.67290094e-02 -1.69499858e+02] [-1.11693076e-01 -3.95548369e-03 9.93734880e-01 -2.90737952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70592 meters 0.030514445182368833 Centerline is valid? [True, True] Translation: X:238.19, Y:-169.52, Z:-29.08 [[ 6.97096140e-01 7.12254161e-01 8.21643550e-02 2.38192456e+02] [-7.08020189e-01 7.01910009e-01 -7.76514745e-02 -1.69520641e+02] [-1.12979569e-01 -4.04347902e-03 9.93589084e-01 -2.90771751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73591999999996 meters 0.03055353716806418 Centerline is valid? [True, True] Translation: X:238.22, Y:-169.54, Z:-29.08 [[ 6.96202918e-01 7.13045896e-01 8.28676468e-02 2.38217186e+02] [-7.08736353e-01 7.01105028e-01 -7.83870020e-02 -1.69541055e+02] [-1.13992454e-01 -4.15805422e-03 9.93472914e-01 -2.90793797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76592 meters 0.03058335901144574 Centerline is valid? [True, True] Translation: X:238.24, Y:-169.56, Z:-29.08 [[ 6.95704650e-01 7.13533499e-01 8.28552103e-02 2.38242551e+02] [-7.09220335e-01 7.00608610e-01 -7.84480253e-02 -1.69561753e+02] [-1.14024368e-01 -4.18594396e-03 9.93469135e-01 -2.90825241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79591999999997 meters 0.030917737702348538 Centerline is valid? [True, True] Translation: X:238.27, Y:-169.58, Z:-29.09 [[ 6.95530943e-01 7.13761968e-01 8.23441631e-02 2.38267796e+02] [-7.09494686e-01 7.00376112e-01 -7.80422499e-02 -1.69582275e+02] [-1.13375475e-01 -4.14194646e-03 9.93543580e-01 -2.90855585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82592 meters 0.030917737702348538 Centerline is valid? [True, True] Translation: X:238.29, Y:-169.60, Z:-29.09 [[ 6.95167292e-01 7.14120334e-01 8.23078680e-02 2.38291568e+02] [-7.09851030e-01 7.00010677e-01 -7.80805139e-02 -1.69604367e+02] [-1.13375269e-01 -4.14730551e-03 9.93543581e-01 -2.90884991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85591999999997 meters 0.03088072389309636 Centerline is valid? [True, True] Translation: X:238.32, Y:-169.62, Z:-29.09 [[ 6.93992770e-01 7.15137468e-01 8.33812814e-02 2.38318241e+02] [-7.10753793e-01 6.98970522e-01 -7.91786269e-02 -1.69622623e+02] [-1.14904660e-01 -4.31416743e-03 9.93367156e-01 -2.90907789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88592 meters 0.03078907253634557 Centerline is valid? [True, True] Translation: X:238.34, Y:-169.64, Z:-29.09 [[ 6.93576817e-01 7.15460310e-01 8.40698770e-02 2.38343922e+02] [-7.10997665e-01 6.98639815e-01 -7.99045005e-02 -1.69642548e+02] [-1.15903062e-01 -4.35357717e-03 9.93250989e-01 -2.90930712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91591999999997 meters 0.030386546733220082 Centerline is valid? [True, True] Translation: X:238.37, Y:-169.66, Z:-29.10 [[ 6.94226419e-01 7.14895670e-01 8.35096398e-02 2.38371705e+02] [-7.10480197e-01 6.99218638e-01 -7.94429764e-02 -1.69659954e+02] [-1.15184936e-01 -4.18053226e-03 9.93335267e-01 -2.90963974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94592 meters 0.03021698407153439 Centerline is valid? [True, True] Translation: X:238.40, Y:-169.68, Z:-29.10 [[ 6.95163716e-01 7.14070166e-01 8.27720115e-02 2.38396275e+02] [-7.09718659e-01 7.00062950e-01 -7.88117401e-02 -1.69680342e+02] [-1.14222731e-01 -3.95777896e-03 9.93447283e-01 -2.90997735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97592 meters 0.03003579526515018 Centerline is valid? [True, True] Translation: X:238.42, Y:-169.70, Z:-29.10 [[ 6.97187307e-01 7.12033595e-01 8.32947731e-02 2.38422306e+02] [-7.07603900e-01 7.02136192e-01 -7.93819211e-02 -1.69699656e+02] [-1.15006869e-01 -3.59563851e-03 9.93358189e-01 -2.91035094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00591999999995 meters 0.029736904653845573 Centerline is valid? [True, True] Translation: X:238.45, Y:-169.72, Z:-29.11 [[ 6.98181290e-01 7.11076163e-01 8.31479214e-02 2.38447483e+02] [-7.06647007e-01 7.03106864e-01 -7.93142175e-02 -1.69719186e+02] [-1.14860324e-01 -3.38052719e-03 9.93375900e-01 -2.91059176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03592 meters 0.029232308335466854 Centerline is valid? [True, True] Translation: X:238.47, Y:-169.74, Z:-29.11 [[ 7.01918410e-01 7.07362803e-01 8.33571243e-02 2.38474563e+02] [-7.02877756e-01 7.06845381e-01 -7.95767952e-02 -1.69737714e+02] [-1.15210263e-01 -2.73345093e-03 9.93337366e-01 -2.91101657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06591999999995 meters 0.02886326788086865 Centerline is valid? [True, True] Translation: X:238.50, Y:-169.76, Z:-29.11 [[ 7.03546915e-01 7.05678021e-01 8.39063172e-02 2.38498254e+02] [-7.01117212e-01 7.08528434e-01 -8.01380900e-02 -1.69758858e+02] [-1.16001700e-01 -2.44725721e-03 9.93246000e-01 -2.91139949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09592 meters 0.02870600070406864 Centerline is valid? [True, True] Translation: X:238.52, Y:-169.78, Z:-29.12 [[ 7.05506574e-01 7.03770228e-01 8.34741848e-02 2.38521351e+02] [-6.99234605e-01 7.10424649e-01 -7.97984065e-02 -1.69780952e+02] [-1.15461861e-01 -2.06973824e-03 9.93309758e-01 -2.91173628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12591999999995 meters 0.02824758477193866 Centerline is valid? [True, True] Translation: X:238.55, Y:-169.80, Z:-29.12 [[ 7.10354330e-01 6.98910449e-01 8.31920082e-02 2.38545197e+02] [-6.94364789e-01 7.15208136e-01 -7.95918457e-02 -1.69803129e+02] [-1.15127174e-01 -1.22718901e-03 9.93350003e-01 -2.91206333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15592 meters 0.02824083119962532 Centerline is valid? [True, True] Translation: X:238.57, Y:-169.83, Z:-29.12 [[ 7.13449572e-01 6.95690786e-01 8.36901290e-02 2.38567710e+02] [-6.91063875e-01 7.18341048e-01 -8.01052960e-02 -1.69825497e+02] [-1.15846571e-01 -6.84135779e-04 9.93266885e-01 -2.91242037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18591999999995 meters 0.028362670408886934 Centerline is valid? [True, True] Translation: X:238.59, Y:-169.85, Z:-29.13 [[ 7.14149491e-01 6.95020992e-01 8.32846043e-02 2.38589801e+02] [-6.90426814e-01 7.18989253e-01 -7.97826341e-02 -1.69849415e+02] [-1.15331341e-01 -5.25196489e-04 9.93326938e-01 -2.91279458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21592 meters 0.027953573414105804 Centerline is valid? [True, True] Translation: X:238.61, Y:-169.87, Z:-29.13 [[ 7.14937487e-01 6.94422469e-01 8.14973865e-02 2.38612303e+02] [-6.90014948e-01 7.19567429e-01 -7.81158592e-02 -1.69872732e+02] [-1.12888273e-01 -3.86458848e-04 9.93607613e-01 -2.91299320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24591999999996 meters 0.02794342046792373 Centerline is valid? [True, True] Translation: X:238.63, Y:-169.90, Z:-29.13 [[ 7.15179998e-01 6.94168808e-01 8.15305860e-02 2.38634401e+02] [-6.89747645e-01 7.19812184e-01 -7.82215207e-02 -1.69896963e+02] [-1.12985649e-01 -2.93062677e-04 9.93596577e-01 -2.91331465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.27592 meters 0.028194776644815834 Centerline is valid? [True, True] Translation: X:238.66, Y:-169.92, Z:-29.14 [[ 7.14543791e-01 6.94821592e-01 8.15483070e-02 2.38657505e+02] [-6.90393416e-01 7.19182065e-01 -7.83204294e-02 -1.69920998e+02] [-1.13066805e-01 -3.37037656e-04 9.93587331e-01 -2.91353465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30591999999996 meters 0.028084851135774382 Centerline is valid? [True, True] Translation: X:238.68, Y:-169.95, Z:-29.14 [[ 7.14506648e-01 6.94830725e-01 8.17955629e-02 2.38678839e+02] [-6.90366195e-01 7.19173266e-01 -7.86405167e-02 -1.69946835e+02] [-1.13467029e-01 -2.79719544e-04 9.93541723e-01 -2.91385367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.33592 meters 0.028107938338751262 Centerline is valid? [True, True] Translation: X:238.70, Y:-169.97, Z:-29.14 [[ 7.14026187e-01 6.95243572e-01 8.24801843e-02 2.38700465e+02] [-6.90697061e-01 7.18774160e-01 -7.93805890e-02 -1.69970823e+02] [-1.14473469e-01 -2.89001620e-04 9.93426264e-01 -2.91422878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36591999999996 meters 0.028058297288129624 Centerline is valid? [True, True] Translation: X:238.72, Y:-170.00, Z:-29.14 [[ 7.13866189e-01 6.95505059e-01 8.16564566e-02 2.38720800e+02] [-6.91042718e-01 7.18521146e-01 -7.86595490e-02 -1.69995545e+02] [-1.13380005e-01 -2.75707282e-04 9.93551659e-01 -2.91444081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39592 meters 0.028166416143854414 Centerline is valid? [True, True] Translation: X:238.74, Y:-170.02, Z:-29.15 [[ 7.13468255e-01 6.95938128e-01 8.14442805e-02 2.38744330e+02] [-6.91493365e-01 7.18101690e-01 -7.85295403e-02 -1.70019159e+02] [-1.13136977e-01 -2.89845495e-04 9.93579358e-01 -2.91474714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42591999999996 meters 0.028132188237872252 Centerline is valid? [True, True] Translation: X:238.77, Y:-170.04, Z:-29.15 [[ 7.12412147e-01 6.96981694e-01 8.17646113e-02 2.38766901e+02] [-6.92499099e-01 7.17088810e-01 -7.89217149e-02 -1.70042623e+02] [-1.13639478e-01 -3.97131300e-04 9.93521973e-01 -2.91494451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45592 meters 0.028213696873598666 Centerline is valid? [True, True] Translation: X:238.79, Y:-170.07, Z:-29.15 [[ 7.11733077e-01 6.97600987e-01 8.23947194e-02 2.38790445e+02] [-6.93043265e-01 7.16486336e-01 -7.96138375e-02 -1.70066202e+02] [-1.14573382e-01 -4.39303870e-04 9.93414690e-01 -2.91521233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48591999999996 meters 0.02800531703607451 Centerline is valid? [True, True] Translation: X:238.81, Y:-170.09, Z:-29.15 [[ 7.10451282e-01 6.98990889e-01 8.16744317e-02 2.38812704e+02] [-6.94513786e-01 7.15130316e-01 -7.89888116e-02 -1.70089732e+02] [-1.13620322e-01 -6.06316262e-04 9.93524059e-01 -2.91542332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51592 meters 0.028051837058675744 Centerline is valid? [True, True] Translation: X:238.84, Y:-170.11, Z:-29.16 [[ 7.10021308e-01 6.99446583e-01 8.15120847e-02 2.38835351e+02] [-6.94985991e-01 7.14684583e-01 -7.88696289e-02 -1.70112941e+02] [-1.13420523e-01 -6.50639965e-04 9.93546859e-01 -2.91574219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54591999999997 meters 0.02790949281828819 Centerline is valid? [True, True] Translation: X:238.86, Y:-170.14, Z:-29.16 [[ 7.09382497e-01 7.00166196e-01 8.08935832e-02 2.38857389e+02] [-6.95768494e-01 7.13979557e-01 -7.83542875e-02 -1.70137750e+02] [-1.12617388e-01 -7.00046519e-04 9.93638181e-01 -2.91602173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57592 meters 0.028003165257874583 Centerline is valid? [True, True] Translation: X:238.88, Y:-170.16, Z:-29.16 [[ 7.09004868e-01 7.00536155e-01 8.10011928e-02 2.38880476e+02] [-6.96119673e-01 7.13616568e-01 -7.85416724e-02 -1.70160670e+02] [-1.12825074e-01 -7.00095767e-04 9.93614620e-01 -2.91634126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60591999999997 meters 0.02801711354720138 Centerline is valid? [True, True] Translation: X:238.90, Y:-170.18, Z:-29.17 [[ 7.08231937e-01 7.01380447e-01 8.04549040e-02 2.38904449e+02] [-6.97019715e-01 7.12786697e-01 -7.80938030e-02 -1.70183577e+02] [-1.12120652e-01 -7.70128797e-04 9.93694302e-01 -2.91661028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63592 meters 0.027948093626292605 Centerline is valid? [True, True] Translation: X:238.93, Y:-170.21, Z:-29.17 [[ 7.06831581e-01 7.02835130e-01 8.00743182e-02 2.38928423e+02] [-6.98515805e-01 7.11352164e-01 -7.78059699e-02 -1.70205828e+02] [-1.11645808e-01 -9.37460145e-04 9.93747621e-01 -2.91687593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66591999999997 meters 0.027988889936163264 Centerline is valid? [True, True] Translation: X:238.95, Y:-170.23, Z:-29.17 [[ 7.05446340e-01 7.04227295e-01 8.00585931e-02 2.38951092e+02] [-6.99909394e-01 7.09973738e-01 -7.78725327e-02 -1.70229040e+02] [-1.11679462e-01 -1.09886818e-03 9.93743674e-01 -2.91720174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69592 meters 0.027971284672008535 Centerline is valid? [True, True] Translation: X:238.97, Y:-170.25, Z:-29.17 [[ 7.05065678e-01 7.04597986e-01 8.01502819e-02 2.38974861e+02] [-7.00263248e-01 7.09605855e-01 -7.80443112e-02 -1.70252182e+02] [-1.11864974e-01 -1.09993153e-03 9.93722807e-01 -2.91747976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72592 meters 0.027982473285565832 Centerline is valid? [True, True] Translation: X:239.00, Y:-170.27, Z:-29.18 [[ 7.05064939e-01 7.04633820e-01 7.98411662e-02 2.38998588e+02] [-7.00323539e-01 7.09570359e-01 -7.78257446e-02 -1.70274352e+02] [-1.11491577e-01 -1.04244424e-03 9.93764832e-01 -2.91778292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75591999999995 meters 0.027875831078948886 Centerline is valid? [True, True] Translation: X:239.02, Y:-170.30, Z:-29.18 [[ 7.05932301e-01 7.03765348e-01 7.98368368e-02 2.39022083e+02] [-6.99440756e-01 7.10431994e-01 -7.79038582e-02 -1.70296622e+02] [-1.11544679e-01 -8.46287573e-04 9.93759060e-01 -2.91817264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78592 meters 0.027849741808612105 Centerline is valid? [True, True] Translation: X:239.05, Y:-170.32, Z:-29.18 [[ 7.06044357e-01 7.03651494e-01 7.98494931e-02 2.39046054e+02] [-6.99315537e-01 7.10544850e-01 -7.79986936e-02 -1.70319963e+02] [-1.11620543e-01 -7.69453640e-04 9.93750604e-01 -2.91837245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81591999999995 meters 0.027878260720021118 Centerline is valid? [True, True] Translation: X:239.07, Y:-170.34, Z:-29.19 [[ 7.06065645e-01 7.03540790e-01 8.06328878e-02 2.39071070e+02] [-6.99108789e-01 7.10654535e-01 -7.88481597e-02 -1.70342116e+02] [-1.12775024e-01 -6.99183860e-04 9.93620302e-01 -2.91864901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84592 meters 0.027657428857433393 Centerline is valid? [True, True] Translation: X:239.10, Y:-170.36, Z:-29.19 [[ 7.05813136e-01 7.03880967e-01 7.98711567e-02 2.39095250e+02] [-6.99525712e-01 7.10317612e-01 -7.81835634e-02 -1.70363860e+02] [-1.11765811e-01 -6.88941685e-04 9.93734335e-01 -2.91888890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87591999999995 meters 0.027431632347993323 Centerline is valid? [True, True] Translation: X:239.12, Y:-170.39, Z:-29.19 [[ 7.07303125e-01 7.02490686e-01 7.89248104e-02 2.39119431e+02] [-6.98221837e-01 7.11692817e-01 -7.73278832e-02 -1.70385292e+02] [-1.10492338e-01 -4.12772671e-04 9.93876890e-01 -2.91915326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90592 meters 0.027341025035442928 Centerline is valid? [True, True] Translation: X:239.14, Y:-170.41, Z:-29.20 [[ 7.07613264e-01 7.02130968e-01 7.93446455e-02 2.39143160e+02] [-6.97805915e-01 7.12047759e-01 -7.78131998e-02 -1.70408225e+02] [-1.11132234e-01 -3.05510743e-04 9.93805581e-01 -2.91952843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93591999999995 meters 0.027294335289164907 Centerline is valid? [True, True] Translation: X:239.17, Y:-170.43, Z:-29.20 [[ 7.09550680e-01 7.00165305e-01 7.94127036e-02 2.39167845e+02] [-6.95811314e-01 7.13980771e-01 -7.79619988e-02 -1.70430726e+02] [-1.11285430e-01 6.17316476e-05 9.93788483e-01 -2.91987077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96592 meters 0.027154584792640518 Centerline is valid? [True, True] Translation: X:239.19, Y:-170.45, Z:-29.20 [[ 7.09846328e-01 6.99907849e-01 7.90391871e-02 2.39192689e+02] [-6.95584176e-01 7.14233139e-01 -7.76767473e-02 -1.70453052e+02] [-1.10818972e-01 1.60146125e-04 9.93840596e-01 -2.92007930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99591999999996 meters 0.027334824220200452 Centerline is valid? [True, True] Translation: X:239.22, Y:-170.48, Z:-29.21 [[ 7.10873896e-01 6.98630104e-01 8.10819397e-02 2.39216132e+02] [-6.94061475e-01 7.15482909e-01 -7.97676377e-02 -1.70475308e+02] [-1.13740815e-01 4.28880827e-04 9.93510364e-01 -2.92054215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02592 meters 0.02734657505607973 Centerline is valid? [True, True] Translation: X:239.24, Y:-170.50, Z:-29.21 [[ 7.11344776e-01 6.98157449e-01 8.10233686e-02 2.39239287e+02] [-6.93583770e-01 7.15944037e-01 -7.97852694e-02 -1.70499407e+02] [-1.13710878e-01 5.58341063e-04 9.93513726e-01 -2.92080082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05591999999996 meters 0.02716812705646911 Centerline is valid? [True, True] Translation: X:239.26, Y:-170.52, Z:-29.21 [[ 7.11298580e-01 6.98166650e-01 8.13490005e-02 2.39262022e+02] [-6.93546408e-01 7.15935015e-01 -8.01899910e-02 -1.70523569e+02] [-1.14226575e-01 6.19719640e-04 9.93454531e-01 -2.92112986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08592 meters 0.027149612742788213 Centerline is valid? [True, True] Translation: X:239.28, Y:-170.55, Z:-29.21 [[ 7.11368800e-01 6.98130355e-01 8.10459029e-02 2.39282925e+02] [-6.93534840e-01 7.15970349e-01 -7.99742748e-02 -1.70549096e+02] [-1.13858932e-01 6.83046552e-04 9.93496692e-01 -2.92144922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11591999999996 meters 0.026950992662506255 Centerline is valid? [True, True] Translation: X:239.30, Y:-170.57, Z:-29.22 [[ 7.09841295e-01 6.99801922e-01 8.00162928e-02 2.39303850e+02] [-6.95324467e-01 7.14336792e-01 -7.90369090e-02 -1.70573594e+02] [-1.12468763e-01 4.66375731e-04 9.93655151e-01 -2.92173062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14592 meters 0.026876821600806525 Centerline is valid? [True, True] Translation: X:239.32, Y:-170.60, Z:-29.22 [[ 7.07418306e-01 7.02286185e-01 7.97085604e-02 2.39322399e+02] [-6.97851840e-01 7.11894726e-01 -7.87953649e-02 -1.70600646e+02] [-1.12081000e-01 1.16517983e-04 9.93699067e-01 -2.92193410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17591999999996 meters 0.026899774495318576 Centerline is valid? [True, True] Translation: X:239.34, Y:-170.62, Z:-29.22 [[ 7.05458665e-01 7.04107816e-01 8.09954046e-02 2.39343804e+02] [-6.99536442e-01 7.10093065e-01 -8.01037186e-02 -1.70624856e+02] [-1.13915929e-01 -1.49374749e-04 9.93490382e-01 -2.92221809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20592 meters 0.026880275602895982 Centerline is valid? [True, True] Translation: X:239.36, Y:-170.65, Z:-29.22 [[ 7.02273133e-01 7.07341566e-01 8.05006580e-02 2.39364012e+02] [-7.02838545e-01 7.06871651e-01 -7.96896982e-02 -1.70651088e+02] [-1.13271469e-01 -6.15031343e-04 9.93563886e-01 -2.92241121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23591999999996 meters 0.026896475401366096 Centerline is valid? [True, True] Translation: X:239.39, Y:-170.68, Z:-29.23 [[ 7.00799871e-01 7.08907779e-01 7.95569077e-02 2.39385466e+02] [-7.04511021e-01 7.05300730e-01 -7.88359139e-02 -1.70675017e+02] [-1.11998938e-01 -8.00519970e-04 9.93708004e-01 -2.92270419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26592 meters 0.026865332243678347 Centerline is valid? [True, True] Translation: X:239.41, Y:-170.70, Z:-29.23 [[ 6.97578159e-01 7.12184934e-01 7.85960099e-02 2.39406591e+02] [-7.07906544e-01 7.01990768e-01 -7.79569555e-02 -1.70699946e+02] [-1.10693443e-01 -1.25756023e-03 9.93853802e-01 -2.92294295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29591999999997 meters 0.02702456540146571 Centerline is valid? [True, True] Translation: X:239.43, Y:-170.72, Z:-29.23 [[ 6.95612875e-01 7.14157229e-01 7.81164511e-02 2.39429626e+02] [-7.09934398e-01 6.99983707e-01 -7.75626233e-02 -1.70723598e+02] [-1.10072151e-01 -1.50399627e-03 9.93922462e-01 -2.92313722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32592 meters 0.027011130789600758 Centerline is valid? [True, True] Translation: X:239.45, Y:-170.75, Z:-29.23 [[ 6.94020644e-01 7.15659200e-01 7.85318731e-02 2.39452948e+02] [-7.11391719e-01 6.98447592e-01 -7.80562780e-02 -1.70746006e+02] [-1.10712091e-01 -1.69425585e-03 9.93851077e-01 -2.92347366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35591999999997 meters 0.02718881638971935 Centerline is valid? [True, True] Translation: X:239.48, Y:-170.77, Z:-29.24 [[ 6.90221990e-01 7.19440533e-01 7.74527275e-02 2.39477277e+02] [-7.15305718e-01 6.94550503e-01 -7.70540680e-02 -1.70767680e+02] [-1.09230651e-01 -2.21796670e-03 9.94013956e-01 -2.92371177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38592 meters 0.027343264268624674 Centerline is valid? [True, True] Translation: X:239.50, Y:-170.79, Z:-29.24 [[ 6.88587653e-01 7.21099182e-01 7.65703171e-02 2.39501554e+02] [-7.17060682e-01 6.92827684e-01 -7.62481409e-02 -1.70790213e+02] [-1.08032507e-01 -2.40203546e-03 9.94144460e-01 -2.92402752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41591999999997 meters 0.027576437212279183 Centerline is valid? [True, True] Translation: X:239.53, Y:-170.81, Z:-29.24 [[ 6.86401130e-01 7.23196117e-01 7.64255529e-02 2.39525500e+02] [-7.19177259e-01 6.90637560e-01 -7.61828796e-02 -1.70810976e+02] [-1.07877520e-01 -2.67150496e-03 9.94160603e-01 -2.92424422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44592 meters 0.027737710883853742 Centerline is valid? [True, True] Translation: X:239.55, Y:-170.83, Z:-29.25 [[ 6.85328606e-01 7.24062887e-01 7.78308196e-02 2.39549156e+02] [-7.19892405e-01 6.89728226e-01 -7.76524256e-02 -1.70832229e+02] [-1.09907353e-01 -2.81238730e-03 9.93937857e-01 -2.92455518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47592 meters 0.02758795314890453 Centerline is valid? [True, True] Translation: X:239.58, Y:-170.85, Z:-29.25 [[ 6.85040285e-01 7.24373160e-01 7.74811768e-02 2.39575277e+02] [-7.20234123e-01 6.89402417e-01 -7.73764559e-02 -1.70853230e+02] [-1.09465138e-01 -2.79859805e-03 9.93986696e-01 -2.92487741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50591999999995 meters 0.027738615439833227 Centerline is valid? [True, True] Translation: X:239.60, Y:-170.88, Z:-29.25 [[ 6.84792581e-01 7.24594994e-01 7.75964920e-02 2.39599276e+02] [-7.20435980e-01 6.89169324e-01 -7.75734540e-02 -1.70875484e+02] [-1.09686458e-01 -2.78157893e-03 9.93962345e-01 -2.92523796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53592 meters 0.027511749278474294 Centerline is valid? [True, True] Translation: X:239.67, Y:-171.10, Z:-27.37 [[ 7.71427255e-01 -6.34346794e-01 -5.00413386e-02 2.39673349e+02] [-6.32268602e-01 -7.73002143e-01 5.20009923e-02 -1.71104626e+02] [-7.16687247e-02 -8.47541559e-03 -9.97392481e-01 -2.73677472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56591999999995 meters 0.027644880009365966 Centerline is valid? [True, True] Translation: X:239.64, Y:-170.93, Z:-29.26 [[ 7.37330444e-01 6.70454511e-01 8.26714247e-02 2.39640354e+02] [-6.66671926e-01 7.41945937e-01 -7.11671986e-02 -1.70931078e+02] [-1.09052097e-01 -2.64097573e-03 9.94032527e-01 -2.92591544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59592 meters 0.027574865474276337 Centerline is valid? [True, True] Translation: X:239.67, Y:-170.95, Z:-29.26 [[ 7.36301429e-01 6.71441067e-01 8.38277927e-02 2.39665772e+02] [-6.67549426e-01 7.41052781e-01 -7.22394566e-02 -1.70950302e+02] [-1.10625357e-01 -2.76917983e-03 9.93858321e-01 -2.92610219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62591999999995 meters 0.027974705133520673 Centerline is valid? [True, True] Translation: X:239.69, Y:-170.97, Z:-29.26 [[ 7.35546988e-01 6.72211318e-01 8.42767617e-02 2.39690120e+02] [-6.68275167e-01 7.40353849e-01 -7.26944267e-02 -1.70970990e+02] [-1.11260641e-01 -2.84990038e-03 9.93787174e-01 -2.92638984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65592 meters 0.027959902793821115 Centerline is valid? [True, True] Translation: X:239.72, Y:-170.99, Z:-29.27 [[ 7.35060539e-01 6.72711834e-01 8.45268721e-02 2.39715678e+02] [-6.68747589e-01 7.39898968e-01 -7.29806763e-02 -1.70991591e+02] [-1.11636310e-01 -2.88192661e-03 9.93744952e-01 -2.92667132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68591999999995 meters 0.027901372284804004 Centerline is valid? [True, True] Translation: X:239.74, Y:-171.01, Z:-29.27 [[ 7.34597784e-01 6.73350315e-01 8.34592607e-02 2.39740334e+02] [-6.69481729e-01 7.39317946e-01 -7.21331306e-02 -1.71011377e+02] [-1.10273795e-01 -2.88561229e-03 9.93897059e-01 -2.92701975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71592 meters 0.027963599915065376 Centerline is valid? [True, True] Translation: X:239.77, Y:-171.03, Z:-29.27 [[ 7.33666957e-01 6.74450036e-01 8.27643951e-02 2.39765893e+02] [-6.70645258e-01 7.38314500e-01 -7.16005439e-02 -1.71032758e+02] [-1.09397142e-01 -2.97459584e-03 9.93993671e-01 -2.92728066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74591999999996 meters 0.027963599915065376 Centerline is valid? [True, True] Translation: X:239.79, Y:-171.05, Z:-29.28 [[ 7.33312530e-01 6.74840021e-01 8.27265307e-02 2.39790633e+02] [-6.71032787e-01 7.37958060e-01 -7.16442697e-02 -1.71053735e+02] [-1.09397131e-01 -2.97457375e-03 9.93993672e-01 -2.92757375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.77592 meters 0.028254715815376925 Centerline is valid? [True, True] Translation: X:239.82, Y:-171.07, Z:-29.28 [[ 7.32377878e-01 6.75685454e-01 8.40940635e-02 2.39815396e+02] [-6.71747864e-01 7.37183549e-01 -7.29055731e-02 -1.71073722e+02] [-1.11253995e-01 -3.09557855e-03 9.93787183e-01 -2.92788834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80591999999996 meters 0.02824514088423624 Centerline is valid? [True, True] Translation: X:239.84, Y:-171.09, Z:-29.28 [[ 7.32368202e-01 6.75694211e-01 8.41079624e-02 2.39841242e+02] [-6.71747564e-01 7.37175730e-01 -7.29873512e-02 -1.71094297e+02] [-1.11319479e-01 -3.04570370e-03 9.93780004e-01 -2.92820444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.83592 meters 0.028396565973802714 Centerline is valid? [True, True] Translation: X:239.87, Y:-171.11, Z:-29.28 [[ 7.32849877e-01 6.75300308e-01 8.30695638e-02 2.39867090e+02] [-6.71440097e-01 7.37537199e-01 -7.21600686e-02 -1.71113695e+02] [-1.09996610e-01 -2.89373861e-03 9.93927750e-01 -2.92846609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86591999999996 meters 0.02779470853453674 Centerline is valid? [True, True] Translation: X:239.89, Y:-171.13, Z:-29.29 [[ 7.33817503e-01 6.74373340e-01 8.20516395e-02 2.39893181e+02] [-6.70594451e-01 7.38385713e-01 -7.13415812e-02 -1.71132832e+02] [-1.08696619e-01 -2.67167318e-03 9.94071379e-01 -2.92868640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89592 meters 0.027883130172062533 Centerline is valid? [True, True] Translation: X:239.92, Y:-171.15, Z:-29.29 [[ 7.33893251e-01 6.74228342e-01 8.25641574e-02 2.39919355e+02] [-6.70393444e-01 7.38518315e-01 -7.18562984e-02 -1.71152727e+02] [-1.09422695e-01 -2.61561747e-03 9.93991867e-01 -2.92906190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92591999999996 meters 0.027667883811512226 Centerline is valid? [True, True] Translation: X:239.95, Y:-171.17, Z:-29.29 [[ 7.35416608e-01 6.72647529e-01 8.19006424e-02 2.39945052e+02] [-6.68856283e-01 7.39959450e-01 -7.13532401e-02 -1.71172389e+02] [-1.08598735e-01 -2.30540150e-03 9.94082994e-01 -2.92925791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95592 meters 0.02726430662548989 Centerline is valid? [True, True] Translation: X:239.97, Y:-171.19, Z:-29.30 [[ 7.37477446e-01 6.70397308e-01 8.18197180e-02 2.39970081e+02] [-6.66592463e-01 7.41999835e-01 -7.13493693e-02 -1.71192990e+02] [-1.08542642e-01 -1.92185675e-03 9.94089936e-01 -2.92958352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98591999999996 meters 0.027190706989653764 Centerline is valid? [True, True] Translation: X:240.00, Y:-171.21, Z:-29.30 [[ 7.38250976e-01 6.69656770e-01 8.09030696e-02 2.39995518e+02] [-6.65925465e-01 7.42668681e-01 -7.06151892e-02 -1.71213090e+02] [-1.07372116e-01 -1.74368179e-03 9.94217375e-01 -2.92983623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01592 meters 0.02714027104669204 Centerline is valid? [True, True] Translation: X:240.02, Y:-171.23, Z:-29.30 [[ 7.39241411e-01 6.68691269e-01 7.98381063e-02 2.40021567e+02] [-6.65045812e-01 7.43538583e-01 -6.97455699e-02 -1.71232888e+02] [-1.06000966e-01 -1.53718473e-03 9.94364839e-01 -2.93007109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04591999999997 meters 0.02688286787188502 Centerline is valid? [True, True] Translation: X:240.05, Y:-171.25, Z:-29.30 [[ 7.41156362e-01 6.66517714e-01 8.02582369e-02 2.40047790e+02] [-6.62816596e-01 7.45488224e-01 -7.01531731e-02 -1.71251320e+02] [-1.06589903e-01 -1.20202080e-03 9.94302342e-01 -2.93037172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07592 meters 0.026884465741930777 Centerline is valid? [True, True] Translation: X:240.07, Y:-171.27, Z:-29.31 [[ 7.42397690e-01 6.65102324e-01 8.05268175e-02 2.40072902e+02] [-6.61360730e-01 7.46751628e-01 -7.04555971e-02 -1.71272970e+02] [-1.06993713e-01 -9.51202277e-04 9.94259242e-01 -2.93067088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10591999999997 meters 0.0268239800115061 Centerline is valid? [True, True] Translation: X:240.10, Y:-171.29, Z:-29.31 [[ 7.45055364e-01 6.62232608e-01 7.96271077e-02 2.40097434e+02] [-6.58550882e-01 7.49298165e-01 -6.97351864e-02 -1.71294355e+02] [-1.05845360e-01 -4.81927285e-04 9.94382486e-01 -2.93094688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13592 meters 0.02675879262386572 Centerline is valid? [True, True] Translation: X:240.12, Y:-171.32, Z:-29.31 [[ 7.46113487e-01 6.61143343e-01 7.87663949e-02 2.40122121e+02] [-6.57532528e-01 7.50259546e-01 -6.90042649e-02 -1.71315641e+02] [-1.04716950e-01 -3.06454107e-04 9.94502019e-01 -2.93117374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16591999999997 meters 0.026775401050997634 Centerline is valid? [True, True] Translation: X:240.15, Y:-171.34, Z:-29.32 [[ 7.47962148e-01 6.58931363e-01 7.97626687e-02 2.40146628e+02] [-6.55212449e-01 7.52203070e-01 -6.99084266e-02 -1.71337999e+02] [-1.06062579e-01 2.73634398e-05 9.94359456e-01 -2.93152003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19592 meters 0.026861519499531878 Centerline is valid? [True, True] Translation: X:240.17, Y:-171.36, Z:-29.32 [[ 7.48037445e-01 6.58684035e-01 8.10883642e-02 2.40170229e+02] [-6.54830475e-01 7.52419649e-01 -7.11457707e-02 -1.71360213e+02] [-1.07875062e-01 1.20568492e-04 9.94164451e-01 -2.93186081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22592 meters 0.026881564834564543 Centerline is valid? [True, True] Translation: X:240.19, Y:-171.38, Z:-29.32 [[ 7.48901513e-01 6.57775955e-01 8.04817768e-02 2.40194673e+02] [-6.53967604e-01 7.53213584e-01 -7.06800612e-02 -1.71382713e+02] [-1.07111612e-01 2.99930076e-04 9.94246958e-01 -2.93201503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25591999999995 meters 0.026877572278554477 Centerline is valid? [True, True] Translation: X:240.22, Y:-171.41, Z:-29.32 [[ 7.49439466e-01 6.57169533e-01 8.04281849e-02 2.40217100e+02] [-6.53354776e-01 7.53742668e-01 -7.07073354e-02 -1.71406779e+02] [-1.07088861e-01 4.42728931e-04 9.94249355e-01 -2.93226699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28592 meters 0.026916418418976153 Centerline is valid? [True, True] Translation: X:240.24, Y:-171.43, Z:-29.33 [[ 7.49284807e-01 6.57274972e-01 8.10054955e-02 2.40240592e+02] [-6.53397539e-01 7.53650697e-01 -7.12901284e-02 -1.71430234e+02] [-1.07907065e-01 4.87818601e-04 9.94160866e-01 -2.93259100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31591999999995 meters 0.0268779111782148 Centerline is valid? [True, True] Translation: X:240.26, Y:-171.45, Z:-29.33 [[ 7.48909053e-01 6.57679253e-01 8.11987093e-02 2.40262465e+02] [-6.53777392e-01 7.53297924e-01 -7.15357241e-02 -1.71454765e+02] [-1.08214381e-01 4.87871012e-04 9.94127462e-01 -2.93279533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34592 meters 0.02687654418038069 Centerline is valid? [True, True] Translation: X:240.29, Y:-171.48, Z:-29.33 [[ 7.48000317e-01 6.58707720e-01 8.12383289e-02 2.40285918e+02] [-6.54799872e-01 7.52398819e-01 -7.16459655e-02 -1.71477921e+02] [-1.08317373e-01 3.96357513e-04 9.94116286e-01 -2.93316129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37591999999995 meters 0.026873970877358093 Centerline is valid? [True, True] Translation: X:240.31, Y:-171.50, Z:-29.34 [[ 7.46256873e-01 6.60788801e-01 8.03669132e-02 2.40306235e+02] [-6.56968732e-01 7.50571874e-01 -7.09503087e-02 -1.71502822e+02] [-1.07204314e-01 1.48606457e-04 9.94237000e-01 -2.93359912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40592 meters 0.02691050087534112 Centerline is valid? [True, True] Translation: X:240.33, Y:-171.53, Z:-29.34 [[ 7.44896598e-01 6.62382039e-01 7.98692197e-02 2.40328825e+02] [-6.58611286e-01 7.49166225e-01 -7.05771986e-02 -1.71527489e+02] [-1.06584391e-01 -3.00543651e-05 9.94303659e-01 -2.93387172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43591999999995 meters 0.026907976379667572 Centerline is valid? [True, True] Translation: X:240.35, Y:-171.55, Z:-29.34 [[ 7.43391204e-01 6.64082712e-01 7.97726152e-02 2.40350387e+02] [-6.60322819e-01 7.47659083e-01 -7.05667773e-02 -1.71553312e+02] [-1.06504897e-01 -2.16956570e-04 9.94312154e-01 -2.93404099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46592 meters 0.026883364347993637 Centerline is valid? [True, True] Translation: X:240.37, Y:-171.58, Z:-29.34 [[ 7.42615412e-01 6.64893651e-01 8.02420264e-02 2.40374031e+02] [-6.61085741e-01 7.46937987e-01 -7.10583368e-02 -1.71576195e+02] [-1.07182055e-01 -2.77843363e-04 9.94239373e-01 -2.93441268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49591999999996 meters 0.026950086641905388 Centerline is valid? [True, True] Translation: X:240.40, Y:-171.60, Z:-29.35 [[ 7.39884079e-01 6.68000268e-01 7.96692627e-02 2.40396167e+02] [-6.64256577e-01 7.44160734e-01 -7.06257806e-02 -1.71600644e+02] [-1.06464777e-01 -6.65941067e-04 9.94316251e-01 -2.93467422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52592 meters 0.027057747350434556 Centerline is valid? [True, True] Translation: X:240.42, Y:-171.62, Z:-29.35 [[ 7.38767847e-01 6.69255367e-01 7.94941694e-02 2.40419848e+02] [-6.65527372e-01 7.43032053e-01 -7.05456252e-02 -1.71624135e+02] [-1.06279754e-01 -7.88706048e-04 9.94335955e-01 -2.93504675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55591999999996 meters 0.027097071322150817 Centerline is valid? [True, True] Translation: X:240.44, Y:-171.65, Z:-29.35 [[ 7.37113566e-01 6.71088795e-01 7.93940862e-02 2.40443512e+02] [-6.67372755e-01 7.41376314e-01 -7.05320278e-02 -1.71646787e+02] [-1.06194148e-01 -9.95335538e-04 9.94344916e-01 -2.93533092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58592 meters 0.027308043730006937 Centerline is valid? [True, True] Translation: X:240.47, Y:-171.67, Z:-29.36 [[ 7.34273710e-01 6.74162230e-01 7.96706175e-02 2.40466553e+02] [-6.70430199e-01 7.38581992e-01 -7.08518822e-02 -1.71669028e+02] [-1.06608946e-01 -1.38891357e-03 9.94300057e-01 -2.93563953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61591999999996 meters 0.02757075524402842 Centerline is valid? [True, True] Translation: X:240.49, Y:-171.69, Z:-29.36 [[ 7.32058071e-01 6.76577181e-01 7.95883063e-02 2.40489046e+02] [-6.72859984e-01 7.36369788e-01 -7.08447456e-02 -1.71692469e+02] [-1.06538363e-01 -1.68931864e-03 9.94307158e-01 -2.93592117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64592 meters 0.027559556164050387 Centerline is valid? [True, True] Translation: X:240.51, Y:-171.71, Z:-29.36 [[ 7.30690026e-01 6.78168311e-01 7.86118824e-02 2.40513119e+02] [-6.74544159e-01 7.34904297e-01 -7.00417912e-02 -1.71714836e+02] [-1.05272333e-01 -1.84834786e-03 9.94441712e-01 -2.93616856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67591999999996 meters 0.02774381752836803 Centerline is valid? [True, True] Translation: X:240.54, Y:-171.74, Z:-29.37 [[ 7.29531948e-01 6.79437057e-01 7.84118790e-02 2.40537986e+02] [-6.75830778e-01 7.33731151e-01 -6.99382485e-02 -1.71736405e+02] [-1.05051876e-01 -1.97097449e-03 9.94464790e-01 -2.93655634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70592 meters 0.028333247528442667 Centerline is valid? [True, True] Translation: X:240.56, Y:-171.76, Z:-29.37 [[ 7.38745916e-01 6.68986284e-01 8.19257216e-02 2.40555811e+02] [-6.64974917e-01 7.43274620e-01 -7.31518985e-02 -1.71764168e+02] [-1.09830926e-01 -4.37883664e-04 9.93950188e-01 -2.93673530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73591999999996 meters 0.028406658154278865 Centerline is valid? [True, True] Translation: X:240.58, Y:-171.79, Z:-29.37 [[ 7.39666643e-01 6.67774074e-01 8.34927718e-02 2.40579883e+02] [-6.63591494e-01 7.44363985e-01 -7.46229647e-02 -1.71785386e+02] [-1.11980293e-01 -2.08975396e-04 9.93710406e-01 -2.93696610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76592 meters 0.02851840402413621 Centerline is valid? [True, True] Translation: X:240.60, Y:-171.81, Z:-29.37 [[ 7.41384831e-01 6.65707468e-01 8.47472655e-02 2.40604743e+02] [-6.61376118e-01 7.46212799e-01 -7.58161525e-02 -1.71805717e+02] [-1.13710873e-01 1.59127985e-04 9.93513871e-01 -2.93727027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79591999999997 meters 0.02840568073171948 Centerline is valid? [True, True] Translation: X:240.63, Y:-171.83, Z:-29.37 [[ 7.42621142e-01 6.64430094e-01 8.39433771e-02 2.40628670e+02] [-6.60164743e-01 7.47350311e-01 -7.51666474e-02 -1.71826897e+02] [-1.12678092e-01 4.03883516e-04 9.93631463e-01 -2.93745945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82592 meters 0.02853485272597204 Centerline is valid? [True, True] Translation: X:240.65, Y:-171.85, Z:-29.38 [[ 7.43932692e-01 6.62887896e-01 8.45209261e-02 2.40652337e+02] [-6.58545493e-01 7.48718341e-01 -7.57540761e-02 -1.71848191e+02] [-1.13498828e-01 6.95058822e-04 9.93537887e-01 -2.93769346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85591999999997 meters 0.028705841783061018 Centerline is valid? [True, True] Translation: X:240.68, Y:-171.87, Z:-29.38 [[ 7.45884730e-01 6.60692276e-01 8.45084984e-02 2.40675702e+02] [-6.56329063e-01 7.50656076e-01 -7.58130311e-02 -1.71870161e+02] [-1.13525902e-01 1.08239867e-03 9.93534447e-01 -2.93810735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88592 meters 0.02887847836914844 Centerline is valid? [True, True] Translation: X:240.70, Y:-171.89, Z:-29.38 [[ 7.46479400e-01 6.59961295e-01 8.49681943e-02 2.40699059e+02] [-6.55537518e-01 7.51298555e-01 -7.62957713e-02 -1.71891676e+02] [-1.14188738e-01 1.25338243e-03 9.93458284e-01 -2.93834626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91591999999997 meters 0.029002898782044925 Centerline is valid? [True, True] Translation: X:240.72, Y:-171.91, Z:-29.39 [[ 7.47982956e-01 6.58231613e-01 8.51624428e-02 2.40722269e+02] [-6.53768331e-01 7.52813833e-01 -7.65395442e-02 -1.71914151e+02] [-1.14492213e-01 1.57376643e-03 9.93422899e-01 -2.93869401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94592 meters 0.029230203198885696 Centerline is valid? [True, True] Translation: X:240.75, Y:-171.94, Z:-29.39 [[ 7.48172354e-01 6.57932148e-01 8.58103607e-02 2.40745195e+02] [-6.53390369e-01 7.53075328e-01 -7.71918189e-02 -1.71936378e+02] [-1.15408645e-01 1.68512158e-03 9.93316669e-01 -2.93895505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97592 meters 0.029202572772840045 Centerline is valid? [True, True] Translation: X:240.77, Y:-171.96, Z:-29.39 [[ 7.48391561e-01 6.57718149e-01 8.55389222e-02 2.40768758e+02] [-6.53195529e-01 7.53262050e-01 -7.70187387e-02 -1.71959492e+02] [-1.15089846e-01 1.76653257e-03 9.93353515e-01 -2.93922386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00591999999995 meters 0.02933754406583983 Centerline is valid? [True, True] Translation: X:240.79, Y:-171.98, Z:-29.40 [[ 7.48372484e-01 6.57796433e-01 8.51027522e-02 2.40790428e+02] [-6.53311366e-01 7.53193596e-01 -7.67050561e-02 -1.71984090e+02] [-1.14555160e-01 1.80535807e-03 9.93415249e-01 -2.93956241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03592 meters 0.029344648441439986 Centerline is valid? [True, True] Translation: X:240.81, Y:-172.01, Z:-29.40 [[ 7.48236698e-01 6.58017475e-01 8.45863311e-02 2.40813650e+02] [-6.53579273e-01 7.53000458e-01 -7.63180390e-02 -1.72007026e+02] [-1.13912149e-01 1.82008467e-03 9.93489159e-01 -2.93987168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06591999999995 meters 0.029376478924304773 Centerline is valid? [True, True] Translation: X:240.84, Y:-172.03, Z:-29.40 [[ 7.48364263e-01 6.57805213e-01 8.51071784e-02 2.40835049e+02] [-6.53301737e-01 7.53185638e-01 -7.68650412e-02 -1.72030513e+02] [-1.14663729e-01 1.92238237e-03 9.93402503e-01 -2.94015375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09592 meters 0.029634660890455494 Centerline is valid? [True, True] Translation: X:240.86, Y:-172.05, Z:-29.41 [[ 7.48915557e-01 6.57191314e-01 8.50003852e-02 2.40858292e+02] [-6.52687076e-01 7.53720971e-01 -7.68393073e-02 -1.72053196e+02] [-1.14564698e-01 2.06749981e-03 9.93413638e-01 -2.94050601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12591999999995 meters 0.030010954407696088 Centerline is valid? [True, True] Translation: X:240.88, Y:-172.08, Z:-29.41 [[ 7.50678592e-01 6.55159110e-01 8.51363204e-02 2.40879690e+02] [-6.50618474e-01 7.55486986e-01 -7.70390486e-02 -1.72077493e+02] [-1.14792217e-01 2.44030160e-03 9.93386527e-01 -2.94090084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15592 meters 0.0300111293991854 Centerline is valid? [True, True] Translation: X:240.90, Y:-172.10, Z:-29.41 [[ 7.51454329e-01 6.54211826e-01 8.55761568e-02 2.40903023e+02] [-6.49609864e-01 7.56306722e-01 -7.75059073e-02 -1.72099929e+02] [-1.15427104e-01 2.65103386e-03 9.93312416e-01 -2.94112784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18591999999995 meters 0.03015491838945406 Centerline is valid? [True, True] Translation: X:240.93, Y:-172.12, Z:-29.41 [[ 7.52094331e-01 6.53812769e-01 8.29637362e-02 2.40926312e+02] [-6.49478679e-01 7.56651632e-01 -7.52047384e-02 -1.72121819e+02] [-1.11944465e-01 2.67787955e-03 9.93710856e-01 -2.94132166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21592 meters 0.030311754698437478 Centerline is valid? [True, True] Translation: X:240.95, Y:-172.15, Z:-29.42 [[ 7.52934030e-01 6.52999864e-01 8.17405922e-02 2.40949551e+02] [-6.48780885e-01 7.57352820e-01 -7.41624544e-02 -1.72145435e+02] [-1.10334541e-01 2.80770193e-03 9.93890540e-01 -2.94162571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24591999999996 meters 0.030331958152204935 Centerline is valid? [True, True] Translation: X:240.97, Y:-172.17, Z:-29.42 [[ 7.52592667e-01 6.53376995e-01 8.18705065e-02 2.40972924e+02] [-6.49138382e-01 7.57027464e-01 -7.43557590e-02 -1.72168161e+02] [-1.10560564e-01 2.81431083e-03 9.93865404e-01 -2.94196395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.27592 meters 0.030266692712318393 Centerline is valid? [True, True] Translation: X:241.00, Y:-172.19, Z:-29.42 [[ 7.51877395e-01 6.54194300e-01 8.19158155e-02 2.40995491e+02] [-6.49948490e-01 7.56321545e-01 -7.44626163e-02 -1.72191680e+02] [-1.10667715e-01 2.74569735e-03 9.93853670e-01 -2.94229486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30591999999996 meters 0.030363915428291588 Centerline is valid? [True, True] Translation: X:241.02, Y:-172.21, Z:-29.43 [[ 7.50813038e-01 6.55362085e-01 8.23426946e-02 2.41019876e+02] [-6.51074972e-01 7.55310340e-01 -7.48843872e-02 -1.72214079e+02] [-1.11270677e-01 2.61290666e-03 9.93786702e-01 -2.94264694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.33592 meters 0.030026455708426044 Centerline is valid? [True, True] Translation: X:241.04, Y:-172.24, Z:-29.43 [[ 7.49880778e-01 6.56498709e-01 8.17818042e-02 2.41043107e+02] [-6.52268578e-01 7.54323060e-01 -7.44474512e-02 -1.72235696e+02] [-1.10564556e-01 2.48301150e-03 9.93865843e-01 -2.94281723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36591999999996 meters 0.02981061639982361 Centerline is valid? [True, True] Translation: X:241.07, Y:-172.26, Z:-29.43 [[ 7.48318632e-01 6.58286410e-01 8.17204191e-02 2.41065201e+02] [-6.54065892e-01 7.52764147e-01 -7.44576951e-02 -1.72258873e+02] [-1.10530690e-01 2.26754181e-03 9.93870125e-01 -2.94305718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39592 meters 0.02973369498105769 Centerline is valid? [True, True] Translation: X:241.09, Y:-172.28, Z:-29.43 [[ 7.46409598e-01 6.60452708e-01 8.17002641e-02 2.41088068e+02] [-6.56239803e-01 7.50864990e-01 -7.45056220e-02 -1.72281307e+02] [-1.10553308e-01 1.99674612e-03 9.93868190e-01 -2.94331593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42591999999996 meters 0.02938573436268206 Centerline is valid? [True, True] Translation: X:241.11, Y:-172.30, Z:-29.43 [[ 7.44364586e-01 6.62864796e-01 8.08184748e-02 2.41111821e+02] [-6.58749548e-01 7.48737252e-01 -7.37669352e-02 -1.72302691e+02] [-1.09409307e-01 1.67036050e-03 9.93995379e-01 -2.94348078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45592 meters 0.02924190485901716 Centerline is valid? [True, True] Translation: X:241.14, Y:-172.32, Z:-29.44 [[ 7.39732100e-01 6.67893070e-01 8.19467293e-02 2.41136725e+02] [-6.63684658e-01 7.44256582e-01 -7.48653132e-02 -1.72322352e+02] [-1.10991417e-01 9.93488395e-04 9.93820868e-01 -2.94376859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48591999999996 meters 0.029172869783522626 Centerline is valid? [True, True] Translation: X:241.16, Y:-172.34, Z:-29.44 [[ 7.36856148e-01 6.71187659e-01 8.09329604e-02 2.41160419e+02] [-6.67095388e-01 7.41287281e-01 -7.40061494e-02 -1.72343634e+02] [-1.09666588e-01 5.41881541e-04 9.93968282e-01 -2.94403442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51592 meters 0.02922675787048159 Centerline is valid? [True, True] Translation: X:241.18, Y:-172.37, Z:-29.44 [[ 7.34138899e-01 6.74008564e-01 8.21737984e-02 2.41184960e+02] [-6.69798909e-01 7.38723510e-01 -7.52130134e-02 -1.72365615e+02] [-1.11397932e-01 1.76878383e-04 9.93775865e-01 -2.94427311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54591999999997 meters 0.02944533849962637 Centerline is valid? [True, True] Translation: X:241.21, Y:-172.39, Z:-29.44 [[ 7.29040566e-01 6.79335514e-01 8.36846057e-02 2.41209758e+02] [-6.74995447e-01 7.33827575e-01 -7.66696620e-02 -1.72385812e+02] [-1.13494495e-01 -5.91434051e-04 9.93538449e-01 -2.94443800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57592 meters 0.029728379595287277 Centerline is valid? [True, True] Translation: X:241.24, Y:-172.41, Z:-29.45 [[ 7.27039500e-01 6.81562645e-01 8.29814859e-02 2.41235471e+02] [-6.77304551e-01 7.31759221e-01 -7.60722500e-02 -1.72406233e+02] [-1.12570471e-01 -8.96207436e-04 9.93643339e-01 -2.94465951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60591999999997 meters 0.029592931964939527 Centerline is valid? [True, True] Translation: X:241.26, Y:-172.43, Z:-29.45 [[ 7.24744526e-01 6.84228101e-01 8.11004127e-02 2.41262224e+02] [-6.80169470e-01 7.29267036e-01 -7.44250067e-02 -1.72425273e+02] [-1.10067539e-01 -1.22290852e-03 9.93923358e-01 -2.94487400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63592 meters 0.029592931964939527 Centerline is valid? [True, True] Translation: X:241.29, Y:-172.45, Z:-29.45 [[ 7.24378551e-01 6.84619780e-01 8.10646170e-02 2.41286314e+02] [-6.80559233e-01 7.28899339e-01 -7.44639789e-02 -1.72446929e+02] [-1.10067459e-01 -1.22916443e-03 9.93923359e-01 -2.94516700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66591999999997 meters 0.02963000482585214 Centerline is valid? [True, True] Translation: X:241.31, Y:-172.47, Z:-29.46 [[ 7.23254797e-01 6.85939963e-01 7.99303828e-02 2.41311642e+02] [-6.81992039e-01 7.27656883e-01 -7.35004760e-02 -1.72467531e+02] [-1.08578807e-01 -1.35231291e-03 9.94086925e-01 -2.94551143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69592 meters 0.029735354255643307 Centerline is valid? [True, True] Translation: X:241.34, Y:-172.49, Z:-29.46 [[ 7.22700636e-01 6.86374286e-01 8.12042501e-02 2.41337111e+02] [-6.82293023e-01 7.27247158e-01 -7.47515979e-02 -1.72487454e+02] [-1.10363135e-01 -1.38206596e-03 9.93890370e-01 -2.94583439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72592 meters 0.029665641159040027 Centerline is valid? [True, True] Translation: X:241.36, Y:-172.51, Z:-29.46 [[ 7.21503830e-01 6.87767457e-01 8.00509118e-02 2.41363330e+02] [-6.83802449e-01 7.25929482e-01 -7.37604075e-02 -1.72507588e+02] [-1.08841325e-01 -1.52059302e-03 9.94057973e-01 -2.94612309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75591999999995 meters 0.030025782257178845 Centerline is valid? [True, True] Translation: X:241.39, Y:-172.52, Z:-29.46 [[ 7.21084595e-01 6.87961828e-01 8.21311744e-02 2.41391464e+02] [-6.83779555e-01 7.25745257e-01 -7.57584417e-02 -1.72524547e+02] [-1.11725226e-01 -1.53137265e-03 9.93737958e-01 -2.94638133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78592 meters 0.02988333765310447 Centerline is valid? [True, True] Translation: X:241.42, Y:-172.54, Z:-29.47 [[ 7.20892048e-01 6.87986990e-01 8.35975871e-02 2.41417807e+02] [-6.83645282e-01 7.25721451e-01 -7.71848731e-02 -1.72543913e+02] [-1.13770751e-01 -1.50913481e-03 9.93505883e-01 -2.94670293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81591999999995 meters 0.02996691676315865 Centerline is valid? [True, True] Translation: X:241.44, Y:-172.56, Z:-29.47 [[ 7.21214458e-01 6.87700234e-01 8.31750849e-02 2.41443300e+02] [-6.83392377e-01 7.25993400e-01 -7.68663862e-02 -1.72563733e+02] [-1.13245594e-01 -1.40406996e-03 9.93566034e-01 -2.94695169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84592 meters 0.029684487665828572 Centerline is valid? [True, True] Translation: X:241.47, Y:-172.58, Z:-29.47 [[ 7.22954948e-01 6.86217815e-01 8.02574252e-02 2.41470350e+02] [-6.82191186e-01 7.27395314e-01 -7.42377444e-02 -1.72581550e+02] [-1.09322138e-01 -1.08036346e-03 9.94005786e-01 -2.94731944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87591999999995 meters 0.02956355927682854 Centerline is valid? [True, True] Translation: X:241.50, Y:-172.60, Z:-29.48 [[ 7.24117646e-01 6.84991630e-01 8.02502412e-02 2.41495823e+02] [-6.80950336e-01 7.28550449e-01 -7.43026447e-02 -1.72602096e+02] [-1.09363039e-01 -8.42572517e-04 9.94001517e-01 -2.94771989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90592 meters 0.029472788804767985 Centerline is valid? [True, True] Translation: X:241.52, Y:-172.62, Z:-29.48 [[ 7.25804460e-01 6.83091676e-01 8.12012812e-02 2.41522514e+02] [-6.78932735e-01 7.30332465e-01 -7.52650778e-02 -1.72621268e+02] [-1.10716880e-01 -5.02478778e-04 9.93851860e-01 -2.94805712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93591999999995 meters 0.029666011990308685 Centerline is valid? [True, True] Translation: X:241.55, Y:-172.64, Z:-29.48 [[ 7.25952144e-01 6.82850564e-01 8.19059940e-02 2.41547693e+02] [-6.78608172e-01 7.30557965e-01 -7.60000583e-02 -1.72642198e+02] [-1.11733759e-01 -4.09671524e-04 9.93738094e-01 -2.94835523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96592 meters 0.02973707767285487 Centerline is valid? [True, True] Translation: X:241.57, Y:-172.66, Z:-29.49 [[ 7.26398312e-01 6.82172669e-01 8.35819489e-02 2.41572018e+02] [-6.77740561e-01 7.31191074e-01 -7.76359821e-02 -1.72662355e+02] [-1.14075520e-01 -2.52230599e-04 9.93472049e-01 -2.94866250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99591999999996 meters 0.029832122846030634 Centerline is valid? [True, True] Translation: X:241.60, Y:-172.68, Z:-29.49 [[ 7.27803623e-01 6.80684108e-01 8.34927045e-02 2.41597695e+02] [-6.76243637e-01 7.32577057e-01 -7.76234440e-02 -1.72682485e+02] [-1.14001884e-01 3.32135852e-05 9.93480533e-01 -2.94894571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02592 meters 0.02989068129178657 Centerline is valid? [True, True] Translation: X:241.62, Y:-172.70, Z:-29.49 [[ 7.28800633e-01 6.79585352e-01 8.37459612e-02 2.41622935e+02] [-6.75100915e-01 7.33596400e-01 -7.79427788e-02 -1.72703916e+02] [-1.14404506e-01 2.67771487e-04 9.93434214e-01 -2.94929551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05591999999996 meters 0.02987607901967389 Centerline is valid? [True, True] Translation: X:241.65, Y:-172.73, Z:-29.50 [[ 7.29080855e-01 6.79374219e-01 8.30167262e-02 2.41646802e+02] [-6.74957370e-01 7.33791893e-01 -7.73434273e-02 -1.72725256e+02] [-1.13462131e-01 3.56860924e-04 9.93542258e-01 -2.94963697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08592 meters 0.029763020807459326 Centerline is valid? [True, True] Translation: X:241.67, Y:-172.75, Z:-29.50 [[ 7.28877993e-01 6.79584617e-01 8.30759903e-02 2.41670501e+02] [-6.75154414e-01 7.33597032e-01 -7.74720029e-02 -1.72747969e+02] [-1.13593081e-01 3.78516406e-04 9.93527286e-01 -2.94995037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11591999999996 meters 0.02977372127846628 Centerline is valid? [True, True] Translation: X:241.69, Y:-172.77, Z:-29.50 [[ 7.27965602e-01 6.80454192e-01 8.39534066e-02 2.41693637e+02] [-6.75926146e-01 7.32790556e-01 -7.83699279e-02 -1.72769245e+02] [-1.14847410e-01 3.04309107e-04 9.93383098e-01 -2.95036208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14592 meters 0.029873884470754362 Centerline is valid? [True, True] Translation: X:241.72, Y:-172.79, Z:-29.51 [[ 7.26918247e-01 6.81546180e-01 8.41704603e-02 2.41718016e+02] [-6.76993636e-01 7.31775082e-01 -7.86437988e-02 -1.72792132e+02] [-1.15193226e-01 1.84746443e-04 9.93343086e-01 -2.95060521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17591999999996 meters 0.029975559899857084 Centerline is valid? [True, True] Translation: X:241.74, Y:-172.81, Z:-29.51 [[ 7.24510292e-01 6.83964127e-01 8.53106660e-02 2.41740113e+02] [-6.79293848e-01 7.29515629e-01 -7.97923226e-02 -1.72814812e+02] [-1.16810550e-01 -1.40651553e-04 9.93154205e-01 -2.95090988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20592 meters 0.030103549848413368 Centerline is valid? [True, True] Translation: X:241.76, Y:-172.84, Z:-29.51 [[ 7.22949081e-01 6.85753234e-01 8.41850823e-02 2.41762728e+02] [-6.81209475e-01 7.27834023e-01 -7.88117203e-02 -1.72837105e+02] [-1.15318159e-01 -3.70814935e-04 9.93328538e-01 -2.95115858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23591999999996 meters 0.030096549012978372 Centerline is valid? [True, True] Translation: X:241.79, Y:-172.86, Z:-29.52 [[ 7.20375067e-01 6.88482538e-01 8.39735575e-02 2.41785862e+02] [-6.83971362e-01 7.25252530e-01 -7.86889005e-02 -1.72860713e+02] [-1.15077969e-01 -7.49986543e-04 9.93356179e-01 -2.95152437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26592 meters 0.03006562955318311 Centerline is valid? [True, True] Translation: X:241.81, Y:-172.88, Z:-29.52 [[ 7.19354320e-01 6.89621896e-01 8.33726765e-02 2.41808587e+02] [-6.85174739e-01 7.24169094e-01 -7.81965445e-02 -1.72883731e+02] [-1.14301965e-01 -8.73829756e-04 9.93445669e-01 -2.95176407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29591999999997 meters 0.030121528737400517 Centerline is valid? [True, True] Translation: X:241.83, Y:-172.91, Z:-29.52 [[ 7.18043385e-01 6.90941403e-01 8.37476792e-02 2.41832103e+02] [-6.86458472e-01 7.22909989e-01 -7.85869830e-02 -1.72907142e+02] [-1.14841034e-01 -1.06044059e-03 9.93383316e-01 -2.95204498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32592 meters 0.030155049914382514 Centerline is valid? [True, True] Translation: X:241.86, Y:-172.93, Z:-29.52 [[ 7.17710842e-01 6.91202971e-01 8.44369609e-02 2.41855213e+02] [-6.86637941e-01 7.22659911e-01 -7.93157742e-02 -1.72928771e+02] [-1.15842505e-01 -1.05182986e-03 9.93267037e-01 -2.95225346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35591999999997 meters 0.030361919417869393 Centerline is valid? [True, True] Translation: X:241.88, Y:-172.95, Z:-29.52 [[ 7.15826841e-01 6.93064517e-01 8.51675385e-02 2.41878696e+02] [-6.88424604e-01 7.20874366e-01 -8.00731692e-02 -1.72950765e+02] [-1.16890968e-01 -1.31290527e-03 9.93143886e-01 -2.95247743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38592 meters 0.03030362621458586 Centerline is valid? [True, True] Translation: X:241.90, Y:-172.97, Z:-29.53 [[ 7.14650022e-01 6.94507921e-01 8.32712092e-02 2.41902078e+02] [-6.90074516e-01 7.19483572e-01 -7.83616722e-02 -1.72973534e+02] [-1.14335069e-01 -1.46216861e-03 9.93441168e-01 -2.95261236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41591999999997 meters 0.03033296627561561 Centerline is valid? [True, True] Translation: X:241.93, Y:-172.99, Z:-29.53 [[ 7.12776619e-01 6.96401605e-01 8.35122501e-02 2.41925431e+02] [-6.91946966e-01 7.17650230e-01 -7.86609436e-02 -1.72994785e+02] [-1.14712193e-01 -1.71836656e-03 9.93397282e-01 -2.95285971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44592 meters 0.030703258037602918 Centerline is valid? [True, True] Translation: X:241.95, Y:-173.02, Z:-29.53 [[ 7.09896804e-01 6.99514019e-01 8.20162479e-02 2.41951071e+02] [-6.95230787e-01 7.14615700e-01 -7.73211143e-02 -1.73015993e+02] [-1.12697302e-01 -2.13020865e-03 9.93627083e-01 -2.95309385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47592 meters 0.03078494022134359 Centerline is valid? [True, True] Translation: X:241.98, Y:-173.04, Z:-29.53 [[ 7.08991784e-01 7.00486348e-01 8.15446346e-02 2.41976081e+02] [-6.96249528e-01 7.13662372e-01 -7.69585193e-02 -1.73037507e+02] [-1.12103729e-01 -2.21245544e-03 9.93694047e-01 -2.95341954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50591999999995 meters 0.03084183385965745 Centerline is valid? [True, True] Translation: X:242.00, Y:-173.06, Z:-29.54 [[ 7.07880797e-01 7.01567300e-01 8.19029959e-02 2.42000943e+02] [-6.97291104e-01 7.12599372e-01 -7.73773304e-02 -1.73058634e+02] [-1.12649428e-01 -2.33630407e-03 9.93632049e-01 -2.95365126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53592 meters 0.030878168280142438 Centerline is valid? [True, True] Translation: X:242.03, Y:-173.08, Z:-29.54 [[ 7.06524864e-01 7.02813547e-01 8.29200494e-02 2.42027201e+02] [-6.98430291e-01 7.11369662e-01 -7.84113082e-02 -1.73077385e+02] [-1.14095337e-01 -2.51433534e-03 9.93466624e-01 -2.95383849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56591999999995 meters 0.030942836909211686 Centerline is valid? [True, True] Translation: X:242.05, Y:-173.10, Z:-29.54 [[ 7.06500044e-01 7.02751990e-01 8.36500372e-02 2.42053018e+02] [-6.98281764e-01 7.11430620e-01 -7.91773342e-02 -1.73097513e+02] [-1.15153227e-01 -2.47250550e-03 9.93344664e-01 -2.95406908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59592 meters 0.03072754035108042 Centerline is valid? [True, True] Translation: X:242.08, Y:-173.11, Z:-29.54 [[ 7.07400910e-01 7.01992403e-01 8.24052170e-02 2.42080916e+02] [-6.97640369e-01 7.12180860e-01 -7.80790568e-02 -1.73114958e+02] [-1.13498323e-01 -2.25601017e-03 9.93535627e-01 -2.95427009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62591999999995 meters 0.030681057920988335 Centerline is valid? [True, True] Translation: X:242.11, Y:-173.14, Z:-29.55 [[ 7.08220533e-01 7.01238819e-01 8.17789473e-02 2.42106419e+02] [-6.96940816e-01 7.12923430e-01 -7.75479254e-02 -1.73135214e+02] [-1.12681743e-01 -2.07405331e-03 9.93628967e-01 -2.95463104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65592 meters 0.030583530388946064 Centerline is valid? [True, True] Translation: X:242.13, Y:-173.15, Z:-29.55 [[ 7.08972909e-01 7.00460458e-01 8.19302207e-02 2.42132156e+02] [-6.96137297e-01 7.13688606e-01 -7.77266791e-02 -1.73154921e+02] [-1.12917130e-01 -1.92857270e-03 9.93602537e-01 -2.95501931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68591999999995 meters 0.030494941301632526 Centerline is valid? [True, True] Translation: X:242.16, Y:-173.17, Z:-29.55 [[ 7.09761241e-01 6.99768064e-01 8.10162794e-02 2.42157512e+02] [-6.95528667e-01 7.14367975e-01 -7.69302928e-02 -1.73174732e+02] [-1.11708798e-01 -1.74700471e-03 9.93739449e-01 -2.95533286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71592 meters 0.030328106946042002 Centerline is valid? [True, True] Translation: X:242.18, Y:-173.19, Z:-29.56 [[ 7.10990745e-01 6.98675083e-01 7.96573269e-02 2.42184832e+02] [-6.94562639e-01 7.15437547e-01 -7.57090316e-02 -1.73192369e+02] [-1.09885856e-01 -1.49858248e-03 9.93943083e-01 -2.95552868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74591999999996 meters 0.030201157095675224 Centerline is valid? [True, True] Translation: X:242.21, Y:-173.21, Z:-29.56 [[ 7.11122609e-01 6.98497828e-01 8.00338667e-02 2.42210789e+02] [-6.94337105e-01 7.15610754e-01 -7.61395655e-02 -1.73213406e+02] [-1.10456417e-01 -1.42591679e-03 9.93879946e-01 -2.95579682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.77592 meters 0.030124565680060535 Centerline is valid? [True, True] Translation: X:242.24, Y:-173.23, Z:-29.56 [[ 7.12437287e-01 6.97165433e-01 7.99591811e-02 2.42235871e+02] [-6.92995368e-01 7.16909346e-01 -7.61472884e-02 -1.73232946e+02] [-1.10410742e-01 -1.16117456e-03 9.93885366e-01 -2.95625192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80591999999996 meters 0.029861628128828487 Centerline is valid? [True, True] Translation: X:242.26, Y:-173.25, Z:-29.56 [[ 7.13133655e-01 6.96493077e-01 7.96101934e-02 2.42260709e+02] [-6.92347534e-01 7.17562812e-01 -7.58847989e-02 -1.73253633e+02] [-1.09978551e-01 -1.00191702e-03 9.93933456e-01 -2.95649147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.83592 meters 0.029881812574758086 Centerline is valid? [True, True] Translation: X:242.29, Y:-173.27, Z:-29.57 [[ 7.14336172e-01 6.95069054e-01 8.12578805e-02 2.42286214e+02] [-6.90732165e-01 7.18942594e-01 -7.75282140e-02 -1.73273583e+02] [-1.12307214e-01 -7.46224057e-04 9.93673253e-01 -2.95691975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86591999999996 meters 0.02993352323775829 Centerline is valid? [True, True] Translation: X:242.31, Y:-173.30, Z:-29.57 [[ 7.14418126e-01 6.94983860e-01 8.12660781e-02 2.42311025e+02] [-6.90637213e-01 7.19025016e-01 -7.76097124e-02 -1.73295252e+02] [-1.12369841e-01 -6.79592331e-04 9.93666220e-01 -2.95721083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89592 meters 0.02967745058653791 Centerline is valid? [True, True] Translation: X:242.34, Y:-173.32, Z:-29.57 [[ 7.15002797e-01 6.94439364e-01 8.07772808e-02 2.42335551e+02] [-6.90132632e-01 7.19551030e-01 -7.72221782e-02 -1.73315542e+02] [-1.11749496e-01 -5.32963969e-04 9.93736266e-01 -2.95738053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92591999999996 meters 0.02975122872415992 Centerline is valid? [True, True] Translation: X:242.36, Y:-173.34, Z:-29.58 [[ 7.15049184e-01 6.94360066e-01 8.10479115e-02 2.42359659e+02] [-6.90015519e-01 7.19627597e-01 -7.75545298e-02 -1.73337567e+02] [-1.12175082e-01 -4.69013489e-04 9.93688347e-01 -2.95772701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95592 meters 0.029640726860747833 Centerline is valid? [True, True] Translation: X:242.38, Y:-173.36, Z:-29.58 [[ 7.15461390e-01 6.93966676e-01 8.07790271e-02 2.42383149e+02] [-6.89639311e-01 7.20007036e-01 -7.73788622e-02 -1.73359934e+02] [-1.11859820e-01 -3.46804347e-04 9.93723936e-01 -2.95806365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98591999999996 meters 0.02971670322257057 Centerline is valid? [True, True] Translation: X:242.41, Y:-173.38, Z:-29.58 [[ 7.15199822e-01 6.94347683e-01 7.98154667e-02 2.42405553e+02] [-6.90116916e-01 7.19639615e-01 -7.65340886e-02 -1.73382183e+02] [-1.10579639e-01 -3.44837102e-04 9.93867207e-01 -2.95843882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01592 meters 0.029459011410396217 Centerline is valid? [True, True] Translation: X:242.43, Y:-173.41, Z:-29.59 [[ 7.14083302e-01 6.95552955e-01 7.93166046e-02 2.42429720e+02] [-6.91374573e-01 7.18474676e-01 -7.61271367e-02 -1.73405091e+02] [-1.09937427e-01 -4.76366461e-04 9.93938396e-01 -2.95865408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04591999999997 meters 0.02975434576509053 Centerline is valid? [True, True] Translation: X:242.45, Y:-173.43, Z:-29.59 [[ 7.12402229e-01 6.97366482e-01 7.85051188e-02 2.42453103e+02] [-6.93275744e-01 7.16714386e-01 -7.54269896e-02 -1.73427746e+02] [-1.08866002e-01 -6.91339115e-04 9.94056193e-01 -2.95897497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07592 meters 0.029623676987810314 Centerline is valid? [True, True] Translation: X:242.48, Y:-173.45, Z:-29.59 [[ 7.08545460e-01 7.01259217e-01 7.87327209e-02 2.42475400e+02] [-6.97160803e-01 7.12905302e-01 -7.57155580e-02 -1.73450512e+02] [-1.09225207e-01 -1.24145201e-03 9.94016254e-01 -2.95916935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10591999999997 meters 0.029678501339796267 Centerline is valid? [True, True] Translation: X:242.50, Y:-173.47, Z:-29.59 [[ 7.06004640e-01 7.03673044e-01 8.00105953e-02 2.42498484e+02] [-6.99451683e-01 7.10522086e-01 -7.69786264e-02 -1.73472470e+02] [-1.11017080e-01 -1.61627810e-03 9.93817184e-01 -2.95946725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13592 meters 0.02972831537855635 Centerline is valid? [True, True] Translation: X:242.52, Y:-173.49, Z:-29.60 [[ 7.03646236e-01 7.06153148e-01 7.89284880e-02 2.42522769e+02] [-7.02053185e-01 7.08056503e-01 -7.60086458e-02 -1.73494943e+02] [-1.09559574e-01 -1.92879884e-03 9.93978360e-01 -2.95967435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16591999999997 meters 0.0299431025625446 Centerline is valid? [True, True] Translation: X:242.55, Y:-173.52, Z:-29.60 [[ 7.00360308e-01 7.09450213e-01 7.85864745e-02 2.42547839e+02] [-7.05397859e-01 7.04751547e-01 -7.57569709e-02 -1.73515541e+02] [-1.09129739e-01 -2.37755533e-03 9.94024671e-01 -2.96013710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19592 meters 0.030007615491279203 Centerline is valid? [True, True] Translation: X:242.57, Y:-173.54, Z:-29.60 [[ 6.99242618e-01 7.10663190e-01 7.75731375e-02 2.42572838e+02] [-7.06714798e-01 7.03528011e-01 -7.48500698e-02 -1.73537424e+02] [-1.07768064e-01 -2.48372539e-03 9.94172961e-01 -2.96033458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22592 meters 0.02997727145777536 Centerline is valid? [True, True] Translation: X:242.60, Y:-173.56, Z:-29.61 [[ 6.98397206e-01 7.11423695e-01 7.82155301e-02 2.42596783e+02] [-7.07405576e-01 7.02758662e-01 -7.55487579e-02 -1.73558199e+02] [-1.08713818e-01 -2.56706067e-03 9.94069774e-01 -2.96070133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25591999999995 meters 0.02957460535060108 Centerline is valid? [True, True] Translation: X:242.62, Y:-173.58, Z:-29.61 [[ 6.98464127e-01 7.11269139e-01 7.90194634e-02 2.42622754e+02] [-7.07158700e-01 7.02915267e-01 -7.63982981e-02 -1.73578630e+02] [-1.09883739e-01 -2.51783047e-03 9.93941258e-01 -2.96103389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28592 meters 0.029262339324215313 Centerline is valid? [True, True] Translation: X:242.65, Y:-173.60, Z:-29.61 [[ 6.99534685e-01 7.10216278e-01 7.90193800e-02 2.42647095e+02] [-7.06091288e-01 7.03979786e-01 -7.64693032e-02 -1.73599779e+02] [-1.09937790e-01 -2.30196583e-03 9.93935804e-01 -2.96120736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31591999999995 meters 0.029042732872276253 Centerline is valid? [True, True] Translation: X:242.67, Y:-173.62, Z:-29.62 [[ 7.00394187e-01 7.09246286e-01 8.01104814e-02 2.42671320e+02] [-7.04995755e-01 7.04957495e-01 -7.75623346e-02 -1.73622100e+02] [-1.11485282e-01 -2.15334112e-03 9.93763752e-01 -2.96169173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34592 meters 0.0285004225667137 Centerline is valid? [True, True] Translation: X:242.70, Y:-173.64, Z:-29.62 [[ 7.00894063e-01 7.08725369e-01 8.03483944e-02 2.42696197e+02] [-7.04436619e-01 7.05481597e-01 -7.78766087e-02 -1.73643734e+02] [-1.11877442e-01 -2.01709859e-03 9.93719965e-01 -2.96198661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37591999999995 meters 0.02815240797858407 Centerline is valid? [True, True] Translation: X:242.72, Y:-173.67, Z:-29.62 [[ 7.01675652e-01 7.08049127e-01 7.94840449e-02 2.42720445e+02] [-7.03839300e-01 7.06160800e-01 -7.71178569e-02 -1.73665354e+02] [-1.10731748e-01 -1.83227208e-03 9.93848642e-01 -2.96225492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40592 meters 0.028258514806440847 Centerline is valid? [True, True] Translation: X:242.74, Y:-173.69, Z:-29.63 [[ 7.02285795e-01 7.07318466e-01 8.05931177e-02 2.42744689e+02] [-7.02976631e-01 7.06893019e-01 -7.82695067e-02 -1.73688015e+02] [-1.12332180e-01 -1.68751570e-03 9.93669278e-01 -2.96267070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43591999999995 meters 0.028032425521551843 Centerline is valid? [True, True] Translation: X:242.77, Y:-173.71, Z:-29.63 [[ 7.03758693e-01 7.05805899e-01 8.10045314e-02 2.42766457e+02] [-7.01400167e-01 7.08403901e-01 -7.87509988e-02 -1.73711237e+02] [-1.12966846e-01 -1.39489179e-03 9.93597779e-01 -2.96305335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46592 meters 0.027908979978023142 Centerline is valid? [True, True] Translation: X:242.79, Y:-173.74, Z:-29.63 [[ 7.05192685e-01 7.04312339e-01 8.15316338e-02 2.42789537e+02] [-6.99830277e-01 7.09889357e-01 -7.93390381e-02 -1.73735174e+02] [-1.13757903e-01 -1.10899662e-03 9.93507881e-01 -2.96336062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49591999999996 meters 0.027656369805821025 Centerline is valid? [True, True] Translation: X:242.81, Y:-173.76, Z:-29.64 [[ 7.06844556e-01 7.02623369e-01 8.17996024e-02 2.42811147e+02] [-6.98090742e-01 7.11561518e-01 -7.96838912e-02 -1.73759608e+02] [-1.14193213e-01 -7.79420370e-04 9.93458254e-01 -2.96366529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52592 meters 0.02765986047780767 Centerline is valid? [True, True] Translation: X:242.83, Y:-173.78, Z:-29.64 [[ 7.07522907e-01 7.01888297e-01 8.22444862e-02 2.42833734e+02] [-6.97291306e-01 7.12286779e-01 -8.02021158e-02 -1.73782859e+02] [-1.14874587e-01 -6.03531122e-04 9.93379819e-01 -2.96400877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55591999999996 meters 0.02765986047780767 Centerline is valid? [True, True] Translation: X:242.86, Y:-173.81, Z:-29.64 [[ 7.07156997e-01 7.02261884e-01 8.22023602e-02 2.42857198e+02] [-6.97662392e-01 7.11918452e-01 -8.02452742e-02 -1.73805252e+02] [-1.14874574e-01 -6.03488134e-04 9.93379821e-01 -2.96430179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58592 meters 0.02777901912585986 Centerline is valid? [True, True] Translation: X:242.88, Y:-173.83, Z:-29.65 [[ 7.07731707e-01 7.01692380e-01 8.21196314e-02 2.42880108e+02] [-6.97089267e-01 7.12479893e-01 -8.02431138e-02 -1.73829657e+02] [-1.14814568e-01 -4.54117682e-04 9.93386837e-01 -2.96456072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61591999999996 meters 0.02775746857760371 Centerline is valid? [True, True] Translation: X:242.90, Y:-173.85, Z:-29.65 [[ 7.07395871e-01 7.01915309e-01 8.31022308e-02 2.42901076e+02] [-6.97195125e-01 7.12260273e-01 -8.12666077e-02 -1.73853616e+02] [-1.16232694e-01 -4.50807458e-04 9.93221908e-01 -2.96493045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64592 meters 0.027718616268531393 Centerline is valid? [True, True] Translation: X:242.92, Y:-173.88, Z:-29.65 [[ 7.06608532e-01 7.02855827e-01 8.18417315e-02 2.42923581e+02] [-6.98277246e-01 7.11332118e-01 -8.00968529e-02 -1.73877324e+02] [-1.14513192e-01 -5.51099239e-04 9.93421575e-01 -2.96511184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67591999999996 meters 0.02782769758171368 Centerline is valid? [True, True] Translation: X:242.95, Y:-173.90, Z:-29.65 [[ 7.05394848e-01 7.04074334e-01 8.18378896e-02 2.42946234e+02] [-6.99499884e-01 7.10125913e-01 -8.01317657e-02 -1.73901706e+02] [-1.14533926e-01 -7.21059584e-04 9.93419076e-01 -2.96542637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70592 meters 0.027877640063364264 Centerline is valid? [True, True] Translation: X:242.97, Y:-173.93, Z:-29.66 [[ 7.02902997e-01 7.06614803e-01 8.13811911e-02 2.42965569e+02] [-7.02100216e-01 7.07597598e-01 -7.97554199e-02 -1.73928069e+02] [-1.13941496e-01 -1.07742816e-03 9.93486877e-01 -2.96573503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73591999999996 meters 0.027990630139752438 Centerline is valid? [True, True] Translation: X:242.99, Y:-173.95, Z:-29.66 [[ 7.02261426e-01 7.07202275e-01 8.18158469e-02 2.42987530e+02] [-7.02638792e-01 7.07010336e-01 -8.02191559e-02 -1.73951976e+02] [-1.14575819e-01 -1.15216903e-03 9.93413838e-01 -2.96601650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76592 meters 0.027946769744880653 Centerline is valid? [True, True] Translation: X:243.01, Y:-173.98, Z:-29.66 [[ 7.00562685e-01 7.08974379e-01 8.10385977e-02 2.43009939e+02] [-7.04500150e-01 7.05232904e-01 -7.95367199e-02 -1.73975944e+02] [-1.13540582e-01 -1.37124617e-03 9.93532413e-01 -2.96626330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79591999999997 meters 0.028179489686348102 Centerline is valid? [True, True] Translation: X:243.03, Y:-174.00, Z:-29.67 [[ 6.99576596e-01 7.09941991e-01 8.10861036e-02 2.43033002e+02] [-7.05459295e-01 7.04258625e-01 -7.96678838e-02 -1.73999026e+02] [-1.13665164e-01 -1.46915861e-03 9.93518028e-01 -2.96662213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82592 meters 0.028355875731127782 Centerline is valid? [True, True] Translation: X:243.05, Y:-174.02, Z:-29.67 [[ 6.97043912e-01 7.12589201e-01 7.96643972e-02 2.43054024e+02] [-7.08271824e-01 7.01579173e-01 -7.83433991e-02 -1.74024647e+02] [-1.11717542e-01 -1.81525849e-03 9.93738344e-01 -2.96692076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85591999999997 meters 0.02858675184966047 Centerline is valid? [True, True] Translation: X:243.08, Y:-174.05, Z:-29.67 [[ 6.95213026e-01 7.14442386e-01 7.90627928e-02 2.43075687e+02] [-7.10197114e-01 6.99691226e-01 -7.77961938e-02 -1.74049718e+02] [-1.10900441e-01 -2.06523996e-03 9.93829375e-01 -2.96724451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88592 meters 0.028713277724941737 Centerline is valid? [True, True] Translation: X:243.10, Y:-174.07, Z:-29.68 [[ 6.93305186e-01 7.16301629e-01 7.89930083e-02 2.43097447e+02] [-7.12066888e-01 6.97786980e-01 -7.78079476e-02 -1.74073211e+02] [-1.10854252e-01 -2.30365201e-03 9.93834004e-01 -2.96759278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91591999999997 meters 0.0291526127562731 Centerline is valid? [True, True] Translation: X:243.12, Y:-174.10, Z:-29.68 [[ 6.90032449e-01 7.19527029e-01 7.83330953e-02 2.43120052e+02] [-7.15375744e-01 6.94459002e-01 -7.72284839e-02 -1.74095849e+02] [-1.09967105e-01 -2.74743652e-03 9.93931430e-01 -2.96780216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94592 meters 0.02952681530912846 Centerline is valid? [True, True] Translation: X:243.14, Y:-174.12, Z:-29.68 [[ 6.87221517e-01 7.22276155e-01 7.77415100e-02 2.43143051e+02] [-7.18197253e-01 6.91597761e-01 -7.67153311e-02 -1.74118235e+02] [-1.09175509e-01 -3.11331269e-03 9.94017613e-01 -2.96811329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97592 meters 0.03014983304232598 Centerline is valid? [True, True] Translation: X:243.17, Y:-174.14, Z:-29.69 [[ 6.84859678e-01 7.24494968e-01 7.79375528e-02 2.43165412e+02] [-7.20401876e-01 6.89271574e-01 -7.69794439e-02 -1.74140794e+02] [-1.09491359e-01 -3.42624209e-03 9.93981842e-01 -2.96851937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00591999999995 meters 0.030789616646862424 Centerline is valid? [True, True] Translation: X:243.19, Y:-174.16, Z:-29.69 [[ 6.81042060e-01 7.28134012e-01 7.74762733e-02 2.43189493e+02] [-7.24105953e-01 6.85423453e-01 -7.65849784e-02 -1.74162129e+02] [-1.08868182e-01 -3.94343926e-03 9.94048373e-01 -2.96880724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03592 meters 0.031124005314685187 Centerline is valid? [True, True] Translation: X:243.21, Y:-174.18, Z:-29.69 [[ 6.78560040e-01 7.30360834e-01 7.82900079e-02 2.43214545e+02] [-7.26258897e-01 6.83047834e-01 -7.74188097e-02 -1.74182913e+02] [-1.10019487e-01 -4.32550416e-03 9.93920018e-01 -2.96909684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06591999999995 meters 0.0318371109709474 Centerline is valid? [True, True] Translation: X:243.24, Y:-174.20, Z:-29.69 [[ 6.76154048e-01 7.32732902e-01 7.69298215e-02 2.43240378e+02] [-7.28780459e-01 6.80500921e-01 -7.61415702e-02 -1.74202580e+02] [-1.08142248e-01 -4.58151978e-03 9.94124873e-01 -2.96936709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09592 meters 0.03196404985999289 Centerline is valid? [True, True] Translation: X:243.27, Y:-174.22, Z:-29.70 [[ 6.75514510e-01 7.33419094e-01 7.60038150e-02 2.43265193e+02] [-7.29558355e-01 6.79761276e-01 -7.52941823e-02 -1.74223955e+02] [-1.06886641e-01 -4.58690565e-03 9.94260633e-01 -2.96965447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12591999999995 meters 0.03217209884797776 Centerline is valid? [True, True] Translation: X:243.29, Y:-174.25, Z:-29.70 [[ 6.75126116e-01 7.33841487e-01 7.53750598e-02 2.43289782e+02] [-7.30039057e-01 6.79305418e-01 -7.47470675e-02 -1.74245312e+02] [-1.06055186e-01 -4.56304026e-03 9.94349776e-01 -2.96999171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15592 meters 0.03170905027642072 Centerline is valid? [True, True] Translation: X:243.32, Y:-174.26, Z:-29.70 [[ 6.76782867e-01 7.32294995e-01 7.55578691e-02 2.43317728e+02] [-7.28456409e-01 6.80974101e-01 -7.50035631e-02 -1.74263089e+02] [-1.06377686e-01 -4.27948755e-03 9.94316586e-01 -2.97031394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18591999999995 meters 0.031167919132880997 Centerline is valid? [True, True] Translation: X:243.34, Y:-174.28, Z:-29.71 [[ 6.78212440e-01 7.30871463e-01 7.65166033e-02 2.43343609e+02] [-7.26918173e-01 6.82503048e-01 -7.60234184e-02 -1.74282498e+02] [-1.07786162e-01 -4.06128135e-03 9.94165806e-01 -2.97055248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21592 meters 0.030709927798089568 Centerline is valid? [True, True] Translation: X:243.37, Y:-174.30, Z:-29.71 [[ 6.80002020e-01 7.29163375e-01 7.69287068e-02 2.43369307e+02] [-7.25148855e-01 6.84329314e-01 -7.65018215e-02 -1.74302400e+02] [-1.08426896e-01 -3.76337052e-03 9.94097302e-01 -2.97075027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24591999999996 meters 0.03043030555093023 Centerline is valid? [True, True] Translation: X:243.39, Y:-174.32, Z:-29.71 [[ 6.81533549e-01 7.27646940e-01 7.77299938e-02 2.43394142e+02] [-7.23530492e-01 6.85942862e-01 -7.73693557e-02 -1.74322574e+02] [-1.09615909e-01 -3.51020904e-03 9.93967822e-01 -2.97101888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.27592 meters 0.029856367777240187 Centerline is valid? [True, True] Translation: X:243.42, Y:-174.34, Z:-29.71 [[ 6.84753039e-01 7.24561776e-01 7.82528491e-02 2.43419431e+02] [-7.20361526e-01 6.89203392e-01 -7.79612506e-02 -1.74342732e+02] [-1.10419871e-01 -2.98613852e-03 9.93880544e-01 -2.97141462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30591999999996 meters 0.029448945963698563 Centerline is valid? [True, True] Translation: X:243.44, Y:-174.36, Z:-29.72 [[ 6.85823170e-01 7.23647842e-01 7.73329247e-02 2.43443259e+02] [-7.19532567e-01 6.90163896e-01 -7.71147352e-02 -1.74364145e+02] [-1.09176304e-01 -2.75648569e-03 9.94018580e-01 -2.97163620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.33592 meters 0.02932726728740007 Centerline is valid? [True, True] Translation: X:243.47, Y:-174.39, Z:-29.72 [[ 6.87468884e-01 7.21967159e-01 7.84216471e-02 2.43467329e+02] [-7.17715850e-01 6.91922900e-01 -7.82729809e-02 -1.74385020e+02] [-1.10772255e-01 -2.47422022e-03 9.93842737e-01 -2.97208525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36591999999996 meters 0.0290252942450544 Centerline is valid? [True, True] Translation: X:243.49, Y:-174.41, Z:-29.72 [[ 6.89886503e-01 7.19575913e-01 7.91651365e-02 2.43492973e+02] [-7.15220380e-01 6.94410716e-01 -7.90794864e-02 -1.74405270e+02] [-1.11876813e-01 -2.06464871e-03 9.93719938e-01 -2.97244626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39592 meters 0.029050574083527896 Centerline is valid? [True, True] Translation: X:243.52, Y:-174.43, Z:-29.73 [[ 6.90624001e-01 7.18876550e-01 7.90885297e-02 2.43516075e+02] [-7.14520945e-01 6.95135095e-01 -7.90380848e-02 -1.74427732e+02] [-1.11795838e-01 -1.92481265e-03 9.93729332e-01 -2.97284779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42591999999996 meters 0.028758091217545967 Centerline is valid? [True, True] Translation: X:243.55, Y:-174.69, Z:-27.85 [[ 7.65480121e-01 -6.41698348e-01 -4.75753548e-02 2.43547864e+02] [-6.39808234e-01 -7.66918551e-01 4.98132511e-02 -1.74693317e+02] [-6.84515031e-02 -7.69194976e-03 -9.97624792e-01 -2.78482221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45592 meters 0.02852315260638918 Centerline is valid? [True, True] Translation: X:243.55, Y:-174.48, Z:-29.73 [[ 7.44660455e-01 6.62220977e-01 8.33317783e-02 2.43550445e+02] [-6.58319912e-01 7.49307289e-01 -7.17877428e-02 -1.74479981e+02] [-1.09980458e-01 -1.40147582e-03 9.93932762e-01 -2.97334721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48591999999996 meters 0.028360294658367254 Centerline is valid? [True, True] Translation: X:243.58, Y:-174.50, Z:-29.74 [[ 7.44444122e-01 6.62507688e-01 8.29850147e-02 2.43576195e+02] [-6.58637206e-01 7.49053782e-01 -7.15224631e-02 -1.74500439e+02] [-1.09544421e-01 -1.41254100e-03 9.93980898e-01 -2.97371956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51592 meters 0.02848336269362735 Centerline is valid? [True, True] Translation: X:243.60, Y:-174.52, Z:-29.74 [[ 7.44876992e-01 6.62091362e-01 8.24214477e-02 2.43600452e+02] [-6.58262809e-01 7.49422026e-01 -7.11104880e-02 -1.74521145e+02] [-1.08850088e-01 -1.28640725e-03 9.94057344e-01 -2.97410164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54591999999997 meters 0.028622242458496358 Centerline is valid? [True, True] Translation: X:243.62, Y:-174.54, Z:-29.74 [[ 7.43813322e-01 6.63229434e-01 8.28761731e-02 2.43624169e+02] [-6.59358095e-01 7.48414810e-01 -7.15693764e-02 -1.74542320e+02] [-1.09492672e-01 -1.41081995e-03 9.93986602e-01 -2.97440057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57592 meters 0.028506443094229342 Centerline is valid? [True, True] Translation: X:243.65, Y:-174.56, Z:-29.75 [[ 7.43424735e-01 6.63652709e-01 8.29743631e-02 2.43649267e+02] [-6.59767237e-01 7.48039475e-01 -7.17226409e-02 -1.74562977e+02] [-1.09667024e-01 -1.42338099e-03 9.93967363e-01 -2.97471182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60591999999997 meters 0.028587075464072083 Centerline is valid? [True, True] Translation: X:243.68, Y:-174.58, Z:-29.75 [[ 7.42156526e-01 6.65168557e-01 8.21856550e-02 2.43675031e+02] [-6.61357882e-01 7.46691576e-01 -7.11156901e-02 -1.74583486e+02] [-1.08671257e-01 -1.57515716e-03 9.94076494e-01 -2.97492483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63592 meters 0.028762710013617264 Centerline is valid? [True, True] Translation: X:243.70, Y:-174.60, Z:-29.75 [[ 7.40679765e-01 6.66618889e-01 8.37421130e-02 2.43700608e+02] [-6.62662794e-01 7.45396634e-01 -7.25388113e-02 -1.74603274e+02] [-1.10776831e-01 -1.76475286e-03 9.93843740e-01 -2.97534235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66591999999997 meters 0.02915928001606213 Centerline is valid? [True, True] Translation: X:243.73, Y:-174.62, Z:-29.76 [[ 7.38153609e-01 6.69603922e-01 8.22182285e-02 2.43725844e+02] [-6.65801971e-01 7.42715348e-01 -7.12856707e-02 -1.74624461e+02] [-1.08797905e-01 -2.12128348e-03 9.94061626e-01 -2.97562954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69592 meters 0.029164314727446693 Centerline is valid? [True, True] Translation: X:243.75, Y:-174.65, Z:-29.76 [[ 7.36823939e-01 6.71102386e-01 8.19272251e-02 2.43750832e+02] [-6.67328389e-01 7.41361180e-01 -7.11085273e-02 -1.74646460e+02] [-1.08458767e-01 -2.27789793e-03 9.94098339e-01 -2.97589126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72592 meters 0.029540702556047925 Centerline is valid? [True, True] Translation: X:243.78, Y:-174.67, Z:-29.76 [[ 7.35946396e-01 6.72081399e-01 8.17893351e-02 2.43776052e+02] [-6.68317997e-01 7.40473506e-01 -7.10636421e-02 -1.74666981e+02] [-1.08323388e-01 -2.36225336e-03 9.94112903e-01 -2.97612454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75591999999995 meters 0.029518682705986725 Centerline is valid? [True, True] Translation: X:243.80, Y:-174.69, Z:-29.76 [[ 7.35806775e-01 6.72237909e-01 8.17593046e-02 2.43802445e+02] [-6.68470400e-01 7.40331521e-01 -7.11095137e-02 -1.74686247e+02] [-1.08331501e-01 -2.33081304e-03 9.94112093e-01 -2.97641741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78592 meters 0.02968564029600832 Centerline is valid? [True, True] Translation: X:243.83, Y:-174.71, Z:-29.77 [[ 7.35364540e-01 6.72699046e-01 8.19450295e-02 2.43828845e+02] [-6.68908906e-01 7.39912483e-01 -7.13469965e-02 -1.74705551e+02] [-1.08627207e-01 -2.34770875e-03 9.94079785e-01 -2.97674530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81591999999995 meters 0.02980482774769125 Centerline is valid? [True, True] Translation: X:243.86, Y:-174.72, Z:-29.77 [[ 7.33944331e-01 6.73910945e-01 8.46744155e-02 2.43856782e+02] [-6.69862442e-01 7.38808174e-01 -7.38023744e-02 -1.74722088e+02] [-1.12294378e-01 -2.55337633e-03 9.93671703e-01 -2.97688767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84592 meters 0.02987395120032272 Centerline is valid? [True, True] Translation: X:243.88, Y:-174.74, Z:-29.77 [[ 7.34020644e-01 6.73894534e-01 8.41418459e-02 2.43882433e+02] [-6.69889249e-01 7.38823378e-01 -7.34057899e-02 -1.74741247e+02] [-1.11633723e-01 -2.48435277e-03 9.93746316e-01 -2.97707446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87591999999995 meters 0.029972441564297 Centerline is valid? [True, True] Translation: X:243.91, Y:-174.76, Z:-29.77 [[ 7.34270902e-01 6.73601273e-01 8.43063914e-02 2.43910736e+02] [-6.69570378e-01 7.39091065e-01 -7.36200129e-02 -1.74758187e+02] [-1.11900635e-01 -2.39202913e-03 9.93716522e-01 -2.97744784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90592 meters 0.02992747504912962 Centerline is valid? [True, True] Translation: X:243.94, Y:-174.78, Z:-29.78 [[ 7.34322945e-01 6.73710710e-01 8.29680194e-02 2.43936736e+02] [-6.69799642e-01 7.38991557e-01 -7.25252950e-02 -1.74777527e+02] [-1.10173734e-01 -2.31496149e-03 9.93909649e-01 -2.97768685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93591999999995 meters 0.02967347131084773 Centerline is valid? [True, True] Translation: X:243.96, Y:-174.80, Z:-29.78 [[ 7.34599493e-01 6.73265585e-01 8.41251289e-02 2.43963629e+02] [-6.69233447e-01 7.39397385e-01 -7.36077496e-02 -1.74796595e+02] [-1.11759465e-01 -2.22713449e-03 9.93732792e-01 -2.97795897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96592 meters 0.02966148342049162 Centerline is valid? [True, True] Translation: X:243.99, Y:-174.82, Z:-29.78 [[ 7.34682101e-01 6.73200048e-01 8.39279800e-02 2.43990331e+02] [-6.69177693e-01 7.39457271e-01 -7.35129909e-02 -1.74816086e+02] [-1.11550104e-01 -2.15405344e-03 9.93756476e-01 -2.97819314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99591999999996 meters 0.029493829064127924 Centerline is valid? [True, True] Translation: X:244.02, Y:-174.83, Z:-29.78 [[ 7.36307208e-01 6.71558747e-01 8.28284095e-02 2.44018512e+02] [-6.67622790e-01 7.40949068e-01 -7.26243007e-02 -1.74832170e+02] [-1.10143117e-01 -1.82433769e-03 9.93914063e-01 -2.97837025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02592 meters 0.02952514050091293 Centerline is valid? [True, True] Translation: X:244.04, Y:-174.85, Z:-29.79 [[ 7.36496504e-01 6.71388009e-01 8.25290374e-02 2.44044256e+02] [-6.67472124e-01 7.41103977e-01 -7.24282964e-02 -1.74850765e+02] [-1.09790088e-01 -1.74264483e-03 9.93953268e-01 -2.97870610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05591999999996 meters 0.02918726302777233 Centerline is valid? [True, True] Translation: X:244.07, Y:-174.87, Z:-29.79 [[ 7.38021510e-01 6.69772529e-01 8.20305448e-02 2.44072057e+02] [-6.65886730e-01 7.42564930e-01 -7.20568367e-02 -1.74867424e+02] [-1.09174696e-01 -1.44355584e-03 9.94021530e-01 -2.97898881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08592 meters 0.02911552071048284 Centerline is valid? [True, True] Translation: X:244.10, Y:-174.89, Z:-29.79 [[ 7.38641286e-01 6.69052290e-01 8.23291193e-02 2.44099222e+02] [-6.65125991e-01 7.43214214e-01 -7.23881759e-02 -1.74886904e+02] [-1.09619647e-01 -1.29034169e-03 9.93972770e-01 -2.97935948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11591999999996 meters 0.02903659232732364 Centerline is valid? [True, True] Translation: X:244.13, Y:-174.91, Z:-29.80 [[ 7.39052455e-01 6.68508788e-01 8.30510076e-02 2.44125819e+02] [-6.64501034e-01 7.43703335e-01 -7.31007960e-02 -1.74907045e+02] [-1.10633836e-01 -1.16215762e-03 9.93860556e-01 -2.97975985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14592 meters 0.029132915773178187 Centerline is valid? [True, True] Translation: X:244.15, Y:-174.93, Z:-29.80 [[ 7.41527906e-01 6.65627499e-01 8.41213223e-02 2.44153323e+02] [-6.61488000e-01 7.46283838e-01 -7.41219147e-02 -1.74926008e+02] [-1.12115968e-01 -6.81777111e-04 9.93694895e-01 -2.98014944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17591999999996 meters 0.02897893028707152 Centerline is valid? [True, True] Translation: X:244.18, Y:-174.95, Z:-29.80 [[ 7.42653874e-01 6.64413914e-01 8.37817084e-02 2.44178456e+02] [-6.60291646e-01 7.47364675e-01 -7.38984717e-02 -1.74945815e+02] [-1.11714662e-01 -4.39375902e-04 9.93740228e-01 -2.98034978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20592 meters 0.029141988143693696 Centerline is valid? [True, True] Translation: X:244.20, Y:-174.97, Z:-29.81 [[ 7.43810779e-01 6.63039240e-01 8.44067013e-02 2.44204218e+02] [-6.58838156e-01 7.48584620e-01 -7.45208089e-02 -1.74965697e+02] [-1.12595779e-01 -1.80974563e-04 9.93640860e-01 -2.98066126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23591999999996 meters 0.02897373677749367 Centerline is valid? [True, True] Translation: X:244.23, Y:-174.98, Z:-29.81 [[ 7.46469891e-01 6.60009603e-01 8.46760018e-02 2.44231909e+02] [-6.55753123e-01 7.51257086e-01 -7.48373711e-02 -1.74984353e+02] [-1.13006830e-01 3.37291632e-04 9.93594154e-01 -2.98086957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26592 meters 0.02914400739909225 Centerline is valid? [True, True] Translation: X:244.26, Y:-175.01, Z:-29.81 [[ 7.47680037e-01 6.58606799e-01 8.49214169e-02 2.44257350e+02] [-6.54307515e-01 7.52487017e-01 -7.51329776e-02 -1.75005299e+02] [-1.13385354e-01 6.10706118e-04 9.93550899e-01 -2.98123417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29591999999997 meters 0.029192106396070786 Centerline is valid? [True, True] Translation: X:244.28, Y:-175.03, Z:-29.82 [[ 7.48493235e-01 6.57666459e-01 8.50453124e-02 2.44282416e+02] [-6.53339656e-01 7.53308813e-01 -7.53201621e-02 -1.75026939e+02] [-1.13600928e-01 8.13156725e-04 9.93526129e-01 -2.98160895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32592 meters 0.029145177114609334 Centerline is valid? [True, True] Translation: X:244.31, Y:-175.05, Z:-29.82 [[ 7.49824873e-01 6.56350512e-01 8.34665485e-02 2.44307323e+02] [-6.52167124e-01 7.54455370e-01 -7.39941666e-02 -1.75047351e+02] [-1.11537895e-01 1.04852770e-03 9.93759628e-01 -2.98193605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35591999999997 meters 0.02928172213472755 Centerline is valid? [True, True] Translation: X:244.33, Y:-175.07, Z:-29.82 [[ 7.50993083e-01 6.54999946e-01 8.35730813e-02 2.44332484e+02] [-6.50790129e-01 7.55627804e-01 -7.41540922e-02 -1.75067582e+02] [-1.11721070e-01 1.30067394e-03 9.93738754e-01 -2.98224928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38592 meters 0.02926405254758509 Centerline is valid? [True, True] Translation: X:244.36, Y:-175.09, Z:-29.82 [[ 7.50868908e-01 6.55149647e-01 8.35154072e-02 2.44357117e+02] [-6.50939062e-01 7.55497965e-01 -7.41698172e-02 -1.75089007e+02] [-1.11688050e-01 1.32836888e-03 9.93742429e-01 -2.98246605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41591999999997 meters 0.029320353055591775 Centerline is valid? [True, True] Translation: X:244.38, Y:-175.11, Z:-29.83 [[ 7.50921122e-01 6.55087206e-01 8.35357545e-02 2.44381518e+02] [-6.50865747e-01 7.55551988e-01 -7.42628646e-02 -1.75111145e+02] [-1.11764258e-01 1.39499232e-03 9.93733770e-01 -2.98273235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44592 meters 0.029320353055591775 Centerline is valid? [True, True] Translation: X:244.41, Y:-175.13, Z:-29.83 [[ 7.50596582e-01 6.55463783e-01 8.34985031e-02 2.44406020e+02] [-6.51239991e-01 7.55225319e-01 -7.43047295e-02 -1.75132452e+02] [-1.11764243e-01 1.39531161e-03 9.93733771e-01 -2.98302456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47592 meters 0.029214415381283634 Centerline is valid? [True, True] Translation: X:244.43, Y:-175.16, Z:-29.83 [[ 7.49238340e-01 6.56849916e-01 8.47944414e-02 2.44428390e+02] [-6.52493844e-01 7.54020285e-01 -7.55327315e-02 -1.75155633e+02] [-1.13550397e-01 1.26416736e-03 9.93531433e-01 -2.98323168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50591999999995 meters 0.029337839275292356 Centerline is valid? [True, True] Translation: X:244.45, Y:-175.18, Z:-29.84 [[ 7.48274735e-01 6.57847901e-01 8.55631957e-02 2.44452063e+02] [-6.53410679e-01 7.53149890e-01 -7.62871354e-02 -1.75178301e+02] [-1.14627243e-01 1.17583016e-03 9.93407878e-01 -2.98369980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53592 meters 0.029394156439388183 Centerline is valid? [True, True] Translation: X:244.48, Y:-175.20, Z:-29.84 [[ 7.47495155e-01 6.58826734e-01 8.48429621e-02 2.44475152e+02] [-6.54461976e-01 7.52293947e-01 -7.57188163e-02 -1.75200567e+02] [-1.13712427e-01 1.07295567e-03 9.93513127e-01 -2.98397352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56591999999995 meters 0.02920041239650822 Centerline is valid? [True, True] Translation: X:244.50, Y:-175.22, Z:-29.84 [[ 7.46565940e-01 6.59829440e-01 8.52314949e-02 2.44498287e+02] [-6.55422986e-01 7.51414769e-01 -7.61351102e-02 -1.75224033e+02] [-1.14280391e-01 9.77199251e-04 9.93448055e-01 -2.98430607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59592 meters 0.029108037681003618 Centerline is valid? [True, True] Translation: X:244.52, Y:-175.25, Z:-29.85 [[ 7.46692577e-01 6.59646749e-01 8.55357415e-02 2.44523391e+02] [-6.55198529e-01 7.51575031e-01 -7.64843770e-02 -1.75245127e+02] [-1.14739198e-01 1.06742450e-03 9.93395076e-01 -2.98457691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62591999999995 meters 0.02921745964098398 Centerline is valid? [True, True] Translation: X:244.55, Y:-175.27, Z:-29.85 [[ 7.45979192e-01 6.60497268e-01 8.51962731e-02 2.44548085e+02] [-6.56081082e-01 7.50827795e-01 -7.62577017e-02 -1.75267195e+02] [-1.14335733e-01 9.90995644e-04 9.93441673e-01 -2.98488822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65592 meters 0.02903278972056509 Centerline is valid? [True, True] Translation: X:244.57, Y:-175.29, Z:-29.85 [[ 7.45433645e-01 6.61235544e-01 8.42391642e-02 2.44571248e+02] [-6.56914592e-01 7.50177780e-01 -7.54752748e-02 -1.75289907e+02] [-1.13101284e-01 9.23872983e-04 9.93583034e-01 -2.98523737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68591999999995 meters 0.029141257629087935 Centerline is valid? [True, True] Translation: X:244.59, Y:-175.31, Z:-29.85 [[ 7.44765280e-01 6.62021599e-01 8.39766592e-02 2.44594863e+02] [-6.57724806e-01 7.49484271e-01 -7.53087401e-02 -1.75312755e+02] [-1.12795198e-01 8.53803044e-04 9.93617892e-01 -2.98548713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71592 meters 0.029022894175354388 Centerline is valid? [True, True] Translation: X:244.62, Y:-175.33, Z:-29.86 [[ 7.44942936e-01 6.61982106e-01 8.27025585e-02 2.44618318e+02] [-6.57806760e-01 7.49519098e-01 -7.42387271e-02 -1.75334947e+02] [-1.11131856e-01 9.01313300e-04 9.93805262e-01 -2.98569899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74591999999996 meters 0.02907014031134307 Centerline is valid? [True, True] Translation: X:244.64, Y:-175.36, Z:-29.86 [[ 7.45045221e-01 6.61771496e-01 8.34632024e-02 2.44642729e+02] [-6.57509864e-01 7.49704944e-01 -7.49884994e-02 -1.75356419e+02] [-1.12198027e-01 9.91944259e-04 9.93685372e-01 -2.98597529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.77592 meters 0.02902694353521022 Centerline is valid? [True, True] Translation: X:244.67, Y:-175.38, Z:-29.86 [[ 7.45229948e-01 6.61478091e-01 8.41371464e-02 2.44665792e+02] [-6.57137559e-01 7.49963689e-01 -7.56617129e-02 -1.75378159e+02] [-1.13148370e-01 1.09569538e-03 9.93577499e-01 -2.98634264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80591999999996 meters 0.029031769832838807 Centerline is valid? [True, True] Translation: X:244.69, Y:-175.40, Z:-29.87 [[ 7.45118801e-01 6.61693263e-01 8.34266069e-02 2.44688738e+02] [-6.57419805e-01 7.49773837e-01 -7.50892341e-02 -1.75401279e+02] [-1.12237127e-01 1.10409644e-03 9.93680838e-01 -2.98661462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.83592 meters 0.029096413792183994 Centerline is valid? [True, True] Translation: X:244.71, Y:-175.42, Z:-29.87 [[ 7.46415669e-01 6.60501439e-01 8.12496039e-02 2.44711460e+02] [-6.56434741e-01 7.50823658e-01 -7.31933469e-02 -1.75424703e+02] [-1.09348436e-01 1.29759839e-03 9.94002634e-01 -2.98688278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86591999999996 meters 0.02916349306744205 Centerline is valid? [True, True] Translation: X:244.74, Y:-175.45, Z:-29.87 [[ 7.46784607e-01 6.60026470e-01 8.17178666e-02 2.44735049e+02] [-6.55902522e-01 7.51240993e-01 -7.36807410e-02 -1.75446607e+02] [-1.10021051e-01 1.42468848e-03 9.93928236e-01 -2.98723849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89592 meters 0.02911819883510544 Centerline is valid? [True, True] Translation: X:244.76, Y:-175.47, Z:-29.88 [[ 7.46495200e-01 6.60308780e-01 8.20806423e-02 2.44758830e+02] [-6.56142204e-01 7.50992837e-01 -7.40754199e-02 -1.75469535e+02] [-1.10554625e-01 1.44037182e-03 9.93869006e-01 -2.98751272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92591999999996 meters 0.02928479678190985 Centerline is valid? [True, True] Translation: X:244.78, Y:-175.50, Z:-29.88 [[ 7.47627119e-01 6.59015736e-01 8.21702525e-02 2.44779214e+02] [-6.54824039e-01 7.52127254e-01 -7.42298502e-02 -1.75495308e+02] [-1.10721126e-01 1.68919242e-03 9.93850079e-01 -2.98777960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95592 meters 0.02959539901906476 Centerline is valid? [True, True] Translation: X:244.80, Y:-175.52, Z:-29.88 [[ 7.48946917e-01 6.57391904e-01 8.31528724e-02 2.44801133e+02] [-6.53081490e-01 7.53546197e-01 -7.51844142e-02 -1.75518374e+02] [-1.12085156e-01 2.00353336e-03 9.93696585e-01 -2.98810405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98591999999996 meters 0.03023057124876354 Centerline is valid? [True, True] Translation: X:244.82, Y:-175.54, Z:-29.88 [[ 7.51838243e-01 6.53966004e-01 8.40697419e-02 2.44823089e+02] [-6.49530667e-01 7.56519488e-01 -7.60800671e-02 -1.75541399e+02] [-1.13354176e-01 2.59402847e-03 9.93551258e-01 -2.98846985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01592 meters 0.030458008488377833 Centerline is valid? [True, True] Translation: X:244.85, Y:-175.56, Z:-29.89 [[ 7.52631470e-01 6.52988104e-01 8.45719019e-02 2.44845530e+02] [-6.48485886e-01 7.57362962e-01 -7.65989552e-02 -1.75563589e+02] [-1.14069833e-01 2.80709948e-03 9.93468768e-01 -2.98880968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04591999999997 meters 0.030702145716662393 Centerline is valid? [True, True] Translation: X:244.87, Y:-175.59, Z:-29.89 [[ 7.53895047e-01 6.51608699e-01 8.39545223e-02 2.44867549e+02] [-6.47156639e-01 7.58549180e-01 -7.61014250e-02 -1.75586662e+02] [-1.13271985e-01 3.04076096e-03 9.93559365e-01 -2.98917739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07592 meters 0.031012890906950707 Centerline is valid? [True, True] Translation: X:244.89, Y:-175.61, Z:-29.89 [[ 7.55235508e-01 6.49782635e-01 8.60340361e-02 2.44887408e+02] [-6.45087947e-01 7.60112281e-01 -7.80439649e-02 -1.75612464e+02] [-1.16107141e-01 3.44205372e-03 9.93230731e-01 -2.98943011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10591999999997 meters 0.03115807797311707 Centerline is valid? [True, True] Translation: X:244.91, Y:-175.64, Z:-29.90 [[ 7.55210276e-01 6.49854704e-01 8.57105734e-02 2.44911116e+02] [-6.45192137e-01 7.60050666e-01 -7.77823330e-02 -1.75635989e+02] [-1.15691593e-01 3.44222910e-03 9.93279219e-01 -2.98959923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13592 meters 0.03113885368673433 Centerline is valid? [True, True] Translation: X:244.93, Y:-175.66, Z:-29.90 [[ 7.55410882e-01 6.49678644e-01 8.52763735e-02 2.44934473e+02] [-6.45053492e-01 7.60200859e-01 -7.74638455e-02 -1.75658815e+02] [-1.15153778e-01 3.50920934e-03 9.93341478e-01 -2.98992050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16591999999997 meters 0.030849408366832577 Centerline is valid? [True, True] Translation: X:244.95, Y:-175.68, Z:-29.90 [[ 7.54928093e-01 6.50296778e-01 8.48391118e-02 2.44954029e+02] [-6.45714581e-01 7.59672415e-01 -7.71394962e-02 -1.75684217e+02] [-1.14613499e-01 3.45292120e-03 9.93404159e-01 -2.99027606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19592 meters 0.030936331229432585 Centerline is valid? [True, True] Translation: X:244.98, Y:-175.71, Z:-29.91 [[ 7.54039137e-01 6.51148008e-01 8.62047071e-02 2.44976001e+02] [-6.46414161e-01 7.58943022e-01 -7.84488502e-02 -1.75708061e+02] [-1.16506273e-01 3.42955991e-03 9.93184035e-01 -2.99057415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22592 meters 0.030839459343148034 Centerline is valid? [True, True] Translation: X:245.00, Y:-175.73, Z:-29.91 [[ 7.53060389e-01 6.52086009e-01 8.76577876e-02 2.44997119e+02] [-6.47188646e-01 7.58137401e-01 -7.98407033e-02 -1.75732444e+02] [-1.18519653e-01 3.39374623e-03 9.92945907e-01 -2.99089566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25591999999995 meters 0.030893667918946335 Centerline is valid? [True, True] Translation: X:245.02, Y:-175.75, Z:-29.91 [[ 7.52698830e-01 6.52430516e-01 8.81980331e-02 2.45020127e+02] [-6.47466399e-01 7.57840861e-01 -8.04020559e-02 -1.75754852e+02] [-1.19296828e-01 3.41327053e-03 9.92852767e-01 -2.99113409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28592 meters 0.030867219979419425 Centerline is valid? [True, True] Translation: X:245.04, Y:-175.78, Z:-29.91 [[ 7.51821359e-01 6.53424740e-01 8.83218772e-02 2.45042680e+02] [-6.48445139e-01 7.56984237e-01 -8.05839138e-02 -1.75777102e+02] [-1.19513792e-01 3.31281569e-03 9.92827014e-01 -2.99147095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31591999999995 meters 0.030479822448345587 Centerline is valid? [True, True] Translation: X:245.07, Y:-175.80, Z:-29.92 [[ 7.51236644e-01 6.54133998e-01 8.80466783e-02 2.45065529e+02] [-6.49182129e-01 7.56371735e-01 -8.04012510e-02 -1.75799876e+02] [-1.19189211e-01 3.24203592e-03 9.92866266e-01 -2.99179792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34592 meters 0.02997966749754858 Centerline is valid? [True, True] Translation: X:245.09, Y:-175.82, Z:-29.92 [[ 7.50271827e-01 6.55468321e-01 8.63334546e-02 2.45086658e+02] [-6.50708938e-01 7.55216627e-01 -7.89032588e-02 -1.75824465e+02] [-1.16919047e-01 3.02094156e-03 9.93136854e-01 -2.99205194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37591999999995 meters 0.029854893465578566 Centerline is valid? [True, True] Translation: X:245.11, Y:-175.85, Z:-29.92 [[ 7.50233884e-01 6.55604142e-01 8.56290117e-02 2.45109100e+02] [-6.50915412e-01 7.55098703e-01 -7.83267182e-02 -1.75847765e+02] [-1.16009677e-01 3.02611459e-03 9.93243473e-01 -2.99233587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40592 meters 0.03014043781473413 Centerline is valid? [True, True] Translation: X:245.13, Y:-175.87, Z:-29.93 [[ 7.50579723e-01 6.55151044e-01 8.60650279e-02 2.45128764e+02] [-6.50403225e-01 7.55491294e-01 -7.87943486e-02 -1.75873834e+02] [-1.16643579e-01 3.16446868e-03 9.93168798e-01 -2.99262719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43591999999995 meters 0.030207193864073664 Centerline is valid? [True, True] Translation: X:245.15, Y:-175.90, Z:-29.93 [[ 7.51051389e-01 6.54779233e-01 8.47700874e-02 2.45151087e+02] [-6.50164463e-01 7.55813335e-01 -7.76683533e-02 -1.75897799e+02] [-1.14925987e-01 3.21842627e-03 9.93368843e-01 -2.99281039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46592 meters 0.030338057100925075 Centerline is valid? [True, True] Translation: X:245.17, Y:-175.92, Z:-29.93 [[ 7.51126825e-01 6.54704097e-01 8.46819885e-02 2.45173954e+02] [-6.50093257e-01 7.55878239e-01 -7.76327581e-02 -1.75921557e+02] [-1.14835757e-01 3.26085738e-03 9.93379140e-01 -2.99312759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49591999999996 meters 0.030086365076427223 Centerline is valid? [True, True] Translation: X:245.19, Y:-175.95, Z:-29.94 [[ 7.49589542e-01 6.56539428e-01 8.40922007e-02 2.45192761e+02] [-6.51995839e-01 7.54285683e-01 -7.71656328e-02 -1.75947926e+02] [-1.14091823e-01 3.01478642e-03 9.93465635e-01 -2.99350176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52592 meters 0.03011011390414128 Centerline is valid? [True, True] Translation: X:245.21, Y:-175.97, Z:-29.94 [[ 7.48987378e-01 6.57196448e-01 8.43251858e-02 2.45214974e+02] [-6.52623716e-01 7.53713457e-01 -7.74487589e-02 -1.75972515e+02] [-1.14456077e-01 2.97552672e-03 9.93423854e-01 -2.99377801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55591999999996 meters 0.030093321082371918 Centerline is valid? [True, True] Translation: X:245.24, Y:-176.00, Z:-29.94 [[ 7.47978292e-01 6.58399068e-01 8.38995949e-02 2.45236971e+02] [-6.53871511e-01 7.52663694e-01 -7.71324230e-02 -1.75995994e+02] [-1.13932094e-01 2.83382310e-03 9.93484498e-01 -2.99406631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58592 meters 0.02977684127869048 Centerline is valid? [True, True] Translation: X:245.26, Y:-176.02, Z:-29.94 [[ 7.46417611e-01 6.60275889e-01 8.30451739e-02 2.45257246e+02] [-6.55845432e-01 7.51018757e-01 -7.64041647e-02 -1.76021884e+02] [-1.12816311e-01 2.56461613e-03 9.93612552e-01 -2.99437577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61591999999996 meters 0.029454563660625963 Centerline is valid? [True, True] Translation: X:245.28, Y:-176.05, Z:-29.95 [[ 7.45105106e-01 6.61819559e-01 8.25424324e-02 2.45277845e+02] [-6.57449494e-01 7.49659536e-01 -7.59654012e-02 -1.76047375e+02] [-1.12154110e-01 2.33472787e-03 9.93688082e-01 -2.99455876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64592 meters 0.029497380632844034 Centerline is valid? [True, True] Translation: X:245.30, Y:-176.07, Z:-29.95 [[ 7.44068470e-01 6.62966092e-01 8.26926412e-02 2.45299708e+02] [-6.58583175e-01 7.48646215e-01 -7.61383378e-02 -1.76072576e+02] [-1.12384669e-01 2.19215433e-03 9.93662357e-01 -2.99490817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67591999999996 meters 0.029494224574481278 Centerline is valid? [True, True] Translation: X:245.32, Y:-176.10, Z:-29.95 [[ 7.40931377e-01 6.66257995e-01 8.43858939e-02 2.45322058e+02] [-6.61705006e-01 7.45719171e-01 -7.77779068e-02 -1.76097524e+02] [-1.14748331e-01 1.78952314e-03 9.93392983e-01 -2.99512726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70592 meters 0.02922146598178032 Centerline is valid? [True, True] Translation: X:245.35, Y:-176.12, Z:-29.95 [[ 7.39695331e-01 6.67727065e-01 8.36144965e-02 2.45345798e+02] [-6.63258905e-01 7.44404470e-01 -7.71337110e-02 -1.76119806e+02] [-1.13747271e-01 1.59738649e-03 9.93508433e-01 -2.99540521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73591999999996 meters 0.029132430954052452 Centerline is valid? [True, True] Translation: X:245.37, Y:-176.14, Z:-29.96 [[ 7.36779258e-01 6.70946747e-01 8.35870051e-02 2.45366619e+02] [-6.66498197e-01 7.41504682e-01 -7.71424664e-02 -1.76144124e+02] [-1.13738643e-01 1.12638099e-03 9.93510067e-01 -2.99578284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76592 meters 0.029084061361224087 Centerline is valid? [True, True] Translation: X:245.39, Y:-176.17, Z:-29.96 [[ 7.35150132e-01 6.72748047e-01 8.34526777e-02 2.45389630e+02] [-6.68317436e-01 7.39871109e-01 -7.70879138e-02 -1.76167093e+02] [-1.13604969e-01 8.98310391e-04 9.93525593e-01 -2.99609242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79591999999997 meters 0.028983045492547387 Centerline is valid? [True, True] Translation: X:245.41, Y:-176.19, Z:-29.96 [[ 7.34836601e-01 6.73079537e-01 8.35410458e-02 2.45413371e+02] [-6.68633364e-01 7.39569553e-01 -7.72418372e-02 -1.76189314e+02] [-1.13774314e-01 9.01798683e-04 9.93506212e-01 -2.99635420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82592 meters 0.029371921002674987 Centerline is valid? [True, True] Translation: X:245.44, Y:-176.21, Z:-29.97 [[ 7.35552065e-01 6.72032243e-01 8.56494290e-02 2.45436521e+02] [-6.67341499e-01 7.40520993e-01 -7.92715792e-02 -1.76210939e+02] [-1.16698257e-01 1.15095540e-03 9.93166749e-01 -2.99662433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85591999999997 meters 0.029552203793050427 Centerline is valid? [True, True] Translation: X:245.46, Y:-176.23, Z:-29.97 [[ 7.36767618e-01 6.70780651e-01 8.50105615e-02 2.45460600e+02] [-6.66143446e-01 7.41654490e-01 -7.87497739e-02 -1.76233604e+02] [-1.15872289e-01 1.39105493e-03 9.93263146e-01 -2.99690117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88592 meters 0.029635357416809217 Centerline is valid? [True, True] Translation: X:245.48, Y:-176.26, Z:-29.97 [[ 7.38083336e-01 6.69487843e-01 8.37795786e-02 2.45484283e+02] [-6.64966937e-01 7.42821224e-01 -7.76891387e-02 -1.76256309e+02] [-1.14245183e-01 1.63040892e-03 9.93451247e-01 -2.99717612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91591999999997 meters 0.029806128354194054 Centerline is valid? [True, True] Translation: X:245.51, Y:-176.28, Z:-29.97 [[ 7.39170585e-01 6.68412493e-01 8.27743052e-02 2.45508088e+02] [-6.63984140e-01 7.43788529e-01 -7.68354404e-02 -1.76278806e+02] [-1.12924347e-01 1.83367153e-03 9.93601897e-01 -2.99745121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94592 meters 0.029795600241901646 Centerline is valid? [True, True] Translation: X:245.53, Y:-176.30, Z:-29.98 [[ 7.40438531e-01 6.67048945e-01 8.24408064e-02 2.45529874e+02] [-6.62639224e-01 7.45010962e-01 -7.66023840e-02 -1.76302722e+02] [-1.12516844e-01 2.09084463e-03 9.93647618e-01 -2.99772561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97592 meters 0.029980590812807788 Centerline is valid? [True, True] Translation: X:245.55, Y:-176.33, Z:-29.98 [[ 7.41140919e-01 6.66128531e-01 8.35638551e-02 2.45552261e+02] [-6.61583563e-01 7.45833377e-01 -7.77159120e-02 -1.76325709e+02] [-1.14093499e-01 2.31396939e-03 9.93467322e-01 -2.99808980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00591999999995 meters 0.030283447531842714 Centerline is valid? [True, True] Translation: X:245.57, Y:-176.35, Z:-29.98 [[ 7.41210614e-01 6.66051700e-01 8.35581174e-02 2.45574967e+02] [-6.61498723e-01 7.45901786e-01 -7.77815247e-02 -1.76349518e+02] [-1.14132666e-01 2.37890375e-03 9.93462669e-01 -2.99834504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03592 meters 0.029913506748356425 Centerline is valid? [True, True] Translation: X:245.60, Y:-176.37, Z:-29.99 [[ 7.41345197e-01 6.66079101e-01 8.21336120e-02 2.45595568e+02] [-6.61672298e-01 7.45877282e-01 -7.65300549e-02 -1.76374049e+02] [-1.12236665e-01 2.38965277e-03 9.93678630e-01 -2.99852836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06591999999995 meters 0.029875625236417017 Centerline is valid? [True, True] Translation: X:245.62, Y:-176.40, Z:-29.99 [[ 7.40723286e-01 6.66735022e-01 8.24222340e-02 2.45618206e+02] [-6.62293134e-01 7.45291139e-01 -7.68695181e-02 -1.76398417e+02] [-1.12680160e-01 2.35136236e-03 9.93628528e-01 -2.99888538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09592 meters 0.030262725736690605 Centerline is valid? [True, True] Translation: X:245.64, Y:-176.43, Z:-29.99 [[ 7.42090604e-01 6.65201588e-01 8.25129239e-02 2.45637151e+02] [-6.60731702e-01 7.46659127e-01 -7.70309476e-02 -1.76425117e+02] [-1.12850136e-01 2.64503784e-03 9.93608500e-01 -2.99927581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12591999999995 meters 0.03030712891343281 Centerline is valid? [True, True] Translation: X:245.66, Y:-176.45, Z:-30.00 [[ 7.42623942e-01 6.64628398e-01 8.23333035e-02 2.45658728e+02] [-6.60166821e-01 7.47168910e-01 -7.69310605e-02 -1.76448540e+02] [-1.12647452e-01 2.77713223e-03 9.93631138e-01 -2.99954128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15592 meters 0.030450447181929918 Centerline is valid? [True, True] Translation: X:245.68, Y:-176.47, Z:-30.00 [[ 7.43618798e-01 6.63642642e-01 8.12989948e-02 2.45681012e+02] [-6.59279302e-01 7.48043980e-01 -7.60329351e-02 -1.76472243e+02] [-1.11273922e-01 2.94077534e-03 9.93785423e-01 -2.99978494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18591999999995 meters 0.030645956058802958 Centerline is valid? [True, True] Translation: X:245.70, Y:-176.50, Z:-30.00 [[ 7.44098438e-01 6.63094886e-01 8.13798940e-02 2.45702625e+02] [-6.58711150e-01 7.48529006e-01 -7.61836504e-02 -1.76496120e+02] [-1.11432200e-01 3.08229173e-03 9.93767259e-01 -3.00006540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21592 meters 0.03067365864690814 Centerline is valid? [True, True] Translation: X:245.72, Y:-176.52, Z:-30.00 [[ 7.43224538e-01 6.63985776e-01 8.20985661e-02 2.45720578e+02] [-6.59521491e-01 7.47739073e-01 -7.69264772e-02 -1.76524980e+02] [-1.12466392e-01 3.02787677e-03 9.93650916e-01 -3.00023491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24591999999996 meters 0.030302399216725454 Centerline is valid? [True, True] Translation: X:245.74, Y:-176.55, Z:-30.00 [[ 7.41624983e-01 6.65903752e-01 8.10220811e-02 2.45741345e+02] [-6.61559316e-01 7.46032571e-01 -7.59912729e-02 -1.76549368e+02] [-1.11047985e-01 2.75611391e-03 9.93811224e-01 -3.00049283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.27592 meters 0.029746081659766086 Centerline is valid? [True, True] Translation: X:245.76, Y:-176.57, Z:-30.01 [[ 7.37335569e-01 6.70491444e-01 8.23254717e-02 2.45760394e+02] [-6.66027121e-01 7.41914159e-01 -7.72738939e-02 -1.76574982e+02] [-1.12889918e-01 2.14579358e-03 9.93605184e-01 -3.00101958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30591999999996 meters 0.029550353264463057 Centerline is valid? [True, True] Translation: X:245.78, Y:-176.60, Z:-30.01 [[ 7.34117072e-01 6.74003632e-01 8.24089131e-02 2.45781294e+02] [-6.69548303e-01 7.38726225e-01 -7.73862712e-02 -1.76599397e+02] [-1.13036253e-01 1.63383493e-03 9.93589521e-01 -3.00136899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.33592 meters 0.029599649158448656 Centerline is valid? [True, True] Translation: X:245.80, Y:-176.62, Z:-30.02 [[ 7.31298572e-01 6.76976953e-01 8.30939454e-02 2.45802553e+02] [-6.72457857e-01 7.36003174e-01 -7.81009503e-02 -1.76623398e+02] [-1.14029951e-01 1.23793695e-03 9.93476541e-01 -3.00170661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36591999999996 meters 0.029599649158448656 Centerline is valid? [True, True] Translation: X:245.83, Y:-176.65, Z:-30.02 [[ 7.30946146e-01 6.77361964e-01 8.30572214e-02 2.45826379e+02] [-6.72840910e-01 7.35648865e-01 -7.81399893e-02 -1.76645327e+02] [-1.14030007e-01 1.23182755e-03 9.93476542e-01 -3.00199881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39592 meters 0.029665342421195187 Centerline is valid? [True, True] Translation: X:245.85, Y:-176.67, Z:-30.02 [[ 7.25265352e-01 6.83224452e-01 8.48204999e-02 2.45848465e+02] [-6.78538362e-01 7.30208327e-01 -7.98842302e-02 -1.76670334e+02] [-1.16515495e-01 3.83301238e-04 9.93188800e-01 -3.00219088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42591999999996 meters 0.029542575824300546 Centerline is valid? [True, True] Translation: X:245.87, Y:-176.69, Z:-30.02 [[ 7.23118150e-01 6.85642722e-01 8.36313318e-02 2.45871919e+02] [-6.81094331e-01 7.27938222e-01 -7.88445099e-02 -1.76692418e+02] [-1.14937607e-01 5.30701337e-05 9.93372711e-01 -3.00241071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45592 meters 0.02969616049502824 Centerline is valid? [True, True] Translation: X:245.90, Y:-176.72, Z:-30.03 [[ 7.20785609e-01 6.88069450e-01 8.38363722e-02 2.45895884e+02] [-6.83506140e-01 7.25644785e-01 -7.91138629e-02 -1.76715026e+02] [-1.15271258e-01 -2.78541262e-04 9.93334012e-01 -3.00277263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48591999999996 meters 0.02998426969795761 Centerline is valid? [True, True] Translation: X:245.92, Y:-176.74, Z:-30.03 [[ 7.20263538e-01 6.88671598e-01 8.33778518e-02 2.45919927e+02] [-6.84152545e-01 7.25073329e-01 -7.87652352e-02 -1.76737604e+02] [-1.14698437e-01 -3.11442541e-04 9.93400308e-01 -3.00314799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51592 meters 0.030062369955292566 Centerline is valid? [True, True] Translation: X:245.94, Y:-176.76, Z:-30.04 [[ 7.20362827e-01 6.88471111e-01 8.41720023e-02 2.45943500e+02] [-6.83854115e-01 7.25263731e-01 -7.95994341e-02 -1.76758580e+02] [-1.15848811e-01 -2.20896681e-04 9.93266834e-01 -3.00350606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54591999999997 meters 0.030232090642024114 Centerline is valid? [True, True] Translation: X:245.97, Y:-176.78, Z:-30.04 [[ 7.20079012e-01 6.88612695e-01 8.54328540e-02 2.45967289e+02] [-6.83847912e-01 7.25129312e-01 -8.08672645e-02 -1.76779319e+02] [-1.17636092e-01 -1.92258923e-04 9.93056752e-01 -3.00380734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57592 meters 0.03019412213834437 Centerline is valid? [True, True] Translation: X:245.99, Y:-176.80, Z:-30.04 [[ 7.22137994e-01 6.86498766e-01 8.50656326e-02 2.45993024e+02] [-6.81751614e-01 7.27130939e-01 -8.05936432e-02 -1.76800607e+02] [-1.17181290e-01 2.06099500e-04 9.93110519e-01 -3.00405665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60591999999997 meters 0.030148417661221175 Centerline is valid? [True, True] Translation: X:246.02, Y:-176.82, Z:-30.04 [[ 7.22440594e-01 6.86200674e-01 8.49012566e-02 2.46017314e+02] [-6.81459650e-01 7.27412218e-01 -8.05245977e-02 -1.76822519e+02] [-1.17014245e-01 3.17457627e-04 9.93130186e-01 -3.00439203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63592 meters 0.030236317786852585 Centerline is valid? [True, True] Translation: X:246.04, Y:-176.84, Z:-30.05 [[ 7.24543353e-01 6.84052657e-01 8.43142463e-02 2.46042529e+02] [-6.79352711e-01 7.29432273e-01 -8.00528150e-02 -1.76843853e+02] [-1.16261873e-01 7.22623234e-04 9.93218332e-01 -3.00477115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66591999999997 meters 0.030349142807475766 Centerline is valid? [True, True] Translation: X:246.07, Y:-176.86, Z:-30.05 [[ 7.25632290e-01 6.82865581e-01 8.45717408e-02 2.46066930e+02] [-6.78119023e-01 7.30543390e-01 -8.03800072e-02 -1.76864859e+02] [-1.16672067e-01 9.76622377e-04 9.93170013e-01 -3.00513810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69592 meters 0.030288816550242226 Centerline is valid? [True, True] Translation: X:246.09, Y:-176.89, Z:-30.05 [[ 7.26639272e-01 6.81835054e-01 8.42397073e-02 2.46091277e+02] [-6.77110036e-01 7.31504979e-01 -8.01402831e-02 -1.76886989e+02] [-1.16264220e-01 1.19352575e-03 9.93217603e-01 -3.00530992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72592 meters 0.030533530008545754 Centerline is valid? [True, True] Translation: X:246.11, Y:-176.91, Z:-30.06 [[ 7.27338256e-01 6.81034022e-01 8.46860238e-02 2.46114578e+02] [-6.76243524e-01 7.32250456e-01 -8.06471706e-02 -1.76909278e+02] [-1.16934846e-01 1.38939725e-03 9.93138616e-01 -3.00565468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75591999999995 meters 0.03073072232484003 Centerline is valid? [True, True] Translation: X:246.14, Y:-176.93, Z:-30.06 [[ 7.29274503e-01 6.78850866e-01 8.55581755e-02 2.46137337e+02] [-6.73936939e-01 7.34273937e-01 -8.15523660e-02 -1.76931883e+02] [-1.18185033e-01 1.81324625e-03 9.92989935e-01 -3.00601165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78592 meters 0.030794176817105896 Centerline is valid? [True, True] Translation: X:246.16, Y:-176.95, Z:-30.06 [[ 7.29791653e-01 6.78318195e-01 8.53731188e-02 2.46161125e+02] [-6.73412892e-01 7.34765689e-01 -8.14521914e-02 -1.76954514e+02] [-1.17979742e-01 1.95177060e-03 9.93014084e-01 -3.00637324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81591999999995 meters 0.030972882039071992 Centerline is valid? [True, True] Translation: X:246.18, Y:-176.98, Z:-30.07 [[ 7.31342504e-01 6.76692731e-01 8.50005260e-02 2.46182930e+02] [-6.71809932e-01 7.36262062e-01 -8.11762968e-02 -1.76977306e+02] [-1.17514073e-01 2.26347861e-03 9.93068638e-01 -3.00669636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84592 meters 0.031029056964726996 Centerline is valid? [True, True] Translation: X:246.20, Y:-177.00, Z:-30.07 [[ 7.32059784e-01 6.76079420e-01 8.36964219e-02 2.46204550e+02] [-6.71334043e-01 7.36824930e-01 -7.99976589e-02 -1.77000553e+02] [-1.15754381e-01 2.37481159e-03 9.93275029e-01 -3.00693974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87591999999995 meters 0.03128366654485277 Centerline is valid? [True, True] Translation: X:246.23, Y:-177.02, Z:-30.07 [[ 7.32408033e-01 6.75561791e-01 8.48218045e-02 2.46225700e+02] [-6.70675516e-01 7.37298987e-01 -8.11452744e-02 -1.77024004e+02] [-1.17357677e-01 2.54354335e-03 9.93086454e-01 -3.00726654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90592 meters 0.03139729427723045 Centerline is valid? [True, True] Translation: X:246.24, Y:-177.05, Z:-30.08 [[ 7.33351712e-01 6.74377321e-01 8.60842411e-02 2.46243306e+02] [-6.69328344e-01 7.38381522e-01 -8.24153800e-02 -1.77051298e+02] [-1.19142076e-01 2.82083745e-03 9.92873209e-01 -3.00760312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93591999999995 meters 0.0312929245610303 Centerline is valid? [True, True] Translation: X:246.26, Y:-177.08, Z:-30.08 [[ 7.33106897e-01 6.74878231e-01 8.42238116e-02 2.46264121e+02] [-6.70043692e-01 7.37924120e-01 -8.06811314e-02 -1.77075525e+02] [-1.16600721e-01 2.71426031e-03 9.93175163e-01 -3.00782377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96592 meters 0.03108152686389496 Centerline is valid? [True, True] Translation: X:246.28, Y:-177.10, Z:-30.08 [[ 7.32060988e-01 6.76017653e-01 8.41833898e-02 2.46283178e+02] [-6.71186817e-01 7.36880893e-01 -8.07143464e-02 -1.77102272e+02] [-1.16597454e-01 2.58504266e-03 9.93175891e-01 -3.00814975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99591999999996 meters 0.03092058774101353 Centerline is valid? [True, True] Translation: X:246.30, Y:-177.13, Z:-30.08 [[ 7.30429319e-01 6.77790486e-01 8.41015305e-02 2.46303627e+02] [-6.72972321e-01 7.35251331e-01 -8.07077201e-02 -1.77126944e+02] [-1.16538687e-01 2.35328288e-03 9.93183365e-01 -3.00840136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02592 meters 0.030901035318513313 Centerline is valid? [True, True] Translation: X:246.32, Y:-177.15, Z:-30.09 [[ 7.29449409e-01 6.78833864e-01 8.41911203e-02 2.46324172e+02] [-6.74003516e-01 7.34288464e-01 -8.08684854e-02 -1.77152356e+02] [-1.16716835e-01 2.24435785e-03 9.93162697e-01 -3.00871274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05591999999996 meters 0.0305638971675971 Centerline is valid? [True, True] Translation: X:246.34, Y:-177.18, Z:-30.09 [[ 7.25656720e-01 6.82846527e-01 8.45159439e-02 2.46342305e+02] [-6.77996032e-01 7.30559951e-01 -8.12621611e-02 -1.77179940e+02] [-1.17233548e-01 1.66695868e-03 9.93102974e-01 -3.00885990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08592 meters 0.03044645053842831 Centerline is valid? [True, True] Translation: X:246.36, Y:-177.20, Z:-30.09 [[ 7.23346733e-01 6.85165648e-01 8.55426149e-02 2.46364205e+02] [-6.80202900e-01 7.28386005e-01 -8.23276536e-02 -1.77204461e+02] [-1.18716124e-01 1.36510453e-03 9.92927298e-01 -3.00914529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11591999999996 meters 0.030161031004265385 Centerline is valid? [True, True] Translation: X:246.38, Y:-177.23, Z:-30.09 [[ 7.20711725e-01 6.88027656e-01 8.48089300e-02 2.46384636e+02] [-6.83161011e-01 7.25683858e-01 -8.16943808e-02 -1.77230175e+02] [-1.17752465e-01 9.39943772e-04 9.93042534e-01 -3.00936363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14592 meters 0.030016744911801042 Centerline is valid? [True, True] Translation: X:246.41, Y:-177.25, Z:-30.10 [[ 7.19081794e-01 6.90015432e-01 8.24625750e-02 2.46406351e+02] [-6.85423569e-01 7.23794384e-01 -7.94746560e-02 -1.77254123e+02] [-1.14524688e-01 6.26985721e-04 9.93420205e-01 -3.00955963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17591999999996 meters 0.030024846240104996 Centerline is valid? [True, True] Translation: X:246.43, Y:-177.28, Z:-30.10 [[ 7.17266831e-01 6.91851308e-01 8.28858313e-02 2.46429039e+02] [-6.87215152e-01 7.22039897e-01 -7.99607492e-02 -1.77278413e+02] [-1.15167826e-01 3.92794001e-04 9.93345971e-01 -3.00986301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20592 meters 0.030138308057640978 Centerline is valid? [True, True] Translation: X:246.45, Y:-177.30, Z:-30.10 [[ 7.15750818e-01 6.93393106e-01 8.31069608e-02 2.46451541e+02] [-6.88732302e-01 7.20559475e-01 -8.02611997e-02 -1.77302498e+02] [-1.15536071e-01 2.08570907e-04 9.93303263e-01 -3.01023679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23591999999996 meters 0.03005685946211898 Centerline is valid? [True, True] Translation: X:246.47, Y:-177.33, Z:-30.10 [[ 7.14395648e-01 6.94823610e-01 8.28191327e-02 2.46472294e+02] [-6.90194861e-01 7.19180192e-01 -8.00681257e-02 -1.77327760e+02] [-1.15195104e-01 3.89806703e-05 9.93342885e-01 -3.01044773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26592 meters 0.030025536822865857 Centerline is valid? [True, True] Translation: X:246.50, Y:-177.35, Z:-30.11 [[ 7.13924389e-01 6.95353735e-01 8.24326998e-02 2.46495552e+02] [-6.90762611e-01 7.18667645e-01 -7.97736271e-02 -1.77351743e+02] [-1.14712604e-01 1.09110275e-05 9.93398721e-01 -3.01069506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29591999999997 meters 0.030031635526056664 Centerline is valid? [True, True] Translation: X:246.52, Y:-177.38, Z:-30.11 [[ 7.14002219e-01 6.95336168e-01 8.19050994e-02 2.46517888e+02] [-6.90794434e-01 7.18684638e-01 -7.93438192e-02 -1.77375873e+02] [-1.14034564e-01 7.20761598e-05 9.93476780e-01 -3.01102842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32592 meters 0.029881117173527736 Centerline is valid? [True, True] Translation: X:246.54, Y:-177.40, Z:-30.11 [[ 7.12633418e-01 6.96988200e-01 7.97562519e-02 2.46537531e+02] [-6.92683680e-01 7.17082584e-01 -7.73426643e-02 -1.77402697e+02] [-1.11098744e-01 -1.28886853e-04 9.93809364e-01 -3.01125981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35591999999997 meters 0.030048716031937633 Centerline is valid? [True, True] Translation: X:246.56, Y:-177.43, Z:-30.12 [[ 7.11072953e-01 6.98616075e-01 7.94407668e-02 2.46559947e+02] [-6.94346919e-01 7.15496663e-01 -7.71160261e-02 -1.77426592e+02] [-1.10714099e-01 -3.24331270e-04 9.93852244e-01 -3.01150307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38592 meters 0.029970437813207764 Centerline is valid? [True, True] Translation: X:246.58, Y:-177.45, Z:-30.12 [[ 7.08121484e-01 7.01737374e-01 7.82855124e-02 2.46583479e+02] [-6.97601897e-01 7.12435336e-01 -7.60755246e-02 -1.77449303e+02] [-1.09158404e-01 -7.41408582e-04 9.94024091e-01 -3.01172433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41591999999997 meters 0.030233195052154393 Centerline is valid? [True, True] Translation: X:246.61, Y:-177.47, Z:-30.12 [[ 7.06046537e-01 7.03817173e-01 7.83560748e-02 2.46606247e+02] [-6.99678059e-01 7.10380444e-01 -7.62249160e-02 -1.77472235e+02] [-1.09311028e-01 -1.00568834e-03 9.94007086e-01 -3.01206363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44592 meters 0.030239462208568053 Centerline is valid? [True, True] Translation: X:246.63, Y:-177.50, Z:-30.12 [[ 7.04787939e-01 7.05234310e-01 7.69319769e-02 2.46628966e+02] [-7.01245088e-01 7.08973375e-01 -7.49138187e-02 -1.77496326e+02] [-1.07374519e-01 -1.14981504e-03 9.94217979e-01 -3.01232503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47592 meters 0.03060464196473196 Centerline is valid? [True, True] Translation: X:246.65, Y:-177.52, Z:-30.13 [[ 7.02654220e-01 7.07386002e-01 7.66947987e-02 2.46651425e+02] [-7.03425790e-01 7.06826027e-01 -7.47604531e-02 -1.77519889e+02] [-1.07094378e-01 -1.41835149e-03 9.94247848e-01 -3.01269108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50591999999995 meters 0.03048486120636371 Centerline is valid? [True, True] Translation: X:246.68, Y:-177.54, Z:-30.13 [[ 7.01752316e-01 7.08404857e-01 7.55396880e-02 2.46675602e+02] [-7.04561169e-01 7.05804733e-01 -7.37105090e-02 -1.77541794e+02] [-1.05533152e-01 -1.49581041e-03 9.94414660e-01 -3.01295983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53592 meters 0.030471219409341558 Centerline is valid? [True, True] Translation: X:246.70, Y:-177.56, Z:-30.13 [[ 7.02247330e-01 7.07876640e-01 7.58903816e-02 2.46700093e+02] [-7.03985672e-01 7.06334760e-01 -7.41308425e-02 -1.77562980e+02] [-1.06079506e-01 -1.36755503e-03 9.94356711e-01 -3.01334485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56591999999995 meters 0.03060493640644864 Centerline is valid? [True, True] Translation: X:246.72, Y:-177.58, Z:-30.14 [[ 7.02337877e-01 7.07742432e-01 7.63030585e-02 2.46724220e+02] [-7.03799703e-01 7.06469364e-01 -7.46124380e-02 -1.77584916e+02] [-1.06712162e-01 -1.29892862e-03 9.94289107e-01 -3.01370825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59592 meters 0.030442202679506494 Centerline is valid? [True, True] Translation: X:246.75, Y:-177.61, Z:-30.14 [[ 7.04558289e-01 7.05497762e-01 7.66193462e-02 2.46749179e+02] [-7.01500435e-01 7.08711567e-01 -7.50003600e-02 -1.77606067e+02] [-1.07213603e-01 -9.06379310e-04 9.94235597e-01 -3.01389181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62591999999995 meters 0.030215288611707466 Centerline is valid? [True, True] Translation: X:246.77, Y:-177.63, Z:-30.14 [[ 7.05667121e-01 7.04466253e-01 7.59026508e-02 2.46773893e+02] [-7.00529517e-01 7.09737151e-01 -7.43745375e-02 -1.77626975e+02] [-1.06265283e-01 -6.88381547e-04 9.94337576e-01 -3.01409733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65592 meters 0.029919203030057434 Centerline is valid? [True, True] Translation: X:246.80, Y:-177.65, Z:-30.14 [[ 7.08095243e-01 7.02004190e-01 7.61002248e-02 2.46798873e+02] [-6.98024288e-01 7.12172766e-01 -7.46461366e-02 -1.77648698e+02] [-1.06598408e-01 -2.63230940e-04 9.94302122e-01 -3.01436812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68591999999995 meters 0.030035876756172548 Centerline is valid? [True, True] Translation: X:246.82, Y:-177.67, Z:-30.15 [[ 7.09476964e-01 7.00555024e-01 7.65839130e-02 2.46822154e+02] [-6.96507036e-01 7.13598387e-01 -7.52016708e-02 -1.77671440e+02] [-1.07333065e-01 1.26188277e-05 9.94223120e-01 -3.01472674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71592 meters 0.029688201529826444 Centerline is valid? [True, True] Translation: X:246.85, Y:-177.69, Z:-30.15 [[ 7.10730495e-01 6.99414032e-01 7.53802056e-02 2.46845470e+02] [-6.95477899e-01 7.14716696e-01 -7.40981501e-02 -1.77694759e+02] [-1.05700777e-01 2.38547885e-04 9.94397953e-01 -3.01484091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74591999999996 meters 0.029683201103749616 Centerline is valid? [True, True] Translation: X:246.87, Y:-177.72, Z:-30.15 [[ 7.13937866e-01 6.96033260e-01 7.63572141e-02 2.46868811e+02] [-6.91966170e-01 7.18009087e-01 -7.51383405e-02 -1.77717844e+02] [-1.07123958e-01 8.07497483e-04 9.94245345e-01 -3.01512137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.77592 meters 0.02950264038385148 Centerline is valid? [True, True] Translation: X:246.89, Y:-177.74, Z:-30.15 [[ 7.15001777e-01 6.94969292e-01 7.60929903e-02 2.46891456e+02] [-6.90915929e-01 7.19038693e-01 -7.49569037e-02 -1.77741161e+02] [-1.06806551e-01 1.02046028e-03 9.94279297e-01 -3.01530392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80591999999996 meters 0.02945746565529836 Centerline is valid? [True, True] Translation: X:246.91, Y:-177.77, Z:-30.16 [[ 7.16842764e-01 6.93091869e-01 7.58954126e-02 2.46913674e+02] [-6.89040454e-01 7.20847990e-01 -7.48426916e-02 -1.77765882e+02] [-1.06581917e-01 1.35543229e-03 9.94303001e-01 -3.01553649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.83592 meters 0.02939415236947632 Centerline is valid? [True, True] Translation: X:246.94, Y:-177.79, Z:-30.16 [[ 7.17375622e-01 6.92600475e-01 7.53445353e-02 2.46936053e+02] [-6.88596851e-01 7.21319907e-01 -7.43772080e-02 -1.77789249e+02] [-1.05861203e-01 1.47438606e-03 9.94379823e-01 -3.01582317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86591999999996 meters 0.029552250494934075 Centerline is valid? [True, True] Translation: X:246.96, Y:-177.81, Z:-30.16 [[ 7.17457999e-01 6.92515132e-01 7.53446220e-02 2.46958137e+02] [-6.88503001e-01 7.21401702e-01 -7.44526830e-02 -1.77813570e+02] [-1.05913348e-01 1.54167456e-03 9.94374168e-01 -3.01607985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89592 meters 0.029236668300514662 Centerline is valid? [True, True] Translation: X:246.98, Y:-177.84, Z:-30.16 [[ 7.16768247e-01 6.93304199e-01 7.46496370e-02 2.46978381e+02] [-6.89362076e-01 7.20643555e-01 -7.38430389e-02 -1.77840494e+02] [-1.04991469e-01 1.46771680e-03 9.94472040e-01 -3.01621627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92591999999996 meters 0.02905295803297923 Centerline is valid? [True, True] Translation: X:247.00, Y:-177.87, Z:-30.16 [[ 7.15880652e-01 6.94234467e-01 7.45211201e-02 2.47000219e+02] [-6.90303228e-01 7.19747591e-01 -7.37892825e-02 -1.77865140e+02] [-1.04863460e-01 1.38214990e-03 9.94485668e-01 -3.01645393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95592 meters 0.028869484133401926 Centerline is valid? [True, True] Translation: X:247.02, Y:-177.89, Z:-30.17 [[ 7.14527173e-01 6.95650710e-01 7.43034909e-02 2.47020242e+02] [-6.91741772e-01 7.18379134e-01 -7.36528322e-02 -1.77891954e+02] [-1.04614723e-01 1.22812145e-03 9.94512067e-01 -3.01666602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98591999999996 meters 0.028888787673652647 Centerline is valid? [True, True] Translation: X:247.04, Y:-177.92, Z:-30.17 [[ 7.13695459e-01 6.96420773e-01 7.50792773e-02 2.47042641e+02] [-6.92425286e-01 7.17632707e-01 -7.45018137e-02 -1.77916123e+02] [-1.05763956e-01 1.18481607e-03 9.94390558e-01 -3.01700187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01592 meters 0.02892928385933628 Centerline is valid? [True, True] Translation: X:247.06, Y:-177.94, Z:-30.17 [[ 7.13061171e-01 6.97113987e-01 7.46716508e-02 2.47064044e+02] [-6.93157241e-01 7.16959416e-01 -7.41770564e-02 -1.77940607e+02] [-1.05246407e-01 1.13358334e-03 9.94445528e-01 -3.01734625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04591999999997 meters 0.02871784042700222 Centerline is valid? [True, True] Translation: X:247.09, Y:-177.96, Z:-30.18 [[ 7.12538004e-01 6.97698106e-01 7.42088036e-02 2.47086346e+02] [-6.93785255e-01 7.16391059e-01 -7.37961428e-02 -1.77964947e+02] [-1.04649952e-01 1.09758252e-03 9.94508513e-01 -3.01756693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07592 meters 0.028569133675595895 Centerline is valid? [True, True] Translation: X:247.11, Y:-177.99, Z:-30.18 [[ 7.11110454e-01 6.99278993e-01 7.30124081e-02 2.47105901e+02] [-6.95491909e-01 7.14848283e-01 -7.26838177e-02 -1.77992140e+02] [-1.03019061e-01 9.06683519e-04 9.94678969e-01 -3.01787170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10591999999997 meters 0.02838012886067231 Centerline is valid? [True, True] Translation: X:247.13, Y:-178.02, Z:-30.18 [[ 7.09004001e-01 7.01515440e-01 7.20375872e-02 2.47127091e+02] [-6.97832701e-01 7.12653977e-01 -7.17901768e-02 -1.78018086e+02] [-1.01699791e-01 6.29338471e-04 9.94814936e-01 -3.01806710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13592 meters 0.02839134901614248 Centerline is valid? [True, True] Translation: X:247.15, Y:-178.05, Z:-30.18 [[ 7.05169903e-01 7.05304351e-01 7.26717344e-02 2.47146780e+02] [-7.01568105e-01 7.08904615e-01 -7.25013173e-02 -1.78045101e+02] [-1.02652822e-01 1.41575847e-04 9.94717235e-01 -3.01825859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16591999999997 meters 0.028346285392078844 Centerline is valid? [True, True] Translation: X:247.17, Y:-178.07, Z:-30.19 [[ 7.02616020e-01 7.07819681e-01 7.29522278e-02 2.47168875e+02] [-7.04059735e-01 7.06393141e-01 -7.28602711e-02 -1.78068693e+02] [-1.03104887e-01 -1.69932504e-04 9.94670475e-01 -3.01856970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19592 meters 0.028292315867865906 Centerline is valid? [True, True] Translation: X:247.19, Y:-178.09, Z:-30.19 [[ 7.00402573e-01 7.10087577e-01 7.21932735e-02 2.47191268e+02] [-7.06409786e-01 7.04113227e-01 -7.21787910e-02 -1.78092127e+02] [-1.02085502e-01 -4.43823937e-04 9.94775529e-01 -3.01881886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22592 meters 0.02847750722822555 Centerline is valid? [True, True] Translation: X:247.56, Y:-178.05, Z:-28.33 [[ 7.63612635e-01 -6.43223876e-01 -5.62031060e-02 2.47558365e+02] [-6.40712654e-01 -7.65638917e-01 5.73091882e-02 -1.78053437e+02] [-7.98939234e-02 -7.75197902e-03 -9.96773228e-01 -2.83275202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25591999999995 meters 0.02847750722822555 Centerline is valid? [True, True] Translation: X:247.27, Y:-178.19, Z:-30.20 [[ 7.50099872e-01 6.57017003e-01 7.53580831e-02 2.47266823e+02] [-6.53852327e-01 7.53875153e-01 -6.44157402e-02 -1.78185848e+02] [-9.91328230e-02 -9.54819480e-04 9.95073752e-01 -3.01978124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28592 meters 0.02854632034294242 Centerline is valid? [True, True] Translation: X:247.29, Y:-178.21, Z:-30.20 [[ 7.48302443e-01 6.59263394e-01 7.35882530e-02 2.47291248e+02] [-6.56250329e-01 7.51911167e-01 -6.29690622e-02 -1.78207998e+02] [-9.68450269e-02 -1.17241216e-03 9.95298782e-01 -3.01991497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31591999999995 meters 0.0285957382650148 Centerline is valid? [True, True] Translation: X:247.32, Y:-178.23, Z:-30.20 [[ 7.47033460e-01 6.60474862e-01 7.55907803e-02 2.47316443e+02] [-6.57294292e-01 7.50847011e-01 -6.47532279e-02 -1.78229318e+02] [-9.95249907e-02 -1.31256045e-03 9.95034197e-01 -3.02014936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34592 meters 0.02853511364504334 Centerline is valid? [True, True] Translation: X:247.34, Y:-178.25, Z:-30.20 [[ 7.46448616e-01 6.61182683e-01 7.51792797e-02 2.47342541e+02] [-6.58033686e-01 7.50223727e-01 -6.44672666e-02 -1.78250009e+02] [-9.90259197e-02 -1.34899661e-03 9.95083940e-01 -3.02046892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37591999999995 meters 0.028312168789100787 Centerline is valid? [True, True] Translation: X:247.37, Y:-178.27, Z:-30.21 [[ 7.46644748e-01 6.60837698e-01 7.62571814e-02 2.47369080e+02] [-6.57588682e-01 7.50527765e-01 -6.54614383e-02 -1.78269732e+02] [-1.00492518e-01 -1.26942037e-03 9.94937004e-01 -3.02085171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40592 meters 0.02804648020350583 Centerline is valid? [True, True] Translation: X:247.40, Y:-178.29, Z:-30.21 [[ 7.47794335e-01 6.59519746e-01 7.64024652e-02 2.47395173e+02] [-6.56244415e-01 7.51686517e-01 -6.56555306e-02 -1.78289250e+02] [-1.00731822e-01 -1.04185717e-03 9.94913069e-01 -3.02111354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43591999999995 meters 0.02794966915511918 Centerline is valid? [True, True] Translation: X:247.42, Y:-178.31, Z:-30.21 [[ 7.48649068e-01 6.58585619e-01 7.60891299e-02 2.47420561e+02] [-6.55325401e-01 7.52505311e-01 -6.54551466e-02 -1.78310634e+02] [-1.00365293e-01 -8.60204961e-04 9.94950284e-01 -3.02139649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46592 meters 0.02769008811730127 Centerline is valid? [True, True] Translation: X:247.45, Y:-178.33, Z:-30.22 [[ 7.49506552e-01 6.57713685e-01 7.51840191e-02 2.47445476e+02] [-6.54519616e-01 7.53267709e-01 -6.47443479e-02 -1.78331293e+02] [-9.92169374e-02 -6.83102354e-04 9.95065592e-01 -3.02151032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49591999999996 meters 0.02747898843546756 Centerline is valid? [True, True] Translation: X:247.47, Y:-178.35, Z:-30.22 [[ 7.50811606e-01 6.56244058e-01 7.50044519e-02 2.47470035e+02] [-6.53051236e-01 7.54548571e-01 -6.46570773e-02 -1.78352451e+02] [-9.90253248e-02 -4.36465967e-04 9.95084818e-01 -3.02173365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52592 meters 0.02718876864379379 Centerline is valid? [True, True] Translation: X:247.50, Y:-178.37, Z:-30.22 [[ 7.51477124e-01 6.55520328e-01 7.46674790e-02 2.47495202e+02] [-6.52346248e-01 7.55177473e-01 -6.44310289e-02 -1.78374104e+02] [-9.86230472e-02 -2.90605437e-04 9.95124821e-01 -3.02199215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55591999999996 meters 0.027286671437258908 Centerline is valid? [True, True] Translation: X:247.52, Y:-178.40, Z:-30.22 [[ 7.51830208e-01 6.55037345e-01 7.53486282e-02 2.47519636e+02] [-6.51795771e-01 7.55596483e-01 -6.50863120e-02 -1.78396371e+02] [-9.95671235e-02 -1.78061737e-04 9.95030832e-01 -3.02234068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58592 meters 0.027200542165634365 Centerline is valid? [True, True] Translation: X:247.54, Y:-178.42, Z:-30.23 [[ 7.51842118e-01 6.54995489e-01 7.55932424e-02 2.47544613e+02] [-6.51725214e-01 7.55632778e-01 -6.53708669e-02 -1.78418083e+02] [-9.99383547e-02 -1.17451024e-04 9.94993624e-01 -3.02264240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61591999999996 meters 0.027113454621588023 Centerline is valid? [True, True] Translation: X:247.57, Y:-178.44, Z:-30.23 [[ 7.51588207e-01 6.55227424e-01 7.61064396e-02 2.47569659e+02] [-6.51906432e-01 7.55431674e-01 -6.58861874e-02 -1.78439357e+02] [-1.00663652e-01 -9.49960236e-05 9.94920509e-01 -3.02300040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64592 meters 0.026894269635267195 Centerline is valid? [True, True] Translation: X:247.59, Y:-178.46, Z:-30.23 [[ 7.50739764e-01 6.56260269e-01 7.55795380e-02 2.47593344e+02] [-6.52983367e-01 7.54534577e-01 -6.55003467e-02 -1.78462280e+02] [-1.00012650e-01 -1.78466380e-04 9.94986150e-01 -3.02324716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67591999999996 meters 0.026834274642054564 Centerline is valid? [True, True] Translation: X:247.62, Y:-178.48, Z:-30.24 [[ 7.49856997e-01 6.57286783e-01 7.54226007e-02 2.47617872e+02] [-6.54021589e-01 7.53640509e-01 -6.54350441e-02 -1.78484258e+02] [-9.98511168e-02 -2.61083459e-04 9.95002355e-01 -3.02351314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70592 meters 0.026631445681549386 Centerline is valid? [True, True] Translation: X:247.64, Y:-178.51, Z:-30.24 [[ 7.48807349e-01 6.58600220e-01 7.43861822e-02 2.47642670e+02] [-6.55423969e-01 7.52492928e-01 -6.46050595e-02 -1.78506242e+02] [-9.85239825e-02 -3.77743371e-04 9.95134605e-01 -3.02386434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73591999999996 meters 0.026711130686070415 Centerline is valid? [True, True] Translation: X:247.67, Y:-178.53, Z:-30.24 [[ 7.46887090e-01 6.60614936e-01 7.58128080e-02 2.47665990e+02] [-6.57318367e-01 7.50724680e-01 -6.59167534e-02 -1.78529329e+02] [-1.00460138e-01 -6.00779059e-04 9.94940903e-01 -3.02428923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76592 meters 0.027009117115844854 Centerline is valid? [True, True] Translation: X:247.69, Y:-178.55, Z:-30.25 [[ 7.45214491e-01 6.62376949e-01 7.68904457e-02 2.47690181e+02] [-6.58987666e-01 7.49170305e-01 -6.69261645e-02 -1.78551668e+02] [-1.01934387e-01 -7.95507741e-04 9.94790806e-01 -3.02455578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79591999999997 meters 0.027311005349516995 Centerline is valid? [True, True] Translation: X:247.72, Y:-178.57, Z:-30.25 [[ 7.42798930e-01 6.64768606e-01 7.95766860e-02 2.47715159e+02] [-6.61143328e-01 7.47048510e-01 -6.93399134e-02 -1.78572513e+02] [-1.05542642e-01 -1.10598153e-03 9.94414163e-01 -3.02475091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82592 meters 0.027518742472779908 Centerline is valid? [True, True] Translation: X:247.74, Y:-178.59, Z:-30.25 [[ 7.41349336e-01 6.66330374e-01 8.00312069e-02 2.47740369e+02] [-6.62664557e-01 7.45655547e-01 -6.98103889e-02 -1.78593600e+02] [-1.06192496e-01 -1.27995884e-03 9.94344767e-01 -3.02507106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85591999999997 meters 0.027242186528236664 Centerline is valid? [True, True] Translation: X:247.77, Y:-178.61, Z:-30.25 [[ 7.40441816e-01 6.67414988e-01 7.93923903e-02 2.47766068e+02] [-6.63806134e-01 7.44684738e-01 -6.93257331e-02 -1.78614654e+02] [-1.05391335e-01 -1.36948397e-03 9.94429882e-01 -3.02541449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88592 meters 0.027466950371665765 Centerline is valid? [True, True] Translation: X:247.79, Y:-178.64, Z:-30.26 [[ 7.39924138e-01 6.68086163e-01 7.85693934e-02 2.47790738e+02] [-6.64548207e-01 7.44082610e-01 -6.86786030e-02 -1.78636826e+02] [-1.04345344e-01 -1.39619340e-03 9.94540145e-01 -3.02575857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91591999999997 meters 0.0277844919255462 Centerline is valid? [True, True] Translation: X:247.81, Y:-178.66, Z:-30.26 [[ 7.38391748e-01 6.69828682e-01 7.81483434e-02 2.47814993e+02] [-6.66330827e-01 7.42514002e-01 -6.83826485e-02 -1.78659324e+02] [-1.03830898e-01 -1.57946693e-03 9.94593711e-01 -3.02601706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94592 meters 0.027717880957762245 Centerline is valid? [True, True] Translation: X:247.84, Y:-178.68, Z:-30.26 [[ 7.38405207e-01 6.69665175e-01 7.94122394e-02 2.47840054e+02] [-6.66044172e-01 7.42661580e-01 -6.95624784e-02 -1.78679791e+02] [-1.05559989e-01 -1.52676302e-03 9.94411765e-01 -3.02630387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97592 meters 0.027664065186608442 Centerline is valid? [True, True] Translation: X:247.86, Y:-178.70, Z:-30.27 [[ 7.38861032e-01 6.69022655e-01 8.05795401e-02 2.47864926e+02] [-6.65282247e-01 7.43240692e-01 -7.06597940e-02 -1.78701387e+02] [-1.07162996e-01 -1.40036913e-03 9.94240480e-01 -3.02665265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00591999999995 meters 0.027751315635697566 Centerline is valid? [True, True] Translation: X:247.89, Y:-178.72, Z:-30.27 [[ 7.38806873e-01 6.69085551e-01 8.05538957e-02 2.47889985e+02] [-6.65339932e-01 7.43184158e-01 -7.07112613e-02 -1.78723256e+02] [-1.07178262e-01 -1.35375763e-03 9.94238899e-01 -3.02691282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03592 meters 0.027839687778908183 Centerline is valid? [True, True] Translation: X:247.91, Y:-178.75, Z:-30.27 [[ 7.37647144e-01 6.70331668e-01 8.08216893e-02 2.47914439e+02] [-6.66560378e-01 7.42060141e-01 -7.10211929e-02 -1.78745241e+02] [-1.07582309e-01 -1.48395567e-03 9.94195074e-01 -3.02728614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06591999999995 meters 0.027687737027040995 Centerline is valid? [True, True] Translation: X:247.94, Y:-178.77, Z:-30.28 [[ 7.36903020e-01 6.71172755e-01 8.06292224e-02 2.47938757e+02] [-6.67416502e-01 7.41299357e-01 -7.09258471e-02 -1.78766547e+02] [-1.07373887e-01 -1.54780270e-03 9.94217508e-01 -3.02761360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09592 meters 0.028183782075353353 Centerline is valid? [True, True] Translation: X:247.96, Y:-178.79, Z:-30.28 [[ 7.35595810e-01 6.72468230e-01 8.17635861e-02 2.47962896e+02] [-6.68604876e-01 7.40124025e-01 -7.19996327e-02 -1.78789048e+02] [-1.08932660e-01 -1.70490425e-03 9.94047669e-01 -3.02807903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12591999999995 meters 0.028373215235525155 Centerline is valid? [True, True] Translation: X:247.99, Y:-178.81, Z:-30.28 [[ 7.34460844e-01 6.73672455e-01 8.20529758e-02 2.47986330e+02] [-6.69780813e-01 7.39027780e-01 -7.23298291e-02 -1.78812081e+02] [-1.09366042e-01 -1.83408139e-03 9.93999852e-01 -3.02842174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15592 meters 0.028646684550073385 Centerline is valid? [True, True] Translation: X:248.01, Y:-178.83, Z:-30.29 [[ 7.32662970e-01 6.75626120e-01 8.20628960e-02 2.48010363e+02] [-6.71737474e-01 7.37241521e-01 -7.24134323e-02 -1.78834300e+02] [-1.09424581e-01 -2.07008217e-03 9.93992946e-01 -3.02877793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18591999999995 meters 0.028809637109322096 Centerline is valid? [True, True] Translation: X:248.04, Y:-178.86, Z:-30.29 [[ 7.31622052e-01 6.76831297e-01 8.14160175e-02 2.48035454e+02] [-6.73003292e-01 7.36134942e-01 -7.19160389e-02 -1.78855681e+02] [-1.08608201e-01 -2.17788783e-03 9.94082248e-01 -3.02905857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21592 meters 0.02902680901263718 Centerline is valid? [True, True] Translation: X:248.06, Y:-178.88, Z:-30.29 [[ 7.29103221e-01 6.79632773e-01 8.06708524e-02 2.48059841e+02] [-6.75883861e-01 7.33548198e-01 -7.13305437e-02 -1.78877663e+02] [-1.07654534e-01 -2.51679805e-03 9.94185177e-01 -3.02943078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24591999999996 meters 0.029637402163728538 Centerline is valid? [True, True] Translation: X:248.08, Y:-178.90, Z:-30.30 [[ 7.27190989e-01 6.81765611e-01 7.99307072e-02 2.48084274e+02] [-6.78090470e-01 7.31565494e-01 -7.07477408e-02 -1.78899212e+02] [-1.06707924e-01 -2.75313121e-03 9.94286598e-01 -3.02971533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.27592 meters 0.029851402916817715 Centerline is valid? [True, True] Translation: X:248.11, Y:-178.92, Z:-30.30 [[ 7.24459884e-01 6.84737756e-01 7.93226436e-02 2.48109484e+02] [-6.81128577e-01 7.28782897e-01 -7.02805114e-02 -1.78920087e+02] [-1.05932706e-01 -3.11350816e-03 9.94368427e-01 -3.02993875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30591999999996 meters 0.03139107665489963 Centerline is valid? [True, True] Translation: X:248.13, Y:-178.94, Z:-30.30 [[ 7.18191879e-01 6.91154059e-01 8.06628331e-02 2.48134753e+02] [-6.87453604e-01 7.22695984e-01 -7.15405977e-02 -1.78940636e+02] [-1.07740280e-01 -4.07207908e-03 9.94170735e-01 -3.03024267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.33592 meters 0.032435202223555865 Centerline is valid? [True, True] Translation: X:248.16, Y:-178.96, Z:-30.31 [[ 7.15052502e-01 6.94333620e-01 8.12449626e-02 2.48160005e+02] [-6.90591877e-01 7.19639001e-01 -7.21288268e-02 -1.78961426e+02] [-1.08548513e-01 -4.53121316e-03 9.94080826e-01 -3.03053828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36591999999996 meters 0.0333810445937352 Centerline is valid? [True, True] Translation: X:248.19, Y:-178.98, Z:-30.31 [[ 7.11454373e-01 6.98103607e-01 8.05234678e-02 2.48186289e+02] [-6.94444736e-01 7.15979225e-01 -7.15559735e-02 -1.78981644e+02] [-1.07606613e-01 -5.01028809e-03 9.94180926e-01 -3.03072564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39592 meters 0.03388806749255124 Centerline is valid? [True, True] Translation: X:248.21, Y:-179.00, Z:-30.31 [[ 7.08836030e-01 7.00769645e-01 8.04573595e-02 2.48213583e+02] [-6.97126092e-01 7.13367499e-01 -7.15683116e-02 -1.79000589e+02] [-1.07548566e-01 -5.35872674e-03 9.94185390e-01 -3.03100800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42591999999996 meters 0.03471765541071518 Centerline is valid? [True, True] Translation: X:248.24, Y:-179.01, Z:-30.31 [[ 7.05854619e-01 7.03788010e-01 8.03224371e-02 2.48244588e+02] [-7.00168505e-01 7.10386712e-01 -7.15177111e-02 -1.79014695e+02] [-1.07393300e-01 -5.75813403e-03 9.94199941e-01 -3.03138823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45592 meters 0.03494946656452656 Centerline is valid? [True, True] Translation: X:248.27, Y:-179.03, Z:-30.32 [[ 7.04882672e-01 7.04823488e-01 7.97763726e-02 2.48272404e+02] [-7.01252632e-01 7.09358785e-01 -7.10975383e-02 -1.79032413e+02] [-1.06701286e-01 -5.82796851e-03 9.94274042e-01 -3.03162655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48591999999996 meters 0.03457381158831694 Centerline is valid? [True, True] Translation: X:248.30, Y:-179.05, Z:-30.32 [[ 7.05159496e-01 7.04589204e-01 7.93986148e-02 2.48304120e+02] [-7.01043553e-01 7.09592397e-01 -7.08277335e-02 -1.79045584e+02] [-1.06245110e-01 -5.71703820e-03 9.94323535e-01 -3.03191519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51592 meters 0.034692295424735294 Centerline is valid? [True, True] Translation: X:248.33, Y:-179.06, Z:-30.32 [[ 7.05091627e-01 7.04549351e-01 8.03492998e-02 2.48332052e+02] [-7.00910648e-01 7.09631838e-01 -7.17420303e-02 -1.79063597e+02] [-1.07564222e-01 -5.73297492e-03 9.94181609e-01 -3.03217432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54591999999997 meters 0.03446501178784974 Centerline is valid? [True, True] Translation: X:248.36, Y:-179.08, Z:-30.32 [[ 7.04662806e-01 7.05005537e-01 8.01094406e-02 2.48360490e+02] [-7.01384114e-01 7.09178601e-01 -7.15963469e-02 -1.79080699e+02] [-1.07287722e-01 -5.73620623e-03 9.94211467e-01 -3.03244101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57592 meters 0.03430295155592717 Centerline is valid? [True, True] Translation: X:248.39, Y:-179.09, Z:-30.33 [[ 7.04125302e-01 7.05564194e-01 7.99170025e-02 2.48394679e+02] [-7.01956455e-01 7.08622610e-01 -7.14921785e-02 -1.79092442e+02] [-1.07073316e-01 -5.75880400e-03 9.94234450e-01 -3.03268605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60591999999997 meters 0.034258366668279486 Centerline is valid? [True, True] Translation: X:248.42, Y:-179.11, Z:-30.33 [[ 7.03367563e-01 7.06302334e-01 8.00692506e-02 2.48423624e+02] [-7.02678152e-01 7.07886277e-01 -7.16968152e-02 -1.79109062e+02] [-1.07319552e-01 -5.83369883e-03 9.94207464e-01 -3.03303623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63592 meters 0.03421688371378993 Centerline is valid? [True, True] Translation: X:248.46, Y:-179.12, Z:-30.33 [[ 7.03202858e-01 7.06347484e-01 8.11108674e-02 2.48456762e+02] [-7.02620864e-01 7.07840940e-01 -7.26988629e-02 -1.79121294e+02] [-1.08764252e-01 -5.86813963e-03 9.94050252e-01 -3.03347425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66591999999997 meters 0.03406461167018733 Centerline is valid? [True, True] Translation: X:248.48, Y:-179.14, Z:-30.34 [[ 7.03628581e-01 7.05859427e-01 8.16657173e-02 2.48484164e+02] [-7.02070595e-01 7.08328330e-01 -7.32656555e-02 -1.79138139e+02] [-1.09561395e-01 -5.78328953e-03 9.93963206e-01 -3.03376119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69592 meters 0.03283822563094174 Centerline is valid? [True, True] Translation: X:248.52, Y:-179.15, Z:-30.34 [[ 7.07205371e-01 7.02269926e-01 8.17160627e-02 2.48515603e+02] [-6.98445636e-01 7.11891898e-01 -7.33731553e-02 -1.79150911e+02] [-1.09700763e-01 -5.18433786e-03 9.93951138e-01 -3.03413134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72592 meters 0.032102902018041155 Centerline is valid? [True, True] Translation: X:248.54, Y:-179.17, Z:-30.34 [[ 7.09853435e-01 6.99693867e-01 8.08492082e-02 2.48543342e+02] [-6.95926981e-01 7.14427398e-01 -7.26576256e-02 -1.79168072e+02] [-1.08598984e-01 -4.68888028e-03 9.94074582e-01 -3.03439449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75591999999995 meters 0.03133078894249094 Centerline is valid? [True, True] Translation: X:248.57, Y:-179.18, Z:-30.35 [[ 7.11800577e-01 6.97734523e-01 8.06627219e-02 2.48571140e+02] [-6.93965855e-01 7.16343312e-01 -7.25510220e-02 -1.79184872e+02] [-1.08403554e-01 -4.33531551e-03 9.94097518e-01 -3.03459833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78592 meters 0.030803704265540282 Centerline is valid? [True, True] Translation: X:248.60, Y:-179.20, Z:-30.35 [[ 7.13829175e-01 6.95567099e-01 8.14513347e-02 2.48598058e+02] [-6.91703073e-01 7.18450010e-01 -7.33242177e-02 -1.79202839e+02] [-1.09520626e-01 -3.99917277e-03 9.93976478e-01 -3.03495005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81591999999995 meters 0.029545007380499273 Centerline is valid? [True, True] Translation: X:248.63, Y:-179.22, Z:-30.35 [[ 7.18610930e-01 6.90694341e-01 8.08681578e-02 2.48626186e+02] [-6.86848596e-01 7.23139788e-01 -7.28550156e-02 -1.79219185e+02] [-1.08799530e-01 -3.18977011e-03 9.94058594e-01 -3.03522854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84592 meters 0.02919955886045616 Centerline is valid? [True, True] Translation: X:248.65, Y:-179.24, Z:-30.36 [[ 7.19529971e-01 6.89710161e-01 8.10957190e-02 2.48651659e+02] [-6.85833183e-01 7.24079227e-01 -7.30897945e-02 -1.79238091e+02] [-1.09130499e-01 -3.02783741e-03 9.94022820e-01 -3.03551188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87591999999995 meters 0.028803181798921603 Centerline is valid? [True, True] Translation: X:248.68, Y:-179.26, Z:-30.36 [[ 7.20990152e-01 6.88168027e-01 8.12278720e-02 2.48678201e+02] [-6.84261348e-01 7.25546140e-01 -7.32748709e-02 -1.79255916e+02] [-1.09359992e-01 -2.75063293e-03 9.93998403e-01 -3.03581453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90592 meters 0.02875963112548121 Centerline is valid? [True, True] Translation: X:248.70, Y:-179.28, Z:-30.36 [[ 7.21403157e-01 6.87812039e-01 8.05734768e-02 2.48702475e+02] [-6.83958895e-01 7.25884081e-01 -7.27497842e-02 -1.79276986e+02] [-1.08525181e-01 -2.62702222e-03 9.94090229e-01 -3.03605230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93591999999995 meters 0.028625984927294897 Centerline is valid? [True, True] Translation: X:248.73, Y:-179.30, Z:-30.36 [[ 7.21928251e-01 6.87229741e-01 8.08386229e-02 2.48725872e+02] [-6.83340230e-01 7.26435844e-01 -7.30554188e-02 -1.79298318e+02] [-1.08929930e-01 -2.49951247e-03 9.94046288e-01 -3.03642091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96592 meters 0.028570393246839035 Centerline is valid? [True, True] Translation: X:248.75, Y:-179.32, Z:-30.37 [[ 7.22768085e-01 6.86409099e-01 8.03046955e-02 2.48750660e+02] [-6.82558748e-01 7.27211939e-01 -7.26384960e-02 -1.79318616e+02] [-1.08258258e-01 -2.31188572e-03 9.94120116e-01 -3.03679006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99591999999996 meters 0.02822204906624071 Centerline is valid? [True, True] Translation: X:248.78, Y:-179.34, Z:-30.37 [[ 7.23365302e-01 6.85933213e-01 7.89826952e-02 2.48775455e+02] [-6.82199251e-01 7.27661306e-01 -7.15066800e-02 -1.79339170e+02] [-1.06521458e-01 -2.15648433e-03 9.94308065e-01 -3.03707973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02592 meters 0.02789451161674598 Centerline is valid? [True, True] Translation: X:248.80, Y:-179.36, Z:-30.37 [[ 7.22282016e-01 6.87114113e-01 7.86313186e-02 2.48799853e+02] [-6.83413283e-01 7.26545962e-01 -7.12548169e-02 -1.79361686e+02] [-1.06089457e-01 -2.27161482e-03 9.94353995e-01 -3.03741069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05591999999996 meters 0.02806382838532157 Centerline is valid? [True, True] Translation: X:248.82, Y:-179.38, Z:-30.38 [[ 7.21686881e-01 6.87577634e-01 8.00315145e-02 2.48823231e+02] [-6.83738076e-01 7.26107144e-01 -7.25993061e-02 -1.79383412e+02] [-1.08029114e-01 -2.32662693e-03 9.94145008e-01 -3.03770979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08592 meters 0.028354818035174232 Centerline is valid? [True, True] Translation: X:248.85, Y:-179.40, Z:-30.38 [[ 7.20507771e-01 6.88733603e-01 8.07129182e-02 2.48847533e+02] [-6.84827983e-01 7.25010285e-01 -7.32851959e-02 -1.79404939e+02] [-1.08991673e-01 -2.47191186e-03 9.94039589e-01 -3.03799778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11591999999996 meters 0.02848690060570417 Centerline is valid? [True, True] Translation: X:248.87, Y:-179.43, Z:-30.38 [[ 7.18586357e-01 6.90813165e-01 8.00675864e-02 2.48871752e+02] [-6.86975601e-01 7.23028209e-01 -7.27649177e-02 -1.79425704e+02] [-1.08158087e-01 -2.71660120e-03 9.94129996e-01 -3.03827776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14592 meters 0.02856349345919897 Centerline is valid? [True, True] Translation: X:248.90, Y:-179.45, Z:-30.39 [[ 7.17164625e-01 6.92383507e-01 7.92463274e-02 2.48896329e+02] [-6.88626838e-01 7.21523955e-01 -7.20850920e-02 -1.79447784e+02] [-1.07088652e-01 -2.87426993e-03 9.94245321e-01 -3.03865388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17591999999996 meters 0.02856349345919897 Centerline is valid? [True, True] Translation: X:248.92, Y:-179.47, Z:-30.39 [[ 7.16812075e-01 6.92752724e-01 7.92092949e-02 2.48920510e+02] [-6.88993810e-01 7.21169469e-01 -7.21257652e-02 -1.79469331e+02] [-1.07088645e-01 -2.87409449e-03 9.94245323e-01 -3.03894525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20592 meters 0.028836485101644 Centerline is valid? [True, True] Translation: X:248.94, Y:-179.49, Z:-30.39 [[ 7.15716538e-01 6.93914976e-01 7.89420270e-02 2.48944595e+02] [-6.90180727e-01 7.20050759e-01 -7.19546294e-02 -1.79490294e+02] [-1.06772661e-01 -2.98514732e-03 9.94278979e-01 -3.03937052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23591999999996 meters 0.028595402615679954 Centerline is valid? [True, True] Translation: X:248.97, Y:-179.51, Z:-30.40 [[ 7.15493134e-01 6.94191114e-01 7.85383507e-02 2.48970154e+02] [-6.90489722e-01 7.19784632e-01 -7.16521290e-02 -1.79510861e+02] [-1.06270969e-01 -2.96331762e-03 9.94332791e-01 -3.03954709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26592 meters 0.028527483818602952 Centerline is valid? [True, True] Translation: X:249.00, Y:-179.53, Z:-30.40 [[ 7.15833034e-01 6.93815962e-01 7.87558146e-02 2.48995073e+02] [-6.90083944e-01 7.20146661e-01 -7.19231328e-02 -1.79530545e+02] [-1.06617154e-01 -2.86316875e-03 9.94296025e-01 -3.03982502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29591999999997 meters 0.028338641406627993 Centerline is valid? [True, True] Translation: X:249.02, Y:-179.55, Z:-30.40 [[ 7.16392429e-01 6.93056664e-01 8.03389572e-02 2.49020782e+02] [-6.89160364e-01 7.20877843e-01 -7.34379222e-02 -1.79551203e+02] [-1.08811216e-01 -2.75605355e-03 9.94058612e-01 -3.04015456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32592 meters 0.02789222869599982 Centerline is valid? [True, True] Translation: X:249.05, Y:-179.57, Z:-30.40 [[ 7.17905492e-01 6.91328835e-01 8.17076962e-02 2.49045196e+02] [-6.87278562e-01 7.22536010e-01 -7.47655826e-02 -1.79572142e+02] [-1.10724356e-01 -2.48132565e-03 9.93848057e-01 -3.04036617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35591999999997 meters 0.02788380031177445 Centerline is valid? [True, True] Translation: X:249.07, Y:-179.59, Z:-30.41 [[ 7.18716649e-01 6.90444169e-01 8.20562463e-02 2.49068991e+02] [-6.86345753e-01 7.23382012e-01 -7.51529925e-02 -1.79593201e+02] [-1.11246958e-01 -2.30524915e-03 9.93790119e-01 -3.04070637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38592 meters 0.02747613570121536 Centerline is valid? [True, True] Translation: X:249.09, Y:-179.61, Z:-30.41 [[ 7.20943596e-01 6.88110419e-01 8.21241944e-02 2.49093639e+02] [-6.83983313e-01 7.25603496e-01 -7.52754637e-02 -1.79614491e+02] [-1.11387433e-01 -1.90221508e-03 9.93775237e-01 -3.04100721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41591999999997 meters 0.027394181455584532 Centerline is valid? [True, True] Translation: X:249.12, Y:-179.64, Z:-30.41 [[ 7.22313991e-01 6.86578142e-01 8.29032742e-02 2.49118169e+02] [-6.82357898e-01 7.27054136e-01 -7.60261991e-02 -1.79636556e+02] [-1.12473095e-01 -1.65491658e-03 9.93653392e-01 -3.04136129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44592 meters 0.02701981197222612 Centerline is valid? [True, True] Translation: X:249.14, Y:-179.66, Z:-30.42 [[ 7.24008851e-01 6.84839576e-01 8.24981152e-02 2.49141474e+02] [-6.80640585e-01 7.28692672e-01 -7.57323165e-02 -1.79659062e+02] [-1.11980260e-01 -1.32069788e-03 9.93709554e-01 -3.04164486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47592 meters 0.026939983268409434 Centerline is valid? [True, True] Translation: X:249.16, Y:-179.68, Z:-30.42 [[ 7.25566416e-01 6.83111076e-01 8.31422539e-02 2.49164997e+02] [-6.78826367e-01 7.30313797e-01 -7.63971358e-02 -1.79681767e+02] [-1.12907665e-01 -1.00795810e-03 9.93604973e-01 -3.04193608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50591999999995 meters 0.026973960694079546 Centerline is valid? [True, True] Translation: X:249.19, Y:-179.71, Z:-30.42 [[ 7.27751931e-01 6.80702828e-01 8.37901356e-02 2.49187229e+02] [-6.76325359e-01 7.32559436e-01 -7.70758203e-02 -1.79705810e+02] [-1.13846983e-01 -5.77316456e-04 9.93498128e-01 -3.04226796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53592 meters 0.027111715430697948 Centerline is valid? [True, True] Translation: X:249.21, Y:-179.73, Z:-30.43 [[ 7.27888056e-01 6.80614713e-01 8.33222034e-02 2.49210660e+02] [-6.76276135e-01 7.32641360e-01 -7.67282601e-02 -1.79729352e+02] [-1.13267675e-01 -4.99233634e-04 9.93564384e-01 -3.04255062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56591999999995 meters 0.02714570346836853 Centerline is valid? [True, True] Translation: X:249.23, Y:-179.76, Z:-30.43 [[ 7.27483698e-01 6.81055291e-01 8.32535815e-02 2.49231168e+02] [-6.76717363e-01 7.32231817e-01 -7.67474914e-02 -1.79756034e+02] [-1.13230206e-01 -5.06595247e-04 9.93568651e-01 -3.04283239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59592 meters 0.02720004103297786 Centerline is valid? [True, True] Translation: X:249.25, Y:-179.78, Z:-30.43 [[ 7.26118663e-01 6.82682645e-01 8.18296572e-02 2.49252970e+02] [-6.78493796e-01 7.30714671e-01 -7.55131641e-02 -1.79779992e+02] [-1.11345658e-01 -6.89396885e-04 9.93781500e-01 -3.04313795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62591999999995 meters 0.02725511265529627 Centerline is valid? [True, True] Translation: X:249.28, Y:-179.80, Z:-30.43 [[ 7.25033367e-01 6.83785639e-01 8.22424244e-02 2.49275448e+02] [-6.79553037e-01 7.29682496e-01 -7.59679171e-02 -1.79803762e+02] [-1.11956628e-01 -8.08814571e-04 9.93712765e-01 -3.04340546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65592 meters 0.027348571861379952 Centerline is valid? [True, True] Translation: X:249.30, Y:-179.83, Z:-30.44 [[ 7.22764297e-01 6.86240581e-01 8.17657329e-02 2.49296722e+02] [-6.82063610e-01 7.27373772e-01 -7.56083807e-02 -1.79829338e+02] [-1.11359789e-01 -1.12239282e-03 9.93779522e-01 -3.04368102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68591999999995 meters 0.027575431565575795 Centerline is valid? [True, True] Translation: X:249.32, Y:-179.85, Z:-30.44 [[ 7.21098231e-01 6.88130549e-01 8.05834309e-02 2.49318270e+02] [-6.84076879e-01 7.25585670e-01 -7.45939688e-02 -1.79854610e+02] [-1.09800571e-01 -1.33568296e-03 9.93952741e-01 -3.04388956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71592 meters 0.02807298055606546 Centerline is valid? [True, True] Translation: X:249.34, Y:-179.88, Z:-30.44 [[ 7.17132891e-01 6.92308251e-01 8.01854242e-02 2.49336863e+02] [-6.88312635e-01 7.21599357e-01 -7.42972734e-02 -1.79880904e+02] [-1.09298366e-01 -1.91162219e-03 9.94007149e-01 -3.04423519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74591999999996 meters 0.028429389454448863 Centerline is valid? [True, True] Translation: X:249.36, Y:-179.90, Z:-30.44 [[ 7.14251675e-01 6.95338488e-01 7.96801876e-02 2.49359796e+02] [-6.91407122e-01 7.18678628e-01 -7.38730087e-02 -1.79903826e+02] [-1.08631194e-01 -2.32752904e-03 9.94079396e-01 -3.04449960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.77592 meters 0.028934016277706365 Centerline is valid? [True, True] Translation: X:249.38, Y:-179.93, Z:-30.45 [[ 7.10745755e-01 6.98995668e-01 7.90286496e-02 2.49382556e+02] [-6.95143744e-01 7.15120367e-01 -7.33350934e-02 -1.79926132e+02] [-1.07775910e-01 -2.81366505e-03 9.94171231e-01 -3.04473382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80591999999996 meters 0.03069796436739865 Centerline is valid? [True, True] Translation: X:249.40, Y:-179.95, Z:-30.45 [[ 7.02594887e-01 7.07214797e-01 7.87886730e-02 2.49404824e+02] [-7.03430557e-01 7.06987369e-01 -7.31731565e-02 -1.79949687e+02] [-1.07451736e-01 -4.01127448e-03 9.94202210e-01 -3.04495619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.83592 meters 0.03208980585985364 Centerline is valid? [True, True] Translation: X:249.43, Y:-179.97, Z:-30.45 [[ 6.98210932e-01 7.11443411e-01 7.96854349e-02 2.49428522e+02] [-7.07594831e-01 7.02727785e-01 -7.40487363e-02 -1.79971575e+02] [-1.08678655e-01 -4.68336470e-03 9.94065901e-01 -3.04521644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86591999999996 meters 0.03452365769106151 Centerline is valid? [True, True] Translation: X:249.46, Y:-179.99, Z:-30.45 [[ 6.90011569e-01 7.19431471e-01 7.93876108e-02 2.49455270e+02] [-7.15657041e-01 6.94538628e-01 -7.38315314e-02 -1.79990757e+02] [-1.08254490e-01 -5.86969174e-03 9.94105886e-01 -3.04549493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89592 meters 0.035859731857268644 Centerline is valid? [True, True] Translation: X:249.48, Y:-180.01, Z:-30.46 [[ 6.85921927e-01 7.23454015e-01 7.82649247e-02 2.49480739e+02] [-7.19807611e-01 6.90343059e-01 -7.28248922e-02 -1.80010898e+02] [-1.06715108e-01 -6.38349811e-03 9.94269147e-01 -3.04575762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92591999999996 meters 0.03638352521925944 Centerline is valid? [True, True] Translation: X:249.51, Y:-180.03, Z:-30.46 [[ 6.82581425e-01 7.26527770e-01 7.89936601e-02 2.49506865e+02] [-7.22826449e-01 6.87102619e-01 -7.35657207e-02 -1.80029636e+02] [-1.07724290e-01 -6.88411237e-03 9.94156973e-01 -3.04608851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95592 meters 0.03799615741450898 Centerline is valid? [True, True] Translation: X:249.54, Y:-180.05, Z:-30.46 [[ 6.79021350e-01 7.29914579e-01 7.84519855e-02 2.49535695e+02] [-7.26279647e-01 6.83499107e-01 -7.31221285e-02 -1.80045976e+02] [-1.06994770e-01 -7.32659388e-03 9.94232589e-01 -3.04619558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98591999999996 meters 0.03799919735147168 Centerline is valid? [True, True] Translation: X:249.56, Y:-180.06, Z:-30.47 [[ 6.78057382e-01 7.30767501e-01 7.88482412e-02 2.49563454e+02] [-7.27094685e-01 6.82585712e-01 -7.35531427e-02 -1.80063314e+02] [-1.07570929e-01 -7.45688572e-03 9.94169447e-01 -3.04655924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01592 meters 0.03850116809668678 Centerline is valid? [True, True] Translation: X:249.59, Y:-180.08, Z:-30.47 [[ 6.77269669e-01 7.31319677e-01 8.04818350e-02 2.49594888e+02] [-7.27489676e-01 6.81991828e-01 -7.51393300e-02 -1.80076095e+02] [-1.09838824e-01 -7.66011485e-03 9.93919894e-01 -3.04701654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04591999999997 meters 0.03836415419053851 Centerline is valid? [True, True] Translation: X:249.62, Y:-180.09, Z:-30.47 [[ 6.76937076e-01 7.31559523e-01 8.10978363e-02 2.49623333e+02] [-7.27665079e-01 6.81733926e-01 -7.57785377e-02 -1.80093508e+02] [-1.10723657e-01 -7.71476167e-03 9.93821289e-01 -3.04735837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07592 meters 0.03825792051985846 Centerline is valid? [True, True] Translation: X:249.65, Y:-180.11, Z:-30.48 [[ 6.76398823e-01 7.32006621e-01 8.15532909e-02 2.49651524e+02] [-7.28063592e-01 6.81253043e-01 -7.62738342e-02 -1.80110428e+02] [-1.11391379e-01 -7.78445022e-03 9.93746126e-01 -3.04763307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10591999999997 meters 0.03760375817583148 Centerline is valid? [True, True] Translation: X:249.68, Y:-180.12, Z:-30.48 [[ 6.77414701e-01 7.31084008e-01 8.13971506e-02 2.49683259e+02] [-7.27142552e-01 6.82245404e-01 -7.61900080e-02 -1.80123613e+02] [-1.11234128e-01 -7.57510035e-03 9.93765358e-01 -3.04783458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13592 meters 0.03729920988921922 Centerline is valid? [True, True] Translation: X:249.71, Y:-180.14, Z:-30.48 [[ 6.78089324e-01 7.30329886e-01 8.25416617e-02 2.49709815e+02] [-7.26263689e-01 6.83053297e-01 -7.73255948e-02 -1.80141752e+02] [-1.12853547e-01 -7.51335140e-03 9.93583226e-01 -3.04825239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16591999999997 meters 0.03615850467119766 Centerline is valid? [True, True] Translation: X:249.74, Y:-180.16, Z:-30.48 [[ 6.81049766e-01 7.27640168e-01 8.19207111e-02 2.49739993e+02] [-7.23609033e-01 6.85923599e-01 -7.68035354e-02 -1.80155602e+02] [-1.12076686e-01 -6.97153675e-03 9.93675105e-01 -3.04849322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19592 meters 0.035333481099928586 Centerline is valid? [True, True] Translation: X:249.77, Y:-180.17, Z:-30.49 [[ 6.82751256e-01 7.26010759e-01 8.22137473e-02 2.49767519e+02] [-7.21933314e-01 6.87650764e-01 -7.71279257e-02 -1.80172304e+02] [-1.12530050e-01 -6.69365494e-03 9.93625776e-01 -3.04874903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22592 meters 0.034683483328589795 Centerline is valid? [True, True] Translation: X:249.79, Y:-180.19, Z:-30.49 [[ 6.84471378e-01 7.24352239e-01 8.25394866e-02 2.49793971e+02] [-7.20223437e-01 6.89400334e-01 -7.74943900e-02 -1.80190101e+02] [-1.13035985e-01 -6.40418086e-03 9.93570256e-01 -3.04906993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25591999999995 meters 0.03324790480508058 Centerline is valid? [True, True] Translation: X:249.82, Y:-180.21, Z:-30.49 [[ 6.88517174e-01 7.20482706e-01 8.27573076e-02 2.49822247e+02] [-7.16298129e-01 6.93449104e-01 -7.77517231e-02 -1.80206370e+02] [-1.13406753e-01 -5.74550792e-03 9.93532032e-01 -3.04931570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28592 meters 0.03249701475304908 Centerline is valid? [True, True] Translation: X:249.85, Y:-180.22, Z:-30.50 [[ 6.90983666e-01 7.18140820e-01 8.25550451e-02 2.49848126e+02] [-7.13957614e-01 6.95877384e-01 -7.75834495e-02 -1.80224734e+02] [-1.13164031e-01 -5.33190665e-03 9.93562013e-01 -3.04959107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31591999999995 meters 0.03094430049346853 Centerline is valid? [True, True] Translation: X:249.88, Y:-180.24, Z:-30.50 [[ 6.95464641e-01 7.13724160e-01 8.32271377e-02 2.49878125e+02] [-7.09435503e-01 7.00411672e-01 -7.82608329e-02 -1.80238744e+02] [-1.14149906e-01 -4.61664421e-03 9.93452810e-01 -3.04987087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34592 meters 0.030512766318640024 Centerline is valid? [True, True] Translation: X:249.90, Y:-180.26, Z:-30.50 [[ 6.96830025e-01 7.12284687e-01 8.41334730e-02 2.49903867e+02] [-7.07887705e-01 7.01876846e-01 -7.91447463e-02 -1.80257957e+02] [-1.15424927e-01 -4.40661557e-03 9.93306432e-01 -3.05010297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37591999999995 meters 0.030512398667061614 Centerline is valid? [True, True] Translation: X:249.93, Y:-180.28, Z:-30.51 [[ 6.98314585e-01 7.10674079e-01 8.54347347e-02 2.49928227e+02] [-7.06118939e-01 7.03509136e-01 -8.04421479e-02 -1.80279168e+02] [-1.17272266e-01 -4.15315911e-03 9.93091117e-01 -3.05053188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40592 meters 0.029696986007828382 Centerline is valid? [True, True] Translation: X:249.95, Y:-180.30, Z:-30.51 [[ 7.01055437e-01 7.08058088e-01 8.47054819e-02 2.49953636e+02] [-7.03554555e-01 7.06144812e-01 -7.98153670e-02 -1.80298809e+02] [-1.16328253e-01 -3.63993066e-03 9.93204153e-01 -3.05072688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43591999999995 meters 0.029606582782041733 Centerline is valid? [True, True] Translation: X:249.98, Y:-180.32, Z:-30.51 [[ 7.01270419e-01 7.07985907e-01 8.35209856e-02 2.49978268e+02] [-7.03603832e-01 7.06217614e-01 -7.87294694e-02 -1.80319447e+02] [-1.14723346e-01 -3.55503752e-03 9.93391119e-01 -3.05100726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46592 meters 0.02978056521061277 Centerline is valid? [True, True] Translation: X:250.00, Y:-180.34, Z:-30.51 [[ 7.00587493e-01 7.08567552e-01 8.43160063e-02 2.50003136e+02] [-7.04097090e-01 7.05633630e-01 -7.95516649e-02 -1.80340245e+02] [-1.15863938e-01 -3.63375322e-03 9.93258448e-01 -3.05134011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49591999999996 meters 0.029685995357239606 Centerline is valid? [True, True] Translation: X:250.03, Y:-180.36, Z:-30.52 [[ 7.00101989e-01 7.09254781e-01 8.25521728e-02 2.50028774e+02] [-7.04966778e-01 7.04942948e-01 -7.79569251e-02 -1.80360399e+02] [-1.13485894e-01 -3.61874095e-03 9.93533017e-01 -3.05162984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52592 meters 0.029933162776413374 Centerline is valid? [True, True] Translation: X:250.05, Y:-180.38, Z:-30.52 [[ 6.99048025e-01 7.10335119e-01 8.21941498e-02 2.50053104e+02] [-7.06083818e-01 7.03853765e-01 -7.76886070e-02 -1.80381478e+02] [-1.13037608e-01 -3.72789191e-03 9.93583717e-01 -3.05194924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55591999999996 meters 0.02993097355808971 Centerline is valid? [True, True] Translation: X:250.08, Y:-180.40, Z:-30.52 [[ 6.97821981e-01 7.11501087e-01 8.25268816e-02 2.50078600e+02] [-7.07215220e-01 7.02674269e-01 -7.80737074e-02 -1.80401124e+02] [-1.13539044e-01 -3.88271754e-03 9.93525948e-01 -3.05217947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58592 meters 0.03010445384986806 Centerline is valid? [True, True] Translation: X:250.10, Y:-180.42, Z:-30.52 [[ 6.97456488e-01 7.11839371e-01 8.26991958e-02 2.50104025e+02] [-7.07529537e-01 7.02331504e-01 -7.83097212e-02 -1.80422552e+02] [-1.13826193e-01 -3.89450053e-03 9.93493045e-01 -3.05247086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61591999999996 meters 0.030203776332313685 Centerline is valid? [True, True] Translation: X:250.13, Y:-180.44, Z:-30.53 [[ 6.97856180e-01 7.11398760e-01 8.31177233e-02 2.50129075e+02] [-7.07032754e-01 7.02778395e-01 -7.87858665e-02 -1.80443085e+02] [-1.14461508e-01 -3.78574888e-03 9.93420471e-01 -3.05274514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64592 meters 0.029963991625384157 Centerline is valid? [True, True] Translation: X:250.15, Y:-180.46, Z:-30.53 [[ 6.98336124e-01 7.10982064e-01 8.26508519e-02 2.50154300e+02] [-7.06654107e-01 7.03200690e-01 -7.84140473e-02 -1.80463473e+02] [-1.13871117e-01 -3.64620212e-03 9.93488839e-01 -3.05305353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67591999999996 meters 0.029586512095596505 Centerline is valid? [True, True] Translation: X:250.18, Y:-180.48, Z:-30.53 [[ 7.00080540e-01 7.09520795e-01 8.04206391e-02 2.50181343e+02] [-7.05407698e-01 7.04676897e-01 -7.63573873e-02 -1.80482224e+02] [-1.10847721e-01 -3.27301696e-03 9.93832013e-01 -3.05343315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70592 meters 0.02935166473429135 Centerline is valid? [True, True] Translation: X:250.21, Y:-180.50, Z:-30.54 [[ 7.00322892e-01 7.09325888e-01 8.00289457e-02 2.50206743e+02] [-7.05247933e-01 7.04873412e-01 -7.60185924e-02 -1.80502604e+02] [-1.10332232e-01 -3.20268808e-03 9.93889602e-01 -3.05374494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73591999999996 meters 0.029395254706905762 Centerline is valid? [True, True] Translation: X:250.23, Y:-180.52, Z:-30.54 [[ 7.00728344e-01 7.08935302e-01 7.99407662e-02 2.50232379e+02] [-7.04856108e-01 7.05266758e-01 -7.60043887e-02 -1.80521532e+02] [-1.10261759e-01 -3.08830789e-03 9.93897785e-01 -3.05411926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76592 meters 0.02928050027261966 Centerline is valid? [True, True] Translation: X:250.26, Y:-180.54, Z:-30.54 [[ 7.01223900e-01 7.08346670e-01 8.08086426e-02 2.50258816e+02] [-7.04166042e-01 7.05858438e-01 -7.69028675e-02 -1.80542122e+02] [-1.11513352e-01 -2.97657336e-03 9.93758478e-01 -3.05434882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79591999999997 meters 0.028928448077459604 Centerline is valid? [True, True] Translation: X:250.28, Y:-180.56, Z:-30.55 [[ 7.01320025e-01 7.08305179e-01 8.03367645e-02 2.50284218e+02] [-7.04164396e-01 7.05900404e-01 -7.65318395e-02 -1.80562388e+02] [-1.10917653e-01 -2.89697772e-03 9.93825378e-01 -3.05457115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82592 meters 0.02904366947055774 Centerline is valid? [True, True] Translation: X:250.31, Y:-180.58, Z:-30.55 [[ 7.00932179e-01 7.08751751e-01 7.97811794e-02 2.50311352e+02] [-7.04663159e-01 7.05452031e-01 -7.60740743e-02 -1.80582417e+02] [-1.10199428e-01 -2.89609123e-03 9.93905277e-01 -3.05476844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85591999999997 meters 0.02926852982037662 Centerline is valid? [True, True] Translation: X:250.34, Y:-180.60, Z:-30.55 [[ 7.00600912e-01 7.09148757e-01 7.91606097e-02 2.50336421e+02] [-7.05117495e-01 7.05053014e-01 -7.55616728e-02 -1.80603980e+02] [-1.09396893e-01 -2.87895392e-03 9.93993980e-01 -3.05505724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88592 meters 0.029235961005459596 Centerline is valid? [True, True] Translation: X:250.36, Y:-180.62, Z:-30.55 [[ 7.00370864e-01 7.09283686e-01 7.99831595e-02 2.50361665e+02] [-7.05159768e-01 7.04917301e-01 -7.64284048e-02 -1.80624870e+02] [-1.10590934e-01 -2.87267831e-03 9.93861858e-01 -3.05539111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91591999999997 meters 0.02936637617760841 Centerline is valid? [True, True] Translation: X:250.39, Y:-180.64, Z:-30.56 [[ 7.00434805e-01 7.09083559e-01 8.11886142e-02 2.50388134e+02] [-7.04823313e-01 7.05118800e-01 -7.76632146e-02 -1.80644534e+02] [-1.12317327e-01 -2.82560951e-03 9.93668372e-01 -3.05575331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94592 meters 0.029176354193692824 Centerline is valid? [True, True] Translation: X:250.41, Y:-180.67, Z:-30.56 [[ 7.01329985e-01 7.08262289e-01 8.06274354e-02 2.50412744e+02] [-7.04046596e-01 7.05944525e-01 -7.72056835e-02 -1.80665381e+02] [-1.11600371e-01 -2.61881061e-03 9.93749717e-01 -3.05597370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97592 meters 0.028772576354717028 Centerline is valid? [True, True] Translation: X:250.44, Y:-180.69, Z:-30.56 [[ 7.04217207e-01 7.05493092e-01 7.97347080e-02 2.50438670e+02] [-7.01345969e-01 7.08713653e-01 -7.64119781e-02 -1.80685446e+02] [-1.10417199e-01 -2.11098623e-03 9.93883085e-01 -3.05615597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00591999999995 meters 0.028600606187545057 Centerline is valid? [True, True] Translation: X:250.46, Y:-180.71, Z:-30.56 [[ 7.05027974e-01 7.04644537e-01 8.00726703e-02 2.50463770e+02] [-7.00452804e-01 7.09557769e-01 -7.67700608e-02 -1.80705914e+02] [-1.10911789e-01 -1.96208598e-03 9.93828318e-01 -3.05638986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03592 meters 0.0287910481533447 Centerline is valid? [True, True] Translation: X:250.49, Y:-180.73, Z:-30.57 [[ 7.05743649e-01 7.03733896e-01 8.17588266e-02 2.50488998e+02] [-6.99348763e-01 7.10461361e-01 -7.84599392e-02 -1.80726426e+02] [-1.13301406e-01 -1.80533046e-03 9.93559023e-01 -3.05677854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06591999999995 meters 0.0287910481533447 Centerline is valid? [True, True] Translation: X:250.51, Y:-180.75, Z:-30.57 [[ 7.05380629e-01 7.04102078e-01 8.17216760e-02 2.50512645e+02] [-6.99714928e-01 7.10096463e-01 -7.84986191e-02 -1.80748655e+02] [-1.13301314e-01 -1.81047130e-03 9.93559024e-01 -3.05706992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09592 meters 0.028551749178543792 Centerline is valid? [True, True] Translation: X:250.54, Y:-180.77, Z:-30.57 [[ 7.06914106e-01 7.02640714e-01 8.10461189e-02 2.50537895e+02] [-6.98307571e-01 7.11543222e-01 -7.79280413e-02 -1.80768402e+02] [-1.12423231e-01 -1.50668670e-03 9.93659271e-01 -3.05731486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12591999999995 meters 0.028465673550592777 Centerline is valid? [True, True] Translation: X:250.56, Y:-180.79, Z:-30.58 [[ 7.07693098e-01 7.01864276e-01 8.09754082e-02 2.50561772e+02] [-6.97525625e-01 7.12309460e-01 -7.79309714e-02 -1.80789393e+02] [-1.12376514e-01 -1.33121156e-03 9.93664806e-01 -3.05768483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15592 meters 0.02845905756027772 Centerline is valid? [True, True] Translation: X:250.59, Y:-180.81, Z:-30.58 [[ 7.08529963e-01 7.01013448e-01 8.10273859e-02 2.50586930e+02] [-6.96655308e-01 7.13147136e-01 -7.80547570e-02 -1.80810393e+02] [-1.12501882e-01 -1.14402439e-03 9.93650853e-01 -3.05799718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18591999999995 meters 0.027972476264237222 Centerline is valid? [True, True] Translation: X:250.61, Y:-180.83, Z:-30.58 [[ 7.11494415e-01 6.98143366e-01 7.98219177e-02 2.50613762e+02] [-6.93887527e-01 7.15957717e-01 -7.69717306e-02 -1.80828457e+02] [-1.10886421e-01 -6.22476630e-04 9.93832890e-01 -3.05827476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21592 meters 0.028050783679533522 Centerline is valid? [True, True] Translation: X:250.64, Y:-180.85, Z:-30.59 [[ 7.13185709e-01 6.96428622e-01 7.97077118e-02 2.50639473e+02] [-6.92166216e-01 7.17626005e-01 -7.69340421e-02 -1.80849266e+02] [-1.10779396e-01 -3.02725836e-04 9.93844975e-01 -3.05861665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24591999999996 meters 0.027813581666125162 Centerline is valid? [True, True] Translation: X:250.67, Y:-180.87, Z:-30.59 [[ 7.17221350e-01 6.92422441e-01 7.83881235e-02 2.50666091e+02] [-6.88268033e-01 7.21492223e-01 -7.57369617e-02 -1.80868583e+02] [-1.08998393e-01 3.68126370e-04 9.94041858e-01 -3.05889709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.27592 meters 0.027566394016552052 Centerline is valid? [True, True] Translation: X:250.69, Y:-180.89, Z:-30.59 [[ 7.18940339e-01 6.90736289e-01 7.75123771e-02 2.50691511e+02] [-6.86657157e-01 7.23106447e-01 -7.49600865e-02 -1.80890187e+02] [-1.07827352e-01 6.67401498e-04 9.94169411e-01 -3.05912557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30591999999996 meters 0.027898112056772183 Centerline is valid? [True, True] Translation: X:250.72, Y:-180.91, Z:-30.60 [[ 7.21118239e-01 6.88403545e-01 7.80323329e-02 2.50715990e+02] [-6.84247306e-01 7.25327095e-01 -7.55395950e-02 -1.80911013e+02] [-1.08600690e-01 1.07956613e-03 9.94084868e-01 -3.05950733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.33592 meters 0.028096750649969224 Centerline is valid? [True, True] Translation: X:250.74, Y:-180.93, Z:-30.60 [[ 7.24534240e-01 6.84655336e-01 7.93549312e-02 2.50740126e+02] [-6.80326234e-01 7.28864942e-01 -7.68902528e-02 -1.80931956e+02] [-1.10482349e-01 1.72237941e-03 9.93876594e-01 -3.05986701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36591999999996 meters 0.028530079625229125 Centerline is valid? [True, True] Translation: X:250.76, Y:-180.95, Z:-30.60 [[ 7.26920126e-01 6.81996895e-01 8.04199380e-02 2.50764395e+02] [-6.77526329e-01 7.31351737e-01 -7.79917307e-02 -1.80952978e+02] [-1.12005380e-01 2.20713333e-03 9.93705149e-01 -3.06020390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39592 meters 0.028903617754212865 Centerline is valid? [True, True] Translation: X:250.79, Y:-180.98, Z:-30.61 [[ 7.27826376e-01 6.81021672e-01 8.04875669e-02 2.50787555e+02] [-6.76529865e-01 7.32259294e-01 -7.81259724e-02 -1.80975016e+02] [-1.12143249e-01 2.40990054e-03 9.93689128e-01 -3.06057134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42591999999996 meters 0.028829102176700903 Centerline is valid? [True, True] Translation: X:250.81, Y:-181.00, Z:-30.61 [[ 7.27986882e-01 6.80959800e-01 7.95540773e-02 2.50809470e+02] [-6.76564159e-01 7.32316734e-01 -7.72860972e-02 -1.80998446e+02] [-1.10887507e-01 2.43982750e-03 9.93829969e-01 -3.06081154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45592 meters 0.0290022217285956 Centerline is valid? [True, True] Translation: X:250.83, Y:-181.02, Z:-30.61 [[ 7.28601092e-01 6.80423450e-01 7.85135539e-02 2.50831958e+02] [-6.76131975e-01 7.32814773e-01 -7.63417402e-02 -1.81022218e+02] [-1.09480602e-01 2.53715108e-03 9.93985694e-01 -3.06098170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48591999999996 meters 0.028687913757094483 Centerline is valid? [True, True] Translation: X:250.85, Y:-181.05, Z:-30.61 [[ 7.28366311e-01 6.80613200e-01 7.90454883e-02 2.50852038e+02] [-6.76256008e-01 7.32638390e-01 -7.69337441e-02 -1.81048160e+02] [-1.10273881e-01 2.58096097e-03 9.93897887e-01 -3.06123034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51592 meters 0.028689044154127524 Centerline is valid? [True, True] Translation: X:250.87, Y:-181.07, Z:-30.62 [[ 7.28129139e-01 6.80829616e-01 7.93661812e-02 2.50872932e+02] [-6.76430129e-01 7.32437173e-01 -7.73179733e-02 -1.81074163e+02] [-1.10771108e-01 2.61179316e-03 9.93842513e-01 -3.06150312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54591999999997 meters 0.028524307048335976 Centerline is valid? [True, True] Translation: X:250.89, Y:-181.10, Z:-30.62 [[ 7.27596699e-01 6.81449097e-01 7.89314382e-02 2.50893926e+02] [-6.77093300e-01 7.31861043e-01 -7.69680262e-02 -1.81098527e+02] [-1.10216637e-01 2.55773384e-03 9.93904297e-01 -3.06182017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57592 meters 0.02829323994431226 Centerline is valid? [True, True] Translation: X:250.91, Y:-181.12, Z:-30.62 [[ 7.26523317e-01 6.82578610e-01 7.90589138e-02 2.50914937e+02] [-6.78207966e-01 7.30808109e-01 -7.71586864e-02 -1.81123011e+02] [-1.10443764e-01 2.43919965e-03 9.93879382e-01 -3.06218062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60591999999997 meters 0.027918911608417266 Centerline is valid? [True, True] Translation: X:250.94, Y:-181.15, Z:-30.62 [[ 7.24891669e-01 6.84375143e-01 7.85030763e-02 2.50935824e+02] [-6.80069138e-01 7.29126758e-01 -7.66820518e-02 -1.81147576e+02] [-1.09717984e-01 2.19866103e-03 9.93960326e-01 -3.06236881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63592 meters 0.02734778484944649 Centerline is valid? [True, True] Translation: X:250.96, Y:-181.17, Z:-30.63 [[ 7.21519803e-01 6.87728670e-01 8.02399545e-02 2.50955532e+02] [-6.83242166e-01 7.25965642e-01 -7.84476162e-02 -1.81173453e+02] [-1.12202125e-01 1.77818827e-03 9.93683814e-01 -3.06267001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66591999999997 meters 0.026999866229817607 Centerline is valid? [True, True] Translation: X:250.98, Y:-181.20, Z:-30.63 [[ 7.18013641e-01 6.91387060e-01 8.02517545e-02 2.50975077e+02] [-6.86914170e-01 7.22483461e-01 -7.85275250e-02 -1.81198797e+02] [-1.12273480e-01 1.25776685e-03 9.93676549e-01 -3.06292326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69592 meters 0.026995976292107576 Centerline is valid? [True, True] Translation: X:251.00, Y:-181.22, Z:-30.63 [[ 7.16370435e-01 6.92987078e-01 8.11314358e-02 2.50997574e+02] [-6.88417132e-01 7.20949209e-01 -7.94612468e-02 -1.81222874e+02] [-1.13557262e-01 1.07141762e-03 9.93530875e-01 -3.06327448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72592 meters 0.0269179154767003 Centerline is valid? [True, True] Translation: X:251.02, Y:-181.25, Z:-30.64 [[ 7.14917331e-01 6.94522613e-01 8.08180010e-02 2.51019369e+02] [-6.89988867e-01 7.19470335e-01 -7.92325708e-02 -1.81246215e+02] [-1.13174966e-01 8.81217154e-04 9.93574683e-01 -3.06356693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75591999999995 meters 0.026735061647192082 Centerline is valid? [True, True] Translation: X:251.04, Y:-181.27, Z:-30.64 [[ 7.14450654e-01 6.95172014e-01 7.93481857e-02 2.51041316e+02] [-6.90798515e-01 7.18842966e-01 -7.78601410e-02 -1.81269404e+02] [-1.11165076e-01 8.13619779e-04 9.93801622e-01 -3.06384252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78592 meters 0.026561556654264625 Centerline is valid? [True, True] Translation: X:251.06, Y:-181.29, Z:-30.64 [[ 7.14071968e-01 6.95564144e-01 7.93205295e-02 2.51063789e+02] [-6.91188115e-01 7.18463552e-01 -7.79045266e-02 -1.81293206e+02] [-1.11176505e-01 8.04031316e-04 9.93800351e-01 -3.06417373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81591999999995 meters 0.02659274114029951 Centerline is valid? [True, True] Translation: X:251.09, Y:-181.32, Z:-30.64 [[ 7.14328161e-01 6.95271710e-01 7.95771805e-02 2.51087380e+02] [-6.90856385e-01 7.18746423e-01 -7.82370442e-02 -1.81316929e+02] [-1.11591817e-01 9.10520734e-04 9.93753711e-01 -3.06441840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84592 meters 0.02688395002362692 Centerline is valid? [True, True] Translation: X:251.11, Y:-181.34, Z:-30.65 [[ 7.15733433e-01 6.93699854e-01 8.06608101e-02 2.51109342e+02] [-6.89143895e-01 7.20263146e-01 -7.93832055e-02 -1.81340369e+02] [-1.13165127e-01 1.23030932e-03 9.93575433e-01 -3.06473818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87591999999995 meters 0.02701014630972851 Centerline is valid? [True, True] Translation: X:251.13, Y:-181.36, Z:-30.65 [[ 7.16299232e-01 6.93109477e-01 8.07134648e-02 2.51132040e+02] [-6.88535448e-01 7.20831017e-01 -7.95083701e-02 -1.81363733e+02] [-1.13288774e-01 1.37770277e-03 9.93561148e-01 -3.06503399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90592 meters 0.026949988854761346 Centerline is valid? [True, True] Translation: X:251.15, Y:-181.39, Z:-30.65 [[ 7.17314426e-01 6.92215113e-01 7.93615221e-02 2.51153200e+02] [-6.87779516e-01 7.21689572e-01 -7.82527903e-02 -1.81388031e+02] [-1.11442147e-01 1.54862612e-03 9.93769717e-01 -3.06526251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93591999999995 meters 0.02691796974552161 Centerline is valid? [True, True] Translation: X:251.17, Y:-181.41, Z:-30.66 [[ 7.17343310e-01 6.92092487e-01 8.01658595e-02 2.51174394e+02] [-6.87557511e-01 7.21806981e-01 -7.91160625e-02 -1.81411925e+02] [-1.12619909e-01 1.63473937e-03 9.93636797e-01 -3.06563761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96592 meters 0.027121162094280934 Centerline is valid? [True, True] Translation: X:251.20, Y:-181.44, Z:-30.66 [[ 7.18209542e-01 6.91220674e-01 7.99314336e-02 2.51196127e+02] [-6.86698767e-01 7.22641456e-01 -7.89565119e-02 -1.81437105e+02] [-1.12338141e-01 1.81850343e-03 9.93668373e-01 -3.06595648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99591999999996 meters 0.027297385006906403 Centerline is valid? [True, True] Translation: X:251.22, Y:-181.46, Z:-30.66 [[ 7.18824620e-01 6.90544077e-01 8.02498757e-02 2.51216818e+02] [-6.85972843e-01 7.23287578e-01 -7.93494693e-02 -1.81461434e+02] [-1.12838044e-01 1.98911673e-03 9.93611403e-01 -3.06619089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02592 meters 0.02759976999756091 Centerline is valid? [True, True] Translation: X:251.24, Y:-181.49, Z:-30.66 [[ 7.20159040e-01 6.89090459e-01 8.07793089e-02 2.51235893e+02] [-6.84441318e-01 7.24671737e-01 -7.99434561e-02 -1.81488200e+02] [-1.13626755e-01 2.28330595e-03 9.93520884e-01 -3.06648893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05591999999996 meters 0.02769855257577746 Centerline is valid? [True, True] Translation: X:251.26, Y:-181.51, Z:-30.67 [[ 7.21092445e-01 6.88161518e-01 8.03704607e-02 2.51256904e+02] [-6.83545833e-01 7.25553329e-01 -7.96081683e-02 -1.81512403e+02] [-1.13096333e-01 2.46795515e-03 9.93580962e-01 -3.06681362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08592 meters 0.027855754590399937 Centerline is valid? [True, True] Translation: X:251.27, Y:-181.54, Z:-30.67 [[ 7.23131501e-01 6.86092598e-01 7.97356851e-02 2.51274956e+02] [-6.81529474e-01 7.27508760e-01 -7.90479593e-02 -1.81540183e+02] [-1.12242629e-01 2.81984988e-03 9.93676829e-01 -3.06713855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11591999999996 meters 0.028083199894195363 Centerline is valid? [True, True] Translation: X:251.29, Y:-181.57, Z:-30.67 [[ 7.23261053e-01 6.85883093e-01 8.03606414e-02 2.51294903e+02] [-6.81238707e-01 7.27705862e-01 -7.97370790e-02 -1.81565142e+02] [-1.13169224e-01 2.92594424e-03 9.93571419e-01 -3.06745912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14592 meters 0.027939626248395192 Centerline is valid? [True, True] Translation: X:251.32, Y:-181.59, Z:-30.68 [[ 7.22246040e-01 6.86887871e-01 8.09055616e-02 2.51315652e+02] [-6.82178042e-01 7.26757858e-01 -8.03500821e-02 -1.81591127e+02] [-1.13990249e-01 2.84053106e-03 9.93477808e-01 -3.06772611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17591999999996 meters 0.02736818298145392 Centerline is valid? [True, True] Translation: X:251.33, Y:-181.62, Z:-30.68 [[ 7.18957295e-01 6.90267904e-01 8.14286709e-02 2.51331871e+02] [-6.85509122e-01 7.23549973e-01 -8.09486281e-02 -1.81619802e+02] [-1.14793952e-01 2.37850996e-03 9.93386476e-01 -3.06795825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20592 meters 0.027272374115214524 Centerline is valid? [True, True] Translation: X:251.35, Y:-181.65, Z:-30.68 [[ 7.16403452e-01 6.92768404e-01 8.26923951e-02 2.51351811e+02] [-6.87867944e-01 7.21157179e-01 -8.22800973e-02 -1.81645654e+02] [-1.16635266e-01 2.06429791e-03 9.93172671e-01 -3.06839546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23591999999996 meters 0.02695876840615968 Centerline is valid? [True, True] Translation: X:251.37, Y:-181.67, Z:-30.69 [[ 7.14849136e-01 6.94428313e-01 8.22194033e-02 2.51371875e+02] [-6.89585544e-01 7.19559537e-01 -8.18892490e-02 -1.81670930e+02] [-1.16027969e-01 1.84114695e-03 9.93244240e-01 -3.06854699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26592 meters 0.026874311192447507 Centerline is valid? [True, True] Translation: X:251.39, Y:-181.70, Z:-30.69 [[ 7.11848238e-01 6.97431535e-01 8.28332070e-02 2.51389084e+02] [-6.92527450e-01 7.16650018e-01 -8.25741030e-02 -1.81698410e+02] [-1.16952203e-01 1.41596011e-03 9.93136535e-01 -3.06888748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29591999999997 meters 0.026789137830076977 Centerline is valid? [True, True] Translation: X:251.41, Y:-181.72, Z:-30.69 [[ 7.10375469e-01 6.98881828e-01 8.32519319e-02 2.51410153e+02] [-6.93928613e-01 7.15236084e-01 -8.30687937e-02 -1.81723913e+02] [-1.17600056e-01 1.23913566e-03 9.93060266e-01 -3.06919464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32592 meters 0.026793555848430628 Centerline is valid? [True, True] Translation: X:251.43, Y:-181.75, Z:-30.70 [[ 7.08159987e-01 7.01161479e-01 8.29578991e-02 2.51428521e+02] [-6.96249099e-01 7.13001921e-01 -8.28580278e-02 -1.81750186e+02] [-1.17245999e-01 9.17377348e-04 9.93102479e-01 -3.06957905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35591999999997 meters 0.026635939303448108 Centerline is valid? [True, True] Translation: X:251.45, Y:-181.77, Z:-30.70 [[ 7.07049306e-01 7.02265716e-01 8.30911666e-02 2.51449930e+02] [-6.97335883e-01 7.11914487e-01 -8.30688244e-02 -1.81774789e+02] [-1.17490193e-01 7.91302711e-04 9.93073728e-01 -3.06983393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38592 meters 0.02673967617514477 Centerline is valid? [True, True] Translation: X:251.59, Y:-181.94, Z:-28.83 [[ 7.53718823e-01 -6.55879717e-01 -4.15900496e-02 2.51587999e+02] [-6.54386396e-01 -7.54837604e-01 4.47061180e-02 -1.81940475e+02] [-6.07155694e-02 -6.47987997e-03 -9.98134075e-01 -2.88270196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41591999999997 meters 0.026775459029928363 Centerline is valid? [True, True] Translation: X:251.49, Y:-181.85, Z:-30.71 [[ 7.53991147e-01 6.50661990e-01 9.02015849e-02 2.51491082e+02] [-6.46041840e-01 7.59367479e-01 -7.74013748e-02 -1.81845931e+02] [-1.18858283e-01 8.59533993e-05 9.92911225e-01 -3.07056125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44592 meters 0.026647841547877252 Centerline is valid? [True, True] Translation: X:251.51, Y:-181.87, Z:-30.71 [[ 7.52172529e-01 6.52871025e-01 8.94198591e-02 2.51514516e+02] [-6.48337041e-01 7.57469065e-01 -7.68094849e-02 -1.81868358e+02] [-1.17879464e-01 -2.00222291e-04 9.93027891e-01 -3.07084655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47592 meters 0.026786035433275845 Centerline is valid? [True, True] Translation: X:251.54, Y:-181.89, Z:-30.71 [[ 7.48254501e-01 6.57388109e-01 8.91968412e-02 2.51536634e+02] [-6.52901392e-01 7.53551679e-01 -7.66788115e-02 -1.81891526e+02] [-1.17622168e-01 -8.61475948e-04 9.93058046e-01 -3.07112336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50591999999995 meters 0.026979432040982906 Centerline is valid? [True, True] Translation: X:251.56, Y:-181.91, Z:-30.71 [[ 7.46171929e-01 6.59874816e-01 8.82761553e-02 2.51561121e+02] [-6.55493334e-01 7.51374581e-01 -7.59258082e-02 -1.81913784e+02] [-1.16429988e-01 -1.21072459e-03 9.93198164e-01 -3.07137573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53592 meters 0.027307647492881518 Centerline is valid? [True, True] Translation: X:251.59, Y:-181.93, Z:-30.72 [[ 7.44158991e-01 6.62044571e-01 8.90190031e-02 2.51585466e+02] [-6.57594695e-01 7.49462961e-01 -7.66452081e-02 -1.81934909e+02] [-1.17458990e-01 -1.50220350e-03 9.93076598e-01 -3.07168679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56591999999995 meters 0.027700278366742805 Centerline is valid? [True, True] Translation: X:251.61, Y:-181.95, Z:-30.72 [[ 7.41948193e-01 6.64465079e-01 8.94373448e-02 2.51610443e+02] [-6.59982002e-01 7.47317052e-01 -7.70777568e-02 -1.81954519e+02] [-1.18053531e-01 -1.83933551e-03 9.93005529e-01 -3.07195052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59592 meters 0.027717756862546985 Centerline is valid? [True, True] Translation: X:251.64, Y:-181.97, Z:-30.72 [[ 7.41957553e-01 6.64506687e-01 8.90497194e-02 2.51635597e+02] [-6.60054354e-01 7.47280189e-01 -7.68151629e-02 -1.81974373e+02] [-1.17589281e-01 -1.78406470e-03 9.93060712e-01 -3.07220129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62591999999995 meters 0.027987620878141942 Centerline is valid? [True, True] Translation: X:251.66, Y:-181.99, Z:-30.73 [[ 7.41984611e-01 6.64417394e-01 8.94894583e-02 2.51661087e+02] [-6.59911255e-01 7.47359726e-01 -7.72695038e-02 -1.81994953e+02] [-1.18220019e-01 -1.72231795e-03 9.92985932e-01 -3.07264530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65592 meters 0.027730880188627162 Centerline is valid? [True, True] Translation: X:251.69, Y:-182.01, Z:-30.73 [[ 7.43814186e-01 6.62473384e-01 8.87100482e-02 2.51687928e+02] [-6.58022499e-01 7.49084253e-01 -7.66757632e-02 -1.82013028e+02] [-1.17246952e-01 -1.34068721e-03 9.93101885e-01 -3.07284862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68591999999995 meters 0.027645914331933658 Centerline is valid? [True, True] Translation: X:251.71, Y:-182.03, Z:-30.73 [[ 7.44828949e-01 6.61363046e-01 8.84802702e-02 2.51713852e+02] [-6.56919000e-01 7.50065126e-01 -7.65489017e-02 -1.82032472e+02] [-1.16992580e-01 -1.10853258e-03 9.93132170e-01 -3.07309905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71592 meters 0.027827142167661873 Centerline is valid? [True, True] Translation: X:251.74, Y:-182.05, Z:-30.73 [[ 7.45183947e-01 6.60867797e-01 8.91887889e-02 2.51740821e+02] [-6.56339447e-01 7.50501693e-01 -7.72381968e-02 -1.82051776e+02] [-1.17980574e-01 -9.81456058e-04 9.93015418e-01 -3.07341904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74591999999996 meters 0.027787151443959376 Centerline is valid? [True, True] Translation: X:251.77, Y:-182.07, Z:-30.74 [[ 7.45154691e-01 6.60891521e-01 8.92574064e-02 2.51766458e+02] [-6.56346312e-01 7.50480877e-01 -7.73819868e-02 -1.82072143e+02] [-1.18127076e-01 -9.22219064e-04 9.92998058e-01 -3.07370545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.77592 meters 0.02786085214036753 Centerline is valid? [True, True] Translation: X:251.79, Y:-182.09, Z:-30.74 [[ 7.44309037e-01 6.61730981e-01 9.00897737e-02 2.51790410e+02] [-6.57096696e-01 7.49740689e-01 -7.81846025e-02 -1.82092623e+02] [-1.19281143e-01 -1.00418643e-03 9.92860011e-01 -3.07407111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80591999999996 meters 0.028061527584801554 Centerline is valid? [True, True] Translation: X:251.81, Y:-182.11, Z:-30.74 [[ 7.44809564e-01 6.61357568e-01 8.86841631e-02 2.51814712e+02] [-6.56856605e-01 7.50070261e-01 -7.70324838e-02 -1.82114098e+02] [-1.17465369e-01 -8.78247644e-04 9.93076591e-01 -3.07430438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.83592 meters 0.02779855431502835 Centerline is valid? [True, True] Translation: X:251.84, Y:-182.13, Z:-30.75 [[ 7.45560096e-01 6.60614614e-01 8.79117461e-02 2.51839350e+02] [-6.56178415e-01 7.50724877e-01 -7.64332858e-02 -1.82134728e+02] [-1.16490480e-01 -7.00182301e-04 9.93191561e-01 -3.07460943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86591999999996 meters 0.02803947151225564 Centerline is valid? [True, True] Translation: X:251.86, Y:-182.15, Z:-30.75 [[ 7.47534112e-01 6.58405090e-01 8.77239351e-02 2.51863642e+02] [-6.53964236e-01 7.52663702e-01 -7.63421935e-02 -1.82154954e+02] [-1.16290710e-01 -2.99922366e-04 9.93215173e-01 -3.07500135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89592 meters 0.02808970111241637 Centerline is valid? [True, True] Translation: X:251.89, Y:-182.18, Z:-30.75 [[ 7.48348763e-01 6.57585038e-01 8.69255283e-02 2.51887408e+02] [-6.53211158e-01 7.53380319e-01 -7.57184113e-02 -1.82175845e+02] [-1.15279277e-01 -1.16945629e-04 9.93333114e-01 -3.07532017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92591999999996 meters 0.027929028235469347 Centerline is valid? [True, True] Translation: X:251.91, Y:-182.20, Z:-30.76 [[ 7.49061808e-01 6.56819981e-01 8.65674321e-02 2.51911750e+02] [-6.52468631e-01 7.54047418e-01 -7.54796405e-02 -1.82198221e+02] [-1.14852485e-01 5.63820831e-05 9.93382557e-01 -3.07562300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95592 meters 0.027995012729896573 Centerline is valid? [True, True] Translation: X:251.93, Y:-182.22, Z:-30.76 [[ 7.51149908e-01 6.54545623e-01 8.56962268e-02 2.51934924e+02] [-6.50257778e-01 7.56022364e-01 -7.47997805e-02 -1.82221280e+02] [-1.13748133e-01 4.61210205e-04 9.93509512e-01 -3.07595849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98591999999996 meters 0.027995012729896573 Centerline is valid? [True, True] Translation: X:251.96, Y:-182.24, Z:-30.76 [[ 7.50806675e-01 6.54944525e-01 8.56563270e-02 2.51959564e+02] [-6.50654058e-01 7.55676820e-01 -7.48454489e-02 -1.82242320e+02] [-1.13748118e-01 4.61825870e-04 9.93509513e-01 -3.07624894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01592 meters 0.0280904920906041 Centerline is valid? [True, True] Translation: X:251.98, Y:-182.26, Z:-30.76 [[ 7.51523971e-01 6.54221400e-01 8.48886338e-02 2.51983722e+02] [-6.49994241e-01 7.56302828e-01 -7.42530728e-02 -1.82264824e+02] [-1.12779463e-01 6.25841075e-04 9.93619847e-01 -3.07644790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04591999999997 meters 0.028231078278315874 Centerline is valid? [True, True] Translation: X:252.01, Y:-182.29, Z:-30.77 [[ 7.52388365e-01 6.53153738e-01 8.54514094e-02 2.52005593e+02] [-6.48854421e-01 7.57224849e-01 -7.48229099e-02 -1.82287731e+02] [-1.13576794e-01 8.50362016e-04 9.93528857e-01 -3.07684272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07592 meters 0.028152238900978694 Centerline is valid? [True, True] Translation: X:252.03, Y:-182.31, Z:-30.77 [[ 7.52815986e-01 6.52750615e-01 8.47627580e-02 2.52029125e+02] [-6.48510009e-01 7.57572252e-01 -7.42903111e-02 -1.82310167e+02] [-1.12706960e-01 9.57436812e-04 9.93627810e-01 -3.07715783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10591999999997 meters 0.028044398821008964 Centerline is valid? [True, True] Translation: X:252.05, Y:-182.33, Z:-30.77 [[ 7.52065540e-01 6.53657053e-01 8.44386219e-02 2.52052594e+02] [-6.49445774e-01 7.56790385e-01 -7.40844092e-02 -1.82332813e+02] [-1.12328134e-01 8.78025021e-04 9.93670780e-01 -3.07739177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13592 meters 0.027990446952378307 Centerline is valid? [True, True] Translation: X:252.07, Y:-182.36, Z:-30.78 [[ 7.50849827e-01 6.55103121e-01 8.40502181e-02 2.52074433e+02] [-6.50931086e-01 7.55539137e-01 -7.38195980e-02 -1.82356030e+02] [-1.11862678e-01 7.16532598e-04 9.93723416e-01 -3.07781590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16591999999997 meters 0.02808581352530279 Centerline is valid? [True, True] Translation: X:252.10, Y:-182.38, Z:-30.78 [[ 7.49957849e-01 6.56040047e-01 8.47034882e-02 2.52097863e+02] [-6.51800549e-01 7.54725813e-01 -7.44647000e-02 -1.82378868e+02] [-1.12779734e-01 6.35606173e-04 9.93619810e-01 -3.07825595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19592 meters 0.028100695707521838 Centerline is valid? [True, True] Translation: X:252.12, Y:-182.40, Z:-30.78 [[ 7.48979997e-01 6.57147305e-01 8.47725406e-02 2.52121280e+02] [-6.52899980e-01 7.53761996e-01 -7.45953655e-02 -1.82402750e+02] [-1.12918463e-01 5.22446598e-04 9.93604120e-01 -3.07844679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22592 meters 0.02792101097052771 Centerline is valid? [True, True] Translation: X:252.14, Y:-182.43, Z:-30.79 [[ 7.47247306e-01 6.59161068e-01 8.44283711e-02 2.52142448e+02] [-6.54956297e-01 7.52001745e-01 -7.43345467e-02 -1.82427891e+02] [-1.12488722e-01 2.49396495e-04 9.93652970e-01 -3.07863463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25591999999995 meters 0.027923824841717064 Centerline is valid? [True, True] Translation: X:252.17, Y:-182.45, Z:-30.79 [[ 7.46678331e-01 6.59868189e-01 8.39371365e-02 2.52166293e+02] [-6.55708750e-01 7.51381351e-01 -7.39736489e-02 -1.82451203e+02] [-1.11881657e-01 1.96205858e-04 9.93721519e-01 -3.07892402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28592 meters 0.027916230589967846 Centerline is valid? [True, True] Translation: X:252.19, Y:-182.47, Z:-30.79 [[ 7.44270886e-01 6.62701069e-01 8.29948303e-02 2.52188097e+02] [-6.58643775e-01 7.48884013e-01 -7.32196190e-02 -1.82474435e+02] [-1.10676221e-01 -1.68797664e-04 9.93856502e-01 -3.07916845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31591999999995 meters 0.02786047487611114 Centerline is valid? [True, True] Translation: X:252.21, Y:-182.50, Z:-30.79 [[ 7.42928181e-01 6.64109862e-01 8.37604339e-02 2.52211732e+02] [-6.59979163e-01 7.47634923e-01 -7.39562400e-02 -1.82496611e+02] [-1.11737294e-01 -3.35966234e-04 9.93737724e-01 -3.07944075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34592 meters 0.02788296997884576 Centerline is valid? [True, True] Translation: X:252.24, Y:-182.52, Z:-30.80 [[ 7.41493034e-01 6.65658665e-01 8.41820726e-02 2.52235811e+02] [-6.61491902e-01 7.46256153e-01 -7.43654348e-02 -1.82519028e+02] [-1.12323386e-01 -5.44307468e-04 9.93671556e-01 -3.07969285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37591999999995 meters 0.027937545045003346 Centerline is valid? [True, True] Translation: X:252.26, Y:-182.54, Z:-30.80 [[ 7.40393063e-01 6.66540071e-01 8.68472553e-02 2.52258305e+02] [-6.62100653e-01 7.45468932e-01 -7.68036290e-02 -1.82541518e+02] [-1.15934627e-01 -6.36750286e-04 9.93256642e-01 -3.07995593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40592 meters 0.027854717844423633 Centerline is valid? [True, True] Translation: X:252.28, Y:-182.56, Z:-30.80 [[ 7.39692648e-01 6.67513157e-01 8.53286107e-02 2.52282110e+02] [-6.63226508e-01 7.44597652e-01 -7.55310291e-02 -1.82563407e+02] [-1.13953439e-01 -7.22449626e-04 9.93485829e-01 -3.08017281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43591999999995 meters 0.027929407674794054 Centerline is valid? [True, True] Translation: X:252.31, Y:-182.58, Z:-30.81 [[ 7.39369559e-01 6.67956100e-01 8.46599265e-02 2.52305978e+02] [-6.63731474e-01 7.44200317e-01 -7.50094532e-02 -1.82584573e+02] [-1.13106966e-01 -7.31751464e-04 9.93582548e-01 -3.08050069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46592 meters 0.02791436449223617 Centerline is valid? [True, True] Translation: X:252.33, Y:-182.61, Z:-30.81 [[ 7.38125166e-01 6.69358838e-01 8.44392472e-02 2.52329964e+02] [-6.65157162e-01 7.42938729e-01 -7.48865509e-02 -1.82607477e+02] [-1.12859162e-01 -8.89722218e-04 9.93610597e-01 -3.08083196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49591999999996 meters 0.027983631832372322 Centerline is valid? [True, True] Translation: X:252.35, Y:-182.63, Z:-30.81 [[ 7.37551362e-01 6.70134783e-01 8.32908245e-02 2.52353380e+02] [-6.66043263e-01 7.42238839e-01 -7.39450971e-02 -1.82628896e+02] [-1.11374867e-01 -9.36985473e-04 9.93778024e-01 -3.08105000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52592 meters 0.027995971454462115 Centerline is valid? [True, True] Translation: X:252.38, Y:-182.65, Z:-30.81 [[ 7.37201347e-01 6.70446389e-01 8.38797556e-02 2.52378399e+02] [-6.66290418e-01 7.41957385e-01 -7.45407097e-02 -1.82650320e+02] [-1.12210754e-01 -9.36765831e-04 9.93683989e-01 -3.08122006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55591999999996 meters 0.028139477114049252 Centerline is valid? [True, True] Translation: X:252.40, Y:-182.67, Z:-30.82 [[ 7.36607162e-01 6.71038395e-01 8.43644550e-02 2.52402451e+02] [-6.66828712e-01 7.41421963e-01 -7.50529323e-02 -1.82671874e+02] [-1.12913059e-01 -9.72113408e-04 9.93604396e-01 -3.08162362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58592 meters 0.027962459190821493 Centerline is valid? [True, True] Translation: X:252.43, Y:-182.69, Z:-30.82 [[ 7.37114709e-01 6.70463378e-01 8.45030420e-02 2.52426603e+02] [-6.66226792e-01 7.41942166e-01 -7.52574472e-02 -1.82693982e+02] [-1.13153732e-01 -8.24819363e-04 9.93577150e-01 -3.08195236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61591999999996 meters 0.02800138361257203 Centerline is valid? [True, True] Translation: X:252.45, Y:-182.72, Z:-30.82 [[ 7.37009628e-01 6.70539229e-01 8.48171575e-02 2.52450839e+02] [-6.66262190e-01 7.41873666e-01 -7.56185078e-02 -1.82716647e+02] [-1.13628791e-01 -7.78896797e-04 9.93522970e-01 -3.08226279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64592 meters 0.027949863206874013 Centerline is valid? [True, True] Translation: X:252.48, Y:-182.74, Z:-30.83 [[ 7.37248968e-01 6.70327418e-01 8.44103817e-02 2.52475488e+02] [-6.66080846e-01 7.42065151e-01 -7.53367067e-02 -1.82738535e+02] [-1.13138263e-01 -6.82229155e-04 9.93579020e-01 -3.08257872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67591999999996 meters 0.02775382973818987 Centerline is valid? [True, True] Translation: X:252.50, Y:-182.76, Z:-30.83 [[ 7.37635338e-01 6.69802912e-01 8.51948724e-02 2.52501228e+02] [-6.65463823e-01 7.42538727e-01 -7.61192442e-02 -1.82758928e+02] [-1.14245384e-01 -5.45861059e-04 9.93452412e-01 -3.08280952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70592 meters 0.027653890765107547 Centerline is valid? [True, True] Translation: X:252.52, Y:-182.78, Z:-30.83 [[ 7.37550008e-01 6.69971205e-01 8.46083299e-02 2.52524593e+02] [-6.65683879e-01 7.42386911e-01 -7.56746199e-02 -1.82780508e+02] [-1.13511933e-01 -5.08584727e-04 9.93536503e-01 -3.08312213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73591999999996 meters 0.027556473309284155 Centerline is valid? [True, True] Translation: X:252.55, Y:-182.80, Z:-30.83 [[ 7.38153845e-01 6.69237069e-01 8.51507336e-02 2.52548087e+02] [-6.64880892e-01 7.43048874e-01 -7.62349731e-02 -1.82803757e+02] [-1.14290427e-01 -3.41957244e-04 9.93447322e-01 -3.08349187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76592 meters 0.027491432101824826 Centerline is valid? [True, True] Translation: X:252.57, Y:-182.83, Z:-30.84 [[ 7.38081284e-01 6.69434763e-01 8.42206354e-02 2.52572463e+02] [-6.65165803e-01 7.42870784e-01 -7.54814714e-02 -1.82825191e+02] [-1.13094970e-01 -3.09225206e-04 9.93584134e-01 -3.08376485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79591999999997 meters 0.027567424787716184 Centerline is valid? [True, True] Translation: X:252.60, Y:-182.85, Z:-30.84 [[ 7.39081605e-01 6.68201664e-01 8.52344856e-02 2.52596610e+02] [-6.63812333e-01 7.43980196e-01 -7.64634202e-02 -1.82846588e+02] [-1.14505754e-01 -6.69954030e-05 9.93422583e-01 -3.08405368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82592 meters 0.02741216947145695 Centerline is valid? [True, True] Translation: X:252.62, Y:-182.87, Z:-30.84 [[ 7.40476410e-01 6.66811259e-01 8.40085187e-02 2.52619471e+02] [-6.62530702e-01 7.45226613e-01 -7.54345009e-02 -1.82868782e+02] [-1.12905958e-01 1.99245576e-04 9.93605659e-01 -3.08420730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85591999999997 meters 0.027484377010058365 Centerline is valid? [True, True] Translation: X:252.64, Y:-182.89, Z:-30.84 [[ 7.41292234e-01 6.65871979e-01 8.42634663e-02 2.52642620e+02] [-6.61550798e-01 7.46065914e-01 -7.57376619e-02 -1.82891815e+02] [-1.13297687e-01 3.99177246e-04 9.93561007e-01 -3.08449705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88592 meters 0.027723776976632798 Centerline is valid? [True, True] Translation: X:252.66, Y:-182.92, Z:-30.85 [[ 7.43386801e-01 6.63687999e-01 8.30319502e-02 2.52664806e+02] [-6.59470065e-01 7.48009111e-01 -7.47101256e-02 -1.82916577e+02] [-1.11692869e-01 7.81435614e-04 9.93742468e-01 -3.08479891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91591999999997 meters 0.027685807224155982 Centerline is valid? [True, True] Translation: X:252.69, Y:-182.94, Z:-30.85 [[ 7.44089627e-01 6.62902118e-01 8.30145117e-02 2.52688302e+02] [-6.58672043e-01 7.48705456e-01 -7.47748593e-02 -1.82939894e+02] [-1.11721831e-01 9.59859149e-04 9.93739056e-01 -3.08504070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94592 meters 0.027835514179293537 Centerline is valid? [True, True] Translation: X:252.71, Y:-182.96, Z:-30.85 [[ 7.45418768e-01 6.61447301e-01 8.26941868e-02 2.52710106e+02] [-6.57232054e-01 7.49990630e-01 -7.45659553e-02 -1.82964842e+02] [-1.11341315e-01 1.23359228e-03 9.93781460e-01 -3.08535564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97592 meters 0.02758115734945288 Centerline is valid? [True, True] Translation: X:252.73, Y:-182.99, Z:-30.86 [[ 7.45331651e-01 6.61595158e-01 8.22956643e-02 2.52733295e+02] [-6.57413674e-01 7.49860162e-01 -7.42764962e-02 -1.82988587e+02] [-1.10851210e-01 1.25832852e-03 9.93836217e-01 -3.08558355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00591999999995 meters 0.027669058187015195 Centerline is valid? [True, True] Translation: X:252.76, Y:-183.01, Z:-30.86 [[ 7.44224082e-01 6.62805853e-01 8.25767302e-02 2.52756209e+02] [-6.58598198e-01 7.48790464e-01 -7.45738212e-02 -1.83011822e+02] [-1.11260633e-01 1.11474793e-03 9.93790636e-01 -3.08600707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03592 meters 0.027246793328171013 Centerline is valid? [True, True] Translation: X:252.78, Y:-183.04, Z:-30.86 [[ 7.42329214e-01 6.64981235e-01 8.21419227e-02 2.52776254e+02] [-6.60823156e-01 7.46859594e-01 -7.42529624e-02 -1.83037334e+02] [-1.10725310e-01 8.38858596e-04 9.93850694e-01 -3.08623648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06591999999995 meters 0.027365115486936112 Centerline is valid? [True, True] Translation: X:252.80, Y:-183.06, Z:-30.87 [[ 7.41107389e-01 6.66347309e-01 8.21042134e-02 2.52799196e+02] [-6.62196251e-01 7.45641211e-01 -7.42651296e-02 -1.83061578e+02] [-1.10706654e-01 6.69334029e-04 9.93852901e-01 -3.08652286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09592 meters 0.02720437096989484 Centerline is valid? [True, True] Translation: X:252.82, Y:-183.08, Z:-30.87 [[ 7.39497927e-01 6.68125896e-01 8.21620580e-02 2.52822310e+02] [-6.63970831e-01 7.44048098e-01 -7.43986807e-02 -1.83084822e+02] [-1.10840208e-01 4.64460230e-04 9.93838132e-01 -3.08677694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12591999999995 meters 0.02722102268674616 Centerline is valid? [True, True] Translation: X:252.85, Y:-183.11, Z:-30.87 [[ 7.38661637e-01 6.69039099e-01 8.22536926e-02 2.52847183e+02] [-6.64871260e-01 7.43227107e-01 -7.45632263e-02 -1.83106440e+02] [-1.11018888e-01 3.88878600e-04 9.93818220e-01 -3.08708779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15592 meters 0.027271485277952017 Centerline is valid? [True, True] Translation: X:252.87, Y:-183.13, Z:-30.87 [[ 7.38604285e-01 6.69042827e-01 8.27369668e-02 2.52871988e+02] [-6.64816563e-01 7.43223716e-01 -7.50829298e-02 -1.83128066e+02] [-1.11725771e-01 4.51667753e-04 9.93738974e-01 -3.08744789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18591999999995 meters 0.027364932311589305 Centerline is valid? [True, True] Translation: X:252.89, Y:-183.15, Z:-30.88 [[ 7.39630181e-01 6.67804512e-01 8.35722927e-02 2.52894525e+02] [-6.63475157e-01 7.44336372e-01 -7.59215442e-02 -1.83150549e+02] [-1.12906647e-01 7.05725501e-04 9.93605350e-01 -3.08760708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21592 meters 0.027319899159814708 Centerline is valid? [True, True] Translation: X:252.92, Y:-183.17, Z:-30.88 [[ 7.40316490e-01 6.66980373e-01 8.40754158e-02 2.52918104e+02] [-6.62584974e-01 7.45074753e-01 -7.64510585e-02 -1.83172067e+02] [-1.13633825e-01 8.90872123e-04 9.93522300e-01 -3.08792621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24591999999996 meters 0.02749786802454487 Centerline is valid? [True, True] Translation: X:252.94, Y:-183.19, Z:-30.88 [[ 7.41531466e-01 6.65564936e-01 8.45836932e-02 2.52942239e+02] [-6.61098484e-01 7.46339031e-01 -7.69860064e-02 -1.83193611e+02] [-1.14367298e-01 1.16939484e-03 9.93437846e-01 -3.08812490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.27592 meters 0.027724861290992265 Centerline is valid? [True, True] Translation: X:252.97, Y:-183.22, Z:-30.88 [[ 7.43886585e-01 6.62821610e-01 8.54415728e-02 2.52965495e+02] [-6.58237190e-01 7.48775498e-01 -7.78399305e-02 -1.83215269e+02] [-1.15570544e-01 1.66325925e-03 9.93297882e-01 -3.08847202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30591999999996 meters 0.027734418482507576 Centerline is valid? [True, True] Translation: X:252.99, Y:-183.24, Z:-30.89 [[ 7.45105808e-01 6.61652802e-01 8.38624117e-02 2.52988245e+02] [-6.57221517e-01 7.49808042e-01 -7.64707660e-02 -1.83237390e+02] [-1.13477807e-01 1.86263050e-03 9.93538785e-01 -3.08862865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.33592 meters 0.027811560868478417 Centerline is valid? [True, True] Translation: X:253.01, Y:-183.26, Z:-30.89 [[ 7.46275868e-01 6.60454931e-01 8.28951928e-02 2.53009893e+02] [-6.56110224e-01 7.50862824e-01 -7.56597233e-02 -1.83262146e+02] [-1.12212756e-01 2.07464214e-03 9.93682038e-01 -3.08899496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36591999999996 meters 0.02772345971963375 Centerline is valid? [True, True] Translation: X:253.03, Y:-183.29, Z:-30.89 [[ 7.46306077e-01 6.60510772e-01 8.21751751e-02 2.53033186e+02] [-6.56233084e-01 7.50813613e-01 -7.50803416e-02 -1.83285093e+02] [-1.11289614e-01 2.10684665e-03 9.93785783e-01 -3.08931746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39592 meters 0.027748221248031012 Centerline is valid? [True, True] Translation: X:253.06, Y:-183.31, Z:-30.90 [[ 7.46238752e-01 6.60768877e-01 8.06983117e-02 2.53055737e+02] [-6.56637414e-01 7.50586529e-01 -7.38049367e-02 -1.83307816e+02] [-1.09339071e-01 2.08657310e-03 9.94002321e-01 -3.08963860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42591999999996 meters 0.027709139897668912 Centerline is valid? [True, True] Translation: X:253.08, Y:-183.33, Z:-30.90 [[ 7.45385385e-01 6.61680775e-01 8.11121378e-02 2.53075865e+02] [-6.57504348e-01 7.49782961e-01 -7.42532392e-02 -1.83334545e+02] [-1.09948440e-01 2.01569600e-03 9.93935248e-01 -3.08988079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45592 meters 0.027493301857655535 Centerline is valid? [True, True] Translation: X:253.10, Y:-183.36, Z:-30.90 [[ 7.44764597e-01 6.62376124e-01 8.11391687e-02 2.53097975e+02] [-6.58192387e-01 7.49168859e-01 -7.43559112e-02 -1.83359161e+02] [-1.10038519e-01 1.97246717e-03 9.93925366e-01 -3.09010436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48591999999996 meters 0.027304449020189393 Centerline is valid? [True, True] Translation: X:253.12, Y:-183.38, Z:-30.90 [[ 7.43823415e-01 6.63487035e-01 8.06949966e-02 2.53118613e+02] [-6.59348123e-01 7.48185494e-01 -7.40170174e-02 -1.83384811e+02] [-1.09484157e-01 1.84949611e-03 9.93986820e-01 -3.09032853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51592 meters 0.0272671501954313 Centerline is valid? [True, True] Translation: X:253.14, Y:-183.41, Z:-30.91 [[ 7.42979486e-01 6.64542709e-01 7.97776337e-02 2.53140448e+02] [-6.60499835e-01 7.47248348e-01 -7.32111661e-02 -1.83408115e+02] [-1.08265652e-01 1.70128070e-03 9.94120543e-01 -3.09070213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54591999999997 meters 0.02721383779939423 Centerline is valid? [True, True] Translation: X:253.16, Y:-183.44, Z:-30.91 [[ 7.40940351e-01 6.66919919e-01 7.89000546e-02 2.53158916e+02] [-6.62971874e-01 7.45128103e-01 -7.24734682e-02 -1.83435524e+02] [-1.07124648e-01 1.38999988e-03 9.94244627e-01 -3.09104355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57592 meters 0.027007126294506485 Centerline is valid? [True, True] Translation: X:253.18, Y:-183.46, Z:-30.91 [[ 7.39360249e-01 6.68603827e-01 7.94691463e-02 2.53180660e+02] [-6.64600045e-01 7.43617817e-01 -7.30706676e-02 -1.83460030e+02] [-1.07950001e-01 1.21034873e-03 9.94155588e-01 -3.09131256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60591999999997 meters 0.026963151358070498 Centerline is valid? [True, True] Translation: X:253.20, Y:-183.48, Z:-30.92 [[ 7.37415368e-01 6.70655286e-01 8.02500014e-02 2.53203520e+02] [-6.66575552e-01 7.41768515e-01 -7.38681504e-02 -1.83483995e+02] [-1.09066990e-01 9.78820255e-04 9.94033920e-01 -3.09155788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63592 meters 0.026797279626088456 Centerline is valid? [True, True] Translation: X:253.23, Y:-183.51, Z:-30.92 [[ 7.35945773e-01 6.72292887e-01 8.00380721e-02 2.53226900e+02] [-6.68235660e-01 7.40284840e-01 -7.37526857e-02 -1.83507734e+02] [-1.08834377e-01 7.93683323e-04 9.94059580e-01 -3.09175426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66591999999997 meters 0.02667993468081978 Centerline is valid? [True, True] Translation: X:253.25, Y:-183.53, Z:-30.92 [[ 7.33053730e-01 6.75482287e-01 7.97239542e-02 2.53247837e+02] [-6.71467020e-01 7.37376116e-01 -7.35425315e-02 -1.83533336e+02] [-1.08463217e-01 3.78621056e-04 9.94100391e-01 -3.09188524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69592 meters 0.026680502611418636 Centerline is valid? [True, True] Translation: X:253.27, Y:-183.56, Z:-30.92 [[ 7.31412972e-01 6.77226475e-01 7.99960362e-02 2.53270537e+02] [-6.73185420e-01 7.35774605e-01 -7.38723277e-02 -1.83556992e+02] [-1.08887348e-01 1.79013518e-04 9.94054080e-01 -3.09217219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72592 meters 0.026727785102783987 Centerline is valid? [True, True] Translation: X:253.29, Y:-183.58, Z:-30.92 [[ 7.27315236e-01 6.81717898e-01 7.92038804e-02 2.53293142e+02] [-6.77774447e-01 7.31615011e-01 -7.32207304e-02 -1.83581124e+02] [-1.07862630e-01 -4.27813384e-04 9.94165716e-01 -3.09230951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75591999999995 meters 0.02678139465067805 Centerline is valid? [True, True] Translation: X:253.32, Y:-183.60, Z:-30.93 [[ 7.24963837e-01 6.84295133e-01 7.85341107e-02 2.53317259e+02] [-6.80424862e-01 7.29204782e-01 -7.26800667e-02 -1.83603626e+02] [-1.07002065e-01 -7.46141411e-04 9.94258518e-01 -3.09264466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78592 meters 0.027154547812945944 Centerline is valid? [True, True] Translation: X:253.34, Y:-183.63, Z:-30.93 [[ 7.22749791e-01 6.86676569e-01 7.81538818e-02 2.53341049e+02] [-6.82849385e-01 7.26962320e-01 -7.24051276e-02 -1.83625904e+02] [-1.06533832e-01 -1.03653926e-03 9.94308538e-01 -3.09292060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81591999999995 meters 0.027302082846252487 Centerline is valid? [True, True] Translation: X:253.36, Y:-183.65, Z:-30.93 [[ 7.20516709e-01 6.89068849e-01 7.77161064e-02 2.53364706e+02] [-6.85290730e-01 7.24694663e-01 -7.20712212e-02 -1.83647890e+02] [-1.05982481e-01 -1.32960815e-03 9.94367108e-01 -3.09327885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84592 meters 0.027530160112207724 Centerline is valid? [True, True] Translation: X:253.39, Y:-183.67, Z:-30.94 [[ 7.17332227e-01 6.92441431e-01 7.71967624e-02 2.53389985e+02] [-6.88727714e-01 7.21471902e-01 -7.16409840e-02 -1.83669046e+02] [-1.05302481e-01 -1.77716309e-03 9.94438650e-01 -3.09356860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87591999999995 meters 0.027530160112207724 Centerline is valid? [True, True] Translation: X:253.41, Y:-183.69, Z:-30.94 [[ 7.16977425e-01 6.92812860e-01 7.71603069e-02 2.53413916e+02] [-6.89097065e-01 7.21115234e-01 -7.16802298e-02 -1.83690792e+02] [-1.05302458e-01 -1.77783440e-03 9.94438652e-01 -3.09385903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90592 meters 0.027650419787693184 Centerline is valid? [True, True] Translation: X:253.44, Y:-183.71, Z:-30.94 [[ 7.15579661e-01 6.94242100e-01 7.72894346e-02 2.53439236e+02] [-6.90514242e-01 7.19738948e-01 -7.18743921e-02 -1.83712198e+02] [-1.05526445e-01 -1.93760227e-03 9.94414609e-01 -3.09412507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93591999999995 meters 0.027732788876486187 Centerline is valid? [True, True] Translation: X:253.47, Y:-183.73, Z:-30.94 [[ 7.13885942e-01 6.95949921e-01 7.75923252e-02 2.53465934e+02] [-6.92194870e-01 7.18087116e-01 -7.22298826e-02 -1.83731365e+02] [-1.05986430e-01 -2.14511166e-03 9.94365262e-01 -3.09435613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96592 meters 0.027602963316988482 Centerline is valid? [True, True] Translation: X:253.49, Y:-183.75, Z:-30.95 [[ 7.13630949e-01 6.96283813e-01 7.69397226e-02 2.53491954e+02] [-6.92586185e-01 7.17763429e-01 -7.16940498e-02 -1.83751063e+02] [-1.05143925e-01 -2.12429610e-03 9.94454746e-01 -3.09455121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99591999999996 meters 0.027787625419058947 Centerline is valid? [True, True] Translation: X:253.52, Y:-183.77, Z:-30.95 [[ 7.13498658e-01 6.96343296e-01 7.76252467e-02 2.53518843e+02] [-6.92571639e-01 7.17705797e-01 -7.24079604e-02 -1.83770352e+02] [-1.06132887e-01 -2.09806183e-03 9.94349741e-01 -3.09496435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02592 meters 0.02734499445198714 Centerline is valid? [True, True] Translation: X:253.55, Y:-183.79, Z:-30.95 [[ 7.15339294e-01 6.94287064e-01 7.90896080e-02 2.53547920e+02] [-6.90350390e-01 7.19696003e-01 -7.38512219e-02 -1.83787349e+02] [-1.08194423e-01 -1.77086076e-03 9.94128176e-01 -3.09528116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05591999999996 meters 0.027165992307554083 Centerline is valid? [True, True] Translation: X:253.57, Y:-183.81, Z:-30.95 [[ 7.16602744e-01 6.93014922e-01 7.88087937e-02 2.53573648e+02] [-6.89090475e-01 7.20921640e-01 -7.36634613e-02 -1.83807793e+02] [-1.07864843e-01 -1.51895061e-03 9.94164407e-01 -3.09546808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08592 meters 0.02688912162107988 Centerline is valid? [True, True] Translation: X:253.60, Y:-183.83, Z:-30.96 [[ 7.18304562e-01 6.91271955e-01 7.86234150e-02 2.53598656e+02] [-6.87347601e-01 7.22593692e-01 -7.35637989e-02 -1.83828449e+02] [-1.07665375e-01 -1.20040331e-03 9.94186464e-01 -3.09575328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11591999999996 meters 0.026409079511258874 Centerline is valid? [True, True] Translation: X:253.62, Y:-183.85, Z:-30.96 [[ 7.21333070e-01 6.88230854e-01 7.75686443e-02 2.53624739e+02] [-6.84386073e-01 7.25491438e-01 -7.26489950e-02 -1.83848813e+02] [-1.06274667e-01 -6.82777376e-04 9.94336577e-01 -3.09602730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14592 meters 0.02640373820425304 Centerline is valid? [True, True] Translation: X:253.65, Y:-183.87, Z:-30.96 [[ 7.22593117e-01 6.86900041e-01 7.76371106e-02 2.53649647e+02] [-6.83032988e-01 7.26751777e-01 -7.27859335e-02 -1.83870552e+02] [-1.06419569e-01 -4.34093035e-04 9.94321219e-01 -3.09640537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17591999999996 meters 0.026395693701436865 Centerline is valid? [True, True] Translation: X:253.67, Y:-183.89, Z:-30.97 [[ 7.23610120e-01 6.85716363e-01 7.86222806e-02 2.53673551e+02] [-6.81734588e-01 7.27868826e-01 -7.37897327e-02 -1.83893067e+02] [-1.07825534e-01 -2.04530671e-04 9.94169811e-01 -3.09663071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20592 meters 0.0264963845909871 Centerline is valid? [True, True] Translation: X:253.70, Y:-183.92, Z:-30.97 [[ 7.23695228e-01 6.85577656e-01 7.90474184e-02 2.53697341e+02] [-6.81542976e-01 7.27999493e-01 -7.42691725e-02 -1.83916176e+02] [-1.08463766e-01 -1.25967092e-04 9.94100395e-01 -3.09688064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23591999999996 meters 0.02656884514352792 Centerline is valid? [True, True] Translation: X:253.72, Y:-183.94, Z:-30.97 [[ 7.22556338e-01 6.86793685e-01 7.89099087e-02 2.53719092e+02] [-6.82771576e-01 7.26852373e-01 -7.42199622e-02 -1.83941540e+02] [-1.08329656e-01 -2.49338649e-04 9.94114995e-01 -3.09725512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26592 meters 0.026400517833814002 Centerline is valid? [True, True] Translation: X:253.74, Y:-183.97, Z:-30.98 [[ 7.22004339e-01 6.87484892e-01 7.79375223e-02 2.53741181e+02] [-6.83557175e-01 7.26198622e-01 -7.33835873e-02 -1.83965268e+02] [-1.07048229e-01 -2.91484028e-04 9.94253786e-01 -3.09750950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29591999999997 meters 0.02660941131118834 Centerline is valid? [True, True] Translation: X:253.76, Y:-183.99, Z:-30.98 [[ 7.21204987e-01 6.88239771e-01 7.86726367e-02 2.53763751e+02] [-6.84233244e-01 7.25483215e-01 -7.41550597e-02 -1.83989664e+02] [-1.08112139e-01 -3.49434458e-04 9.94138644e-01 -3.09788508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32592 meters 0.026538405425627475 Centerline is valid? [True, True] Translation: X:253.79, Y:-184.01, Z:-30.98 [[ 7.20292063e-01 6.89316393e-01 7.76031876e-02 2.53785791e+02] [-6.85416276e-01 7.24460289e-01 -7.32244410e-02 -1.84013567e+02] [-1.06695235e-01 -4.47504230e-04 9.94291671e-01 -3.09813313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35591999999997 meters 0.02689283702838226 Centerline is valid? [True, True] Translation: X:253.81, Y:-184.04, Z:-30.98 [[ 7.17484339e-01 6.92157866e-01 7.83180134e-02 2.53806559e+02] [-6.88193692e-01 7.21745672e-01 -7.39772093e-02 -1.84038982e+02] [-1.07729595e-01 -8.20473583e-04 9.94179894e-01 -3.09840280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38592 meters 0.02684446747618653 Centerline is valid? [True, True] Translation: X:253.83, Y:-184.06, Z:-30.99 [[ 7.15393360e-01 6.94291491e-01 7.85599541e-02 2.53829528e+02] [-6.90307010e-01 7.19693088e-01 -7.42838494e-02 -1.84062037e+02] [-1.08113700e-01 -1.08831443e-03 9.94137940e-01 -3.09865122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41591999999997 meters 0.026845866001447168 Centerline is valid? [True, True] Translation: X:253.85, Y:-184.09, Z:-30.99 [[ 7.13492548e-01 6.96411893e-01 7.70639963e-02 2.53853561e+02] [-6.92582388e-01 7.17641075e-01 -7.29446594e-02 -1.84085114e+02] [-1.06103818e-01 -1.32769576e-03 9.94354171e-01 -3.09880506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44592 meters 0.027635281603713042 Centerline is valid? [True, True] Translation: X:253.88, Y:-184.11, Z:-30.99 [[ 7.08817326e-01 7.01154408e-01 7.72042401e-02 2.53877029e+02] [-6.97330591e-01 7.13006704e-01 -7.31538597e-02 -1.84108106e+02] [-1.06339292e-01 -1.98415515e-03 9.94327923e-01 -3.09913715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47592 meters 0.02805927443032829 Centerline is valid? [True, True] Translation: X:253.90, Y:-184.13, Z:-30.99 [[ 7.05887623e-01 7.04032146e-01 7.78550047e-02 2.53901306e+02] [-7.00152723e-01 7.10164104e-01 -7.38451778e-02 -1.84130222e+02] [-1.07279209e-01 -2.38399646e-03 9.94226075e-01 -3.09947635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50591999999995 meters 0.028964787777271694 Centerline is valid? [True, True] Translation: X:253.93, Y:-184.15, Z:-31.00 [[ 7.01064109e-01 7.08830739e-01 7.78980063e-02 2.53925744e+02] [-7.04968329e-01 7.05371951e-01 -7.39598909e-02 -1.84151880e+02] [-1.07372113e-01 -3.06500234e-03 9.94214180e-01 -3.09977459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53592 meters 0.029348681605933968 Centerline is valid? [True, True] Translation: X:253.95, Y:-184.17, Z:-31.00 [[ 6.99176473e-01 7.10586281e-01 7.88631490e-02 2.53950134e+02] [-7.06629987e-01 7.03602234e-01 -7.49530395e-02 -1.84173392e+02] [-1.08748889e-01 -3.32166411e-03 9.94063703e-01 -3.10011541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56591999999995 meters 0.02955267186410363 Centerline is valid? [True, True] Translation: X:253.97, Y:-184.19, Z:-31.00 [[ 6.97592100e-01 7.12228801e-01 7.80730276e-02 2.53974995e+02] [-7.08353797e-01 7.01938717e-01 -7.42760751e-02 -1.84194909e+02] [-1.07704041e-01 -3.48892237e-03 9.94176879e-01 -3.10033718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59592 meters 0.029523527708966962 Centerline is valid? [True, True] Translation: X:254.00, Y:-184.22, Z:-31.01 [[ 6.96725741e-01 7.13190750e-01 7.70207515e-02 2.54001364e+02] [-7.09417844e-01 7.00961087e-01 -7.33476451e-02 -1.84215347e+02] [-1.06299412e-01 -3.53670313e-03 9.94327877e-01 -3.10053974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62591999999995 meters 0.02943797637428672 Centerline is valid? [True, True] Translation: X:254.03, Y:-184.24, Z:-31.01 [[ 6.96775287e-01 7.13018909e-01 7.81551963e-02 2.54026343e+02] [-7.09124470e-01 7.01136020e-01 -7.45034811e-02 -1.84236432e+02] [-1.07919814e-01 -3.50957774e-03 9.94153407e-01 -3.10092898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65592 meters 0.029247986438864455 Centerline is valid? [True, True] Translation: X:254.05, Y:-184.26, Z:-31.01 [[ 6.98050863e-01 7.11581696e-01 7.98528753e-02 2.54051530e+02] [-7.07497788e-01 7.02595593e-01 -7.61991645e-02 -1.84257101e+02] [-1.10326209e-01 -3.30484007e-03 9.93889936e-01 -3.10129504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68591999999995 meters 0.02898584414201912 Centerline is valid? [True, True] Translation: X:254.08, Y:-184.28, Z:-31.01 [[ 6.98611627e-01 7.11122429e-01 7.90359774e-02 2.54076565e+02] [-7.07111006e-01 7.03061152e-01 -7.54919939e-02 -1.84278842e+02] [-1.09251175e-01 -3.14762483e-03 9.94009192e-01 -3.10148414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71592 meters 0.02883342720735128 Centerline is valid? [True, True] Translation: X:254.10, Y:-184.30, Z:-31.02 [[ 6.98741976e-01 7.10969587e-01 7.92584240e-02 2.54101482e+02] [-7.06926622e-01 7.03216004e-01 -7.57760089e-02 -1.84300187e+02] [-1.09610230e-01 -3.08201174e-03 9.93969868e-01 -3.10176504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74591999999996 meters 0.02856912191247807 Centerline is valid? [True, True] Translation: X:254.13, Y:-184.32, Z:-31.02 [[ 6.99206538e-01 7.10539460e-01 7.90183042e-02 2.54126799e+02] [-7.06510052e-01 7.03651163e-01 -7.56213405e-02 -1.84321473e+02] [-1.09333268e-01 -2.95229044e-03 9.94000765e-01 -3.10212522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.77592 meters 0.02873114287621648 Centerline is valid? [True, True] Translation: X:254.15, Y:-184.34, Z:-31.02 [[ 6.99170198e-01 7.10596728e-01 7.88246520e-02 2.54150744e+02] [-7.06579701e-01 7.03593532e-01 -7.55067420e-02 -1.84343836e+02] [-1.09115359e-01 -2.90383525e-03 9.94024852e-01 -3.10249562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80591999999996 meters 0.028312709098865532 Centerline is valid? [True, True] Translation: X:254.18, Y:-184.36, Z:-31.03 [[ 7.00793273e-01 7.08898095e-01 7.97011924e-02 2.54175143e+02] [-7.04771356e-01 7.05306076e-01 -7.64243129e-02 -1.84364841e+02] [-1.10390785e-01 -2.61347311e-03 9.93884825e-01 -3.10275746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.83592 meters 0.027837813936369235 Centerline is valid? [True, True] Translation: X:254.20, Y:-184.39, Z:-31.03 [[ 7.01898177e-01 7.07756488e-01 8.01230540e-02 2.54199312e+02] [-7.03570024e-01 7.06452422e-01 -7.69038136e-02 -1.84386713e+02] [-1.11032299e-01 -2.39353249e-03 9.93813916e-01 -3.10303407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86591999999996 meters 0.027753922547061646 Centerline is valid? [True, True] Translation: X:254.22, Y:-184.41, Z:-31.03 [[ 7.03417160e-01 7.06263197e-01 7.99787213e-02 2.54223357e+02] [-7.02073763e-01 7.07946247e-01 -7.68410203e-02 -1.84409123e+02] [-1.10890620e-01 -2.09966955e-03 9.93830399e-01 -3.10328647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89592 meters 0.027133634135246047 Centerline is valid? [True, True] Translation: X:254.25, Y:-184.43, Z:-31.03 [[ 7.07595392e-01 7.02144203e-01 7.93869015e-02 2.54247274e+02] [-6.97983443e-01 7.12033409e-01 -7.63383149e-02 -1.84431311e+02] [-1.10126631e-01 -1.39410308e-03 9.93916587e-01 -3.10348185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92591999999996 meters 0.02717609921600082 Centerline is valid? [True, True] Translation: X:254.27, Y:-184.45, Z:-31.04 [[ 7.09015214e-01 7.00596295e-01 8.03881707e-02 2.54271493e+02] [-6.96315090e-01 7.13556959e-01 -7.73418470e-02 -1.84453963e+02] [-1.11546950e-01 -1.13895016e-03 9.93758512e-01 -3.10390262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95592 meters 0.027055113393157873 Centerline is valid? [True, True] Translation: X:254.30, Y:-184.48, Z:-31.04 [[ 7.10290137e-01 6.99176916e-01 8.14835055e-02 2.54295906e+02] [-6.94759056e-01 7.14948170e-01 -7.84790884e-02 -1.84476527e+02] [-1.13127250e-01 -8.68480947e-04 9.93580128e-01 -3.10426595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98591999999996 meters 0.026976162772000392 Centerline is valid? [True, True] Translation: X:254.32, Y:-184.50, Z:-31.04 [[ 7.12334656e-01 6.97064072e-01 8.17374850e-02 2.54318875e+02] [-6.92595105e-01 7.17008685e-01 -7.88071471e-02 -1.84500036e+02] [-1.13540118e-01 -4.73919988e-04 9.93533299e-01 -3.10448497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01592 meters 0.02714850913573909 Centerline is valid? [True, True] Translation: X:254.34, Y:-184.52, Z:-31.05 [[ 7.13144687e-01 6.96285747e-01 8.13069085e-02 2.54341565e+02] [-6.91849374e-01 7.17764638e-01 -7.84752706e-02 -1.84523271e+02] [-1.13000436e-01 -2.87911494e-04 9.93594897e-01 -3.10486779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04591999999997 meters 0.026966947054395438 Centerline is valid? [True, True] Translation: X:254.36, Y:-184.55, Z:-31.05 [[ 7.14296932e-01 6.95433420e-01 7.84362874e-02 2.54363787e+02] [-6.91291977e-01 7.18590530e-01 -7.57829263e-02 -1.84547610e+02] [-1.09065553e-01 -9.08644177e-05 9.94034555e-01 -3.10509191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07592 meters 0.026801929399169942 Centerline is valid? [True, True] Translation: X:254.39, Y:-184.57, Z:-31.05 [[ 7.14373016e-01 6.95373955e-01 7.82704113e-02 2.54386901e+02] [-6.91241242e-01 7.18648080e-01 -7.56999518e-02 -1.84570455e+02] [-1.08888656e-01 -2.57334440e-05 9.94053952e-01 -3.10530876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10591999999997 meters 0.027021239339751025 Centerline is valid? [True, True] Translation: X:254.41, Y:-184.59, Z:-31.06 [[ 7.14112723e-01 6.95536467e-01 7.91962202e-02 2.54409504e+02] [-6.91296827e-01 7.18490795e-01 -7.66790392e-02 -1.84594151e+02] [-1.10234823e-01 9.38176774e-06 9.93905571e-01 -3.10566751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13592 meters 0.026896333499198843 Centerline is valid? [True, True] Translation: X:254.43, Y:-184.62, Z:-31.06 [[ 7.14061205e-01 6.95517613e-01 7.98238401e-02 2.54431406e+02] [-6.91200832e-01 7.18509043e-01 -7.73703117e-02 -1.84618220e+02] [-1.11166565e-01 7.28333298e-05 9.93801786e-01 -3.10593494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16591999999997 meters 0.02716373636342242 Centerline is valid? [True, True] Translation: X:254.45, Y:-184.64, Z:-31.06 [[ 7.13644558e-01 6.95871240e-01 8.04652884e-02 2.54452397e+02] [-6.91477325e-01 7.18166562e-01 -7.80762319e-02 -1.84644302e+02] [-1.12118484e-01 7.87556214e-05 9.93694842e-01 -3.10630673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19592 meters 0.026978067856027594 Centerline is valid? [True, True] Translation: X:254.47, Y:-184.67, Z:-31.07 [[ 7.13127676e-01 6.96466006e-01 7.99000638e-02 2.54474626e+02] [-6.92128246e-01 7.17589785e-01 -7.76105084e-02 -1.84668028e+02] [-1.11388551e-01 4.51104615e-05 9.93776931e-01 -3.10656185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22592 meters 0.026943300911068797 Centerline is valid? [True, True] Translation: X:254.49, Y:-184.69, Z:-31.07 [[ 7.12021179e-01 6.97695103e-01 7.90404000e-02 2.54494983e+02] [-6.93448926e-01 7.16394819e-01 -7.68573385e-02 -1.84693428e+02] [-1.10247122e-01 -8.64277978e-05 9.93904203e-01 -3.10691546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25591999999995 meters 0.02702322884502856 Centerline is valid? [True, True] Translation: X:254.52, Y:-184.72, Z:-31.07 [[ 7.11337365e-01 6.98439388e-01 7.86229879e-02 2.54517704e+02] [-6.94233549e-01 7.15669198e-01 -7.65335105e-02 -1.84717704e+02] [-1.09722069e-01 -1.41570221e-04 9.93962297e-01 -3.10718862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28592 meters 0.026956763480121788 Centerline is valid? [True, True] Translation: X:254.54, Y:-184.74, Z:-31.07 [[ 7.11056328e-01 6.98723603e-01 7.86398519e-02 2.54540612e+02] [-6.94508568e-01 7.15391719e-01 -7.66324882e-02 -1.84741258e+02] [-1.09803227e-01 -1.26035250e-04 9.93953337e-01 -3.10739097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31591999999995 meters 0.027053073659096975 Centerline is valid? [True, True] Translation: X:254.56, Y:-184.77, Z:-31.08 [[ 7.11382767e-01 6.98360624e-01 7.89113330e-02 2.54563046e+02] [-6.94104856e-01 7.15746072e-01 -7.69805762e-02 -1.84765471e+02] [-1.10240680e-01 -1.00841822e-05 9.93904921e-01 -3.10762220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34592 meters 0.027075898439373 Centerline is valid? [True, True] Translation: X:254.59, Y:-184.79, Z:-31.08 [[ 7.11878752e-01 6.97770308e-01 7.96570100e-02 2.54585728e+02] [-6.93420383e-01 7.16321560e-01 -7.77920004e-02 -1.84789652e+02] [-1.11340982e-01 1.42677733e-04 9.93782253e-01 -3.10796981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37591999999995 meters 0.027076701784437784 Centerline is valid? [True, True] Translation: X:254.61, Y:-184.81, Z:-31.08 [[ 7.13766127e-01 6.95847859e-01 7.95843792e-02 2.54606450e+02] [-6.91484642e-01 7.18189045e-01 -7.78041487e-02 -1.84814990e+02] [-1.11296480e-01 5.02589967e-04 9.93787121e-01 -3.10826896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40592 meters 0.02704485329357946 Centerline is valid? [True, True] Translation: X:254.63, Y:-184.84, Z:-31.09 [[ 7.15138924e-01 6.94415166e-01 7.97740334e-02 2.54628599e+02] [-6.90012726e-01 7.19574149e-01 -7.80735705e-02 -1.84838808e+02] [-1.11618804e-01 7.88350980e-04 9.93750784e-01 -3.10855081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43591999999995 meters 0.027033894029468247 Centerline is valid? [True, True] Translation: X:254.65, Y:-184.86, Z:-31.09 [[ 7.16800100e-01 6.92778517e-01 7.90919995e-02 2.54651328e+02] [-6.88432160e-01 7.21149589e-01 -7.74882610e-02 -1.84862925e+02] [-1.10719365e-01 1.09411708e-03 9.93851108e-01 -3.10882813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46592 meters 0.027332336072587827 Centerline is valid? [True, True] Translation: X:254.67, Y:-184.89, Z:-31.09 [[ 7.20140141e-01 6.89328814e-01 7.88921039e-02 2.54671493e+02] [-6.84974534e-01 7.24446656e-01 -7.73752575e-02 -1.84889251e+02] [-1.10490115e-01 1.68194674e-03 9.93875800e-01 -3.10911343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49591999999996 meters 0.027365687265471415 Centerline is valid? [True, True] Translation: X:254.69, Y:-184.91, Z:-31.09 [[ 7.20939904e-01 6.88532570e-01 7.85401486e-02 2.54692320e+02] [-6.84203416e-01 7.25203046e-01 -7.71117908e-02 -1.84914434e+02] [-1.10051534e-01 1.85552909e-03 9.93924150e-01 -3.10933239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52592 meters 0.027490079148187352 Centerline is valid? [True, True] Translation: X:254.71, Y:-184.94, Z:-31.10 [[ 7.21278714e-01 6.88145810e-01 7.88185271e-02 2.54713272e+02] [-6.83774272e-01 7.25569718e-01 -7.74682480e-02 -1.84940329e+02] [-1.10497787e-01 1.98211732e-03 9.93874394e-01 -3.10966650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55591999999996 meters 0.0275827485338408 Centerline is valid? [True, True] Translation: X:254.73, Y:-184.97, Z:-31.10 [[ 7.20918423e-01 6.88453778e-01 7.94230653e-02 2.54731550e+02] [-6.84007149e-01 7.25277430e-01 -7.81464578e-02 -1.84968467e+02] [-1.11403981e-01 2.01127660e-03 9.93773167e-01 -3.10992812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58592 meters 0.02756497093315546 Centerline is valid? [True, True] Translation: X:254.75, Y:-184.99, Z:-31.10 [[ 7.20822006e-01 6.88626023e-01 7.88025169e-02 2.54753408e+02] [-6.84240460e-01 7.25113838e-01 -7.76203262e-02 -1.84993821e+02] [-1.10592172e-01 2.03056883e-03 9.93863798e-01 -3.11021083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61591999999996 meters 0.027716494557821308 Centerline is valid? [True, True] Translation: X:254.78, Y:-185.02, Z:-31.11 [[ 7.20264096e-01 6.89161748e-01 7.92194238e-02 2.54775468e+02] [-6.84722211e-01 7.24604702e-01 -7.81250238e-02 -1.85019332e+02] [-1.11243545e-01 2.02735061e-03 9.93791107e-01 -3.11050002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64592 meters 0.02774551868827074 Centerline is valid? [True, True] Translation: X:254.80, Y:-185.05, Z:-31.11 [[ 7.20244155e-01 6.89148062e-01 7.95192210e-02 2.54795037e+02] [-6.84664011e-01 7.24617494e-01 -7.85154736e-02 -1.85047304e+02] [-1.11729805e-01 2.10636209e-03 9.93736391e-01 -3.11079688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67591999999996 meters 0.027905062396010774 Centerline is valid? [True, True] Translation: X:254.82, Y:-185.07, Z:-31.11 [[ 7.19822778e-01 6.89536888e-01 7.99627948e-02 2.54816036e+02] [-6.84994074e-01 7.24247440e-01 -7.90491240e-02 -1.85073765e+02] [-1.12420136e-01 2.12731943e-03 9.93658486e-01 -3.11106797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70592 meters 0.027990502106353395 Centerline is valid? [True, True] Translation: X:254.83, Y:-185.10, Z:-31.11 [[ 7.19649779e-01 6.89793034e-01 7.93080426e-02 2.54834830e+02] [-6.85315599e-01 7.24003452e-01 -7.84954265e-02 -1.85103017e+02] [-1.11564895e-01 2.13817763e-03 9.93754850e-01 -3.11142199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73591999999996 meters 0.027774080485353306 Centerline is valid? [True, True] Translation: X:254.86, Y:-185.13, Z:-31.12 [[ 7.19441011e-01 6.90047571e-01 7.89872203e-02 2.54857101e+02] [-6.85597479e-01 7.23760797e-01 -7.82713563e-02 -1.85128843e+02] [-1.11178813e-01 2.15818457e-03 9.93798075e-01 -3.11169137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76592 meters 0.027969266433303733 Centerline is valid? [True, True] Translation: X:254.88, Y:-185.15, Z:-31.12 [[ 7.19538895e-01 6.89953647e-01 7.89160589e-02 2.54878976e+02] [-6.85500548e-01 7.23850089e-01 -7.82946107e-02 -1.85154596e+02] [-1.11143048e-01 2.23901595e-03 9.93801897e-01 -3.11194115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79591999999997 meters 0.027969266433303733 Centerline is valid? [True, True] Translation: X:254.90, Y:-185.18, Z:-31.12 [[ 7.19125749e-01 6.90389600e-01 7.88692439e-02 2.54902736e+02] [-6.85933949e-01 7.23434302e-01 -7.83417467e-02 -1.85177681e+02] [-1.11143044e-01 2.23847541e-03 9.93801898e-01 -3.11223912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82592 meters 0.028090984451101 Centerline is valid? [True, True] Translation: X:254.92, Y:-185.20, Z:-31.13 [[ 7.18781603e-01 6.90702646e-01 7.92645103e-02 2.54924729e+02] [-6.86193253e-01 7.23135326e-01 -7.88296899e-02 -1.85202666e+02] [-1.11766843e-01 2.27055863e-03 9.93731864e-01 -3.11252527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85591999999997 meters 0.027965350251409782 Centerline is valid? [True, True] Translation: X:254.95, Y:-185.23, Z:-31.13 [[ 7.17625431e-01 6.91862475e-01 7.96244741e-02 2.54945187e+02] [-6.87307939e-01 7.22026041e-01 -7.92855202e-02 -1.85230496e+02] [-1.12345620e-01 2.17077248e-03 9.93666820e-01 -3.11274785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88592 meters 0.02788227047541426 Centerline is valid? [True, True] Translation: X:254.97, Y:-185.26, Z:-31.13 [[ 7.16257118e-01 6.93303024e-01 7.94144731e-02 2.54967570e+02] [-6.88769448e-01 7.20643359e-01 -7.91820520e-02 -1.85256797e+02] [-1.12126669e-01 2.01644555e-03 9.93691876e-01 -3.11308807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91591999999997 meters 0.02765518075329304 Centerline is valid? [True, True] Translation: X:254.99, Y:-185.29, Z:-31.13 [[ 7.13652957e-01 6.96056674e-01 7.87690481e-02 2.54987114e+02] [-6.91601627e-01 7.17984953e-01 -7.86434817e-02 -1.85285800e+02] [-1.11295312e-01 1.64735141e-03 9.93786013e-01 -3.11339983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94592 meters 0.02728965541409463 Centerline is valid? [True, True] Translation: X:255.01, Y:-185.31, Z:-31.14 [[ 7.11249080e-01 6.98638367e-01 7.76477884e-02 2.55009979e+02] [-6.94313545e-01 7.15473789e-01 -7.76270500e-02 -1.85311401e+02] [-1.09788193e-01 1.30025663e-03 9.93954155e-01 -3.11371467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97592 meters 0.02715170265400919 Centerline is valid? [True, True] Translation: X:255.45, Y:-185.17, Z:-29.29 [[ 7.54074411e-01 -6.55085962e-01 -4.72669559e-02 2.55447177e+02] [-6.53235946e-01 -7.55525966e-01 4.96317800e-02 -1.85165991e+02] [-6.82244948e-02 -6.54958057e-03 -9.97648496e-01 -2.92870505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00591999999995 meters 0.027074035071053625 Centerline is valid? [True, True] Translation: X:255.07, Y:-185.40, Z:-31.15 [[ 7.57972906e-01 6.46858064e-01 8.39745160e-02 2.55074087e+02] [-6.42869637e-01 7.62610321e-01 -7.17225827e-02 -1.85398855e+02] [-1.10434164e-01 3.79107876e-04 9.93883369e-01 -3.11466360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03592 meters 0.027196302311720887 Centerline is valid? [True, True] Translation: X:255.10, Y:-185.42, Z:-31.15 [[ 7.55352749e-01 6.49854930e-01 8.44440333e-02 2.55098741e+02] [-6.45830138e-01 7.60058267e-01 -7.22140112e-02 -1.85422968e+02] [-1.11111017e-01 1.05501709e-05 9.93808001e-01 -3.11498199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06591999999995 meters 0.027530915943886757 Centerline is valid? [True, True] Translation: X:255.12, Y:-185.45, Z:-31.15 [[ 7.51322852e-01 6.54418789e-01 8.51470558e-02 2.55123196e+02] [-6.50344282e-01 7.56132064e-01 -7.29151267e-02 -1.85446848e+02] [-1.12099448e-01 -5.92099954e-04 9.93696817e-01 -3.11537854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09592 meters 0.02758982885127404 Centerline is valid? [True, True] Translation: X:255.15, Y:-185.47, Z:-31.16 [[ 7.48715076e-01 6.57440552e-01 8.48389948e-02 2.55149233e+02] [-6.53403985e-01 7.53505797e-01 -7.27478325e-02 -1.85468751e+02] [-1.11754050e-01 -9.66738267e-04 9.93735427e-01 -3.11561933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12591999999995 meters 0.028054310081115873 Centerline is valid? [True, True] Translation: X:255.18, Y:-185.49, Z:-31.16 [[ 7.44973297e-01 6.61802693e-01 8.38569149e-02 2.55176032e+02] [-6.57876390e-01 7.49676499e-01 -7.19986277e-02 -1.85490269e+02] [-1.10514444e-01 -1.53042934e-03 9.93873340e-01 -3.11597523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15592 meters 0.02809347833829398 Centerline is valid? [True, True] Translation: X:255.20, Y:-185.51, Z:-31.16 [[ 7.42920147e-01 6.64164483e-01 8.33978119e-02 2.55202281e+02] [-6.60285697e-01 7.47584307e-01 -7.16972897e-02 -1.85512464e+02] [-1.09965689e-01 -1.80102139e-03 9.93933752e-01 -3.11613368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18591999999995 meters 0.028200400086963614 Centerline is valid? [True, True] Translation: X:255.23, Y:-185.53, Z:-31.16 [[ 7.41981625e-01 6.65349162e-01 8.23028598e-02 2.55229031e+02] [-6.61569145e-01 7.46529941e-01 -7.08471188e-02 -1.85534188e+02] [-1.08579620e-01 -1.88177223e-03 9.94085975e-01 -3.11641241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21592 meters 0.02842766324565897 Centerline is valid? [True, True] Translation: X:255.26, Y:-185.55, Z:-31.17 [[ 7.40036437e-01 6.67492058e-01 8.24646922e-02 2.55257811e+02] [-6.63700264e-01 7.44613867e-01 -7.10784681e-02 -1.85553204e+02] [-1.08848666e-01 -2.13118177e-03 9.94056048e-01 -3.11669639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24591999999996 meters 0.028634086662071165 Centerline is valid? [True, True] Translation: X:255.29, Y:-185.57, Z:-31.17 [[ 7.38963027e-01 6.68689688e-01 8.23877843e-02 2.55285282e+02] [-6.64902379e-01 7.43538229e-01 -7.11036432e-02 -1.85574328e+02] [-1.08804740e-01 -2.23687045e-03 9.94060624e-01 -3.11701413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.27592 meters 0.02884737324590467 Centerline is valid? [True, True] Translation: X:255.31, Y:-185.59, Z:-31.17 [[ 7.37189423e-01 6.70683042e-01 8.20732126e-02 2.55313319e+02] [-6.66927137e-01 7.41740006e-01 -7.09221953e-02 -1.85593174e+02] [-1.08443299e-01 -2.45376051e-03 9.94099608e-01 -3.11730560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30591999999996 meters 0.02888612484169394 Centerline is valid? [True, True] Translation: X:255.34, Y:-185.61, Z:-31.18 [[ 7.36676325e-01 6.71097083e-01 8.32868441e-02 2.55340861e+02] [-6.67222367e-01 7.41365298e-01 -7.20542082e-02 -1.85613080e+02] [-1.10101345e-01 -2.49021589e-03 9.93917246e-01 -3.11771196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.33592 meters 0.02908308065794645 Centerline is valid? [True, True] Translation: X:255.37, Y:-185.63, Z:-31.18 [[ 7.36071357e-01 6.71802477e-01 8.29481149e-02 2.55367982e+02] [-6.67954705e-01 7.40726037e-01 -7.18432314e-02 -1.85633025e+02] [-1.09706289e-01 -2.52383879e-03 9.93960844e-01 -3.11799206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36591999999996 meters 0.029462569439204445 Centerline is valid? [True, True] Translation: X:255.40, Y:-185.65, Z:-31.18 [[ 7.34692124e-01 6.73097711e-01 8.46578653e-02 2.55396714e+02] [-6.69088099e-01 7.39548597e-01 -7.34097304e-02 -1.85650516e+02] [-1.12020527e-01 -2.71001942e-03 9.93702198e-01 -3.11841615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39592 meters 0.029481217001284345 Centerline is valid? [True, True] Translation: X:255.42, Y:-185.67, Z:-31.19 [[ 7.33569655e-01 6.74247326e-01 8.52414534e-02 2.55423988e+02] [-6.70180209e-01 7.38500143e-01 -7.40001763e-02 -1.85670836e+02] [-1.12845247e-01 -2.84285126e-03 9.93608509e-01 -3.11871930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42591999999996 meters 0.029601708174242698 Centerline is valid? [True, True] Translation: X:255.45, Y:-185.69, Z:-31.19 [[ 7.32985129e-01 6.74894798e-01 8.51458291e-02 2.55452557e+02] [-6.70831690e-01 7.37908351e-01 -7.40007355e-02 -1.85689808e+02] [-1.12772530e-01 -2.87708179e-03 9.93616666e-01 -3.11903503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45592 meters 0.02955192666099186 Centerline is valid? [True, True] Translation: X:255.48, Y:-185.71, Z:-31.19 [[ 7.32301084e-01 6.75682033e-01 8.47874586e-02 2.55479884e+02] [-6.71648968e-01 7.37187387e-01 -7.37727587e-02 -1.85709780e+02] [-1.12351173e-01 -2.92353798e-03 9.93664263e-01 -3.11931027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48591999999996 meters 0.029419077293457566 Centerline is valid? [True, True] Translation: X:255.51, Y:-185.73, Z:-31.20 [[ 7.32294233e-01 6.75777097e-01 8.40860952e-02 2.55506746e+02] [-6.71802102e-01 7.37100521e-01 -7.32445138e-02 -1.85730175e+02] [-1.11476869e-01 -2.85268043e-03 9.93762934e-01 -3.11973107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51592 meters 0.029559931483980503 Centerline is valid? [True, True] Translation: X:255.53, Y:-185.75, Z:-31.20 [[ 7.32135894e-01 6.76064668e-01 8.31480530e-02 2.55533163e+02] [-6.72170900e-01 7.36836961e-01 -7.25091241e-02 -1.85751142e+02] [-1.10287416e-01 -2.80316931e-03 9.93895783e-01 -3.12000997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54591999999997 meters 0.029175131288649285 Centerline is valid? [True, True] Translation: X:255.56, Y:-185.77, Z:-31.20 [[ 7.32662368e-01 6.75540967e-01 8.27662689e-02 2.55558868e+02] [-6.71670584e-01 7.37317689e-01 -7.22582293e-02 -1.85772249e+02] [-1.09838428e-01 -2.65078274e-03 9.93945921e-01 -3.12035809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57592 meters 0.029456949779944955 Centerline is valid? [True, True] Translation: X:255.58, Y:-185.79, Z:-31.21 [[ 7.32465447e-01 6.75757619e-01 8.27406218e-02 2.55583896e+02] [-6.71881928e-01 7.37119237e-01 -7.23180913e-02 -1.85794167e+02] [-1.09859205e-01 -2.62142547e-03 9.93943702e-01 -3.12074307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60591999999997 meters 0.02910060238448807 Centerline is valid? [True, True] Translation: X:255.61, Y:-185.82, Z:-31.21 [[ 7.32825075e-01 6.75378730e-01 8.26497443e-02 2.55609949e+02] [-6.71500040e-01 7.37466825e-01 -7.23213483e-02 -1.85815260e+02] [-1.09795745e-01 -2.50040918e-03 9.93951026e-01 -3.12093601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63592 meters 0.0291978002098842 Centerline is valid? [True, True] Translation: X:255.64, Y:-185.84, Z:-31.21 [[ 7.32038713e-01 6.76261993e-01 8.23956287e-02 2.55635732e+02] [-6.72403691e-01 7.36656734e-01 -7.21812458e-02 -1.85836485e+02] [-1.09510728e-01 -2.56365860e-03 9.93982308e-01 -3.12124692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66591999999997 meters 0.029591031013805294 Centerline is valid? [True, True] Translation: X:255.66, Y:-185.86, Z:-31.21 [[ 7.29951251e-01 6.78522570e-01 8.23303841e-02 2.55661492e+02] [-6.74675567e-01 7.34574069e-01 -7.22067696e-02 -1.85858025e+02] [-1.09471688e-01 -2.83887671e-03 9.93985860e-01 -3.12144819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69592 meters 0.030057167120324964 Centerline is valid? [True, True] Translation: X:255.69, Y:-185.88, Z:-31.22 [[ 7.27830732e-01 6.80792722e-01 8.23631885e-02 2.55687100e+02] [-6.76947968e-01 7.32469476e-01 -7.23181507e-02 -1.85880252e+02] [-1.09562192e-01 -3.12022048e-03 9.93975045e-01 -3.12186087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72592 meters 0.030239345646157142 Centerline is valid? [True, True] Translation: X:255.71, Y:-185.90, Z:-31.22 [[ 7.25858972e-01 6.82904719e-01 8.22793832e-02 2.55712943e+02] [-6.79072260e-01 7.30499661e-01 -7.23264212e-02 -1.85901496e+02] [-1.09497116e-01 -3.37486495e-03 9.93981384e-01 -3.12203518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75591999999995 meters 0.03150282220788251 Centerline is valid? [True, True] Translation: X:255.74, Y:-185.92, Z:-31.22 [[ 7.20441781e-01 6.88708110e-01 8.15155125e-02 2.55739650e+02] [-6.84974644e-01 7.25026808e-01 -7.17346867e-02 -1.85922264e+02] [-1.08505192e-01 -4.15539365e-03 9.94087197e-01 -3.12210710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78592 meters 0.03236078900269245 Centerline is valid? [True, True] Translation: X:255.77, Y:-185.94, Z:-31.22 [[ 7.17439722e-01 6.91795266e-01 8.18508081e-02 2.55766132e+02] [-6.88041968e-01 7.22079163e-01 -7.21105651e-02 -1.85942885e+02] [-1.08988511e-01 -4.58180724e-03 9.94032450e-01 -3.12247481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81591999999995 meters 0.03348700790907228 Centerline is valid? [True, True] Translation: X:255.79, Y:-185.96, Z:-31.23 [[ 7.13909755e-01 6.95507491e-01 8.12538771e-02 2.55792058e+02] [-6.91824562e-01 7.18501060e-01 -7.16589326e-02 -1.85963465e+02] [-1.08220321e-01 -5.05541690e-03 9.94114080e-01 -3.12269800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84592 meters 0.03552568846863812 Centerline is valid? [True, True] Translation: X:255.82, Y:-185.98, Z:-31.23 [[ 7.07663984e-01 7.01751293e-01 8.21998107e-02 2.55821586e+02] [-6.98016671e-01 7.12396464e-01 -7.25534638e-02 -1.85981006e+02] [-1.09473341e-01 -6.03336503e-03 9.93971421e-01 -3.12302318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87591999999995 meters 0.036306510141864666 Centerline is valid? [True, True] Translation: X:255.85, Y:-186.00, Z:-31.23 [[ 7.05286542e-01 7.04018551e-01 8.32392543e-02 2.55849141e+02] [-7.00195645e-01 7.10152640e-01 -7.35478542e-02 -1.85999694e+02] [-1.10891630e-01 -6.41145160e-03 9.93811823e-01 -3.12332720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90592 meters 0.037110018420966055 Centerline is valid? [True, True] Translation: X:255.88, Y:-186.01, Z:-31.24 [[ 7.01465737e-01 7.07741635e-01 8.39499705e-02 2.55881160e+02] [-7.03870672e-01 7.06436630e-01 -7.42520304e-02 -1.86014605e+02] [-1.11856588e-01 -7.00466692e-03 9.93699672e-01 -3.12352889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93591999999995 meters 0.03739620691032036 Centerline is valid? [True, True] Translation: X:255.91, Y:-186.03, Z:-31.24 [[ 6.99860985e-01 7.09282835e-01 8.43354084e-02 2.55909265e+02] [-7.05378446e-01 7.04886937e-01 -7.46703003e-02 -1.86032269e+02] [-1.12409290e-01 -7.22954937e-03 9.93635690e-01 -3.12379505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96592 meters 0.03795843374556589 Centerline is valid? [True, True] Translation: X:255.94, Y:-186.05, Z:-31.24 [[ 6.99361258e-01 7.09904952e-01 8.32393497e-02 2.55937457e+02] [-7.06098316e-01 7.04260851e-01 -7.37687066e-02 -1.86049981e+02] [-1.10990985e-01 -7.18418915e-03 9.93795446e-01 -3.12405686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99591999999996 meters 0.0374273962289745 Centerline is valid? [True, True] Translation: X:255.97, Y:-186.06, Z:-31.24 [[ 6.99564877e-01 7.09830267e-01 8.21582365e-02 2.55971162e+02] [-7.06114128e-01 7.04337684e-01 -7.28784296e-02 -1.86061899e+02] [-1.09598457e-01 -7.02990187e-03 9.93951085e-01 -3.12432831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02592 meters 0.03676285403815995 Centerline is valid? [True, True] Translation: X:256.00, Y:-186.08, Z:-31.25 [[ 7.00362638e-01 7.08982525e-01 8.26798326e-02 2.56000564e+02] [-7.05205498e-01 7.05192360e-01 -7.34094050e-02 -1.86078044e+02] [-1.10351172e-01 -6.89306806e-03 9.93868756e-01 -3.12463991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05591999999996 meters 0.03635924127696807 Centerline is valid? [True, True] Translation: X:256.03, Y:-186.09, Z:-31.25 [[ 7.01584908e-01 7.07737540e-01 8.29830831e-02 2.56029579e+02] [-7.03916676e-01 7.06443926e-01 -7.37447815e-02 -1.86094851e+02] [-1.10814845e-01 -6.67495027e-03 9.93818653e-01 -3.12500191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08592 meters 0.03477105089134713 Centerline is valid? [True, True] Translation: X:256.06, Y:-186.10, Z:-31.25 [[ 7.04130886e-01 7.04903596e-01 8.55021418e-02 2.56063601e+02] [-7.00817480e-01 7.09274536e-01 -7.60558441e-02 -1.86104583e+02] [-1.14256530e-01 -6.36812667e-03 9.93430869e-01 -3.12534252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11591999999996 meters 0.03376341108964827 Centerline is valid? [True, True] Translation: X:256.09, Y:-186.12, Z:-31.26 [[ 7.06416828e-01 7.02598615e-01 8.56180564e-02 2.56093589e+02] [-6.98476749e-01 7.11561474e-01 -7.62266310e-02 -1.86120118e+02] [-1.14479236e-01 -5.95444685e-03 9.93407796e-01 -3.12559100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14592 meters 0.03233323922346576 Centerline is valid? [True, True] Translation: X:256.13, Y:-186.13, Z:-31.26 [[ 7.11237503e-01 6.97959553e-01 8.36282109e-02 2.56126979e+02] [-6.93987990e-01 7.16119488e-01 -7.45221309e-02 -1.86131425e+02] [-1.11901225e-01 -5.03403968e-03 9.93706584e-01 -3.12594150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17591999999996 meters 0.03151376591771004 Centerline is valid? [True, True] Translation: X:256.15, Y:-186.15, Z:-31.26 [[ 7.13961649e-01 6.95191586e-01 8.34710948e-02 2.56154755e+02] [-6.91208378e-01 7.18810156e-01 -7.44509141e-02 -1.86148206e+02] [-1.11757520e-01 -4.54082265e-03 9.93725132e-01 -3.12623566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20592 meters 0.03081928036196529 Centerline is valid? [True, True] Translation: X:256.18, Y:-186.17, Z:-31.27 [[ 7.17182329e-01 6.91740513e-01 8.45255599e-02 2.56182403e+02] [-6.87624343e-01 7.22135042e-01 -7.54569050e-02 -1.86165371e+02] [-1.13235467e-01 -4.00547368e-03 9.93560107e-01 -3.12666620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23591999999996 meters 0.029817827740569836 Centerline is valid? [True, True] Translation: X:256.21, Y:-186.18, Z:-31.27 [[ 7.20849573e-01 6.87885510e-01 8.47904296e-02 2.56209674e+02] [-6.83709210e-01 7.25811428e-01 -7.57594050e-02 -1.86182493e+02] [-1.13655660e-01 -3.36086280e-03 9.93514517e-01 -3.12686591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26592 meters 0.028817812641319662 Centerline is valid? [True, True] Translation: X:256.24, Y:-186.20, Z:-31.27 [[ 7.27056546e-01 6.81197028e-01 8.57868768e-02 2.56239883e+02] [-6.76868112e-01 7.32096539e-01 -7.67086500e-02 -1.86197229e+02] [-1.15057980e-01 -2.29487523e-03 9.93356127e-01 -3.12733470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29591999999997 meters 0.028103218610580443 Centerline is valid? [True, True] Translation: X:256.27, Y:-186.21, Z:-31.28 [[ 7.32278981e-01 6.75774798e-01 8.42372575e-02 2.56268768e+02] [-6.71561895e-01 7.37106836e-01 -7.53533898e-02 -1.86213595e+02] [-1.13013780e-01 -1.39082874e-03 9.93592447e-01 -3.12761716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32592 meters 0.02777407912059045 Centerline is valid? [True, True] Translation: X:256.29, Y:-186.23, Z:-31.28 [[ 7.33418661e-01 6.74659494e-01 8.32564473e-02 2.56294768e+02] [-6.70532114e-01 7.38128172e-01 -7.45217212e-02 -1.86233088e+02] [-1.11730716e-01 -1.17050066e-03 9.93737831e-01 -3.12789533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35591999999997 meters 0.027684859824270297 Centerline is valid? [True, True] Translation: X:256.32, Y:-186.25, Z:-31.28 [[ 7.35153396e-01 6.72847682e-01 8.26164718e-02 2.56320401e+02] [-6.68765601e-01 7.39780566e-01 -7.40086796e-02 -1.86253204e+02] [-1.10914629e-01 -8.43322335e-04 9.93829580e-01 -3.12823550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38592 meters 0.027624601540842036 Centerline is valid? [True, True] Translation: X:256.35, Y:-186.27, Z:-31.29 [[ 7.36196400e-01 6.71710180e-01 8.25850755e-02 2.56345977e+02] [-6.67620069e-01 7.40813754e-01 -7.40163831e-02 -1.86273414e+02] [-1.10897718e-01 -6.44858974e-04 9.93831616e-01 -3.12852750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41591999999997 meters 0.027583614172933625 Centerline is valid? [True, True] Translation: X:256.37, Y:-186.29, Z:-31.29 [[ 7.38515895e-01 6.68974047e-01 8.40713868e-02 2.56372516e+02] [-6.64707985e-01 7.43285741e-01 -7.54294483e-02 -1.86291603e+02] [-1.12949406e-01 -1.77075628e-04 9.93600725e-01 -3.12879877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44592 meters 0.0276509306943654 Centerline is valid? [True, True] Translation: X:256.40, Y:-186.31, Z:-31.29 [[ 7.39720084e-01 6.67479705e-01 8.53524449e-02 2.56398030e+02] [-6.63063746e-01 7.44627982e-01 -7.66527042e-02 -1.86311514e+02] [-1.14719943e-01 1.07432942e-04 9.93397867e-01 -3.12924171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47592 meters 0.027680335789984467 Centerline is valid? [True, True] Translation: X:256.42, Y:-186.33, Z:-31.30 [[ 7.40533422e-01 6.66510482e-01 8.58721648e-02 2.56423021e+02] [-6.62025018e-01 7.45495592e-01 -7.71958410e-02 -1.86332711e+02] [-1.15469157e-01 3.16578880e-04 9.93311015e-01 -3.12961680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50591999999995 meters 0.027597583057368234 Centerline is valid? [True, True] Translation: X:256.45, Y:-186.35, Z:-31.30 [[ 7.42054883e-01 6.65021298e-01 8.42687638e-02 2.56447960e+02] [-6.60684865e-01 7.46824160e-01 -7.58233672e-02 -1.86353683e+02] [-1.13358103e-01 5.90002992e-04 9.93554021e-01 -3.12988014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53592 meters 0.027657161748779833 Centerline is valid? [True, True] Translation: X:256.47, Y:-186.37, Z:-31.30 [[ 7.42399165e-01 6.64645283e-01 8.42028973e-02 2.56473248e+02] [-6.60308971e-01 7.47158746e-01 -7.58015199e-02 -1.86374584e+02] [-1.13294054e-01 6.75056558e-04 9.93561272e-01 -3.13017570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56591999999995 meters 0.027595323351592437 Centerline is valid? [True, True] Translation: X:256.50, Y:-186.39, Z:-31.30 [[ 7.41847720e-01 6.65185485e-01 8.47952313e-02 2.56499268e+02] [-6.60781832e-01 7.46677867e-01 -7.64168415e-02 -1.86394895e+02] [-1.14146096e-01 6.58511410e-04 9.93463756e-01 -3.13035832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59592 meters 0.0277207490987407 Centerline is valid? [True, True] Translation: X:256.52, Y:-186.42, Z:-31.31 [[ 7.41324715e-01 6.65724400e-01 8.51392448e-02 2.56524144e+02] [-6.61278879e-01 7.46197437e-01 -7.68090467e-02 -1.86416891e+02] [-1.14664343e-01 6.39660311e-04 9.93404087e-01 -3.13070489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62591999999995 meters 0.027686071919811057 Centerline is valid? [True, True] Translation: X:256.55, Y:-186.44, Z:-31.31 [[ 7.39290259e-01 6.68028810e-01 8.47786617e-02 2.56547497e+02] [-6.63626879e-01 7.44135332e-01 -7.65635206e-02 -1.86439004e+02] [-1.14233435e-01 3.41266299e-04 9.93453877e-01 -3.13101562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65592 meters 0.027736745650215312 Centerline is valid? [True, True] Translation: X:256.57, Y:-186.46, Z:-31.31 [[ 7.38125444e-01 6.69318327e-01 8.47573364e-02 2.56572301e+02] [-6.64918522e-01 7.42975732e-01 -7.66186750e-02 -1.86460750e+02] [-1.14254927e-01 1.97470653e-04 9.93451445e-01 -3.13131901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68591999999995 meters 0.027736745650215312 Centerline is valid? [True, True] Translation: X:256.60, Y:-186.48, Z:-31.32 [[ 7.37770020e-01 6.69715295e-01 8.47161255e-02 2.56596555e+02] [-6.65312868e-01 7.42617927e-01 -7.66642199e-02 -1.86482204e+02] [-1.14254914e-01 1.97834637e-04 9.93451446e-01 -3.13160857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71592 meters 0.027582770033582 Centerline is valid? [True, True] Translation: X:256.62, Y:-186.50, Z:-31.32 [[ 7.36287430e-01 6.71324503e-01 8.48777549e-02 2.56621142e+02] [-6.66906309e-01 7.41163553e-01 -7.68931929e-02 -1.86503913e+02] [-1.14528583e-01 9.98117498e-06 9.93419953e-01 -3.13189906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74591999999996 meters 0.027775114476259202 Centerline is valid? [True, True] Translation: X:256.65, Y:-186.53, Z:-31.32 [[ 7.34795415e-01 6.72820417e-01 8.59557202e-02 2.56645271e+02] [-6.68289481e-01 7.39805826e-01 -7.79519742e-02 -1.86525206e+02] [-1.16038222e-01 -1.64550415e-04 9.93244735e-01 -3.13220913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.77592 meters 0.027523745073935398 Centerline is valid? [True, True] Translation: X:256.67, Y:-186.55, Z:-31.32 [[ 7.33594657e-01 6.74220213e-01 8.52407387e-02 2.56669295e+02] [-6.69765574e-01 7.38530294e-01 -7.73762221e-02 -1.86546799e+02] [-1.15121481e-01 -3.28529268e-04 9.93351366e-01 -3.13236982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80591999999996 meters 0.027703437807664162 Centerline is valid? [True, True] Translation: X:256.69, Y:-186.57, Z:-31.33 [[ 7.32086262e-01 6.76005162e-01 8.40638229e-02 2.56693920e+02] [-6.71676648e-01 7.36896683e-01 -7.63790495e-02 -1.86567512e+02] [-1.13578984e-01 -5.47654009e-04 9.93528819e-01 -3.13254212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.83592 meters 0.027619372936360697 Centerline is valid? [True, True] Translation: X:256.72, Y:-186.59, Z:-31.33 [[ 7.31022351e-01 6.77128711e-01 8.42794795e-02 2.56718766e+02] [-6.72776796e-01 7.35864295e-01 -7.66493429e-02 -1.86588704e+02] [-1.13919731e-01 -6.68895317e-04 9.93489732e-01 -3.13284448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86591999999996 meters 0.027499119549209434 Centerline is valid? [True, True] Translation: X:256.74, Y:-186.61, Z:-31.33 [[ 7.30105995e-01 6.78204035e-01 8.35734615e-02 2.56743392e+02] [-6.73922658e-01 7.34873252e-01 -7.60891273e-02 -1.86610607e+02] [-1.13019855e-01 -7.68921281e-04 9.93592432e-01 -3.13311801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89592 meters 0.027396640347000067 Centerline is valid? [True, True] Translation: X:256.77, Y:-186.63, Z:-31.33 [[ 7.29339769e-01 6.79232805e-01 8.18919929e-02 2.56767277e+02] [-6.75120290e-01 7.33922388e-01 -7.46359322e-02 -1.86631973e+02] [-1.10797541e-01 -8.51992497e-04 9.93842633e-01 -3.13332445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92591999999996 meters 0.02734755090664976 Centerline is valid? [True, True] Translation: X:256.79, Y:-186.65, Z:-31.34 [[ 7.29002305e-01 6.79660633e-01 8.13453341e-02 2.56792055e+02] [-6.75597748e-01 7.33526201e-01 -7.42091348e-02 -1.86653910e+02] [-1.10105961e-01 -8.58094251e-04 9.93919484e-01 -3.13357300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95592 meters 0.027448058295168047 Centerline is valid? [True, True] Translation: X:256.82, Y:-186.68, Z:-31.34 [[ 7.27970521e-01 6.80696707e-01 8.19201722e-02 2.56815430e+02] [-6.76573678e-01 7.32564718e-01 -7.48130575e-02 -1.86675127e+02] [-1.10936830e-01 -9.63331756e-04 9.93826993e-01 -3.13390085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98591999999996 meters 0.02751349601161731 Centerline is valid? [True, True] Translation: X:256.84, Y:-186.70, Z:-31.34 [[ 7.27263592e-01 6.81296070e-01 8.32065674e-02 2.56838577e+02] [-6.77037780e-01 7.32007260e-01 -7.60606120e-02 -1.86697493e+02] [-1.12727607e-01 -1.01787572e-03 9.93625408e-01 -3.13415689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01592 meters 0.027604841831389892 Centerline is valid? [True, True] Translation: X:256.86, Y:-186.72, Z:-31.35 [[ 7.26342390e-01 6.82281951e-01 8.31749522e-02 2.56862495e+02] [-6.78024971e-01 7.31088294e-01 -7.61054858e-02 -1.86720410e+02] [-1.12733633e-01 -1.11605413e-03 9.93624618e-01 -3.13451906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04591999999997 meters 0.027449594369293177 Centerline is valid? [True, True] Translation: X:256.88, Y:-186.74, Z:-31.35 [[ 7.25167901e-01 6.83673393e-01 8.19890716e-02 2.56884716e+02] [-6.79537500e-01 7.29787034e-01 -7.50977488e-02 -1.86743770e+02] [-1.11176894e-01 -1.25617190e-03 9.93799839e-01 -3.13480545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07592 meters 0.027705337185453077 Centerline is valid? [True, True] Translation: X:256.91, Y:-186.77, Z:-31.35 [[ 7.23929995e-01 6.85022830e-01 8.16644613e-02 2.56908530e+02] [-6.80920265e-01 7.28520246e-01 -7.48721833e-02 -1.86766837e+02] [-1.10783368e-01 -1.40476736e-03 9.93843585e-01 -3.13511348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10591999999997 meters 0.02791360861092616 Centerline is valid? [True, True] Translation: X:256.93, Y:-186.79, Z:-31.35 [[ 7.21280417e-01 6.87978265e-01 8.02525245e-02 2.56931149e+02] [-6.84026448e-01 7.25729135e-01 -7.36548765e-02 -1.86791024e+02] [-1.08914549e-01 -1.76902925e-03 9.94049542e-01 -3.13542084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13592 meters 0.02814057437392588 Centerline is valid? [True, True] Translation: X:256.95, Y:-186.81, Z:-31.36 [[ 7.19527558e-01 6.89789535e-01 8.04393611e-02 2.56953734e+02] [-6.85822188e-01 7.24007201e-01 -7.39019605e-02 -1.86813126e+02] [-1.09215476e-01 -1.99260152e-03 9.94016101e-01 -3.13565631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16591999999997 meters 0.028359135466976697 Centerline is valid? [True, True] Translation: X:256.98, Y:-186.84, Z:-31.36 [[ 7.17836661e-01 6.91627340e-01 7.97630921e-02 2.56977329e+02] [-6.87730830e-01 7.22251174e-01 -7.33453932e-02 -1.86836103e+02] [-1.08336666e-01 -2.20552537e-03 9.94111816e-01 -3.13597136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19592 meters 0.028596858137593478 Centerline is valid? [True, True] Translation: X:257.00, Y:-186.86, Z:-31.36 [[ 7.16102764e-01 6.93421443e-01 7.97717655e-02 2.56999922e+02] [-6.89526948e-01 7.20528164e-01 -7.34285545e-02 -1.86858410e+02] [-1.08394738e-01 -2.42239122e-03 9.94104981e-01 -3.13626887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22592 meters 0.029041966315790247 Centerline is valid? [True, True] Translation: X:257.02, Y:-186.88, Z:-31.36 [[ 7.13268299e-01 6.96174320e-01 8.11766630e-02 2.57022310e+02] [-6.92151776e-01 7.17867133e-01 -7.47843454e-02 -1.86880592e+02] [-1.10336999e-01 -2.84526869e-03 9.93890160e-01 -3.13649790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25591999999995 meters 0.029356112643147463 Centerline is valid? [True, True] Translation: X:257.05, Y:-186.90, Z:-31.37 [[ 7.11621688e-01 6.97799355e-01 8.16739487e-02 2.57045777e+02] [-6.93733219e-01 7.16286629e-01 -7.52840281e-02 -1.86902455e+02] [-1.11035104e-01 -3.08618426e-03 9.93811693e-01 -3.13680935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28592 meters 0.030582390746997524 Centerline is valid? [True, True] Translation: X:257.07, Y:-186.92, Z:-31.37 [[ 7.07973594e-01 7.01411973e-01 8.24295715e-02 2.57069856e+02] [-6.97286445e-01 7.12746818e-01 -7.60499035e-02 -1.86923691e+02] [-1.12093728e-01 -3.63569929e-03 9.93690987e-01 -3.13721754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31591999999995 meters 0.030694917615986545 Centerline is valid? [True, True] Translation: X:257.09, Y:-186.94, Z:-31.38 [[ 7.06000532e-01 7.03448550e-01 8.19962544e-02 2.57094369e+02] [-6.99372397e-01 7.10735544e-01 -7.57181376e-02 -1.86943704e+02] [-1.11541467e-01 -3.88887153e-03 9.93752171e-01 -3.13752979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34592 meters 0.03114367180492357 Centerline is valid? [True, True] Translation: X:257.12, Y:-186.96, Z:-31.38 [[ 7.04437035e-01 7.05077963e-01 8.14464803e-02 2.57118534e+02] [-7.01059893e-01 7.09118107e-01 -7.52764051e-02 -1.86964503e+02] [-1.10830908e-01 -4.07137311e-03 9.93830938e-01 -3.13773994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37591999999995 meters 0.03181832026011458 Centerline is valid? [True, True] Translation: X:257.14, Y:-186.98, Z:-31.38 [[ 7.01394271e-01 7.08192691e-01 8.06795470e-02 2.57144379e+02] [-7.04263376e-01 7.06005032e-01 -7.46323754e-02 -1.86983047e+02] [-1.09814269e-01 -4.47292966e-03 9.93942060e-01 -3.13794358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40592 meters 0.03204324206374047 Centerline is valid? [True, True] Translation: X:257.17, Y:-187.00, Z:-31.38 [[ 6.99374997e-01 7.10131051e-01 8.11695972e-02 2.57168908e+02] [-7.06159747e-01 7.04053416e-01 -7.51478509e-02 -1.87003433e+02] [-1.10512554e-01 -4.76217424e-03 9.93863319e-01 -3.13821467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43591999999995 meters 0.03223099464424418 Centerline is valid? [True, True] Translation: X:257.20, Y:-187.02, Z:-31.38 [[ 6.98099464e-01 7.11348807e-01 8.14862748e-02 2.57195828e+02] [-7.07347227e-01 7.02821879e-01 -7.55070045e-02 -1.87021701e+02] [-1.10982154e-01 -4.92769112e-03 9.93810183e-01 -3.13849321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46592 meters 0.03229628092145092 Centerline is valid? [True, True] Translation: X:257.22, Y:-187.04, Z:-31.39 [[ 6.97527427e-01 7.11939524e-01 8.12256262e-02 2.57221847e+02] [-7.07960096e-01 7.02223277e-01 -7.53324072e-02 -1.87041613e+02] [-1.10670644e-01 -4.95808197e-03 9.93844770e-01 -3.13881446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49591999999996 meters 0.03230427541412903 Centerline is valid? [True, True] Translation: X:257.25, Y:-187.06, Z:-31.39 [[ 6.96995282e-01 7.12422838e-01 8.15553587e-02 2.57248146e+02] [-7.08405814e-01 7.01732625e-01 -7.57134503e-02 -1.87061820e+02] [-1.11170047e-01 -5.00237263e-03 9.93788809e-01 -3.13915709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52592 meters 0.03235475496134795 Centerline is valid? [True, True] Translation: X:257.27, Y:-187.08, Z:-31.40 [[ 6.96807262e-01 7.12404334e-01 8.33048831e-02 2.57274403e+02] [-7.08203796e-01 7.01751036e-01 -7.74136124e-02 -1.87080786e+02] [-1.13609081e-01 -5.05446711e-03 9.93512672e-01 -3.13952631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55591999999996 meters 0.03221400566123115 Centerline is valid? [True, True] Translation: X:257.30, Y:-187.10, Z:-31.40 [[ 6.96894514e-01 7.12217657e-01 8.41667716e-02 2.57300499e+02] [-7.07919977e-01 7.01940695e-01 -7.82851622e-02 -1.87101375e+02] [-1.14836157e-01 -5.02683889e-03 9.93371727e-01 -3.13984130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58592 meters 0.031270342601404294 Centerline is valid? [True, True] Translation: X:257.33, Y:-187.12, Z:-31.40 [[ 6.98906674e-01 7.10369710e-01 8.30923364e-02 2.57328686e+02] [-7.06160946e-01 7.03813592e-01 -7.73507976e-02 -1.87118804e+02] [-1.13429179e-01 -4.61557420e-03 9.93535363e-01 -3.13996118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61591999999996 meters 0.031120897597513235 Centerline is valid? [True, True] Translation: X:257.35, Y:-187.14, Z:-31.40 [[ 6.99772810e-01 7.09768500e-01 8.09116210e-02 2.57353445e+02] [-7.05770630e-01 7.04421424e-01 -7.53543306e-02 -1.87139601e+02] [-1.10480010e-01 -4.37413403e-03 9.93868721e-01 -3.14019148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64592 meters 0.030678518693868808 Centerline is valid? [True, True] Translation: X:257.38, Y:-187.16, Z:-31.41 [[ 7.02447202e-01 7.07157468e-01 8.05992816e-02 2.57378342e+02] [-7.03166918e-01 7.07045302e-01 -7.51214125e-02 -1.87160576e+02] [-1.10110011e-01 -3.90592246e-03 9.93911731e-01 -3.14054250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67591999999996 meters 0.03042713832753651 Centerline is valid? [True, True] Translation: X:257.40, Y:-187.18, Z:-31.41 [[ 7.03523604e-01 7.05884399e-01 8.23514029e-02 2.57403217e+02] [-7.01705488e-01 7.08317051e-01 -7.67877808e-02 -1.87180547e+02] [-1.12534199e-01 -3.76441511e-03 9.93640721e-01 -3.14091064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70592 meters 0.029758034891562958 Centerline is valid? [True, True] Translation: X:257.43, Y:-187.20, Z:-31.41 [[ 7.05756236e-01 7.03815203e-01 8.09462531e-02 2.57429191e+02] [-6.99758118e-01 7.10375287e-01 -7.55349467e-02 -1.87200520e+02] [-1.10664862e-01 -3.33353810e-03 9.93852190e-01 -3.14114054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73591999999996 meters 0.029390388754799702 Centerline is valid? [True, True] Translation: X:257.46, Y:-187.22, Z:-31.42 [[ 7.07725012e-01 7.01569120e-01 8.32230599e-02 2.57455380e+02] [-6.97260356e-01 7.12594919e-01 -7.76947694e-02 -1.87219188e+02] [-1.13812581e-01 -3.04160888e-03 9.93497582e-01 -3.14152854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76592 meters 0.029208735187339876 Centerline is valid? [True, True] Translation: X:257.48, Y:-187.24, Z:-31.42 [[ 7.08853086e-01 7.00653057e-01 8.13178708e-02 2.57479519e+02] [-6.96526374e-01 7.13496721e-01 -7.59831534e-02 -1.87240358e+02] [-1.11257863e-01 -2.77914891e-03 9.93787686e-01 -3.14171828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79591999999997 meters 0.02881429136323528 Centerline is valid? [True, True] Translation: X:257.50, Y:-187.26, Z:-31.42 [[ 7.10754097e-01 6.98577963e-01 8.25678180e-02 2.57504196e+02] [-6.94301061e-01 7.15529783e-01 -7.72215418e-02 -1.87260232e+02] [-1.13025000e-01 -2.44139648e-03 9.93589145e-01 -3.14205338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82592 meters 0.028686885332114182 Centerline is valid? [True, True] Translation: X:257.53, Y:-187.28, Z:-31.42 [[ 7.10531403e-01 6.98907768e-01 8.16887817e-02 2.57528763e+02] [-6.94716146e-01 7.15207723e-01 -7.64682204e-02 -1.87281134e+02] [-1.11868681e-01 -2.41744377e-03 9.93720058e-01 -3.14229086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85591999999997 meters 0.02888012001612155 Centerline is valid? [True, True] Translation: X:257.55, Y:-187.30, Z:-31.43 [[ 7.10074301e-01 6.99381949e-01 8.16050049e-02 2.57553527e+02] [-6.95194001e-01 7.14743972e-01 -7.64614650e-02 -1.87302450e+02] [-1.11802454e-01 -2.43798849e-03 9.93727461e-01 -3.14265486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88592 meters 0.028844285056822225 Centerline is valid? [True, True] Translation: X:257.58, Y:-187.32, Z:-31.43 [[ 7.10249472e-01 6.99275990e-01 8.09862795e-02 2.57577890e+02] [-6.95142230e-01 7.14847941e-01 -7.59585506e-02 -1.87323250e+02] [-1.11008866e-01 -2.34746244e-03 9.93816644e-01 -3.14297972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91591999999997 meters 0.028746328279911592 Centerline is valid? [True, True] Translation: X:257.60, Y:-187.34, Z:-31.43 [[ 7.09892846e-01 6.99586621e-01 8.14291504e-02 2.57603181e+02] [-6.95401328e-01 7.14543912e-01 -7.64460012e-02 -1.87344936e+02] [-1.11665303e-01 -2.35746995e-03 9.93743077e-01 -3.14323732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94592 meters 0.02867644960821059 Centerline is valid? [True, True] Translation: X:257.63, Y:-187.37, Z:-31.43 [[ 7.09282351e-01 7.00214054e-01 8.13561566e-02 2.57628670e+02] [-6.96031411e-01 7.13928942e-01 -7.64574422e-02 -1.87365886e+02] [-1.11619090e-01 -2.39652609e-03 9.93748175e-01 -3.14349919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97592 meters 0.028556271789433558 Centerline is valid? [True, True] Translation: X:257.65, Y:-187.39, Z:-31.44 [[ 7.09259500e-01 7.00296351e-01 8.08454219e-02 2.57652153e+02] [-6.96158085e-01 7.13848410e-01 -7.60550335e-02 -1.87388105e+02] [-1.10972438e-01 -2.33843907e-03 9.93820733e-01 -3.14378349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00591999999995 meters 0.028566024666094723 Centerline is valid? [True, True] Translation: X:257.68, Y:-187.41, Z:-31.44 [[ 7.09873590e-01 6.99751268e-01 8.01726198e-02 2.57676359e+02] [-6.95671590e-01 7.14383206e-01 -7.54829322e-02 -1.87409946e+02] [-1.10093251e-01 -2.19047385e-03 9.93918849e-01 -3.14403013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03592 meters 0.028606256638723872 Centerline is valid? [True, True] Translation: X:257.70, Y:-187.43, Z:-31.44 [[ 7.09546503e-01 6.99933925e-01 8.14632466e-02 2.57700665e+02] [-6.95718683e-01 7.14204123e-01 -7.67332134e-02 -1.87430946e+02] [-1.11889566e-01 -2.22971932e-03 9.93718146e-01 -3.14436919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06591999999995 meters 0.028406168969660844 Centerline is valid? [True, True] Translation: X:257.73, Y:-187.45, Z:-31.45 [[ 7.10786449e-01 6.98744356e-01 8.08637641e-02 2.57725567e+02] [-6.94576615e-01 7.15368710e-01 -7.62294858e-02 -1.87451830e+02] [-1.11112330e-01 -1.98319409e-03 9.93805875e-01 -3.14476663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09592 meters 0.02842029609766012 Centerline is valid? [True, True] Translation: X:257.75, Y:-187.47, Z:-31.45 [[ 7.11220690e-01 6.98280950e-01 8.10484125e-02 2.57750149e+02] [-6.94086994e-01 7.15821310e-01 -7.64401511e-02 -1.87473601e+02] [-1.11392882e-01 -1.88883201e-03 9.93774652e-01 -3.14504563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12591999999995 meters 0.028267039601842632 Centerline is valid? [True, True] Translation: X:257.78, Y:-187.50, Z:-31.45 [[ 7.11819510e-01 6.97637384e-01 8.13330492e-02 2.57775336e+02] [-6.93400431e-01 7.16448929e-01 -7.67904535e-02 -1.87495387e+02] [-1.11842867e-01 -1.73542835e-03 9.93724389e-01 -3.14531950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15592 meters 0.02831059149110308 Centerline is valid? [True, True] Translation: X:257.80, Y:-187.52, Z:-31.46 [[ 7.11979202e-01 6.97484741e-01 8.12443962e-02 2.57801141e+02] [-6.93246796e-01 7.16597734e-01 -7.67891053e-02 -1.87516266e+02] [-1.11778779e-01 -1.65017151e-03 9.93731745e-01 -3.14559193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18591999999995 meters 0.028179928763667088 Centerline is valid? [True, True] Translation: X:257.83, Y:-187.54, Z:-31.46 [[ 7.12043588e-01 6.97413820e-01 8.12889443e-02 2.57825960e+02] [-6.93161456e-01 7.16666914e-01 -7.69137824e-02 -1.87538520e+02] [-1.11897832e-01 -1.58039747e-03 9.93718460e-01 -3.14589890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21592 meters 0.028099426169865355 Centerline is valid? [True, True] Translation: X:257.85, Y:-187.56, Z:-31.46 [[ 7.12782173e-01 6.96515068e-01 8.25126290e-02 2.57849633e+02] [-6.92117580e-01 7.17540801e-01 -7.81566033e-02 -1.87561311e+02] [-1.13643430e-01 -1.39980754e-03 9.93520615e-01 -3.14618286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24591999999996 meters 0.028146085080928022 Centerline is valid? [True, True] Translation: X:257.87, Y:-187.58, Z:-31.46 [[ 7.14015657e-01 6.95292880e-01 8.21550565e-02 2.57872911e+02] [-6.90916232e-01 7.18725615e-01 -7.78989836e-02 -1.87582789e+02] [-1.13209552e-01 -1.14116811e-03 9.93570478e-01 -3.14644049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.27592 meters 0.02829378587891945 Centerline is valid? [True, True] Translation: X:257.90, Y:-187.61, Z:-31.47 [[ 7.14926005e-01 6.94343495e-01 8.22673607e-02 2.57897410e+02] [-6.89939937e-01 7.19643129e-01 -7.80810561e-02 -1.87605354e+02] [-1.13418214e-01 -9.37360108e-04 9.93546894e-01 -3.14668776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30591999999996 meters 0.02822870881828859 Centerline is valid? [True, True] Translation: X:257.92, Y:-187.63, Z:-31.47 [[ 7.15314241e-01 6.93824358e-01 8.32664251e-02 2.57921207e+02] [-6.89299741e-01 7.20143813e-01 -7.91122924e-02 -1.87626197e+02] [-1.14853836e-01 -8.05375896e-04 9.93382075e-01 -3.14702064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.33592 meters 0.028146870727875632 Centerline is valid? [True, True] Translation: X:257.95, Y:-187.65, Z:-31.47 [[ 7.15749928e-01 6.93415430e-01 8.29281725e-02 2.57945877e+02] [-6.88916227e-01 7.20537699e-01 -7.88660635e-02 -1.87648649e+02] [-1.14439820e-01 -6.82184418e-04 9.93429948e-01 -3.14731532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36591999999996 meters 0.02835506231084975 Centerline is valid? [True, True] Translation: X:257.97, Y:-187.67, Z:-31.48 [[ 7.16794972e-01 6.92205612e-01 8.40021351e-02 2.57969192e+02] [-6.87570672e-01 7.21700216e-01 -7.99710544e-02 -1.87670503e+02] [-1.15980772e-01 -4.34554797e-04 9.93251364e-01 -3.14768314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39592 meters 0.02827025407682991 Centerline is valid? [True, True] Translation: X:257.99, Y:-187.69, Z:-31.48 [[ 7.18090471e-01 6.90974598e-01 8.30673235e-02 2.57992667e+02] [-6.86425970e-01 7.22879016e-01 -7.91537498e-02 -1.87692421e+02] [-1.14740856e-01 -1.80014652e-04 9.93395442e-01 -3.14796515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42591999999996 meters 0.0283851299596269 Centerline is valid? [True, True] Translation: X:258.02, Y:-187.71, Z:-31.48 [[ 7.18814774e-01 6.90227513e-01 8.30138641e-02 2.58016706e+02] [-6.85670980e-01 7.23592414e-01 -7.91790772e-02 -1.87714787e+02] [-1.14719780e-01 -5.10709490e-06 9.93397892e-01 -3.14827190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45592 meters 0.028270604229909884 Centerline is valid? [True, True] Translation: X:258.04, Y:-187.74, Z:-31.49 [[ 7.21104047e-01 6.87957797e-01 8.19940410e-02 2.58039328e+02] [-6.83489017e-01 7.25750578e-01 -7.82870500e-02 -1.87737624e+02] [-1.13365409e-01 4.11082105e-04 9.93553277e-01 -3.14863254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48591999999996 meters 0.028125010289833927 Centerline is valid? [True, True] Translation: X:258.06, Y:-187.76, Z:-31.49 [[ 7.21857148e-01 6.87277509e-01 8.10671522e-02 2.58062317e+02] [-6.82897161e-01 7.26394732e-01 -7.74736082e-02 -1.87760441e+02] [-1.12132621e-01 5.64349741e-04 9.93693090e-01 -3.14885096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51592 meters 0.028180671062855336 Centerline is valid? [True, True] Translation: X:258.09, Y:-187.78, Z:-31.49 [[ 7.23545122e-01 6.85591702e-01 8.02899390e-02 2.58085888e+02] [-6.81276786e-01 7.27985755e-01 -7.68028714e-02 -1.87783190e+02] [-1.11105343e-01 8.70671376e-04 9.93808253e-01 -3.14906802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54591999999997 meters 0.028338323117902582 Centerline is valid? [True, True] Translation: X:258.11, Y:-187.81, Z:-31.49 [[ 7.24417289e-01 6.84507467e-01 8.16646759e-02 2.58108880e+02] [-6.80026901e-01 7.29004997e-01 -7.81992898e-02 -1.87805732e+02] [-1.13061955e-01 1.11474108e-03 9.93587315e-01 -3.14937126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57592 meters 0.028577116444105582 Centerline is valid? [True, True] Translation: X:258.13, Y:-187.83, Z:-31.50 [[ 7.24360278e-01 6.84459411e-01 8.25681634e-02 2.58132241e+02] [-6.79870126e-01 7.29050000e-01 -7.91372824e-02 -1.87828273e+02] [-1.14362577e-01 1.18827625e-03 9.93438367e-01 -3.14971292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60591999999997 meters 0.028577116444105582 Centerline is valid? [True, True] Translation: X:258.16, Y:-187.85, Z:-31.50 [[ 7.24009088e-01 6.84835335e-01 8.25312312e-02 2.58155872e+02] [-6.80244096e-01 7.28696895e-01 -7.91757838e-02 -1.87850447e+02] [-1.14362626e-01 1.18260426e-03 9.93438368e-01 -3.15000249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63592 meters 0.028706548523862167 Centerline is valid? [True, True] Translation: X:258.18, Y:-187.87, Z:-31.50 [[ 7.25151092e-01 6.83495718e-01 8.36032148e-02 2.58177655e+02] [-6.78765646e-01 7.29953037e-01 -8.02854988e-02 -1.87873928e+02] [-1.15901215e-01 1.47212707e-03 9.93259654e-01 -3.15027920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66591999999997 meters 0.028713261741545263 Centerline is valid? [True, True] Translation: X:258.20, Y:-187.90, Z:-31.50 [[ 7.24921275e-01 6.83790657e-01 8.31834215e-02 2.58200964e+02] [-6.79101440e-01 7.29676757e-01 -7.99566432e-02 -1.87897709e+02] [-1.15370615e-01 1.47229047e-03 9.93321425e-01 -3.15049551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69592 meters 0.02871142277744153 Centerline is valid? [True, True] Translation: X:258.22, Y:-187.92, Z:-31.51 [[ 7.25463161e-01 6.83239942e-01 8.29842388e-02 2.58224439e+02] [-6.78560046e-01 7.30192144e-01 -7.98479620e-02 -1.87921265e+02] [-1.15149756e-01 1.61696605e-03 9.93346827e-01 -3.15087720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72592 meters 0.028749326497400966 Centerline is valid? [True, True] Translation: X:258.25, Y:-187.95, Z:-31.51 [[ 7.25662919e-01 6.83097491e-01 8.24084134e-02 2.58246469e+02] [-6.78472222e-01 7.30325249e-01 -7.93755278e-02 -1.87945891e+02] [-1.14406169e-01 1.68805778e-03 9.93432624e-01 -3.15116617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75591999999995 meters 0.028919244766407178 Centerline is valid? [True, True] Translation: X:258.27, Y:-187.97, Z:-31.51 [[ 7.24540921e-01 6.84137746e-01 8.36420842e-02 2.58268293e+02] [-6.79369828e-01 7.29351056e-01 -8.06453626e-02 -1.87969484e+02] [-1.16176979e-01 1.60695697e-03 9.93227228e-01 -3.15149760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78592 meters 0.028570927941743336 Centerline is valid? [True, True] Translation: X:258.29, Y:-188.00, Z:-31.52 [[ 7.23124704e-01 6.85704129e-01 8.30693138e-02 2.58288859e+02] [-6.81004276e-01 7.27879046e-01 -8.01577775e-02 -1.87995135e+02] [-1.15428932e-01 1.39351118e-03 9.93314764e-01 -3.15170786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81591999999995 meters 0.028416199658123975 Centerline is valid? [True, True] Translation: X:258.31, Y:-188.02, Z:-31.52 [[ 7.21327808e-01 6.87628618e-01 8.27833080e-02 2.58311100e+02] [-6.82969594e-01 7.26061743e-01 -7.99179561e-02 -1.88018941e+02] [-1.15059667e-01 1.10856183e-03 9.93357964e-01 -3.15203734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84592 meters 0.02805420391195529 Centerline is valid? [True, True] Translation: X:258.33, Y:-188.04, Z:-31.52 [[ 7.17742696e-01 6.91410098e-01 8.24469446e-02 2.58331146e+02] [-6.86809529e-01 7.22462315e-01 -7.96296017e-02 -1.88044122e+02] [-1.14621521e-01 5.28217802e-04 9.93409094e-01 -3.15226621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87591999999995 meters 0.028129354287515434 Centerline is valid? [True, True] Translation: X:258.35, Y:-188.07, Z:-31.53 [[ 7.15692188e-01 6.93453247e-01 8.31100854e-02 2.58352623e+02] [-6.88782828e-01 7.20501580e-01 -8.03472972e-02 -1.88069254e+02] [-1.15598042e-01 2.59133224e-04 9.93296041e-01 -3.15262837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90592 meters 0.028190640178379044 Centerline is valid? [True, True] Translation: X:258.37, Y:-188.09, Z:-31.53 [[ 7.14209215e-01 6.95007022e-01 8.28880989e-02 2.58373659e+02] [-6.90362089e-01 7.19002945e-01 -8.02181450e-02 -1.88094841e+02] [-1.15348961e-01 6.97372334e-05 9.93325029e-01 -3.15298561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93591999999995 meters 0.02855619193781647 Centerline is valid? [True, True] Translation: X:258.39, Y:-188.12, Z:-31.53 [[ 7.11383491e-01 6.97602070e-01 8.53515104e-02 2.58393318e+02] [-6.92684066e-01 7.16485354e-01 -8.26893134e-02 -1.88119976e+02] [-1.18837343e-01 -2.97818749e-04 9.92913691e-01 -3.15338037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96592 meters 0.028658917567418254 Centerline is valid? [True, True] Translation: X:258.42, Y:-188.14, Z:-31.54 [[ 7.10244997e-01 6.98697088e-01 8.58744581e-02 2.58415503e+02] [-6.93716985e-01 7.15417498e-01 -8.32739386e-02 -1.88142876e+02] [-1.19619348e-01 -4.27671843e-04 9.92819736e-01 -3.15363091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99591999999996 meters 0.028733600784434137 Centerline is valid? [True, True] Translation: X:258.44, Y:-188.17, Z:-31.54 [[ 7.08780614e-01 7.00235480e-01 8.54418765e-02 2.58436717e+02] [-6.95307176e-01 7.13911676e-01 -8.29340132e-02 -1.88168621e+02] [-1.19071292e-01 -6.26329083e-04 9.92885510e-01 -3.15406411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02592 meters 0.0288882176388284 Centerline is valid? [True, True] Translation: X:258.46, Y:-188.19, Z:-31.54 [[ 7.07284694e-01 7.01661129e-01 8.61395477e-02 2.58458493e+02] [-6.96651670e-01 7.12510353e-01 -8.36985544e-02 -1.88191937e+02] [-1.20103342e-01 -8.10553325e-04 9.92761064e-01 -3.15440387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05591999999996 meters 0.02899273303815315 Centerline is valid? [True, True] Translation: X:258.48, Y:-188.22, Z:-31.55 [[ 7.07378184e-01 7.01543891e-01 8.63265567e-02 2.58481650e+02] [-6.96501857e-01 7.12625870e-01 -8.39614982e-02 -1.88215081e+02] [-1.20421214e-01 -7.34074988e-04 9.92722616e-01 -3.15477458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08592 meters 0.028994399346813107 Centerline is valid? [True, True] Translation: X:258.50, Y:-188.24, Z:-31.55 [[ 7.06806138e-01 7.02191657e-01 8.57435727e-02 2.58503221e+02] [-6.97213201e-01 7.11987545e-01 -8.34714844e-02 -1.88238576e+02] [-1.19661336e-01 -7.83393303e-04 9.92814460e-01 -3.15497942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11591999999996 meters 0.029401457711577678 Centerline is valid? [True, True] Translation: X:258.52, Y:-188.26, Z:-31.55 [[ 7.06424218e-01 7.02391284e-01 8.72428145e-02 2.58521952e+02] [-6.97231379e-01 7.11790599e-01 -8.49855711e-02 -1.88264686e+02] [-1.21791740e-01 -7.92562330e-04 9.92555361e-01 -3.15535934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14592 meters 0.029731747298015556 Centerline is valid? [True, True] Translation: X:258.54, Y:-188.29, Z:-31.56 [[ 7.06435347e-01 7.02280896e-01 8.80377413e-02 2.58543315e+02] [-6.97015209e-01 7.11899587e-01 -8.58415786e-02 -1.88288585e+02] [-1.22958932e-01 -7.22119259e-04 9.92411497e-01 -3.15582872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17591999999996 meters 0.0299259825667508 Centerline is valid? [True, True] Translation: X:258.56, Y:-188.31, Z:-31.56 [[ 7.05515055e-01 7.03143586e-01 8.85302488e-02 2.58563635e+02] [-6.97815149e-01 7.11047416e-01 -8.64036456e-02 -1.88313406e+02] [-1.23703374e-01 -8.18675980e-04 9.92318903e-01 -3.15634190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20592 meters 0.02990688858987456 Centerline is valid? [True, True] Translation: X:258.58, Y:-188.34, Z:-31.57 [[ 7.05114309e-01 7.03691479e-01 8.73619696e-02 2.58584972e+02] [-6.98498820e-01 7.10505155e-01 -8.53335989e-02 -1.88337994e+02] [-1.22119656e-01 -8.52291080e-04 9.92515019e-01 -3.15667270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23591999999996 meters 0.03009010566480517 Centerline is valid? [True, True] Translation: X:258.61, Y:-188.36, Z:-31.57 [[ 7.05165717e-01 7.03573434e-01 8.78961567e-02 2.58605967e+02] [-6.98308599e-01 7.10622116e-01 -8.59145451e-02 -1.88362874e+02] [-1.22908144e-01 -7.94650199e-04 9.92417733e-01 -3.15708873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26592 meters 0.02995509614588269 Centerline is valid? [True, True] Translation: X:258.62, Y:-188.39, Z:-31.57 [[ 7.05727575e-01 7.03253506e-01 8.59249489e-02 2.58624935e+02] [-6.98210287e-01 7.10938865e-01 -8.40733325e-02 -1.88389279e+02] [-1.20212251e-01 -6.60814159e-04 9.92747993e-01 -3.15721507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29591999999997 meters 0.030050464289231377 Centerline is valid? [True, True] Translation: X:258.65, Y:-188.41, Z:-31.58 [[ 7.05597337e-01 7.03428294e-01 8.55630376e-02 2.58646219e+02] [-6.98419183e-01 7.10765952e-01 -8.37997934e-02 -1.88414085e+02] [-1.19762440e-01 -6.29955815e-04 9.92802378e-01 -3.15753164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32592 meters 0.029989332125988484 Centerline is valid? [True, True] Translation: X:258.66, Y:-188.44, Z:-31.58 [[ 7.07411071e-01 7.01666436e-01 8.50516799e-02 2.58664465e+02] [-6.96693935e-01 7.12505538e-01 -8.33871634e-02 -1.88441686e+02] [-1.19109767e-01 -2.65986940e-04 9.92881057e-01 -3.15795073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35591999999997 meters 0.029998927450160577 Centerline is valid? [True, True] Translation: X:258.69, Y:-188.47, Z:-31.58 [[ 7.08209540e-01 7.00915740e-01 8.45953499e-02 2.58685534e+02] [-6.95980953e-01 7.13244081e-01 -8.30264626e-02 -1.88466713e+02] [-1.18531687e-01 -7.66193812e-05 9.92950267e-01 -3.15829467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38592 meters 0.030064926715129208 Centerline is valid? [True, True] Translation: X:258.71, Y:-188.49, Z:-31.59 [[ 7.09921218e-01 6.99181171e-01 8.46023284e-02 2.58705839e+02] [-6.94222595e-01 7.14944482e-01 -8.31226568e-02 -1.88492837e+02] [-1.18603764e-01 2.77689785e-04 9.92941625e-01 -3.15852532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41591999999997 meters 0.030162907338131033 Centerline is valid? [True, True] Translation: X:258.73, Y:-188.52, Z:-31.59 [[ 7.10734061e-01 6.98306881e-01 8.49976130e-02 2.58727606e+02] [-6.93284637e-01 7.15798337e-01 -8.36011575e-02 -1.88517890e+02] [-1.19220414e-01 4.90650947e-04 9.92867691e-01 -3.15879538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44592 meters 0.030181551689011855 Centerline is valid? [True, True] Translation: X:258.75, Y:-188.54, Z:-31.59 [[ 7.11126052e-01 6.97935381e-01 8.47699360e-02 2.58748873e+02] [-6.92926770e-01 7.16160474e-01 -8.34665636e-02 -1.88543166e+02] [-1.18963145e-01 6.15889895e-04 9.92898480e-01 -3.15904394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47592 meters 0.03013128078693015 Centerline is valid? [True, True] Translation: X:258.77, Y:-188.57, Z:-31.59 [[ 7.11434863e-01 6.97773198e-01 8.35044916e-02 2.58768333e+02] [-6.92902225e-01 7.16318421e-01 -8.23069036e-02 -1.88570284e+02] [-1.17247357e-01 6.95552695e-04 9.93102499e-01 -3.15937422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50591999999995 meters 0.030245363625400715 Centerline is valid? [True, True] Translation: X:258.79, Y:-188.59, Z:-31.60 [[ 7.09754405e-01 6.99460973e-01 8.36841268e-02 2.58790028e+02] [-6.94570415e-01 7.14670636e-01 -8.25700946e-02 -1.88594943e+02] [-1.17561147e-01 4.79969574e-04 9.93065530e-01 -3.15972197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53592 meters 0.030423544407954462 Centerline is valid? [True, True] Translation: X:258.81, Y:-188.62, Z:-31.60 [[ 7.07287107e-01 7.02004586e-01 8.32736984e-02 2.58808977e+02] [-6.97169138e-01 7.12172413e-01 -8.22535528e-02 -1.88622754e+02] [-1.17047602e-01 1.21024939e-04 9.93126298e-01 -3.16001892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56591999999995 meters 0.030282577387509 Centerline is valid? [True, True] Translation: X:258.83, Y:-188.65, Z:-31.60 [[ 7.05945537e-01 7.03371066e-01 8.31266646e-02 2.58830354e+02] [-6.98551724e-01 7.10822863e-01 -8.21969963e-02 -1.88648444e+02] [-1.16903323e-01 -4.16721538e-05 9.93143299e-01 -3.16030490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59592 meters 0.0305334125287045 Centerline is valid? [True, True] Translation: X:258.85, Y:-188.67, Z:-31.61 [[ 7.03282955e-01 7.05991235e-01 8.34832979e-02 2.58850661e+02] [-7.01138087e-01 7.08220449e-01 -8.26388433e-02 -1.88674781e+02] [-1.17466878e-01 -4.14829829e-04 9.93076714e-01 -3.16062825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62591999999995 meters 0.030466817073339373 Centerline is valid? [True, True] Translation: X:258.87, Y:-188.70, Z:-31.61 [[ 7.01220221e-01 7.08193921e-01 8.21679506e-02 2.58872805e+02] [-7.03497992e-01 7.06017611e-01 -8.14230175e-02 -1.88699252e+02] [-1.15675306e-01 -7.09521884e-04 9.93286827e-01 -3.16077539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65592 meters 0.030563525213319263 Centerline is valid? [True, True] Translation: X:258.90, Y:-188.72, Z:-31.61 [[ 7.00142525e-01 7.09163146e-01 8.29944464e-02 2.58895184e+02] [-7.04368419e-01 7.05043947e-01 -8.23296016e-02 -1.88723677e+02] [-1.16899851e-01 -8.16211954e-04 9.93143373e-01 -3.16111739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68591999999995 meters 0.03051297571051583 Centerline is valid? [True, True] Translation: X:258.92, Y:-188.75, Z:-31.61 [[ 6.98901691e-01 7.10554242e-01 8.15419949e-02 2.58916868e+02] [-7.05926099e-01 7.03641761e-01 -8.09729305e-02 -1.88749080e+02] [-1.14912012e-01 -9.70504284e-04 9.93375200e-01 -3.16128843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71592 meters 0.030701259907609253 Centerline is valid? [True, True] Translation: X:258.94, Y:-188.77, Z:-31.62 [[ 6.97951103e-01 7.11432035e-01 8.20287568e-02 2.58939518e+02] [-7.06744294e-01 7.02754107e-01 -8.15424334e-02 -1.88772324e+02] [-1.15657945e-01 -1.06072443e-03 9.93288535e-01 -3.16170602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74591999999996 meters 0.030693839437187596 Centerline is valid? [True, True] Translation: X:258.96, Y:-188.80, Z:-31.62 [[ 6.96508845e-01 7.12908912e-01 8.14635628e-02 2.58962296e+02] [-7.08286026e-01 7.01255555e-01 -8.10651111e-02 -1.88795982e+02] [-1.14918816e-01 -1.23693635e-03 9.93374117e-01 -3.16182093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.77592 meters 0.03060862915605096 Centerline is valid? [True, True] Translation: X:258.98, Y:-188.82, Z:-31.62 [[ 6.94853118e-01 7.14567129e-01 8.10738105e-02 2.58984644e+02] [-7.09990042e-01 6.99565388e-01 -8.07614255e-02 -1.88819476e+02] [-1.14425892e-01 -1.44426970e-03 9.93430737e-01 -3.16209643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80591999999996 meters 0.03087952681011368 Centerline is valid? [True, True] Translation: X:259.01, Y:-188.84, Z:-31.62 [[ 6.93428562e-01 7.15931561e-01 8.12331754e-02 2.59007493e+02] [-7.11335976e-01 6.98168602e-01 -8.10045184e-02 -1.88842420e+02] [-1.14708144e-01 -1.61323343e-03 9.93397926e-01 -3.16239056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.83592 meters 0.030899299585835968 Centerline is valid? [True, True] Translation: X:259.03, Y:-188.87, Z:-31.63 [[ 6.91591334e-01 7.17843817e-01 8.00105139e-02 2.59030729e+02] [-7.13389393e-01 6.96201736e-01 -7.98668713e-02 -1.88865287e+02] [-1.13035398e-01 -1.84341592e-03 9.93589251e-01 -3.16255087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86591999999996 meters 0.03108780612356571 Centerline is valid? [True, True] Translation: X:259.05, Y:-188.89, Z:-31.63 [[ 6.90430036e-01 7.18940259e-01 8.01952002e-02 2.59053537e+02] [-7.14463029e-01 6.95069081e-01 -8.01345935e-02 -1.88888984e+02] [-1.13353189e-01 -1.96917540e-03 9.93552805e-01 -3.16278683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89592 meters 0.031207789775102922 Centerline is valid? [True, True] Translation: X:259.39, Y:-188.88, Z:-29.76 [[ 7.70159228e-01 -6.36426009e-01 -4.26227378e-02 2.59386134e+02] [-6.34842785e-01 -7.71295811e-01 4.55786173e-02 -1.88876114e+02] [-6.18821566e-02 -8.04405514e-03 -9.98051047e-01 -2.97633870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92591999999996 meters 0.031105344638095996 Centerline is valid? [True, True] Translation: X:259.12, Y:-188.98, Z:-31.64 [[ 7.43127241e-01 6.63383865e-01 8.76570098e-02 2.59123920e+02] [-6.59142956e-01 7.48276303e-01 -7.49208761e-02 -1.88977157e+02] [-1.15292964e-01 -2.10275665e-03 9.93329306e-01 -3.16371836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95592 meters 0.031089020977347066 Centerline is valid? [True, True] Translation: X:259.15, Y:-189.00, Z:-31.64 [[ 7.42697272e-01 6.63892899e-01 8.74470197e-02 2.59149387e+02] [-6.59666853e-01 7.47824667e-01 -7.48191804e-02 -1.88997960e+02] [-1.15066961e-01 -2.11789915e-03 9.93355480e-01 -3.16402951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98591999999996 meters 0.031051882603738153 Centerline is valid? [True, True] Translation: X:259.17, Y:-189.02, Z:-31.64 [[ 7.42579195e-01 6.64178696e-01 8.62716628e-02 2.59173974e+02] [-6.60059183e-01 7.47570966e-01 -7.38886008e-02 -1.89019258e+02] [-1.13569425e-01 -2.07626564e-03 9.93527893e-01 -3.16421586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01592 meters 0.03100619961902494 Centerline is valid? [True, True] Translation: X:259.20, Y:-189.04, Z:-31.64 [[ 7.42388925e-01 6.64536887e-01 8.51434690e-02 2.59199186e+02] [-6.60518959e-01 7.47252654e-01 -7.29943559e-02 -1.89040536e+02] [-1.12131125e-01 -2.04867414e-03 9.93691307e-01 -3.16441794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04591999999997 meters 0.030947122918552224 Centerline is valid? [True, True] Translation: X:259.22, Y:-189.06, Z:-31.65 [[ 7.41858061e-01 6.65147319e-01 8.50038921e-02 2.59224537e+02] [-6.61138265e-01 7.46709254e-01 -7.29485094e-02 -1.89061438e+02] [-1.11994698e-01 -2.08188607e-03 9.93706623e-01 -3.16474432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07592 meters 0.031035297882312067 Centerline is valid? [True, True] Translation: X:259.25, Y:-189.08, Z:-31.65 [[ 7.40833361e-01 6.66226597e-01 8.54871542e-02 2.59250396e+02] [-6.62170079e-01 7.45746124e-01 -7.34404859e-02 -1.89081051e+02] [-1.12679719e-01 -2.19987365e-03 9.93628925e-01 -3.16496313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10591999999997 meters 0.030953319789152656 Centerline is valid? [True, True] Translation: X:259.28, Y:-189.10, Z:-31.65 [[ 7.40458920e-01 6.66626110e-01 8.56166838e-02 2.59275962e+02] [-6.62551309e-01 7.45388997e-01 -7.36274819e-02 -1.89101521e+02] [-1.12899736e-01 -2.20732016e-03 9.93603934e-01 -3.16525483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13592 meters 0.030817251623321378 Centerline is valid? [True, True] Translation: X:259.30, Y:-189.12, Z:-31.65 [[ 7.40306990e-01 6.66750351e-01 8.59623756e-02 2.59302510e+02] [-6.62634531e-01 7.45277953e-01 -7.40016932e-02 -1.89120997e+02] [-1.13406518e-01 -2.17766771e-03 9.93546284e-01 -3.16544699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16591999999997 meters 0.03074347826561435 Centerline is valid? [True, True] Translation: X:259.33, Y:-189.14, Z:-31.66 [[ 7.40230594e-01 6.66805816e-01 8.61897434e-02 2.59328560e+02] [-6.62659695e-01 7.45228454e-01 -7.42743606e-02 -1.89141378e+02] [-1.13757625e-01 -2.13431498e-03 9.93506239e-01 -3.16578355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19592 meters 0.030662592062354523 Centerline is valid? [True, True] Translation: X:259.35, Y:-189.16, Z:-31.66 [[ 7.40464471e-01 6.66718543e-01 8.48454610e-02 2.59354116e+02] [-6.62692223e-01 7.45306820e-01 -7.31899034e-02 -1.89161612e+02] [-1.12032967e-01 -2.03190406e-03 9.93702413e-01 -3.16597447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22592 meters 0.030227284942131415 Centerline is valid? [True, True] Translation: X:259.38, Y:-189.18, Z:-31.66 [[ 7.41180199e-01 6.65955373e-01 8.45893216e-02 2.59380422e+02] [-6.61940379e-01 7.45989271e-01 -7.30406820e-02 -1.89181494e+02] [-1.11744561e-01 -1.85678037e-03 9.93735229e-01 -3.16628794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25591999999995 meters 0.030003147396885983 Centerline is valid? [True, True] Translation: X:259.41, Y:-189.20, Z:-31.67 [[ 7.41670560e-01 6.65191698e-01 8.62831669e-02 2.59405982e+02] [-6.60999886e-01 7.46670642e-01 -7.45795124e-02 -1.89201475e+02] [-1.14034780e-01 -1.71973476e-03 9.93475270e-01 -3.16668679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28592 meters 0.029458373040362716 Centerline is valid? [True, True] Translation: X:259.43, Y:-189.22, Z:-31.67 [[ 7.43351419e-01 6.63501896e-01 8.48168789e-02 2.59431593e+02] [-6.59432504e-01 7.48173329e-01 -7.33855693e-02 -1.89220888e+02] [-1.12149191e-01 -1.37973978e-03 9.93690422e-01 -3.16693517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31591999999995 meters 0.029345843787442098 Centerline is valid? [True, True] Translation: X:259.46, Y:-189.24, Z:-31.67 [[ 7.43569883e-01 6.63176619e-01 8.54435492e-02 2.59456722e+02] [-6.59036100e-01 7.48461837e-01 -7.40020132e-02 -1.89241594e+02] [-1.13027641e-01 -1.28471511e-03 9.93591013e-01 -3.16729914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34592 meters 0.029290090095131602 Centerline is valid? [True, True] Translation: X:259.48, Y:-189.26, Z:-31.68 [[ 7.43187878e-01 6.63587191e-01 8.55793118e-02 2.59481314e+02] [-6.59427263e-01 7.48097838e-01 -7.41977757e-02 -1.89263598e+02] [-1.13258392e-01 -1.29044388e-03 9.93564729e-01 -3.16756537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37591999999995 meters 0.02919041008175958 Centerline is valid? [True, True] Translation: X:259.51, Y:-189.28, Z:-31.68 [[ 7.42899655e-01 6.63985953e-01 8.49868067e-02 2.59506475e+02] [-6.59877418e-01 7.47743945e-01 -7.37616842e-02 -1.89284428e+02] [-1.12525092e-01 -1.28334477e-03 9.93648055e-01 -3.16777402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40592 meters 0.029459918824349684 Centerline is valid? [True, True] Translation: X:259.53, Y:-189.30, Z:-31.68 [[ 7.41719603e-01 6.65040923e-01 8.70206980e-02 2.59531263e+02] [-6.60730701e-01 7.46805570e-01 -7.56067516e-02 -1.89304978e+02] [-1.15269126e-01 -1.41823701e-03 9.93333286e-01 -3.16814958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43591999999995 meters 0.029461340719837317 Centerline is valid? [True, True] Translation: X:259.56, Y:-189.33, Z:-31.68 [[ 7.39908501e-01 6.67122851e-01 8.65015169e-02 2.59557221e+02] [-6.62869407e-01 7.44945836e-01 -7.52319826e-02 -1.89325574e+02] [-1.14627920e-01 -1.67442576e-03 9.93407085e-01 -3.16841866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46592 meters 0.02991201241341168 Centerline is valid? [True, True] Translation: X:259.58, Y:-189.35, Z:-31.69 [[ 7.38331054e-01 6.68719063e-01 8.76474189e-02 2.59582489e+02] [-6.64353633e-01 7.43512778e-01 -7.63085838e-02 -1.89345991e+02] [-1.16195981e-01 -1.88788408e-03 9.93224511e-01 -3.16889065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49591999999996 meters 0.02991201241341168 Centerline is valid? [True, True] Translation: X:259.61, Y:-189.37, Z:-31.69 [[ 7.37991075e-01 6.69099233e-01 8.76092981e-02 2.59607114e+02] [-6.64731280e-01 7.43170671e-01 -7.63523303e-02 -1.89366973e+02] [-1.16195947e-01 -1.88930252e-03 9.93224513e-01 -3.16917936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52592 meters 0.03003304155089301 Centerline is valid? [True, True] Translation: X:259.63, Y:-189.39, Z:-31.69 [[ 7.36226520e-01 6.70935866e-01 8.84057376e-02 2.59632505e+02] [-6.66491640e-01 7.41512297e-01 -7.71259255e-02 -1.89387341e+02] [-1.17300491e-01 -2.13953324e-03 9.93094163e-01 -3.16947656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55591999999996 meters 0.030289875238140376 Centerline is valid? [True, True] Translation: X:259.66, Y:-189.40, Z:-31.70 [[ 7.34834003e-01 6.72302652e-01 8.95998420e-02 2.59660884e+02] [-6.67737834e-01 7.40272727e-01 -7.82462446e-02 -1.89404926e+02] [-1.18933477e-01 -2.33120326e-03 9.92899488e-01 -3.16979992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58592 meters 0.03037320646287131 Centerline is valid? [True, True] Translation: X:259.69, Y:-189.42, Z:-31.70 [[ 7.34581807e-01 6.72573187e-01 8.96374728e-02 2.59687810e+02] [-6.67997140e-01 7.40026984e-01 -7.83574151e-02 -1.89424630e+02] [-1.19035245e-01 -2.31764388e-03 9.92887324e-01 -3.17009057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61591999999996 meters 0.030015219199162148 Centerline is valid? [True, True] Translation: X:259.71, Y:-189.44, Z:-31.70 [[ 7.36029049e-01 6.71155302e-01 8.83843866e-02 2.59714581e+02] [-6.66687535e-01 7.41314072e-01 -7.73380711e-02 -1.89442350e+02] [-1.17426446e-01 -2.00170185e-03 9.93079565e-01 -3.17043968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64592 meters 0.030022653870707433 Centerline is valid? [True, True] Translation: X:259.74, Y:-189.46, Z:-31.71 [[ 7.36648153e-01 6.70362811e-01 8.92367619e-02 2.59741114e+02] [-6.65793583e-01 7.42031213e-01 -7.81574337e-02 -1.89462054e+02] [-1.18610300e-01 -1.83873422e-03 9.92939180e-01 -3.17076313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67591999999996 meters 0.029856885715312104 Centerline is valid? [True, True] Translation: X:259.77, Y:-189.48, Z:-31.71 [[ 7.37123237e-01 6.69902178e-01 8.87716548e-02 2.59767793e+02] [-6.65367790e-01 7.42447438e-01 -7.78299829e-02 -1.89481452e+02] [-1.18046763e-01 -1.69551088e-03 9.93006590e-01 -3.17102090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70592 meters 0.02986906895480767 Centerline is valid? [True, True] Translation: X:259.80, Y:-189.50, Z:-31.71 [[ 7.38495517e-01 6.68234467e-01 8.99281345e-02 2.59796715e+02] [-6.63558644e-01 7.43949443e-01 -7.89249786e-02 -1.89498819e+02] [-1.19642377e-01 -1.38684810e-03 9.92816085e-01 -3.17138114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73591999999996 meters 0.029752057139898983 Centerline is valid? [True, True] Translation: X:259.82, Y:-189.52, Z:-31.72 [[ 7.38369127e-01 6.68486135e-01 8.90916397e-02 2.59823233e+02] [-6.63889375e-01 7.43723373e-01 -7.82715912e-02 -1.89517635e+02] [-1.18583008e-01 -1.35366653e-03 9.92943220e-01 -3.17161918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76592 meters 0.030079106216179142 Centerline is valid? [True, True] Translation: X:259.85, Y:-189.53, Z:-31.72 [[ 7.37684678e-01 6.68951497e-01 9.12425916e-02 2.59850674e+02] [-6.64122955e-01 7.43304733e-01 -8.02419770e-02 -1.89534720e+02] [-1.21499041e-01 -1.40302258e-03 9.92590557e-01 -3.17206996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79591999999997 meters 0.02982038600935125 Centerline is valid? [True, True] Translation: X:259.88, Y:-189.55, Z:-31.72 [[ 7.37542233e-01 6.69184872e-01 9.06810944e-02 2.59876766e+02] [-6.64408672e-01 7.43094683e-01 -7.98211070e-02 -1.89554102e+02] [-1.20799716e-01 -1.37786796e-03 9.92675944e-01 -3.17231374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82592 meters 0.03001652431771771 Centerline is valid? [True, True] Translation: X:259.90, Y:-189.57, Z:-31.73 [[ 7.37139740e-01 6.69710217e-01 9.00734631e-02 2.59902940e+02] [-6.64993171e-01 7.42621213e-01 -7.93587836e-02 -1.89573005e+02] [-1.20037853e-01 -1.39972476e-03 9.92768329e-01 -3.17259664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85591999999997 meters 0.030115773533140343 Centerline is valid? [True, True] Translation: X:259.93, Y:-189.59, Z:-31.73 [[ 7.37097544e-01 6.69715919e-01 9.03758758e-02 2.59931368e+02] [-6.64957787e-01 7.42616167e-01 -7.97017613e-02 -1.89591030e+02] [-1.20492125e-01 -1.34816981e-03 9.92713368e-01 -3.17292053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88592 meters 0.029951114049844973 Centerline is valid? [True, True] Translation: X:259.96, Y:-189.61, Z:-31.73 [[ 7.37688301e-01 6.69084717e-01 9.02308811e-02 2.59959232e+02] [-6.64327134e-01 7.43185204e-01 -7.96568418e-02 -1.89608704e+02] [-1.20355431e-01 -1.18090231e-03 9.92730163e-01 -3.17313040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91591999999997 meters 0.029934661702765132 Centerline is valid? [True, True] Translation: X:259.99, Y:-189.63, Z:-31.73 [[ 7.37410066e-01 6.69493096e-01 8.94728340e-02 2.59985614e+02] [-6.64810220e-01 7.42817331e-01 -7.90555806e-02 -1.89628019e+02] [-1.19389137e-01 -1.18607349e-03 9.92846830e-01 -3.17335473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94592 meters 0.02994120244530309 Centerline is valid? [True, True] Translation: X:260.01, Y:-189.65, Z:-31.74 [[ 7.37337975e-01 6.69606542e-01 8.92176524e-02 2.60012746e+02] [-6.64945148e-01 7.42715105e-01 -7.88810771e-02 -1.89646507e+02] [-1.19082583e-01 -1.16283140e-03 9.92883672e-01 -3.17366256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97592 meters 0.029900617856972678 Centerline is valid? [True, True] Translation: X:260.04, Y:-189.66, Z:-31.74 [[ 7.36275047e-01 6.70910043e-01 8.81973362e-02 2.60041203e+02] [-6.66354909e-01 7.41537611e-01 -7.80583489e-02 -1.89661997e+02] [-1.17771772e-01 -1.29831347e-03 9.93039840e-01 -3.17402470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00591999999995 meters 0.029942745330559076 Centerline is valid? [True, True] Translation: X:260.07, Y:-189.68, Z:-31.74 [[ 7.35865488e-01 6.71297655e-01 8.86647713e-02 2.60068094e+02] [-6.66687766e-01 7.41186709e-01 -7.85473369e-02 -1.89681264e+02] [-1.18445793e-01 -1.31144396e-03 9.92959654e-01 -3.17429676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03592 meters 0.029880577205517844 Centerline is valid? [True, True] Translation: X:260.10, Y:-189.70, Z:-31.74 [[ 7.37421571e-01 6.69666105e-01 8.80723251e-02 2.60096675e+02] [-6.65096806e-01 7.42661661e-01 -7.81018339e-02 -1.89697172e+02] [-1.17710090e-01 -9.82645027e-04 9.93047516e-01 -3.17444909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06591999999995 meters 0.0299128258208079 Centerline is valid? [True, True] Translation: X:260.12, Y:-189.72, Z:-31.75 [[ 7.38702632e-01 6.68292880e-01 8.77670035e-02 2.60123230e+02] [-6.63737083e-01 7.43897928e-01 -7.79035191e-02 -1.89715654e+02] [-1.17352059e-01 -7.06680294e-04 9.93090124e-01 -3.17478295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09592 meters 0.02989814533096178 Centerline is valid? [True, True] Translation: X:260.15, Y:-189.73, Z:-31.75 [[ 7.39964019e-01 6.66932717e-01 8.74871503e-02 2.60148689e+02] [-6.62387915e-01 7.45117818e-01 -7.77282937e-02 -1.89734648e+02] [-1.17027777e-01 -4.34290493e-04 9.93128547e-01 -3.17507304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12591999999995 meters 0.02987424233253441 Centerline is valid? [True, True] Translation: X:260.17, Y:-189.75, Z:-31.75 [[ 7.43555667e-01 6.63085931e-01 8.62671256e-02 2.60174966e+02] [-6.58633158e-01 7.48543250e-01 -7.67161376e-02 -1.89753491e+02] [-1.15444066e-01 2.24329497e-04 9.93313957e-01 -3.17536993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15592 meters 0.03004340328469766 Centerline is valid? [True, True] Translation: X:260.20, Y:-189.77, Z:-31.76 [[ 7.45713685e-01 6.60789352e-01 8.52556861e-02 2.60200467e+02] [-6.56418729e-01 7.50571148e-01 -7.58775566e-02 -1.89773834e+02] [-1.14129540e-01 6.19503196e-04 9.93465684e-01 -3.17559946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18591999999995 meters 0.030177994734194365 Centerline is valid? [True, True] Translation: X:260.23, Y:-189.79, Z:-31.76 [[ 7.47655654e-01 6.58546154e-01 8.56036568e-02 2.60226570e+02] [-6.54120837e-01 7.52539684e-01 -7.62230510e-02 -1.89792576e+02] [-1.14616546e-01 9.93459425e-04 9.93409312e-01 -3.17592000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21592 meters 0.03045792849613602 Centerline is valid? [True, True] Translation: X:260.25, Y:-189.81, Z:-31.76 [[ 7.48789308e-01 6.57251448e-01 8.56452373e-02 2.60251468e+02] [-6.52806346e-01 7.53670353e-01 -7.63208647e-02 -1.89813507e+02] [-1.14710275e-01 1.23849307e-03 9.93398218e-01 -3.17620866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24591999999996 meters 0.030550352160322713 Centerline is valid? [True, True] Translation: X:260.28, Y:-189.83, Z:-31.76 [[ 7.48991457e-01 6.57067925e-01 8.52850524e-02 2.60276294e+02] [-6.52654763e-01 7.53830272e-01 -7.60373693e-02 -1.89834581e+02] [-1.14252171e-01 1.28964441e-03 9.93450944e-01 -3.17649306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.27592 meters 0.03051277068412723 Centerline is valid? [True, True] Translation: X:260.30, Y:-189.86, Z:-31.77 [[ 7.49344268e-01 6.56716034e-01 8.48953432e-02 2.60300984e+02] [-6.52331821e-01 7.54136657e-01 -7.57700382e-02 -1.89856924e+02] [-1.13782089e-01 1.39790999e-03 9.93504747e-01 -3.17671979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30591999999996 meters 0.030654983828090364 Centerline is valid? [True, True] Translation: X:260.33, Y:-189.88, Z:-31.77 [[ 7.49255110e-01 6.56929384e-01 8.40271664e-02 2.60325549e+02] [-6.52627434e-01 7.53950794e-01 -7.50708537e-02 -1.89877761e+02] [-1.12668598e-01 1.40878674e-03 9.93631623e-01 -3.17695339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.33592 meters 0.030827854247458764 Centerline is valid? [True, True] Translation: X:260.35, Y:-189.90, Z:-31.77 [[ 7.48516106e-01 6.57614337e-01 8.52468403e-02 2.60349749e+02] [-6.53182442e-01 7.53353492e-01 -7.62313195e-02 -1.89898232e+02] [-1.14351813e-01 1.37863105e-03 9.93439360e-01 -3.17714100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36591999999996 meters 0.030653254427467195 Centerline is valid? [True, True] Translation: X:260.37, Y:-189.92, Z:-31.77 [[ 7.47591691e-01 6.58577838e-01 8.59179595e-02 2.60374067e+02] [-6.54073491e-01 7.52511495e-01 -7.69046047e-02 -1.89920834e+02] [-1.15301920e-01 1.29658382e-03 9.93329646e-01 -3.17744944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39592 meters 0.0305014946176896 Centerline is valid? [True, True] Translation: X:260.40, Y:-189.94, Z:-31.78 [[ 7.47262460e-01 6.59088976e-01 8.48559783e-02 2.60397397e+02] [-6.54690151e-01 7.52063915e-01 -7.60307388e-02 -1.89942414e+02] [-1.13928141e-01 1.26054367e-03 9.93488193e-01 -3.17767422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42591999999996 meters 0.030760731140953106 Centerline is valid? [True, True] Translation: X:260.42, Y:-189.97, Z:-31.78 [[ 7.47551521e-01 6.58736938e-01 8.50433395e-02 2.60420399e+02] [-6.54309381e-01 7.52372108e-01 -7.62590630e-02 -1.89965474e+02] [-1.14218898e-01 1.36292374e-03 9.93454672e-01 -3.17795832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45592 meters 0.030846532500161002 Centerline is valid? [True, True] Translation: X:260.44, Y:-189.99, Z:-31.78 [[ 7.47031013e-01 6.59265688e-01 8.55185288e-02 2.60444301e+02] [-6.54787334e-01 7.51908914e-01 -7.67237457e-02 -1.89987433e+02] [-1.14883477e-01 1.31856804e-03 9.93378099e-01 -3.17834934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48591999999996 meters 0.030713496817309435 Centerline is valid? [True, True] Translation: X:260.47, Y:-190.01, Z:-31.79 [[ 7.45816517e-01 6.60580474e-01 8.59718594e-02 2.60465856e+02] [-6.56053425e-01 7.50754310e-01 -7.72131402e-02 -1.90012279e+02] [-1.15549237e-01 1.18470255e-03 9.93301047e-01 -3.17861249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51592 meters 0.030589920025422854 Centerline is valid? [True, True] Translation: X:260.49, Y:-190.04, Z:-31.79 [[ 7.44706854e-01 6.61819752e-01 8.60599601e-02 2.60488774e+02] [-6.57282100e-01 7.49662259e-01 -7.73740196e-02 -1.90035806e+02] [-1.15723559e-01 1.05529143e-03 9.93280899e-01 -3.17881626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54591999999997 meters 0.030443534064684686 Centerline is valid? [True, True] Translation: X:260.51, Y:-190.06, Z:-31.79 [[ 7.42534492e-01 6.64300501e-01 8.57168144e-02 2.60510615e+02] [-6.59806271e-01 7.47465261e-01 -7.71451166e-02 -1.90058971e+02] [-1.15317881e-01 7.26418340e-04 9.93328374e-01 -3.17909892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57592 meters 0.03045698978186896 Centerline is valid? [True, True] Translation: X:260.53, Y:-190.08, Z:-31.79 [[ 7.40702535e-01 6.66422080e-01 8.50962192e-02 2.60533645e+02] [-6.61998612e-01 7.45574551e-01 -7.66578525e-02 -1.90080990e+02] [-1.14532061e-01 4.47086691e-04 9.93419452e-01 -3.17940381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60591999999997 meters 0.030384841197534915 Centerline is valid? [True, True] Translation: X:260.56, Y:-190.10, Z:-31.80 [[ 7.39055265e-01 6.68310005e-01 8.46111833e-02 2.60556289e+02] [-6.63941116e-01 7.43882850e-01 -7.62922087e-02 -1.90103517e+02] [-1.13927655e-01 2.07315041e-04 9.93489027e-01 -3.17970251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63592 meters 0.030127626842792292 Centerline is valid? [True, True] Translation: X:260.58, Y:-190.13, Z:-31.80 [[ 7.35007958e-01 6.72676286e-01 8.52638013e-02 2.60578139e+02] [-6.68260190e-01 7.39936782e-01 -7.69537364e-02 -1.90127315e+02] [-1.14854776e-01 -4.16795443e-04 9.93382206e-01 -3.17998761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66591999999997 meters 0.030194351193036394 Centerline is valid? [True, True] Translation: X:260.60, Y:-190.15, Z:-31.80 [[ 7.33764093e-01 6.74167780e-01 8.41906209e-02 2.60601865e+02] [-6.69864137e-01 7.38577997e-01 -7.60564307e-02 -1.90148876e+02] [-1.13456135e-01 -5.88799705e-04 9.93542832e-01 -3.18025786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69592 meters 0.030154019856457652 Centerline is valid? [True, True] Translation: X:260.62, Y:-190.17, Z:-31.81 [[ 7.31334189e-01 6.76760952e-01 8.45276140e-02 2.60624197e+02] [-6.72431537e-01 7.36202234e-01 -7.64336239e-02 -1.90171254e+02] [-1.13956710e-01 -9.40511050e-04 9.93485271e-01 -3.18068720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72592 meters 0.03015231976291442 Centerline is valid? [True, True] Translation: X:260.65, Y:-190.19, Z:-31.81 [[ 7.30423576e-01 6.77718986e-01 8.47252986e-02 2.60647850e+02] [-6.73366978e-01 7.35320271e-01 -7.66877584e-02 -1.90194187e+02] [-1.14272979e-01 -1.03667155e-03 9.93448847e-01 -3.18091552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75591999999995 meters 0.030152050375077743 Centerline is valid? [True, True] Translation: X:260.67, Y:-190.22, Z:-31.81 [[ 7.29411994e-01 6.78630723e-01 8.61306293e-02 2.60671630e+02] [-6.74129389e-01 7.34478758e-01 -7.80417900e-02 -1.90216051e+02] [-1.16222674e-01 -1.13857089e-03 9.93222530e-01 -3.18123919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78592 meters 0.030308701732979254 Centerline is valid? [True, True] Translation: X:260.70, Y:-190.24, Z:-31.81 [[ 7.28424449e-01 6.79745029e-01 8.57001636e-02 2.60695480e+02] [-6.75287718e-01 7.33447423e-01 -7.77262894e-02 -1.90238643e+02] [-1.15690623e-01 -1.25453842e-03 9.93284504e-01 -3.18141948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81591999999995 meters 0.03008518108468001 Centerline is valid? [True, True] Translation: X:260.72, Y:-190.26, Z:-31.82 [[ 7.28093302e-01 6.80123546e-01 8.55108490e-02 2.60720033e+02] [-6.75678991e-01 7.33096445e-01 -7.76369960e-02 -1.90260763e+02] [-1.15490448e-01 -1.25090744e-03 9.93307803e-01 -3.18179633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84592 meters 0.030088282531359117 Centerline is valid? [True, True] Translation: X:260.74, Y:-190.28, Z:-31.82 [[ 7.26518489e-01 6.81875922e-01 8.49476987e-02 2.60744678e+02] [-6.77492404e-01 7.31466403e-01 -7.72071551e-02 -1.90283013e+02] [-1.14782088e-01 -1.45899491e-03 9.93389623e-01 -3.18217980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87591999999995 meters 0.030195920063939917 Centerline is valid? [True, True] Translation: X:260.77, Y:-190.30, Z:-31.82 [[ 7.24743426e-01 6.83698698e-01 8.54579281e-02 2.60768483e+02] [-6.79265457e-01 7.29762430e-01 -7.77511145e-02 -1.90304256e+02] [-1.15522321e-01 -1.69900951e-03 9.93303431e-01 -3.18239652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90592 meters 0.030495943856364484 Centerline is valid? [True, True] Translation: X:260.79, Y:-190.33, Z:-31.83 [[ 7.21644945e-01 6.86667490e-01 8.78426574e-02 2.60792707e+02] [-6.81995211e-01 7.26968370e-01 -7.99970051e-02 -1.90325475e+02] [-1.18790176e-01 -2.17883735e-03 9.92916989e-01 -3.18270959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93591999999995 meters 0.030557919135898205 Centerline is valid? [True, True] Translation: X:260.82, Y:-190.35, Z:-31.83 [[ 7.20341865e-01 6.88124817e-01 8.71311269e-02 2.60816707e+02] [-6.83529410e-01 7.25588557e-01 -7.94279009e-02 -1.90347726e+02] [-1.17877658e-01 -2.34144544e-03 9.93025365e-01 -3.18297938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96592 meters 0.030847757172134553 Centerline is valid? [True, True] Translation: X:260.84, Y:-190.37, Z:-31.83 [[ 7.18831051e-01 6.89604454e-01 8.79068681e-02 2.60840278e+02] [-6.84927746e-01 7.24181751e-01 -8.02170453e-02 -1.90369379e+02] [-1.18978581e-01 -2.54735008e-03 9.92893553e-01 -3.18334670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99591999999996 meters 0.03110748046728212 Centerline is valid? [True, True] Translation: X:260.86, Y:-190.39, Z:-31.84 [[ 7.17553709e-01 6.90935059e-01 8.78943603e-02 2.60864156e+02] [-6.86261072e-01 7.22911731e-01 -8.02768414e-02 -1.90389848e+02] [-1.19005948e-01 -2.71553262e-03 9.92889828e-01 -3.18371422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02592 meters 0.030974252055370577 Centerline is valid? [True, True] Translation: X:260.89, Y:-190.41, Z:-31.84 [[ 7.17341616e-01 6.91166219e-01 8.78081128e-02 2.60889228e+02] [-6.86494650e-01 7.22690785e-01 -8.02690761e-02 -1.90410735e+02] [-1.18937388e-01 -2.69945094e-03 9.92898087e-01 -3.18399944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05591999999996 meters 0.031024492677200914 Centerline is valid? [True, True] Translation: X:260.91, Y:-190.43, Z:-31.84 [[ 7.17939270e-01 6.90760106e-01 8.61027312e-02 2.60913195e+02] [-6.86256842e-01 7.23079598e-01 -7.87873265e-02 -1.90431999e+02] [-1.16682270e-01 -2.52407273e-03 9.93166087e-01 -3.18425706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08592 meters 0.030725087942876362 Centerline is valid? [True, True] Translation: X:260.94, Y:-190.45, Z:-31.85 [[ 7.18127242e-01 6.90531969e-01 8.63647143e-02 2.60937057e+02] [-6.85990814e-01 7.23297754e-01 -7.91009598e-02 -1.90454315e+02] [-1.17089145e-01 -2.44084657e-03 9.93118409e-01 -3.18451968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11591999999996 meters 0.03089319205363589 Centerline is valid? [True, True] Translation: X:260.96, Y:-190.48, Z:-31.85 [[ 7.17458220e-01 6.91339840e-01 8.54571733e-02 2.60960185e+02] [-6.86890543e-01 7.22525455e-01 -7.83476126e-02 -1.90476234e+02] [-1.15909809e-01 -2.48858547e-03 9.93256625e-01 -3.18473673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14592 meters 0.03068456413321574 Centerline is valid? [True, True] Translation: X:260.99, Y:-190.50, Z:-31.85 [[ 7.16626679e-01 6.92321484e-01 8.44817483e-02 2.60986701e+02] [-6.87971993e-01 7.21584636e-01 -7.75251607e-02 -1.90496161e+02] [-1.14633066e-01 -2.56447834e-03 9.93404592e-01 -3.18489610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17591999999996 meters 0.030951478432494982 Centerline is valid? [True, True] Translation: X:261.01, Y:-190.52, Z:-31.85 [[ 7.14803371e-01 6.94216932e-01 8.43741170e-02 2.61011457e+02] [-6.89882759e-01 7.19760352e-01 -7.75036476e-02 -1.90516798e+02] [-1.14533489e-01 -2.80838008e-03 9.93415418e-01 -3.18520121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20592 meters 0.031192401911251076 Centerline is valid? [True, True] Translation: X:261.04, Y:-190.54, Z:-31.86 [[ 7.12205115e-01 6.96763457e-01 8.53496298e-02 2.61035735e+02] [-6.92338022e-01 7.17293819e-01 -7.84706381e-02 -1.90537500e+02] [-1.15896235e-01 -3.20360403e-03 9.93256160e-01 -3.18556396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23591999999996 meters 0.03125510528809706 Centerline is valid? [True, True] Translation: X:261.06, Y:-190.56, Z:-31.86 [[ 7.11273101e-01 6.97791734e-01 8.47187849e-02 2.61060844e+02] [-6.93430657e-01 7.16293127e-01 -7.79620438e-02 -1.90558221e+02] [-1.15084753e-01 -3.29429802e-03 9.93350214e-01 -3.18581656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26592 meters 0.03129442419776639 Centerline is valid? [True, True] Translation: X:261.09, Y:-190.58, Z:-31.86 [[ 7.10136558e-01 6.98968915e-01 8.45489556e-02 2.61086126e+02] [-6.94624741e-01 7.15143862e-01 -7.78827680e-02 -1.90577650e+02] [-1.14902300e-01 -3.42239559e-03 9.93370902e-01 -3.18608861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29591999999997 meters 0.0313139669189808 Centerline is valid? [True, True] Translation: X:261.11, Y:-190.60, Z:-31.86 [[ 7.09085868e-01 7.00056266e-01 8.43709447e-02 2.61112912e+02] [-6.95730082e-01 7.14078907e-01 -7.77879718e-02 -1.90595363e+02] [-1.14703469e-01 -3.54105278e-03 9.93393464e-01 -3.18642217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32592 meters 0.031231424362722915 Centerline is valid? [True, True] Translation: X:261.14, Y:-190.62, Z:-31.87 [[ 7.08974623e-01 7.00162744e-01 8.44222468e-02 2.61137994e+02] [-6.95823730e-01 7.13974663e-01 -7.79071030e-02 -1.90616051e+02] [-1.14822996e-01 -3.50884363e-03 9.93379770e-01 -3.18665455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35591999999997 meters 0.031019560611748438 Centerline is valid? [True, True] Translation: X:261.17, Y:-190.63, Z:-31.87 [[ 7.08761207e-01 7.00269394e-01 8.53248346e-02 2.61165693e+02] [-6.95828378e-01 7.13870067e-01 -7.88187541e-02 -1.90633045e+02] [-1.16105207e-01 -3.50776601e-03 9.93230727e-01 -3.18684836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38592 meters 0.030916721305017884 Centerline is valid? [True, True] Translation: X:261.19, Y:-190.65, Z:-31.87 [[ 7.08699670e-01 7.00257338e-01 8.59327616e-02 2.61193430e+02] [-6.95743828e-01 7.13882038e-01 -7.94541514e-02 -1.90652062e+02] [-1.16984208e-01 -3.47805763e-03 9.93127685e-01 -3.18714007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41591999999997 meters 0.030916721305017884 Centerline is valid? [True, True] Translation: X:261.22, Y:-190.67, Z:-31.87 [[ 7.08341594e-01 7.00624530e-01 8.58921140e-02 2.61217444e+02] [-6.96108388e-01 7.13521667e-01 -7.94980740e-02 -1.90673819e+02] [-1.16984185e-01 -3.47842858e-03 9.93127686e-01 -3.18742888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44592 meters 0.030929532893335707 Centerline is valid? [True, True] Translation: X:261.24, Y:-190.69, Z:-31.88 [[ 7.08661420e-01 7.00323944e-01 8.57051041e-02 2.61243688e+02] [-6.95815999e-01 7.13817242e-01 -7.94042906e-02 -1.90691968e+02] [-1.16786507e-01 -3.36422526e-03 9.93151345e-01 -3.18776110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47592 meters 0.03052608121992131 Centerline is valid? [True, True] Translation: X:261.27, Y:-190.71, Z:-31.88 [[ 7.09897664e-01 6.99189698e-01 8.47294111e-02 2.61270094e+02] [-6.94767901e-01 7.14929519e-01 -7.85706441e-02 -1.90710439e+02] [-1.15511342e-01 -3.09015846e-03 9.93301354e-01 -3.18791857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50591999999995 meters 0.030665565615800357 Centerline is valid? [True, True] Translation: X:261.30, Y:-190.73, Z:-31.88 [[ 7.10115605e-01 6.98811693e-01 8.60118873e-02 2.61295713e+02] [-6.94243169e-01 7.15299296e-01 -7.98331999e-02 -1.90730298e+02] [-1.17312616e-01 -3.02236409e-03 9.93090437e-01 -3.18840058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53592 meters 0.029934231322982643 Centerline is valid? [True, True] Translation: X:261.32, Y:-190.75, Z:-31.89 [[ 7.13683196e-01 6.95462250e-01 8.35975774e-02 2.61324493e+02] [-6.91117760e-01 7.18558764e-01 -7.76501382e-02 -1.90746810e+02] [-1.14072512e-01 -2.35817169e-03 9.93469628e-01 -3.18852366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56591999999995 meters 0.029628184478126995 Centerline is valid? [True, True] Translation: X:261.35, Y:-190.77, Z:-31.89 [[ 7.15122814e-01 6.94110531e-01 8.25223102e-02 2.61349625e+02] [-6.89866007e-01 7.19865380e-01 -7.66728526e-02 -1.90767648e+02] [-1.12624389e-01 -2.09883055e-03 9.93635417e-01 -3.18874503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59592 meters 0.0293508276095453 Centerline is valid? [True, True] Translation: X:261.37, Y:-190.79, Z:-31.89 [[ 7.17793672e-01 6.91278195e-01 8.31065733e-02 2.61373757e+02] [-6.86951285e-01 7.22586843e-01 -7.72410967e-02 -1.90788642e+02] [-1.13446802e-01 -1.64699688e-03 9.93542707e-01 -3.18899508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62591999999995 meters 0.029261586478629052 Centerline is valid? [True, True] Translation: X:261.40, Y:-190.81, Z:-31.89 [[ 7.23269911e-01 6.85569716e-01 8.29144181e-02 2.61398375e+02] [-6.81221133e-01 7.28006625e-01 -7.70981292e-02 -1.90808935e+02] [-1.13218388e-01 -7.20296760e-04 9.93569866e-01 -3.18923235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65592 meters 0.02915433550706538 Centerline is valid? [True, True] Translation: X:261.42, Y:-190.83, Z:-31.90 [[ 7.25174408e-01 6.83565720e-01 8.28250230e-02 2.61422671e+02] [-6.79204937e-01 7.29888884e-01 -7.70900213e-02 -1.90830385e+02] [-1.13149160e-01 -3.51454049e-04 9.93577951e-01 -3.18956949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68591999999995 meters 0.029146891426898393 Centerline is valid? [True, True] Translation: X:261.45, Y:-190.85, Z:-31.90 [[ 7.28913936e-01 6.79887743e-01 8.02317340e-02 2.61445601e+02] [-6.75765774e-01 7.33316155e-01 -7.47531588e-02 -1.90853344e+02] [-1.09658983e-01 2.70759295e-04 9.93969232e-01 -3.18981576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71592 meters 0.0292587272236205 Centerline is valid? [True, True] Translation: X:261.47, Y:-190.88, Z:-31.90 [[ 7.29446409e-01 6.79360991e-01 7.98534922e-02 2.61468844e+02] [-6.75266989e-01 7.33804118e-01 -7.44715439e-02 -1.90876984e+02] [-1.09189883e-01 4.00573106e-04 9.94020829e-01 -3.19006812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74591999999996 meters 0.029364420979442238 Centerline is valid? [True, True] Translation: X:261.49, Y:-190.90, Z:-31.90 [[ 7.29773911e-01 6.78833198e-01 8.13358926e-02 2.61490554e+02] [-6.74573085e-01 7.34292305e-01 -7.59339468e-02 -1.90900642e+02] [-1.11270804e-01 5.47609352e-04 9.93789972e-01 -3.19038915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.77592 meters 0.029290647131015753 Centerline is valid? [True, True] Translation: X:261.51, Y:-190.92, Z:-31.91 [[ 7.29675283e-01 6.78872506e-01 8.18907925e-02 2.61513840e+02] [-6.74545793e-01 7.34255923e-01 -7.65258918e-02 -1.90924484e+02] [-1.12080123e-01 5.99962270e-04 9.93698992e-01 -3.19067381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80591999999996 meters 0.02939828818084674 Centerline is valid? [True, True] Translation: X:261.54, Y:-190.95, Z:-31.91 [[ 7.29785818e-01 6.78766089e-01 8.17878749e-02 2.61536568e+02] [-6.74440433e-01 7.34354234e-01 -7.65111846e-02 -1.90948031e+02] [-1.11994470e-01 6.75727674e-04 9.93708600e-01 -3.19090925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.83592 meters 0.029423472260324122 Centerline is valid? [True, True] Translation: X:261.56, Y:-190.97, Z:-31.91 [[ 7.30287788e-01 6.78256752e-01 8.15323563e-02 2.61558214e+02] [-6.73945931e-01 7.34824551e-01 -7.63528817e-02 -1.90972447e+02] [-1.11698835e-01 8.11177369e-04 9.93741773e-01 -3.19119324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86591999999996 meters 0.0293201881471963 Centerline is valid? [True, True] Translation: X:261.58, Y:-190.99, Z:-31.91 [[ 7.30697217e-01 6.77971579e-01 8.02254038e-02 2.61581904e+02] [-6.73788102e-01 7.35087568e-01 -7.52054545e-02 -1.90994621e+02] [-1.09959858e-01 8.97493730e-04 9.93935624e-01 -3.19137036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89592 meters 0.029287026943487938 Centerline is valid? [True, True] Translation: X:261.60, Y:-191.02, Z:-31.92 [[ 7.31642691e-01 6.77036375e-01 7.95029571e-02 2.61604027e+02] [-6.72914990e-01 7.35948762e-01 -7.45978217e-02 -1.91018344e+02] [-1.09015542e-01 1.08021938e-03 9.94039458e-01 -3.19169891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92591999999996 meters 0.02948266568958875 Centerline is valid? [True, True] Translation: X:261.63, Y:-191.04, Z:-31.92 [[ 7.32267582e-01 6.76339290e-01 7.96828347e-02 2.61627109e+02] [-6.72186357e-01 7.36589176e-01 -7.48457566e-02 -1.91042010e+02] [-1.09314639e-01 1.24540685e-03 9.94006418e-01 -3.19206870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95592 meters 0.029514991504630585 Centerline is valid? [True, True] Translation: X:261.65, Y:-191.07, Z:-31.92 [[ 7.32094611e-01 6.76553798e-01 7.94508571e-02 2.61649785e+02] [-6.72417755e-01 7.36392118e-01 -7.47061686e-02 -1.91066181e+02] [-1.09049727e-01 1.26781651e-03 9.94035487e-01 -3.19231836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98591999999996 meters 0.02934031664142237 Centerline is valid? [True, True] Translation: X:261.67, Y:-191.09, Z:-31.93 [[ 7.31551379e-01 6.76979279e-01 8.08185364e-02 2.61671317e+02] [-6.72692915e-01 7.36000956e-01 -7.60712541e-02 -1.91089636e+02] [-1.10981183e-01 1.28397400e-03 9.93821678e-01 -3.19268852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01592 meters 0.029130217114514818 Centerline is valid? [True, True] Translation: X:261.69, Y:-191.11, Z:-31.93 [[ 7.30888901e-01 6.77630451e-01 8.13534649e-02 2.61693849e+02] [-6.73282802e-01 7.35401534e-01 -7.66475817e-02 -1.91113349e+02] [-1.11766198e-01 1.24697793e-03 9.93733748e-01 -3.19301353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04591999999997 meters 0.0289481073967166 Centerline is valid? [True, True] Translation: X:261.71, Y:-191.14, Z:-31.93 [[ 7.29840388e-01 6.78632490e-01 8.24072316e-02 2.61713936e+02] [-6.74168333e-01 7.34477080e-01 -7.77205068e-02 -1.91139074e+02] [-1.13269884e-01 1.16721885e-03 9.93563572e-01 -3.19335044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07592 meters 0.028792989375884603 Centerline is valid? [True, True] Translation: X:261.74, Y:-191.16, Z:-31.94 [[ 7.28901039e-01 6.79555652e-01 8.31107199e-02 2.61736395e+02] [-6.75012093e-01 7.33623154e-01 -7.84585397e-02 -1.91162990e+02] [-1.14288893e-01 1.08777009e-03 9.93446962e-01 -3.19372161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10591999999997 meters 0.028663495795834625 Centerline is valid? [True, True] Translation: X:261.76, Y:-191.19, Z:-31.94 [[ 7.27241245e-01 6.81361361e-01 8.28665667e-02 2.61758422e+02] [-6.76847059e-01 7.31946689e-01 -7.83077495e-02 -1.91185948e+02] [-1.14009784e-01 8.60633314e-04 9.93479254e-01 -3.19397355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13592 meters 0.028369771863715167 Centerline is valid? [True, True] Translation: X:261.78, Y:-191.21, Z:-31.94 [[ 7.23567482e-01 6.85138692e-01 8.38753370e-02 2.61780300e+02] [-6.80529784e-01 7.28412566e-01 -7.93369163e-02 -1.91210705e+02] [-1.15452641e-01 3.25947741e-04 9.93312932e-01 -3.19430756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16591999999997 meters 0.028597285769859284 Centerline is valid? [True, True] Translation: X:261.80, Y:-191.23, Z:-31.95 [[ 7.21235093e-01 6.87571426e-01 8.40563818e-02 2.61803253e+02] [-6.82949042e-01 7.26116750e-01 -7.95931690e-02 -1.91234562e+02] [-1.15760735e-01 -8.38748055e-07 9.93277128e-01 -3.19469416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19592 meters 0.02878110246366446 Centerline is valid? [True, True] Translation: X:261.82, Y:-191.26, Z:-31.95 [[ 7.17814619e-01 6.90878854e-01 8.61892197e-02 2.61824381e+02] [-6.86031399e-01 7.22970383e-01 -8.16991120e-02 -1.91258505e+02] [-1.18756442e-01 -4.83694021e-04 9.92923297e-01 -3.19498297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22592 meters 0.028670474601610155 Centerline is valid? [True, True] Translation: X:261.85, Y:-191.28, Z:-31.95 [[ 7.15206362e-01 6.93437000e-01 8.73211711e-02 2.61846863e+02] [-6.88470387e-01 7.20516747e-01 -8.28501279e-02 -1.91281427e+02] [-1.20367710e-01 -8.63101825e-04 9.92729001e-01 -3.19532475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25591999999995 meters 0.02870444648373171 Centerline is valid? [True, True] Translation: X:261.87, Y:-191.30, Z:-31.96 [[ 7.13738941e-01 6.95026698e-01 8.66868721e-02 2.61870702e+02] [-6.90134327e-01 7.18983139e-01 -8.23277331e-02 -1.91304533e+02] [-1.19546372e-01 -1.06507712e-03 9.92828047e-01 -3.19569707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28592 meters 0.028763164565445094 Centerline is valid? [True, True] Translation: X:261.89, Y:-191.33, Z:-31.96 [[ 7.12295772e-01 6.96752096e-01 8.46832296e-02 2.61891661e+02] [-6.92086583e-01 7.17310894e-01 -8.05061631e-02 -1.91328768e+02] [-1.16837041e-01 -1.26392738e-03 9.93150295e-01 -3.19600268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31591999999995 meters 0.028975443923616503 Centerline is valid? [True, True] Translation: X:261.92, Y:-191.35, Z:-31.96 [[ 7.11851236e-01 6.97247936e-01 8.43394009e-02 2.61915401e+02] [-6.92614830e-01 7.16828896e-01 -8.02560331e-02 -1.91351590e+02] [-1.16415273e-01 -1.28436341e-03 9.93199796e-01 -3.19629004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34592 meters 0.029069102396117617 Centerline is valid? [True, True] Translation: X:261.94, Y:-191.37, Z:-31.97 [[ 7.10438892e-01 6.98557096e-01 8.54082287e-02 2.61938313e+02] [-6.93804996e-01 7.15552834e-01 -8.13558249e-02 -1.91373262e+02] [-1.17945789e-01 -1.45831368e-03 9.93018965e-01 -3.19656101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37591999999995 meters 0.029172156839030856 Centerline is valid? [True, True] Translation: X:261.96, Y:-191.40, Z:-31.97 [[ 7.08785566e-01 7.00087361e-01 8.66066306e-02 2.61960634e+02] [-6.95203080e-01 7.14055215e-01 -8.25701384e-02 -1.91395857e+02] [-1.19648226e-01 -1.68467408e-03 9.92814919e-01 -3.19682505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40592 meters 0.029227147394353475 Centerline is valid? [True, True] Translation: X:261.98, Y:-191.42, Z:-31.97 [[ 7.07902539e-01 7.00919735e-01 8.70948884e-02 2.61982921e+02] [-6.95977011e-01 7.13237936e-01 -8.31122514e-02 -1.91419245e+02] [-1.20374396e-01 -1.78066633e-03 9.92726969e-01 -3.19712617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43591999999995 meters 0.029293558817812357 Centerline is valid? [True, True] Translation: X:262.01, Y:-191.44, Z:-31.97 [[ 7.06119966e-01 7.02921239e-01 8.54185289e-02 2.62006396e+02] [-6.98174365e-01 7.11264787e-01 -8.15779257e-02 -1.91441926e+02] [-1.18098048e-01 -2.03322505e-03 9.92999858e-01 -3.19727246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46592 meters 0.029668100370641767 Centerline is valid? [True, True] Translation: X:262.03, Y:-191.46, Z:-31.98 [[ 7.04871011e-01 7.04100384e-01 8.60203873e-02 2.62030398e+02] [-6.99288920e-01 7.10097008e-01 -8.22024664e-02 -1.91462846e+02] [-1.18961608e-01 -2.21096813e-03 9.92896393e-01 -3.19760469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49591999999996 meters 0.029870591519594977 Centerline is valid? [True, True] Translation: X:262.05, Y:-191.48, Z:-31.98 [[ 7.02620326e-01 7.06246313e-01 8.68379124e-02 2.62054702e+02] [-7.01349763e-01 7.07961631e-01 -8.30592499e-02 -1.91484020e+02] [-1.20138199e-01 -2.54463198e-03 9.92753916e-01 -3.19794298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.52592 meters 0.029863901243725278 Centerline is valid? [True, True] Translation: X:262.08, Y:-191.51, Z:-31.98 [[ 7.02347817e-01 7.06628882e-01 8.59253558e-02 2.62078518e+02] [-7.01829130e-01 7.07579834e-01 -8.22596485e-02 -1.91506044e+02] [-1.18926093e-01 -2.53003319e-03 9.92899886e-01 -3.19811200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55591999999996 meters 0.029779085908125343 Centerline is valid? [True, True] Translation: X:262.10, Y:-191.53, Z:-31.98 [[ 7.01891396e-01 7.07144253e-01 8.54135452e-02 2.62102990e+02] [-7.02396467e-01 7.07064718e-01 -8.18455079e-02 -1.91528273e+02] [-1.18269485e-01 -2.54751453e-03 9.92978267e-01 -3.19831705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.58592 meters 0.030044434411639606 Centerline is valid? [True, True] Translation: X:262.13, Y:-191.55, Z:-31.99 [[ 7.00520276e-01 7.08506982e-01 8.53768080e-02 2.62128772e+02] [-7.03763607e-01 7.05698568e-01 -8.18921033e-02 -1.91547459e+02] [-1.18271418e-01 -2.71801155e-03 9.92977585e-01 -3.19850824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61591999999996 meters 0.029842871487456714 Centerline is valid? [True, True] Translation: X:262.15, Y:-191.57, Z:-31.99 [[ 7.00894658e-01 7.08210189e-01 8.47644215e-02 2.62154429e+02] [-7.03525048e-01 7.05996852e-01 -8.13692276e-02 -1.91567810e+02] [-1.17469931e-01 -2.60263677e-03 9.93073029e-01 -3.19871764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64592 meters 0.029863615260026323 Centerline is valid? [True, True] Translation: X:262.18, Y:-191.59, Z:-31.99 [[ 7.01111154e-01 7.07882801e-01 8.57035055e-02 2.62181438e+02] [-7.03084221e-01 7.06325345e-01 -8.23230526e-02 -1.91586964e+02] [-1.18809631e-01 -2.53917207e-03 9.92913805e-01 -3.19893372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67591999999996 meters 0.030027138018841427 Centerline is valid? [True, True] Translation: X:262.21, Y:-191.61, Z:-31.99 [[ 7.01148000e-01 7.07616212e-01 8.75829787e-02 2.62206394e+02] [-7.02591659e-01 7.06592598e-01 -8.42131821e-02 -1.91606827e+02] [-1.21476097e-01 -2.48916615e-03 9.92591236e-01 -3.19925764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70592 meters 0.029775098381052113 Centerline is valid? [True, True] Translation: X:262.23, Y:-191.62, Z:-31.99 [[ 7.02225737e-01 7.06607518e-01 8.70909238e-02 2.62233801e+02] [-7.01622595e-01 7.07602122e-01 -8.38151092e-02 -1.91624269e+02] [-1.20850109e-01 -2.24783306e-03 9.92668222e-01 -3.19943119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73591999999996 meters 0.030000418265504262 Centerline is valid? [True, True] Translation: X:262.26, Y:-191.64, Z:-32.00 [[ 7.01960805e-01 7.06811808e-01 8.75676711e-02 2.62259445e+02] [-7.01763777e-01 7.07398089e-01 -8.43536965e-02 -1.91644594e+02] [-1.21567392e-01 -2.23883095e-03 9.92580655e-01 -3.19982304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76592 meters 0.029956083840380242 Centerline is valid? [True, True] Translation: X:262.28, Y:-191.66, Z:-32.00 [[ 7.02847787e-01 7.06019230e-01 8.68437424e-02 2.62284713e+02] [-7.01038456e-01 7.08189768e-01 -8.37396888e-02 -1.91664018e+02] [-1.20623680e-01 -2.02454816e-03 9.92696242e-01 -3.20002477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79591999999997 meters 0.029652490036136313 Centerline is valid? [True, True] Translation: X:262.31, Y:-191.68, Z:-32.00 [[ 7.04126926e-01 7.04890104e-01 8.56458598e-02 2.62312375e+02] [-7.00029051e-01 7.09314367e-01 -8.26586754e-02 -1.91681611e+02] [-1.19015121e-01 -1.75239096e-03 9.92890895e-01 -3.20017818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82592 meters 0.029490707466235118 Centerline is valid? [True, True] Translation: X:262.34, Y:-191.70, Z:-32.01 [[ 7.04371924e-01 7.04622745e-01 8.58311163e-02 2.62338624e+02] [-6.99729178e-01 7.09580192e-01 -8.29157897e-02 -1.91701507e+02] [-1.19328411e-01 -1.65498218e-03 9.92853459e-01 -3.20052654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85591999999997 meters 0.029332207632964496 Centerline is valid? [True, True] Translation: X:262.37, Y:-191.72, Z:-32.01 [[ 7.04933974e-01 7.04124449e-01 8.53044687e-02 2.62367195e+02] [-6.99277387e-01 7.10075000e-01 -8.24901835e-02 -1.91718793e+02] [-1.18655926e-01 -1.50135303e-03 9.92934297e-01 -3.20074090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88592 meters 0.02946069663774723 Centerline is valid? [True, True] Translation: X:262.39, Y:-191.74, Z:-32.01 [[ 7.05179633e-01 7.03763012e-01 8.62514225e-02 2.62392746e+02] [-6.98795292e-01 7.10433430e-01 -8.34834167e-02 -1.91738529e+02] [-1.20028435e-01 -1.40128286e-03 9.92769465e-01 -3.20105167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91591999999997 meters 0.029195023178575776 Centerline is valid? [True, True] Translation: X:262.42, Y:-191.76, Z:-32.01 [[ 7.05925685e-01 7.03107136e-01 8.54943432e-02 2.62418370e+02] [-6.98212596e-01 7.11082877e-01 -8.28270066e-02 -1.91757868e+02] [-1.19029823e-01 -1.22351598e-03 9.92889926e-01 -3.20124646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94592 meters 0.029291725946477234 Centerline is valid? [True, True] Translation: X:262.45, Y:-191.78, Z:-32.02 [[ 7.08910070e-01 6.99901025e-01 8.70922961e-02 2.62445782e+02] [-6.94787231e-01 7.14239558e-01 -8.44544701e-02 -1.91775360e+02] [-1.21314533e-01 -6.39991003e-04 9.92613910e-01 -3.20154159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97592 meters 0.029561397650762475 Centerline is valid? [True, True] Translation: X:262.47, Y:-191.80, Z:-32.02 [[ 7.10777861e-01 6.98069785e-01 8.65644741e-02 2.62470373e+02] [-6.92994983e-01 7.16029680e-01 -8.40205397e-02 -1.91796266e+02] [-1.20634933e-01 -2.68806830e-04 9.92696903e-01 -3.20192843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00591999999995 meters 0.029564077590830812 Centerline is valid? [True, True] Translation: X:262.50, Y:-191.82, Z:-32.02 [[ 7.15334257e-01 6.93609716e-01 8.48673254e-02 2.62496238e+02] [-6.88692218e-01 7.20350804e-01 -8.24484601e-02 -1.91815179e+02] [-1.18321299e-01 5.30741292e-04 9.92975221e-01 -3.20232574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03592 meters 0.030122411329212 Centerline is valid? [True, True] Translation: X:262.52, Y:-191.83, Z:-32.03 [[ 7.17269973e-01 6.91533171e-01 8.54731496e-02 2.62521466e+02] [-6.86521018e-01 7.22344099e-01 -8.31137414e-02 -1.91834974e+02] [-1.19216934e-01 9.35877357e-04 9.92867789e-01 -3.20269805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06591999999995 meters 0.030114138900544717 Centerline is valid? [True, True] Translation: X:262.55, Y:-191.86, Z:-32.03 [[ 7.18733730e-01 6.90016982e-01 8.54306135e-02 2.62546121e+02] [-6.84990057e-01 7.23792112e-01 -8.31480669e-02 -1.91855137e+02] [-1.19207582e-01 1.24219944e-03 9.92868576e-01 -3.20297099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09592 meters 0.03072804740382449 Centerline is valid? [True, True] Translation: X:262.57, Y:-191.88, Z:-32.03 [[ 7.21854684e-01 6.86789997e-01 8.51194210e-02 2.62569974e+02] [-6.81768401e-01 7.26853611e-01 -8.29196916e-02 -1.91875964e+02] [-1.18817773e-01 1.82423624e-03 9.92914402e-01 -3.20331526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12591999999995 meters 0.031169692296644062 Centerline is valid? [True, True] Translation: X:262.59, Y:-191.90, Z:-32.04 [[ 7.23338441e-01 6.85057276e-01 8.64755930e-02 2.62592038e+02] [-6.79852160e-01 7.28485891e-01 -8.43169469e-02 -1.91898618e+02] [-1.20758187e-01 2.19907023e-03 9.92679517e-01 -3.20370947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15592 meters 0.0312602650197429 Centerline is valid? [True, True] Translation: X:262.61, Y:-191.92, Z:-32.04 [[ 7.22951137e-01 6.85352610e-01 8.73696331e-02 2.62614969e+02] [-6.80031715e-01 7.28207962e-01 -8.52644703e-02 -1.91921595e+02] [-1.22059490e-01 2.22792433e-03 9.92520286e-01 -3.20403525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18591999999995 meters 0.0311515030132549 Centerline is valid? [True, True] Translation: X:262.64, Y:-191.94, Z:-32.04 [[ 7.23089205e-01 6.85286866e-01 8.67404899e-02 2.62638493e+02] [-6.80032674e-01 7.28269672e-01 -8.47280800e-02 -1.91944774e+02] [-1.21233509e-01 2.27959278e-03 9.92621398e-01 -3.20425908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21592 meters 0.031260766087524976 Centerline is valid? [True, True] Translation: X:262.66, Y:-191.97, Z:-32.05 [[ 7.22643288e-01 6.85704680e-01 8.71537172e-02 2.62661271e+02] [-6.80392467e-01 7.27876278e-01 -8.52186319e-02 -1.91969004e+02] [-1.21871938e-01 2.28393971e-03 9.92543205e-01 -3.20465399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24591999999996 meters 0.03177843275171018 Centerline is valid? [True, True] Translation: X:262.68, Y:-191.99, Z:-32.05 [[ 7.23445485e-01 6.84896525e-01 8.68526406e-02 2.62682827e+02] [-6.79604805e-01 7.28636142e-01 -8.50098936e-02 -1.91994027e+02] [-1.21506954e-01 2.47455181e-03 9.92587496e-01 -3.20507195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.27592 meters 0.03183170035510932 Centerline is valid? [True, True] Translation: X:262.70, Y:-192.02, Z:-32.05 [[ 7.24064798e-01 6.84322693e-01 8.62126467e-02 2.62704674e+02] [-6.79094609e-01 7.29174615e-01 -8.44682957e-02 -1.92017953e+02] [-1.20667645e-01 2.61397587e-03 9.92689522e-01 -3.20543315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30591999999996 meters 0.03183170035510932 Centerline is valid? [True, True] Translation: X:262.73, Y:-192.04, Z:-32.06 [[ 7.23719660e-01 6.84693055e-01 8.61700266e-02 2.62728069e+02] [-6.79462415e-01 7.28826859e-01 -8.45117580e-02 -1.92040396e+02] [-1.20667644e-01 2.61352639e-03 9.92689523e-01 -3.20572194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.33592 meters 0.03216127478530826 Centerline is valid? [True, True] Translation: X:262.75, Y:-192.07, Z:-32.06 [[ 7.25100789e-01 6.83092505e-01 8.72552304e-02 2.62747601e+02] [-6.77706777e-01 7.30325786e-01 -8.56607888e-02 -1.92066333e+02] [-1.22238987e-01 2.97924457e-03 9.92496224e-01 -3.20609077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36591999999996 meters 0.03251244145634361 Centerline is valid? [True, True] Translation: X:262.77, Y:-192.09, Z:-32.06 [[ 7.26268802e-01 6.81947104e-01 8.64972567e-02 2.62769422e+02] [-6.76637370e-01 7.31394490e-01 -8.49939373e-02 -1.92091831e+02] [-1.21224986e-01 3.20116872e-03 9.92619895e-01 -3.20627901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39592 meters 0.0324475569230444 Centerline is valid? [True, True] Translation: X:262.79, Y:-192.12, Z:-32.07 [[ 7.26646379e-01 6.81541791e-01 8.65206712e-02 2.62790187e+02] [-6.76216243e-01 7.31771614e-01 -8.50993366e-02 -1.92116730e+02] [-1.21312125e-01 3.33044154e-03 9.92608823e-01 -3.20660892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42591999999996 meters 0.03263522226036683 Centerline is valid? [True, True] Translation: X:262.81, Y:-192.14, Z:-32.07 [[ 7.26839469e-01 6.81451802e-01 8.56027362e-02 2.62809258e+02] [-6.76229612e-01 7.31855265e-01 -8.42697049e-02 -1.92143181e+02] [-1.20074555e-01 3.36344249e-03 9.92759179e-01 -3.20692078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45592 meters 0.03275598256316706 Centerline is valid? [True, True] Translation: X:262.83, Y:-192.17, Z:-32.07 [[ 7.26353842e-01 6.81938005e-01 8.58525095e-02 2.62831577e+02] [-6.76679220e-01 7.31402309e-01 -8.45925269e-02 -1.92167637e+02] [-1.20479583e-01 3.34949776e-03 9.92710155e-01 -3.20729253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48591999999996 meters 0.03223808794430545 Centerline is valid? [True, True] Translation: X:262.85, Y:-192.20, Z:-32.08 [[ 7.25853141e-01 6.82643904e-01 8.44660781e-02 2.62848886e+02] [-6.77549472e-01 7.30744015e-01 -8.33060532e-02 -1.92196002e+02] [-1.18591450e-01 3.23801376e-03 9.92937855e-01 -3.20754159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51592 meters 0.03205782979657043 Centerline is valid? [True, True] Translation: X:262.87, Y:-192.22, Z:-32.08 [[ 7.24433758e-01 6.84084962e-01 8.49911467e-02 2.62868674e+02] [-6.78927797e-01 7.29395852e-01 -8.38971862e-02 -1.92221498e+02] [-1.19384993e-01 3.07510192e-03 9.92843274e-01 -3.20788055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54591999999997 meters 0.0320313182596074 Centerline is valid? [True, True] Translation: X:262.89, Y:-192.25, Z:-32.08 [[ 7.24032233e-01 6.84641687e-01 8.39230900e-02 2.62889880e+02] [-6.79609927e-01 7.28873656e-01 -8.29068209e-02 -1.92246411e+02] [-1.17930795e-01 2.99224563e-03 9.93017308e-01 -3.20813068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57592 meters 0.031310119190364326 Centerline is valid? [True, True] Translation: X:262.91, Y:-192.27, Z:-32.08 [[ 7.21003166e-01 6.87941164e-01 8.30143866e-02 2.62908898e+02] [-6.83034340e-01 7.25762288e-01 -8.20560356e-02 -1.92272541e+02] [-1.16698436e-01 2.46098476e-03 9.93164346e-01 -3.20837021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60591999999997 meters 0.031010108373162027 Centerline is valid? [True, True] Translation: X:262.93, Y:-192.30, Z:-32.09 [[ 7.19003765e-01 6.89984998e-01 8.33923804e-02 2.62929208e+02] [-6.85038246e-01 7.23820347e-01 -8.25027683e-02 -1.92296866e+02] [-1.17286774e-01 2.19283096e-03 9.93095667e-01 -3.20873711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63592 meters 0.030661736309735548 Centerline is valid? [True, True] Translation: X:262.95, Y:-192.32, Z:-32.09 [[ 7.15526128e-01 6.93547313e-01 8.37525202e-02 2.62948198e+02] [-6.88572960e-01 7.20409142e-01 -8.29333932e-02 -1.92322945e+02] [-1.17854313e-01 1.67128900e-03 9.93029490e-01 -3.20904345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66591999999997 meters 0.03045133703370009 Centerline is valid? [True, True] Translation: X:262.97, Y:-192.35, Z:-32.09 [[ 7.14074828e-01 6.95225911e-01 8.22074989e-02 2.62970732e+02] [-6.90436642e-01 7.18789895e-01 -8.14759503e-02 -1.92345397e+02] [-1.15734111e-01 1.42085574e-03 9.93279214e-01 -3.20929764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69592 meters 0.0300705337549834 Centerline is valid? [True, True] Translation: X:262.99, Y:-192.37, Z:-32.10 [[ 7.10319841e-01 6.99053137e-01 8.22826516e-02 2.62991363e+02] [-6.94272565e-01 7.15069221e-01 -8.16187158e-02 -1.92370768e+02] [-1.15893611e-01 8.48805627e-04 9.93261270e-01 -3.20964317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72592 meters 0.0298271408529696 Centerline is valid? [True, True] Translation: X:263.01, Y:-192.40, Z:-32.10 [[ 7.08998916e-01 7.00523132e-01 8.11657527e-02 2.63012455e+02] [-6.95875344e-01 7.13629409e-01 -8.05640853e-02 -1.92395507e+02] [-1.14359273e-01 6.38603030e-04 9.93439253e-01 -3.20986392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75591999999995 meters 0.029831679393586087 Centerline is valid? [True, True] Translation: X:263.03, Y:-192.42, Z:-32.10 [[ 7.07287851e-01 7.02358953e-01 8.02234216e-02 2.63033786e+02] [-6.97822119e-01 7.11822835e-01 -7.97028337e-02 -1.92419783e+02] [-1.13084862e-01 3.91167907e-04 9.93585256e-01 -3.21016259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78592 meters 0.029763640848040573 Centerline is valid? [True, True] Translation: X:263.06, Y:-192.44, Z:-32.10 [[ 7.04680044e-01 7.04846941e-01 8.13438752e-02 2.63056966e+02] [-7.00189664e-01 7.09359421e-01 -8.08928050e-02 -1.92441347e+02] [-1.14719090e-01 4.74047188e-05 9.93397971e-01 -3.21046300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81591999999995 meters 0.029718761236936387 Centerline is valid? [True, True] Translation: X:263.08, Y:-192.46, Z:-32.11 [[ 7.03322284e-01 7.06326810e-01 8.02508679e-02 2.63079999e+02] [-7.01795415e-01 7.07885879e-01 -7.98797728e-02 -1.92463092e+02] [-1.13229681e-01 -1.38466848e-04 9.93568830e-01 -3.21081495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84592 meters 0.029705447629379777 Centerline is valid? [True, True] Translation: X:263.10, Y:-192.49, Z:-32.11 [[ 7.01880221e-01 7.07798364e-01 7.99101480e-02 2.63101669e+02] [-7.03306228e-01 7.06414449e-01 -7.96176811e-02 -1.92488195e+02] [-1.12802948e-01 -3.19229229e-04 9.93617327e-01 -3.21107022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87591999999995 meters 0.029754268607931195 Centerline is valid? [True, True] Translation: X:263.12, Y:-192.51, Z:-32.11 [[ 7.01036840e-01 7.08511726e-01 8.09844659e-02 2.63124048e+02] [-7.03892495e-01 7.05698938e-01 -8.07735367e-02 -1.92511033e+02] [-1.14379649e-01 -3.79132814e-04 9.93437040e-01 -3.21136539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90592 meters 0.029695315265194425 Centerline is valid? [True, True] Translation: X:263.15, Y:-192.53, Z:-32.12 [[ 7.00195784e-01 7.09339525e-01 8.10142046e-02 2.63147847e+02] [-7.04713438e-01 7.04866815e-01 -8.08810427e-02 -1.92533265e+02] [-1.14476345e-01 -4.59233520e-04 9.93425868e-01 -3.21167592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93591999999995 meters 0.029754741990959656 Centerline is valid? [True, True] Translation: X:263.17, Y:-192.55, Z:-32.12 [[ 6.99772238e-01 7.09664344e-01 8.18250246e-02 2.63171151e+02] [-7.04937239e-01 7.04539786e-01 -8.17751746e-02 -1.92554466e+02] [-1.15681911e-01 -4.57510039e-04 9.93286206e-01 -3.21205610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96592 meters 0.029726856764871492 Centerline is valid? [True, True] Translation: X:263.40, Y:-192.63, Z:-30.25 [[ 7.60763221e-01 -6.47520222e-01 -4.42366886e-02 2.63402232e+02] [-6.45857949e-01 -7.62015031e-01 4.69105785e-02 -1.92631272e+02] [-6.40845699e-02 -7.11722581e-03 -9.97919091e-01 -3.02515652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99591999999996 meters 0.029858700659715912 Centerline is valid? [True, True] Translation: X:263.23, Y:-192.63, Z:-32.13 [[ 7.52832244e-01 6.52560930e-01 8.60688455e-02 2.63227633e+02] [-6.48390828e-01 7.57736172e-01 -7.36561457e-02 -1.92630575e+02] [-1.13282600e-01 -3.55528540e-04 9.93562744e-01 -3.21287107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.02592 meters 0.0299070145459706 Centerline is valid? [True, True] Translation: X:263.25, Y:-192.65, Z:-32.13 [[ 7.51967447e-01 6.53569967e-01 8.59724218e-02 2.63252690e+02] [-6.49406649e-01 7.56865972e-01 -7.36539558e-02 -1.92651746e+02] [-1.13207614e-01 -4.45685242e-04 9.93571254e-01 -3.21318166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05591999999996 meters 0.030003211571551187 Centerline is valid? [True, True] Translation: X:263.28, Y:-192.67, Z:-32.13 [[ 7.51451514e-01 6.54333446e-01 8.46661886e-02 2.63276864e+02] [-6.50292432e-01 7.56205988e-01 -7.26103079e-02 -1.92672173e+02] [-1.11536432e-01 -4.94655892e-04 9.93760222e-01 -3.21349931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.08592 meters 0.029940537651315654 Centerline is valid? [True, True] Translation: X:263.30, Y:-192.69, Z:-32.14 [[ 7.50805588e-01 6.55331261e-01 8.26553533e-02 2.63299620e+02] [-6.51479296e-01 7.55341383e-01 -7.09515471e-02 -1.92694212e+02] [-1.08929776e-01 -5.77433305e-04 9.94049280e-01 -3.21393910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11591999999996 meters 0.03006377353200796 Centerline is valid? [True, True] Translation: X:263.32, Y:-192.72, Z:-32.14 [[ 7.50174343e-01 6.55993661e-01 8.31310455e-02 2.63324542e+02] [-6.52093441e-01 7.54766140e-01 -7.14298152e-02 -1.92716188e+02] [-1.09602004e-01 -6.24394746e-04 9.93975357e-01 -3.21425459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14592 meters 0.030097612343998083 Centerline is valid? [True, True] Translation: X:263.35, Y:-192.74, Z:-32.14 [[ 7.49799028e-01 6.56509352e-01 8.24432436e-02 2.63349400e+02] [-6.52668297e-01 7.54317617e-01 -7.09156320e-02 -1.92737379e+02] [-1.08745167e-01 -6.35619429e-04 9.94069457e-01 -3.21445228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17591999999996 meters 0.030060019077104618 Centerline is valid? [True, True] Translation: X:263.37, Y:-192.76, Z:-32.15 [[ 7.50267133e-01 6.56110242e-01 8.13546505e-02 2.63373644e+02] [-6.52359958e-01 7.54664883e-01 -7.00528355e-02 -1.92757684e+02] [-1.07357881e-01 -5.14176308e-04 9.94220308e-01 -3.21479444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20592 meters 0.02995512664856232 Centerline is valid? [True, True] Translation: X:263.40, Y:-192.78, Z:-32.15 [[ 7.50416507e-01 6.55972054e-01 8.10908813e-02 2.63398382e+02] [-6.52238010e-01 7.54785049e-01 -6.98935506e-02 -1.92779982e+02] [-1.07054401e-01 -4.41280961e-04 9.94253067e-01 -3.21505161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23591999999996 meters 0.02978997319415844 Centerline is valid? [True, True] Translation: X:263.42, Y:-192.80, Z:-32.15 [[ 7.51624219e-01 6.54457716e-01 8.21348370e-02 2.63422661e+02] [-6.50609134e-01 7.56098584e-01 -7.08709100e-02 -1.92801762e+02] [-1.08484048e-01 -1.69382832e-04 9.94098176e-01 -3.21533641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26592 meters 0.029945828802436597 Centerline is valid? [True, True] Translation: X:263.45, Y:-192.82, Z:-32.16 [[ 7.51423623e-01 6.54636506e-01 8.25444383e-02 2.63447197e+02] [-6.50741856e-01 7.55943799e-01 -7.13022462e-02 -1.92822792e+02] [-1.09076010e-01 -1.36928780e-04 9.94033403e-01 -3.21570405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29591999999997 meters 0.0299471673407345 Centerline is valid? [True, True] Translation: X:263.47, Y:-192.84, Z:-32.16 [[ 7.51379983e-01 6.54703284e-01 8.24119585e-02 2.63471835e+02] [-6.50813034e-01 7.55885971e-01 -7.12656541e-02 -1.92843844e+02] [-1.08951901e-01 -8.71908402e-05 9.94047019e-01 -3.21599385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32592 meters 0.029808213351218246 Centerline is valid? [True, True] Translation: X:263.50, Y:-192.87, Z:-32.16 [[ 7.50679230e-01 6.55718023e-01 8.07128733e-02 2.63496180e+02] [-6.51984938e-01 7.55005857e-01 -6.98698586e-02 -1.92865235e+02] [-1.06753618e-01 -1.73726017e-04 9.94285490e-01 -3.21620332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35591999999997 meters 0.029881825379256245 Centerline is valid? [True, True] Translation: X:263.52, Y:-192.89, Z:-32.17 [[ 7.49881776e-01 6.56560309e-01 8.12765825e-02 2.63520265e+02] [-6.52772129e-01 7.54273492e-01 -7.04275993e-02 -1.92886999e+02] [-1.07544738e-01 -2.42714525e-04 9.94200216e-01 -3.21655920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38592 meters 0.029716807435042576 Centerline is valid? [True, True] Translation: X:263.54, Y:-192.91, Z:-32.17 [[ 7.48367033e-01 6.58221236e-01 8.18021305e-02 2.63544102e+02] [-6.54385104e-01 7.52824431e-01 -7.09613420e-02 -1.92910411e+02] [-1.08290905e-01 -4.24966652e-04 9.94119158e-01 -3.21673844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41591999999997 meters 0.02970378471849222 Centerline is valid? [True, True] Translation: X:263.57, Y:-192.93, Z:-32.17 [[ 7.47352922e-01 6.59493938e-01 8.08168013e-02 2.63567701e+02] [-6.55749310e-01 7.51709683e-01 -7.01811594e-02 -1.92932681e+02] [-1.07034821e-01 -5.45467126e-04 9.94255123e-01 -3.21693923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44592 meters 0.029813423381326955 Centerline is valid? [True, True] Translation: X:263.59, Y:-192.96, Z:-32.17 [[ 7.46141170e-01 6.60877642e-01 8.07099577e-02 2.63591073e+02] [-6.57143667e-01 7.50493347e-01 -7.01565160e-02 -1.92955788e+02] [-1.06937159e-01 -6.91372671e-04 9.94265541e-01 -3.21733121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47592 meters 0.029689601014995407 Centerline is valid? [True, True] Translation: X:263.62, Y:-192.98, Z:-32.18 [[ 7.44928445e-01 6.62375099e-01 7.96293994e-02 2.63615671e+02] [-6.58741375e-01 7.49171894e-01 -6.92912276e-02 -1.92978240e+02] [-1.05552892e-01 -8.38173704e-04 9.94413337e-01 -3.21766002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50591999999995 meters 0.02968535158943114 Centerline is valid? [True, True] Translation: X:263.64, Y:-193.00, Z:-32.18 [[ 7.43722938e-01 6.63767423e-01 7.93032132e-02 2.63639850e+02] [-6.60163512e-01 7.47938404e-01 -6.90817010e-02 -1.93000230e+02] [-1.05168101e-01 -9.75442135e-04 9.94453980e-01 -3.21789813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53592 meters 0.029573453318998043 Centerline is valid? [True, True] Translation: X:263.66, Y:-193.02, Z:-32.18 [[ 7.41428362e-01 6.66210466e-01 8.02969410e-02 2.63662829e+02] [-6.62521714e-01 7.45762676e-01 -7.00214880e-02 -1.93022378e+02] [-1.06531510e-01 -1.28254989e-03 9.94308500e-01 -3.21813171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56591999999995 meters 0.029583047773810506 Centerline is valid? [True, True] Translation: X:263.69, Y:-193.04, Z:-32.18 [[ 7.39378996e-01 6.68405699e-01 8.09476456e-02 2.63686728e+02] [-6.64662648e-01 7.43795256e-01 -7.06553802e-02 -1.93044341e+02] [-1.07434934e-01 -1.56177235e-03 9.94210891e-01 -3.21841828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59592 meters 0.02970428441014264 Centerline is valid? [True, True] Translation: X:263.71, Y:-193.07, Z:-32.19 [[ 7.37285692e-01 6.70774276e-01 8.04467444e-02 2.63709233e+02] [-6.67084580e-01 7.41659263e-01 -7.02829996e-02 -1.93066557e+02] [-1.06808101e-01 -1.84613270e-03 9.94277940e-01 -3.21870153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62591999999995 meters 0.029928996049494505 Centerline is valid? [True, True] Translation: X:263.73, Y:-193.09, Z:-32.19 [[ 7.35326236e-01 6.72810494e-01 8.13717766e-02 2.63732992e+02] [-6.69040376e-01 7.39811839e-01 -7.11576945e-02 -1.93088140e+02] [-1.08075447e-01 -2.11688439e-03 9.94140441e-01 -3.21896151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65592 meters 0.030266929151879066 Centerline is valid? [True, True] Translation: X:263.76, Y:-193.11, Z:-32.19 [[ 7.33221373e-01 6.74981043e-01 8.23833161e-02 2.63757179e+02] [-6.71122571e-01 7.37831111e-01 -7.21092664e-02 -1.93109528e+02] [-1.09457361e-01 -2.41724760e-03 9.93988553e-01 -3.21931371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68591999999995 meters 0.03099021256969043 Centerline is valid? [True, True] Translation: X:263.78, Y:-193.13, Z:-32.20 [[ 7.28341026e-01 6.80002599e-01 8.43552907e-02 2.63783001e+02] [-6.75982064e-01 7.33202742e-01 -7.39052697e-02 -1.93129610e+02] [-1.12105306e-01 -3.19442359e-03 9.93691198e-01 -3.21970186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71592 meters 0.031385346209228795 Centerline is valid? [True, True] Translation: X:263.81, Y:-193.15, Z:-32.20 [[ 7.25559782e-01 6.82985192e-01 8.42272523e-02 2.63808195e+02] [-6.78988811e-01 7.30423365e-01 -7.38640863e-02 -1.93149627e+02] [-1.11969630e-01 -3.59655150e-03 9.93705121e-01 -3.21991795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74591999999996 meters 0.032218616175855086 Centerline is valid? [True, True] Translation: X:263.83, Y:-193.17, Z:-32.20 [[ 7.20604460e-01 6.88190740e-01 8.43961919e-02 2.63834757e+02] [-6.84206013e-01 7.25516692e-01 -7.40787493e-02 -1.93168558e+02] [-1.12211155e-01 -4.36290485e-03 9.93674807e-01 -3.22011173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.77592 meters 0.03271543173495806 Centerline is valid? [True, True] Translation: X:263.86, Y:-193.19, Z:-32.20 [[ 7.18861904e-01 6.90074012e-01 8.38774108e-02 2.63859760e+02] [-6.86143392e-01 7.23724323e-01 -7.36908997e-02 -1.93187904e+02] [-1.11556297e-01 -4.57835071e-03 9.93747569e-01 -3.22034570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80591999999996 meters 0.033128822470385004 Centerline is valid? [True, True] Translation: X:263.89, Y:-193.21, Z:-32.21 [[ 7.16509872e-01 6.92504735e-01 8.39690133e-02 2.63885654e+02] [-6.88575172e-01 7.21396570e-01 -7.38323836e-02 -1.93207071e+02] [-1.11704233e-01 -4.91734604e-03 9.93729331e-01 -3.22061225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.83592 meters 0.03348413890667434 Centerline is valid? [True, True] Translation: X:263.92, Y:-193.22, Z:-32.21 [[ 7.14642540e-01 6.94267087e-01 8.53185322e-02 2.63915258e+02] [-6.90214606e-01 7.19698462e-01 -7.50860952e-02 -1.93222255e+02] [-1.13533421e-01 -5.22837938e-03 9.93520421e-01 -3.22090109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86591999999996 meters 0.03394259865769457 Centerline is valid? [True, True] Translation: X:263.94, Y:-193.24, Z:-32.21 [[ 7.12940642e-01 6.95874584e-01 8.64534881e-02 2.63941923e+02] [-6.91716982e-01 7.18142203e-01 -7.61537474e-02 -1.93240719e+02] [-1.15079356e-01 -5.50824441e-03 9.93341030e-01 -3.22120456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89592 meters 0.033969955345044066 Centerline is valid? [True, True] Translation: X:263.97, Y:-193.26, Z:-32.21 [[ 7.11821766e-01 6.97338053e-01 8.38415926e-02 2.63972853e+02] [-6.93431382e-01 7.16721105e-01 -7.39173609e-02 -1.93255716e+02] [-1.11636427e-01 -5.52240498e-03 9.93733773e-01 -3.22132316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92591999999996 meters 0.03429672714844398 Centerline is valid? [True, True] Translation: X:264.00, Y:-193.27, Z:-32.22 [[ 7.11355316e-01 6.97759792e-01 8.42904899e-02 2.64000222e+02] [-6.93805955e-01 7.16310180e-01 -7.43842858e-02 -1.93272436e+02] [-1.12280500e-01 -5.56758670e-03 9.93660954e-01 -3.22166187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95592 meters 0.03459060302586882 Centerline is valid? [True, True] Translation: X:264.03, Y:-193.29, Z:-32.22 [[ 7.09933400e-01 6.99114297e-01 8.50515569e-02 2.64031074e+02] [-6.95090797e-01 7.14986502e-01 -7.51204752e-02 -1.93285306e+02] [-1.13328513e-01 -5.78802009e-03 9.93540712e-01 -3.22208860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98591999999996 meters 0.03438723278388325 Centerline is valid? [True, True] Translation: X:264.06, Y:-193.30, Z:-32.22 [[ 7.10090275e-01 6.98920341e-01 8.53355641e-02 2.64058716e+02] [-6.94861105e-01 7.15176566e-01 -7.54355580e-02 -1.93303140e+02] [-1.13753442e-01 -5.73030824e-03 9.93492485e-01 -3.22230742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01592 meters 0.0342380729895567 Centerline is valid? [True, True] Translation: X:264.09, Y:-193.32, Z:-32.23 [[ 7.11124361e-01 6.97918041e-01 8.49267432e-02 2.64086302e+02] [-6.93884078e-01 7.16156507e-01 -7.51315131e-02 -1.93321031e+02] [-1.13256478e-01 -5.50146565e-03 9.93550554e-01 -3.22256136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04591999999997 meters 0.033178314200201266 Centerline is valid? [True, True] Translation: X:264.12, Y:-193.33, Z:-32.23 [[ 7.13329491e-01 6.95819096e-01 8.36470174e-02 2.64118560e+02] [-6.91888381e-01 7.18199214e-01 -7.40294317e-02 -1.93331636e+02] [-1.11586314e-01 -5.06702258e-03 9.93741828e-01 -3.22277941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07592 meters 0.03328798063537764 Centerline is valid? [True, True] Translation: X:264.15, Y:-193.35, Z:-32.23 [[ 7.14458038e-01 6.94656352e-01 8.36795328e-02 2.64145627e+02] [-6.90711853e-01 7.19325269e-01 -7.40830172e-02 -1.93348697e+02] [-1.11655041e-01 -4.86923802e-03 9.93735097e-01 -3.22314452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10591999999997 meters 0.032251301239873006 Centerline is valid? [True, True] Translation: X:264.18, Y:-193.36, Z:-32.23 [[ 7.17991423e-01 6.90820604e-01 8.51775210e-02 2.64176305e+02] [-6.86699629e-01 7.23013379e-01 -7.54670430e-02 -1.93362219e+02] [-1.13718675e-01 -4.30668243e-03 9.93503656e-01 -3.22338741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13592 meters 0.031832915881434116 Centerline is valid? [True, True] Translation: X:264.20, Y:-193.38, Z:-32.24 [[ 7.19636238e-01 6.89036743e-01 8.57441108e-02 2.64203719e+02] [-6.84844020e-01 7.24715223e-01 -7.60033811e-02 -1.93379417e+02] [-1.14509185e-01 -4.02655436e-03 9.93414029e-01 -3.22370583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16591999999997 meters 0.03161643802055382 Centerline is valid? [True, True] Translation: X:264.23, Y:-193.40, Z:-32.24 [[ 7.20463185e-01 6.88025411e-01 8.69127835e-02 2.64231103e+02] [-6.83701850e-01 7.25676283e-01 -7.71084525e-02 -1.93397405e+02] [-1.16123120e-01 -3.86862955e-03 9.93227293e-01 -3.22405790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19592 meters 0.031235617867413707 Centerline is valid? [True, True] Translation: X:264.26, Y:-193.41, Z:-32.25 [[ 7.22627395e-01 6.85972803e-01 8.51525835e-02 2.64259240e+02] [-6.81801510e-01 7.27619151e-01 -7.56113273e-02 -1.93412611e+02] [-1.13825965e-01 -3.41834353e-03 9.93494824e-01 -3.22455333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22592 meters 0.031235617867413707 Centerline is valid? [True, True] Translation: X:264.28, Y:-193.43, Z:-32.25 [[ 7.22275469e-01 6.86347218e-01 8.51213483e-02 2.64283698e+02] [-6.82174376e-01 7.27265929e-01 -7.56464780e-02 -1.93433902e+02] [-1.13825606e-01 -3.43000725e-03 9.93494825e-01 -3.22484128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25591999999995 meters 0.03090225838719492 Centerline is valid? [True, True] Translation: X:264.31, Y:-193.45, Z:-32.25 [[ 7.22973139e-01 6.85648783e-01 8.48268042e-02 2.64310211e+02] [-6.81491391e-01 7.27925248e-01 -7.54606936e-02 -1.93452761e+02] [-1.13487105e-01 -3.25268231e-03 9.93534145e-01 -3.22505281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28592 meters 0.030498652703923792 Centerline is valid? [True, True] Translation: X:264.34, Y:-193.47, Z:-32.25 [[ 7.26296407e-01 6.82139825e-01 8.47277320e-02 2.64338356e+02] [-6.77961584e-01 7.31216932e-01 -7.54313517e-02 -1.93470072e+02] [-1.13409081e-01 -2.65662769e-03 9.93544827e-01 -3.22524162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31591999999995 meters 0.030299421727854086 Centerline is valid? [True, True] Translation: X:264.36, Y:-193.49, Z:-32.26 [[ 7.27972371e-01 6.80188073e-01 8.60256451e-02 2.64363855e+02] [-6.75862628e-01 7.33033837e-01 -7.66231160e-02 -1.93490072e+02] [-1.15177838e-01 -2.36200715e-03 9.93342079e-01 -3.22551864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34592 meters 0.02976701928801562 Centerline is valid? [True, True] Translation: X:264.39, Y:-193.51, Z:-32.26 [[ 7.30948570e-01 6.77131350e-01 8.48959581e-02 2.64389333e+02] [-6.72890506e-01 7.35859964e-01 -7.56867305e-02 -1.93510258e+02] [-1.13721395e-01 -1.80257679e-03 9.93511044e-01 -3.22576548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37591999999995 meters 0.030057201272991593 Centerline is valid? [True, True] Translation: X:264.41, Y:-193.53, Z:-32.26 [[ 7.32823719e-01 6.75023569e-01 8.55136174e-02 2.64413662e+02] [-6.70697993e-01 7.37794774e-01 -7.63090595e-02 -1.93531663e+02] [-1.14601914e-01 -1.43272287e-03 9.93410463e-01 -3.22616758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40592 meters 0.02953174005166638 Centerline is valid? [True, True] Translation: X:264.44, Y:-193.55, Z:-32.26 [[ 7.38111376e-01 6.69669658e-01 8.20618433e-02 2.64437639e+02] [-6.65647872e-01 7.42658917e-01 -7.32846779e-02 -1.93552327e+02] [-1.10020485e-01 -5.32036879e-04 9.93929178e-01 -3.22630838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43591999999995 meters 0.029470433419422182 Centerline is valid? [True, True] Translation: X:264.46, Y:-193.57, Z:-32.27 [[ 7.39381853e-01 6.68265853e-01 8.20684118e-02 2.64461791e+02] [-6.64231764e-01 7.43922481e-01 -7.33178464e-02 -1.93574835e+02] [-1.10048350e-01 -3.02560727e-04 9.93926189e-01 -3.22654171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46592 meters 0.029566267720590463 Centerline is valid? [True, True] Translation: X:264.49, Y:-193.60, Z:-32.27 [[ 7.38924752e-01 6.68815857e-01 8.17041030e-02 2.64486170e+02] [-6.64812402e-01 7.43428035e-01 -7.30700115e-02 -1.93596809e+02] [-1.09611503e-01 -3.24660921e-04 9.93974453e-01 -3.22677024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49591999999996 meters 0.029286539210187684 Centerline is valid? [True, True] Translation: X:264.51, Y:-193.62, Z:-32.27 [[ 7.37488958e-01 6.70189110e-01 8.34061954e-02 2.64509703e+02] [-6.66016484e-01 7.42190222e-01 -7.46707277e-02 -1.93618156e+02] [-1.11946771e-01 -4.81063864e-04 9.93714088e-01 -3.22705646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.52592 meters 0.02933182716269166 Centerline is valid? [True, True] Translation: X:264.53, Y:-193.64, Z:-32.27 [[ 7.35284347e-01 6.72790731e-01 8.19119068e-02 2.64532801e+02] [-6.68775355e-01 7.39832396e-01 -7.33999331e-02 -1.93640174e+02] [-1.09983877e-01 -8.10842667e-04 9.93933041e-01 -3.22721445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55591999999996 meters 0.029349065480019823 Centerline is valid? [True, True] Translation: X:264.56, Y:-193.66, Z:-32.28 [[ 7.34475870e-01 6.73661201e-01 8.20108627e-02 2.64557155e+02] [-6.69633716e-01 7.39039778e-01 -7.35587761e-02 -1.93662818e+02] [-1.10162983e-01 -8.90092621e-04 9.93913138e-01 -3.22758902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.58592 meters 0.02936169836184973 Centerline is valid? [True, True] Translation: X:264.58, Y:-193.69, Z:-32.28 [[ 7.33734468e-01 6.74602491e-01 8.09024684e-02 2.64579767e+02] [-6.70680966e-01 7.38180570e-01 -7.26394363e-02 -1.93685135e+02] [-1.08723375e-01 -9.61687512e-04 9.94071578e-01 -3.22779659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61591999999996 meters 0.02949489508149133 Centerline is valid? [True, True] Translation: X:264.60, Y:-193.71, Z:-32.28 [[ 7.32517495e-01 6.75726178e-01 8.25363658e-02 2.64602864e+02] [-6.71643379e-01 7.37151901e-01 -7.41771291e-02 -1.93706919e+02] [-1.10965267e-01 -1.09895884e-03 9.93823677e-01 -3.22813228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64592 meters 0.02948144918781439 Centerline is valid? [True, True] Translation: X:264.63, Y:-193.73, Z:-32.28 [[ 7.32309902e-01 6.76016753e-01 8.19972981e-02 2.64627089e+02] [-6.71981227e-01 7.36885457e-01 -7.37635002e-02 -1.93728748e+02] [-1.10287978e-01 -1.08290339e-03 9.93899084e-01 -3.22833688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67591999999996 meters 0.02971982690283384 Centerline is valid? [True, True] Translation: X:264.65, Y:-193.75, Z:-32.29 [[ 7.29861055e-01 6.78483433e-01 8.34450186e-02 2.64650544e+02] [-6.74310868e-01 7.34614325e-01 -7.51441747e-02 -1.93749690e+02] [-1.12283984e-01 -1.42307630e-03 9.93675139e-01 -3.22869551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70592 meters 0.029880766104145223 Centerline is valid? [True, True] Translation: X:264.67, Y:-193.77, Z:-32.29 [[ 7.28209358e-01 6.80137118e-01 8.44075391e-02 2.64674425e+02] [-6.75870761e-01 7.33083069e-01 -7.60784328e-02 -1.93770726e+02] [-1.13621504e-01 -1.64756104e-03 9.93522742e-01 -3.22912333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73591999999996 meters 0.03013973852930385 Centerline is valid? [True, True] Translation: X:264.70, Y:-193.79, Z:-32.29 [[ 7.24618795e-01 6.84052084e-01 8.36680820e-02 2.64698815e+02] [-6.79878338e-01 7.29429884e-01 -7.54817140e-02 -1.93791133e+02] [-1.12663423e-01 -2.18864781e-03 9.93630798e-01 -3.22935144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76592 meters 0.03050417195201063 Centerline is valid? [True, True] Translation: X:264.72, Y:-193.81, Z:-32.30 [[ 7.22232163e-01 6.86613436e-01 8.33228274e-02 2.64723306e+02] [-6.82483212e-01 7.27018302e-01 -7.52399770e-02 -1.93811471e+02] [-1.12238000e-01 -2.52569962e-03 9.93678143e-01 -3.22966437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79591999999997 meters 0.03095219024982547 Centerline is valid? [True, True] Translation: X:264.75, Y:-193.83, Z:-32.30 [[ 7.19933353e-01 6.88865256e-01 8.46204811e-02 2.64747643e+02] [-6.84612204e-01 7.24883733e-01 -7.64833559e-02 -1.93831857e+02] [-1.14026737e-01 -2.86929516e-03 9.93473538e-01 -3.22996780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82592 meters 0.03127979711798087 Centerline is valid? [True, True] Translation: X:264.77, Y:-193.85, Z:-32.30 [[ 7.17310420e-01 6.91644707e-01 8.42220892e-02 2.64773378e+02] [-6.87442721e-01 7.22230627e-01 -7.61933591e-02 -1.93851009e+02] [-1.13526506e-01 -3.24357173e-03 9.93529673e-01 -3.23022439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85591999999997 meters 0.031361253366069444 Centerline is valid? [True, True] Translation: X:264.80, Y:-193.87, Z:-32.30 [[ 7.17035479e-01 6.92049502e-01 8.32322513e-02 2.64801567e+02] [-6.87941023e-01 7.21842868e-01 -7.53659320e-02 -1.93868030e+02] [-1.12237563e-01 -3.21883292e-03 9.93676189e-01 -3.23048378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88592 meters 0.03144209354570321 Centerline is valid? [True, True] Translation: X:264.83, Y:-193.89, Z:-32.31 [[ 7.16925616e-01 6.92094933e-01 8.37989595e-02 2.64828876e+02] [-6.87922287e-01 7.21799411e-01 -7.59508948e-02 -1.93887487e+02] [-1.13051269e-01 -3.19602983e-03 9.93584016e-01 -3.23081341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91591999999997 meters 0.03136769240510077 Centerline is valid? [True, True] Translation: X:264.86, Y:-193.91, Z:-32.31 [[ 7.17041935e-01 6.91911742e-01 8.43149201e-02 2.64856937e+02] [-6.87676883e-01 7.21975316e-01 -7.64993380e-02 -1.93906063e+02] [-1.13804081e-01 -3.12818810e-03 9.93498287e-01 -3.23109714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94592 meters 0.03126071528911197 Centerline is valid? [True, True] Translation: X:264.88, Y:-193.92, Z:-32.31 [[ 7.17383034e-01 6.91612152e-01 8.38702216e-02 2.64883394e+02] [-6.87411132e-01 7.22262821e-01 -7.61731760e-02 -1.93924629e+02] [-1.13258637e-01 -3.00797991e-03 9.93560986e-01 -3.23128099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97592 meters 0.031182606228117263 Centerline is valid? [True, True] Translation: X:264.91, Y:-193.94, Z:-32.31 [[ 7.18874072e-01 6.90150747e-01 8.31385270e-02 2.64912539e+02] [-6.86005389e-01 7.23660585e-01 -7.55775437e-02 -1.93940204e+02] [-1.12323973e-01 -2.70274096e-03 9.93667963e-01 -3.23148918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00591999999995 meters 0.031102664138041063 Centerline is valid? [True, True] Translation: X:264.94, Y:-193.96, Z:-32.32 [[ 7.19910382e-01 6.89108090e-01 8.28195801e-02 2.64938831e+02] [-6.84979936e-01 7.24654325e-01 -7.53564626e-02 -1.93959460e+02] [-1.11944315e-01 -2.47985094e-03 9.93711387e-01 -3.23174782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03592 meters 0.030822224335744258 Centerline is valid? [True, True] Translation: X:264.97, Y:-193.98, Z:-32.32 [[ 7.23479016e-01 6.85353483e-01 8.28777228e-02 2.64966400e+02] [-6.81186970e-01 7.28208205e-01 -7.54792818e-02 -1.93976916e+02] [-1.12082226e-01 -1.84754836e-03 9.93697218e-01 -3.23218856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06591999999995 meters 0.03057946796290969 Centerline is valid? [True, True] Translation: X:264.99, Y:-194.00, Z:-32.32 [[ 7.25005463e-01 6.83836627e-01 8.20642795e-02 2.64992100e+02] [-6.79734330e-01 7.29633523e-01 -7.48075048e-02 -1.93996317e+02] [-1.11032961e-01 -1.54605842e-03 9.93815522e-01 -3.23246695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09592 meters 0.030581461570272896 Centerline is valid? [True, True] Translation: X:265.02, Y:-194.02, Z:-32.33 [[ 7.26701597e-01 6.82161155e-01 8.09996723e-02 2.65017387e+02] [-6.78147027e-01 7.31200836e-01 -7.39049875e-02 -1.94016101e+02] [-1.09642140e-01 -1.22281447e-03 9.93970375e-01 -3.23270808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12591999999995 meters 0.030725963023909786 Centerline is valid? [True, True] Translation: X:265.05, Y:-194.03, Z:-32.33 [[ 7.28440666e-01 6.80180554e-01 8.20281052e-02 2.65045233e+02] [-6.76042839e-01 7.33044088e-01 -7.49162533e-02 -1.94033968e+02] [-1.11086796e-01 -8.82467614e-04 9.93810316e-01 -3.23305537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15592 meters 0.030698299565557884 Centerline is valid? [True, True] Translation: X:265.07, Y:-194.05, Z:-32.33 [[ 7.29117772e-01 6.79595011e-01 8.08572511e-02 2.65071363e+02] [-6.75563004e-01 7.33587141e-01 -7.39224837e-02 -1.94053682e+02] [-1.09553191e-01 -7.25970813e-04 9.93980670e-01 -3.23327821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18591999999995 meters 0.030748218101833827 Centerline is valid? [True, True] Translation: X:265.10, Y:-194.07, Z:-32.34 [[ 7.29251756e-01 6.79647728e-01 7.91886516e-02 2.65097815e+02] [-6.75774942e-01 7.33538349e-01 -7.24549427e-02 -1.94072873e+02] [-1.07331750e-01 -6.75812254e-04 9.94223033e-01 -3.23360643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21592 meters 0.030823063122353816 Centerline is valid? [True, True] Translation: X:265.12, Y:-194.09, Z:-32.34 [[ 7.28858473e-01 6.80083353e-01 7.90693333e-02 2.65123268e+02] [-6.76221255e-01 7.33134450e-01 -7.23788075e-02 -1.94093164e+02] [-1.07192074e-01 -7.14456766e-04 9.94238075e-01 -3.23403156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24591999999996 meters 0.03089161420294978 Centerline is valid? [True, True] Translation: X:265.15, Y:-194.11, Z:-32.34 [[ 7.27564599e-01 6.81430584e-01 7.93858481e-02 2.65148084e+02] [-6.77537153e-01 7.31882244e-01 -7.27446710e-02 -1.94114075e+02] [-1.07671536e-01 -8.60414110e-04 9.94186150e-01 -3.23433047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.27592 meters 0.03104240851049284 Centerline is valid? [True, True] Translation: X:265.17, Y:-194.13, Z:-32.35 [[ 7.27483919e-01 6.81473445e-01 7.97564489e-02 2.65174918e+02] [-6.77535685e-01 7.31842385e-01 -7.31581737e-02 -1.94133539e+02] [-1.08224503e-01 -8.16445311e-04 9.94126144e-01 -3.23469124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30591999999996 meters 0.031081306965322086 Centerline is valid? [True, True] Translation: X:265.20, Y:-194.15, Z:-32.35 [[ 7.28118552e-01 6.80746499e-01 8.01721786e-02 2.65200726e+02] [-6.76754437e-01 7.32518789e-01 -7.36183072e-02 -1.94154170e+02] [-1.08843032e-01 -6.54022351e-04 9.94058734e-01 -3.23487391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.33592 meters 0.031026152750674666 Centerline is valid? [True, True] Translation: X:265.23, Y:-194.17, Z:-32.35 [[ 7.28690580e-01 6.80111602e-01 8.03632211e-02 2.65226131e+02] [-6.76087968e-01 7.33108420e-01 -7.38722080e-02 -1.94174477e+02] [-1.09156300e-01 -5.02624849e-04 9.94024471e-01 -3.23517048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36591999999996 meters 0.031126403884406375 Centerline is valid? [True, True] Translation: X:265.25, Y:-194.19, Z:-32.36 [[ 7.29685336e-01 6.78904625e-01 8.15341738e-02 2.65251732e+02] [-6.74746362e-01 7.34226422e-01 -7.50260521e-02 -1.94193180e+02] [-1.10800078e-01 -2.69477133e-04 9.93842679e-01 -3.23553646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39592 meters 0.03116516177784213 Centerline is valid? [True, True] Translation: X:265.28, Y:-194.21, Z:-32.36 [[ 7.28802977e-01 6.79826678e-01 8.17429417e-02 2.65277841e+02] [-6.75645206e-01 7.33372728e-01 -7.52861126e-02 -1.94213829e+02] [-1.11129552e-01 -3.60483699e-04 9.93805863e-01 -3.23583843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42591999999996 meters 0.031187328444689338 Centerline is valid? [True, True] Translation: X:265.30, Y:-194.23, Z:-32.36 [[ 7.26608930e-01 6.82049930e-01 8.27487553e-02 2.65303247e+02] [-6.77770067e-01 7.31305319e-01 -7.62906738e-02 -1.94233007e+02] [-1.12548654e-01 -6.51144589e-04 9.93646002e-01 -3.23608884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45592 meters 0.03146177830586714 Centerline is valid? [True, True] Translation: X:265.33, Y:-194.25, Z:-32.36 [[ 7.24085976e-01 6.84496237e-01 8.46427841e-02 2.65327990e+02] [-6.80026170e-01 7.29015702e-01 -7.81057878e-02 -1.94253678e+02] [-1.15169037e-01 -1.00400275e-03 9.93345401e-01 -3.23644048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48591999999996 meters 0.03132406019450719 Centerline is valid? [True, True] Translation: X:265.35, Y:-194.27, Z:-32.37 [[ 7.22026357e-01 6.86577118e-01 8.53803294e-02 2.65353037e+02] [-6.82034524e-01 7.27055834e-01 -7.88588714e-02 -1.94273764e+02] [-1.16218963e-01 -1.29414868e-03 9.93222774e-01 -3.23672670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51592 meters 0.03170141194142518 Centerline is valid? [True, True] Translation: X:265.38, Y:-194.29, Z:-32.37 [[ 7.16719886e-01 6.92086466e-01 8.56091622e-02 2.65379208e+02] [-6.87549765e-01 7.21811440e-01 -7.91426906e-02 -1.94292455e+02] [-1.16567258e-01 -2.13741915e-03 9.93180500e-01 -3.23699581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54591999999997 meters 0.031942234658256116 Centerline is valid? [True, True] Translation: X:265.40, Y:-194.31, Z:-32.37 [[ 7.14886678e-01 6.93823468e-01 8.68679035e-02 2.65404838e+02] [-6.89155786e-01 7.20141114e-01 -8.03808383e-02 -1.94312093e+02] [-1.18327261e-01 -2.40232780e-03 9.92971746e-01 -3.23731308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57592 meters 0.031848097624297377 Centerline is valid? [True, True] Translation: X:265.43, Y:-194.33, Z:-32.38 [[ 7.12955687e-01 6.95970703e-01 8.55509736e-02 2.65431154e+02] [-6.91450512e-01 7.18065244e-01 -7.92369514e-02 -1.94332857e+02] [-1.16577777e-01 -2.66182940e-03 9.93177998e-01 -3.23753877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60591999999997 meters 0.03204988423954775 Centerline is valid? [True, True] Translation: X:265.46, Y:-194.35, Z:-32.38 [[ 7.11957090e-01 6.96810698e-01 8.70169664e-02 2.65459497e+02] [-6.92130006e-01 7.17249664e-01 -8.06782170e-02 -1.94349188e+02] [-1.18630335e-01 -2.78762481e-03 9.92934576e-01 -3.23785887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63592 meters 0.03197598417628336 Centerline is valid? [True, True] Translation: X:265.49, Y:-194.37, Z:-32.38 [[ 7.12019409e-01 6.96820981e-01 8.64226893e-02 2.65485719e+02] [-6.92195664e-01 7.17239942e-01 -8.01999210e-02 -1.94368008e+02] [-1.17870792e-01 -2.71751054e-03 9.93025222e-01 -3.23809329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66591999999997 meters 0.03170382754900549 Centerline is valid? [True, True] Translation: X:265.51, Y:-194.38, Z:-32.38 [[ 7.14682597e-01 6.94160264e-01 8.58505328e-02 2.65513917e+02] [-6.89568492e-01 7.19817090e-01 -7.97411512e-02 -1.94384463e+02] [-1.17149819e-01 -2.21020945e-03 9.93111794e-01 -3.23834342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69592 meters 0.03127446988807507 Centerline is valid? [True, True] Translation: X:265.54, Y:-194.40, Z:-32.39 [[ 7.17292292e-01 6.91648516e-01 8.43451099e-02 2.65539489e+02] [-6.87191306e-01 7.22232225e-01 -7.84137893e-02 -1.94404327e+02] [-1.15151537e-01 -1.71561953e-03 9.93346455e-01 -3.23861286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72592 meters 0.03086071818800509 Centerline is valid? [True, True] Translation: X:265.57, Y:-194.42, Z:-32.39 [[ 7.21433287e-01 6.87377356e-01 8.39427317e-02 2.65565770e+02] [-6.82925490e-01 7.26299814e-01 -7.81111672e-02 -1.94422851e+02] [-1.14659438e-01 -9.74635113e-04 9.93404381e-01 -3.23889427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75591999999995 meters 0.03077317079587206 Centerline is valid? [True, True] Translation: X:265.59, Y:-194.44, Z:-32.39 [[ 7.25177124e-01 6.83738625e-01 8.13611145e-02 2.65591226e+02] [-6.79527697e-01 7.29726918e-01 -7.57676301e-02 -1.94443307e+02] [-1.11176651e-01 -3.42178647e-04 9.93800601e-01 -3.23909744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78592 meters 0.030718918378991586 Centerline is valid? [True, True] Translation: X:265.62, Y:-194.46, Z:-32.39 [[ 7.27574864e-01 6.81298016e-01 8.04228289e-02 2.65615516e+02] [-6.77165425e-01 7.32006155e-01 -7.49264769e-02 -1.94463967e+02] [-1.09917266e-01 5.50620958e-05 9.93940739e-01 -3.23933193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81591999999995 meters 0.03071529687743149 Centerline is valid? [True, True] Translation: X:265.64, Y:-194.48, Z:-32.40 [[ 7.32974821e-01 6.75873881e-01 7.70870206e-02 2.65640672e+02] [-6.72041213e-01 7.37016770e-01 -7.18810745e-02 -1.94483676e+02] [-1.05396968e-01 8.81362884e-04 9.94429838e-01 -3.23952638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84592 meters 0.030994830411680652 Centerline is valid? [True, True] Translation: X:265.67, Y:-194.50, Z:-32.40 [[ 7.35299995e-01 6.73425945e-01 7.63636986e-02 2.65665382e+02] [-6.69645212e-01 7.39253602e-01 -7.12699199e-02 -1.94504703e+02] [-1.04447152e-01 1.26818661e-03 9.94529630e-01 -3.23982408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87591999999995 meters 0.031082894676675393 Centerline is valid? [True, True] Translation: X:265.69, Y:-194.53, Z:-32.40 [[ 7.38133138e-01 6.70391016e-01 7.57321309e-02 2.65687003e+02] [-6.66650696e-01 7.42005998e-01 -7.07385960e-02 -1.94528001e+02] [-1.03616215e-01 1.72762409e-03 9.94615853e-01 -3.24001469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90592 meters 0.0312711711126178 Centerline is valid? [True, True] Translation: X:265.71, Y:-194.55, Z:-32.40 [[ 7.39099141e-01 6.69306550e-01 7.59025838e-02 2.65709571e+02] [-6.65539609e-01 7.42983905e-01 -7.09362081e-02 -1.94551065e+02] [-1.03872467e-01 1.91271456e-03 9.94588785e-01 -3.24018266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93591999999995 meters 0.03136785710146369 Centerline is valid? [True, True] Translation: X:265.73, Y:-194.58, Z:-32.40 [[ 7.40279399e-01 6.68078017e-01 7.52208361e-02 2.65730475e+02] [-6.64365934e-01 7.44088235e-01 -7.03605271e-02 -1.94575531e+02] [-1.02977261e-01 2.11228768e-03 9.94681468e-01 -3.24047104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96592 meters 0.03116971846031514 Centerline is valid? [True, True] Translation: X:265.75, Y:-194.60, Z:-32.41 [[ 7.40191508e-01 6.68182738e-01 7.51555738e-02 2.65752974e+02] [-6.64471757e-01 7.43994123e-01 -7.03564400e-02 -1.94600298e+02] [-1.02926264e-01 2.13848319e-03 9.94686690e-01 -3.24075705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99591999999996 meters 0.03133465003094999 Centerline is valid? [True, True] Translation: X:265.78, Y:-194.62, Z:-32.41 [[ 7.40135702e-01 6.68305455e-01 7.46120717e-02 2.65775633e+02] [-6.64645008e-01 7.43883908e-01 -6.98837939e-02 -1.94623934e+02] [-1.02206440e-01 2.13294990e-03 9.94760923e-01 -3.24103709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.02592 meters 0.031165598677258866 Centerline is valid? [True, True] Translation: X:265.80, Y:-194.65, Z:-32.41 [[ 7.40013157e-01 6.68543372e-01 7.36904846e-02 2.65795420e+02] [-6.64967162e-01 7.43670116e-01 -6.90900324e-02 -1.94650953e+02] [-1.00991094e-01 2.12578062e-03 9.94885059e-01 -3.24125323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05591999999996 meters 0.030703625077684097 Centerline is valid? [True, True] Translation: X:265.82, Y:-194.67, Z:-32.42 [[ 7.39369573e-01 6.69258301e-01 7.36611236e-02 2.65816352e+02] [-6.65682109e-01 7.43026934e-01 -6.91252873e-02 -1.94674854e+02] [-1.00994871e-01 2.07424207e-03 9.94884784e-01 -3.24150762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.08592 meters 0.03054395927462251 Centerline is valid? [True, True] Translation: X:265.84, Y:-194.70, Z:-32.42 [[ 7.37775296e-01 6.70965898e-01 7.41105640e-02 2.65836617e+02] [-6.67351617e-01 7.41485845e-01 -6.95741436e-02 -1.94700612e+02] [-1.01633812e-01 1.87227965e-03 9.94820116e-01 -3.24185186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11591999999996 meters 0.03054395927462251 Centerline is valid? [True, True] Translation: X:265.86, Y:-194.72, Z:-32.42 [[ 7.37438084e-01 6.71339969e-01 7.40791357e-02 2.65860511e+02] [-6.67724211e-01 7.41147193e-01 -6.96075928e-02 -1.94722579e+02] [-1.01633903e-01 1.86685741e-03 9.94820117e-01 -3.24213970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14592 meters 0.030262668209778534 Centerline is valid? [True, True] Translation: X:265.88, Y:-194.75, Z:-32.42 [[ 7.35858973e-01 6.72931842e-01 7.53280009e-02 2.65882309e+02] [-6.69193537e-01 7.39702470e-01 -7.08538280e-02 -1.94746970e+02] [-1.03400105e-01 1.72941377e-03 9.94638340e-01 -3.24242991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17591999999996 meters 0.03012745952393918 Centerline is valid? [True, True] Translation: X:265.90, Y:-194.77, Z:-32.43 [[ 7.34352921e-01 6.74533089e-01 7.57027070e-02 2.65901273e+02] [-6.70758420e-01 7.38242957e-01 -7.12774749e-02 -1.94773045e+02] [-1.03966006e-01 1.56459372e-03 9.94579621e-01 -3.24265868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20592 meters 0.029941018315304487 Centerline is valid? [True, True] Translation: X:265.92, Y:-194.80, Z:-32.43 [[ 7.33378484e-01 6.75585369e-01 7.57654820e-02 2.65923453e+02] [-6.71803231e-01 7.37280315e-01 -7.14013711e-02 -1.94797715e+02] [-1.04098120e-01 1.46473372e-03 9.94565954e-01 -3.24292900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23591999999996 meters 0.02979273629146024 Centerline is valid? [True, True] Translation: X:265.94, Y:-194.82, Z:-32.43 [[ 7.31803850e-01 6.77272131e-01 7.59314554e-02 2.65944862e+02] [-6.73474862e-01 7.35731486e-01 -7.16295383e-02 -1.94821865e+02] [-1.04377853e-01 1.28084548e-03 9.94536889e-01 -3.24327015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26592 meters 0.029588775969131387 Centerline is valid? [True, True] Translation: X:265.96, Y:-194.85, Z:-32.44 [[ 7.29349520e-01 6.79788288e-01 7.70529809e-02 2.65963997e+02] [-6.75884495e-01 7.33407741e-01 -7.27546221e-02 -1.94849811e+02] [-1.05968993e-01 9.84633565e-04 9.94368947e-01 -3.24360384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29591999999997 meters 0.02938550809591233 Centerline is valid? [True, True] Translation: X:265.99, Y:-194.87, Z:-32.44 [[ 7.27695864e-01 6.81480725e-01 7.77351271e-02 2.65985746e+02] [-6.77508733e-01 7.31835623e-01 -7.34747367e-02 -1.94874292e+02] [-1.06960952e-01 8.01034584e-04 9.94262899e-01 -3.24389798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32592 meters 0.029051957029741976 Centerline is valid? [True, True] Translation: X:266.01, Y:-194.90, Z:-32.44 [[ 7.24369659e-01 6.85066801e-01 7.72792046e-02 2.66007081e+02] [-6.81153740e-01 7.28480180e-01 -7.31177871e-02 -1.94897921e+02] [-1.06386937e-01 3.25287258e-04 9.94324753e-01 -3.24406889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35591999999997 meters 0.028882457353948624 Centerline is valid? [True, True] Translation: X:266.03, Y:-194.92, Z:-32.44 [[ 7.21971876e-01 6.87630869e-01 7.69441250e-02 2.66030557e+02] [-6.83759034e-01 7.26060458e-01 -7.28683399e-02 -1.94920891e+02] [-1.05972607e-01 -2.34846974e-06 9.94369050e-01 -3.24437750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38592 meters 0.02874088380032384 Centerline is valid? [True, True] Translation: X:266.05, Y:-194.94, Z:-32.45 [[ 7.19206813e-01 6.90512330e-01 7.70342959e-02 2.66053371e+02] [-6.86639632e-01 7.23320527e-01 -7.30303426e-02 -1.94944228e+02] [-1.06148840e-01 -3.70880691e-04 9.94350183e-01 -3.24465995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41591999999997 meters 0.028703821606522868 Centerline is valid? [True, True] Translation: X:266.08, Y:-194.97, Z:-32.45 [[ 7.17534486e-01 6.92267171e-01 7.68792924e-02 2.66077398e+02] [-6.88411958e-01 7.21641071e-01 -7.29598579e-02 -1.94967390e+02] [-1.05986969e-01 -5.73410008e-04 9.94367353e-01 -3.24496714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44592 meters 0.028754025807778062 Centerline is valid? [True, True] Translation: X:266.10, Y:-194.99, Z:-32.45 [[ 7.14300323e-01 6.95617711e-01 7.67531713e-02 2.66100891e+02] [-6.91786354e-01 7.18411424e-01 -7.29154784e-02 -1.94988639e+02] [-1.05861653e-01 -1.01324672e-03 9.94380352e-01 -3.24523437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47592 meters 0.02860368037756448 Centerline is valid? [True, True] Translation: X:266.13, Y:-195.01, Z:-32.46 [[ 7.13416889e-01 6.96450753e-01 7.74124751e-02 2.66125965e+02] [-6.92550677e-01 7.17603752e-01 -7.36098873e-02 -1.95008826e+02] [-1.06817144e-01 -1.09752520e-03 9.94278076e-01 -3.24563329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50591999999995 meters 0.028752164474060773 Centerline is valid? [True, True] Translation: X:266.15, Y:-195.03, Z:-32.46 [[ 7.13441846e-01 6.96338772e-01 7.81859721e-02 2.66150254e+02] [-6.92351799e-01 7.17712499e-01 -7.44160973e-02 -1.95030726e+02] [-1.07933863e-01 -1.04064055e-03 9.94157532e-01 -3.24599008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53592 meters 0.028621227120016923 Centerline is valid? [True, True] Translation: X:266.17, Y:-195.05, Z:-32.46 [[ 7.13680879e-01 6.96119918e-01 7.79529580e-02 2.66174695e+02] [-6.92146949e-01 7.17924900e-01 -7.42727362e-02 -1.95052874e+02] [-1.07667101e-01 -9.47870427e-04 9.94186550e-01 -3.24624509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56591999999995 meters 0.02862856299654701 Centerline is valid? [True, True] Translation: X:266.20, Y:-195.07, Z:-32.47 [[ 7.14115237e-01 6.95682013e-01 7.78843114e-02 2.66199444e+02] [-6.91704955e-01 7.18349398e-01 -7.42859128e-02 -1.95074384e+02] [-1.07627522e-01 -8.24261932e-04 9.94190946e-01 -3.24658879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59592 meters 0.028432215817135318 Centerline is valid? [True, True] Translation: X:266.23, Y:-195.09, Z:-32.47 [[ 7.15581764e-01 6.94243290e-01 7.72592645e-02 2.66225417e+02] [-6.90313498e-01 7.19740199e-01 -7.37653048e-02 -1.95093649e+02] [-1.06817666e-01 -5.48006248e-04 9.94278475e-01 -3.24686433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62591999999995 meters 0.02852313973846824 Centerline is valid? [True, True] Translation: X:266.25, Y:-195.11, Z:-32.47 [[ 7.16150674e-01 6.93338212e-01 8.00645702e-02 2.66250327e+02] [-6.89103228e-01 7.20612227e-01 -7.65164005e-02 -1.95114066e+02] [-1.10747253e-01 -3.75481917e-04 9.93848532e-01 -3.24728174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65592 meters 0.028357143011905 Centerline is valid? [True, True] Translation: X:266.27, Y:-195.14, Z:-32.47 [[ 7.15830676e-01 6.93660274e-01 8.01365509e-02 2.66274559e+02] [-6.89411502e-01 7.20302218e-01 -7.66583050e-02 -1.95136225e+02] [-1.10897356e-01 -3.72693663e-04 9.93831795e-01 -3.24749010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68591999999995 meters 0.02848766847232192 Centerline is valid? [True, True] Translation: X:266.30, Y:-195.16, Z:-32.48 [[ 7.16074520e-01 6.93181869e-01 8.20742232e-02 2.66298268e+02] [-6.88711993e-01 7.20762676e-01 -7.85936042e-02 -1.95157606e+02] [-1.13635698e-01 -2.46624410e-04 9.93522454e-01 -3.24798209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71592 meters 0.028513410443599212 Centerline is valid? [True, True] Translation: X:266.32, Y:-195.18, Z:-32.48 [[ 7.17693625e-01 6.91467192e-01 8.23952897e-02 2.66323176e+02] [-6.86942233e-01 7.22407860e-01 -7.89762720e-02 -1.95178699e+02] [-1.14132506e-01 7.99626523e-05 9.93465533e-01 -3.24820843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74591999999996 meters 0.02860025827483075 Centerline is valid? [True, True] Translation: X:266.35, Y:-195.20, Z:-32.49 [[ 7.18922009e-01 6.90203097e-01 8.22850546e-02 2.66347827e+02] [-6.85672525e-01 7.23615622e-01 -7.89532765e-02 -1.95199894e+02] [-1.14036547e-01 3.40647017e-04 9.93476497e-01 -3.24856729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.77592 meters 0.02858554479533575 Centerline is valid? [True, True] Translation: X:266.37, Y:-195.22, Z:-32.49 [[ 7.19568499e-01 6.89546584e-01 8.21382044e-02 2.66371840e+02] [-6.85018500e-01 7.24241158e-01 -7.88948629e-02 -1.95222176e+02] [-1.13889551e-01 5.04068460e-04 9.93493289e-01 -3.24892726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80591999999996 meters 0.02906844583828794 Centerline is valid? [True, True] Translation: X:266.39, Y:-195.24, Z:-32.49 [[ 7.23940352e-01 6.84917336e-01 8.24536822e-02 2.66394239e+02] [-6.80314969e-01 7.28619625e-01 -7.92778916e-02 -1.95244946e+02] [-1.14376173e-01 1.29799049e-03 9.93436664e-01 -3.24919112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.83592 meters 0.02920691193072054 Centerline is valid? [True, True] Translation: X:266.42, Y:-195.27, Z:-32.49 [[ 7.26213803e-01 6.82493024e-01 8.25638234e-02 2.66417757e+02] [-6.77854467e-01 7.30890048e-01 -7.94547623e-02 -1.95267482e+02] [-1.14572398e-01 1.73488852e-03 9.93413386e-01 -3.24937677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86591999999996 meters 0.030079530772195294 Centerline is valid? [True, True] Translation: X:266.44, Y:-195.29, Z:-32.50 [[ 7.29674881e-01 6.78689866e-01 8.33944519e-02 2.66440284e+02] [-6.73924123e-01 7.34421039e-01 -8.03244278e-02 -1.95289674e+02] [-1.15762015e-01 2.40918440e-03 9.93274057e-01 -3.24974324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89592 meters 0.03033842391643856 Centerline is valid? [True, True] Translation: X:266.46, Y:-195.31, Z:-32.50 [[ 7.30843425e-01 6.77527423e-01 8.26104052e-02 2.66462960e+02] [-6.72836127e-01 7.35492854e-01 -7.96354692e-02 -1.95312979e+02] [-1.14714577e-01 2.61779403e-03 9.93395044e-01 -3.24995427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92591999999996 meters 0.030503083657566238 Centerline is valid? [True, True] Translation: X:266.48, Y:-195.34, Z:-32.50 [[ 7.31653224e-01 6.76540008e-01 8.35295026e-02 2.66484532e+02] [-6.71728320e-01 7.36400330e-01 -8.05953975e-02 -1.95336746e+02] [-1.16037164e-01 2.85874995e-03 9.93240758e-01 -3.25033987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95592 meters 0.030447258081302598 Centerline is valid? [True, True] Translation: X:266.50, Y:-195.36, Z:-32.51 [[ 7.31688882e-01 6.76584912e-01 8.28506842e-02 2.66504701e+02] [-6.71843487e-01 7.36358988e-01 -8.00110645e-02 -1.95363647e+02] [-1.15142125e-01 2.88051383e-03 9.93344851e-01 -3.25055721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98591999999996 meters 0.030238904908725946 Centerline is valid? [True, True] Translation: X:266.53, Y:-195.39, Z:-32.51 [[ 7.30614422e-01 6.77842058e-01 8.20531006e-02 2.66525910e+02] [-6.73191051e-01 7.35202550e-01 -7.93159459e-02 -1.95388122e+02] [-1.14089333e-01 2.71196093e-03 9.93466793e-01 -3.25082016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01592 meters 0.03000182903981413 Centerline is valid? [True, True] Translation: X:266.54, Y:-195.42, Z:-32.51 [[ 7.30527080e-01 6.78158377e-01 8.01960159e-02 2.66544357e+02] [-6.73710718e-01 7.34911010e-01 -7.75865731e-02 -1.95415938e+02] [-1.11552920e-01 2.65017728e-03 9.93754961e-01 -3.25095344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04591999999997 meters 0.029801789824919985 Centerline is valid? [True, True] Translation: X:266.56, Y:-195.44, Z:-32.51 [[ 7.29483067e-01 6.79245728e-01 8.04965543e-02 2.66564406e+02] [-6.74763292e-01 7.33906509e-01 -7.79470016e-02 -1.95442333e+02] [-1.12022113e-01 2.54489779e-03 9.93702455e-01 -3.25136882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07592 meters 0.02980161121808134 Centerline is valid? [True, True] Translation: X:266.58, Y:-195.47, Z:-32.52 [[ 7.28998146e-01 6.79825002e-01 7.99979353e-02 2.66584630e+02] [-6.75393172e-01 7.33370123e-01 -7.75391901e-02 -1.95467441e+02] [-1.11381176e-01 2.49586660e-03 9.93774625e-01 -3.25160197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10591999999997 meters 0.02954866308940767 Centerline is valid? [True, True] Translation: X:266.60, Y:-195.49, Z:-32.52 [[ 7.27030793e-01 6.81986577e-01 7.95017936e-02 2.66603383e+02] [-6.77615078e-01 7.31361378e-01 -7.71254932e-02 -1.95494737e+02] [-1.10743092e-01 2.20099443e-03 9.93846630e-01 -3.25175541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13592 meters 0.029081375353500104 Centerline is valid? [True, True] Translation: X:266.62, Y:-195.52, Z:-32.52 [[ 7.23921887e-01 6.85221092e-01 8.00572029e-02 2.66621706e+02] [-6.80800014e-01 7.28332975e-01 -7.77329952e-02 -1.95521127e+02] [-1.11572589e-01 1.76967174e-03 9.93754711e-01 -3.25215644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16591999999997 meters 0.028823593783442954 Centerline is valid? [True, True] Translation: X:266.64, Y:-195.55, Z:-32.52 [[ 7.22028783e-01 6.87155436e-01 8.05719714e-02 2.66642492e+02] [-6.82681023e-01 7.26508813e-01 -7.83043068e-02 -1.95546686e+02] [-1.12343477e-01 1.53300746e-03 9.93668251e-01 -3.25240375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19592 meters 0.028705220727181947 Centerline is valid? [True, True] Translation: X:266.66, Y:-195.57, Z:-32.53 [[ 7.19604637e-01 6.89734380e-01 8.02225157e-02 2.66663285e+02] [-6.85306035e-01 7.24061522e-01 -7.80419869e-02 -1.95571584e+02] [-1.11914278e-01 1.18240150e-03 9.93717161e-01 -3.25279906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22592 meters 0.028549879137191925 Centerline is valid? [True, True] Translation: X:266.69, Y:-195.60, Z:-32.53 [[ 7.17413153e-01 6.91901328e-01 8.11844862e-02 2.66685106e+02] [-6.87371135e-01 7.21991500e-01 -7.90518606e-02 -1.95595944e+02] [-1.13310596e-01 9.08972092e-04 9.93559199e-01 -3.25302427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25591999999995 meters 0.028499432625282404 Centerline is valid? [True, True] Translation: X:266.71, Y:-195.62, Z:-32.53 [[ 7.13326599e-01 6.96150186e-01 8.08707717e-02 2.66707359e+02] [-6.91673103e-01 7.17896116e-01 -7.88256612e-02 -1.95618935e+02] [-1.12931312e-01 2.92303240e-04 9.93602754e-01 -3.25332768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28592 meters 0.028545141173618078 Centerline is valid? [True, True] Translation: X:266.73, Y:-195.64, Z:-32.54 [[ 7.09897801e-01 6.99743517e-01 8.00257576e-02 2.66729802e+02] [-6.95375542e-01 7.14394119e-01 -7.80634245e-02 -1.95641686e+02] [-1.11794306e-01 -2.30901174e-04 9.93731342e-01 -3.25358458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31591999999995 meters 0.02850616289588436 Centerline is valid? [True, True] Translation: X:266.75, Y:-195.66, Z:-32.54 [[ 7.07450087e-01 7.02253143e-01 7.97176085e-02 2.66753087e+02] [-6.97930478e-01 7.11927079e-01 -7.78002662e-02 -1.95664355e+02] [-1.11388606e-01 -5.97543495e-04 9.93776746e-01 -3.25384157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34592 meters 0.028550021060960228 Centerline is valid? [True, True] Translation: X:266.78, Y:-195.69, Z:-32.54 [[ 7.05722707e-01 7.03976793e-01 7.98256521e-02 2.66777409e+02] [-6.99644082e-01 7.10222511e-01 -7.79880947e-02 -1.95685848e+02] [-1.11595784e-01 -8.11575795e-04 9.93753351e-01 -3.25411743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37591999999995 meters 0.028890776117402466 Centerline is valid? [True, True] Translation: X:266.80, Y:-195.70, Z:-32.54 [[ 7.02698397e-01 7.06935209e-01 8.03590275e-02 2.66804886e+02] [-7.02554618e-01 7.07277236e-01 -7.85870257e-02 -1.95704058e+02] [-1.12392046e-01 -1.23362891e-03 9.93663175e-01 -3.25439860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40592 meters 0.029006945887702976 Centerline is valid? [True, True] Translation: X:266.83, Y:-195.73, Z:-32.55 [[ 7.02206257e-01 7.07337015e-01 8.11216439e-02 2.66829487e+02] [-7.02866862e-01 7.06875354e-01 -7.94066028e-02 -1.95725041e+02] [-1.13510120e-01 -1.25790202e-03 9.93536044e-01 -3.25473545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43591999999995 meters 0.028756525588553565 Centerline is valid? [True, True] Translation: X:266.85, Y:-195.75, Z:-32.55 [[ 7.03520841e-01 7.06177911e-01 7.98197053e-02 2.66854447e+02] [-7.01835006e-01 7.08033724e-01 -7.82040261e-02 -1.95745510e+02] [-1.11740999e-01 -1.00210120e-03 9.93736859e-01 -3.25483782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46592 meters 0.028702084607123285 Centerline is valid? [True, True] Translation: X:266.88, Y:-195.77, Z:-32.55 [[ 7.04680101e-01 7.05058059e-01 7.94926932e-02 2.66879039e+02] [-7.00735573e-01 7.09149167e-01 -7.79558600e-02 -1.95766144e+02] [-1.11335585e-01 -7.69414581e-04 9.93782570e-01 -3.25514595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49591999999996 meters 0.028470184674272245 Centerline is valid? [True, True] Translation: X:266.91, Y:-195.79, Z:-32.55 [[ 7.08344057e-01 7.01525412e-01 7.81715685e-02 2.66905962e+02] [-6.97317431e-01 7.12644420e-01 -7.67224280e-02 -1.95785230e+02] [-1.09531265e-01 -1.64521451e-04 9.93983337e-01 -3.25541215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.52592 meters 0.02871284822566698 Centerline is valid? [True, True] Translation: X:266.93, Y:-195.81, Z:-32.56 [[ 7.10324206e-01 6.99587969e-01 7.75641437e-02 2.66930908e+02] [-6.95429884e-01 7.14546464e-01 -7.61618550e-02 -1.95807441e+02] [-1.08705102e-01 1.59185794e-04 9.94074029e-01 -3.25572785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55591999999996 meters 0.028626005559631646 Centerline is valid? [True, True] Translation: X:266.95, Y:-195.83, Z:-32.56 [[ 7.13191472e-01 6.96694290e-01 7.72980653e-02 2.66954827e+02] [-6.92539001e-01 7.17367851e-01 -7.59809047e-02 -1.95829377e+02] [-1.08386610e-01 6.57008317e-04 9.94108601e-01 -3.25602826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.58592 meters 0.028620217016225406 Centerline is valid? [True, True] Translation: X:266.98, Y:-195.85, Z:-32.56 [[ 7.14690856e-01 6.95270203e-01 7.62648357e-02 2.66979003e+02] [-6.91209574e-01 7.18747875e-01 -7.50387649e-02 -1.95852481e+02] [-1.06987406e-01 9.14534476e-04 9.94259955e-01 -3.25628474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61591999999996 meters 0.02873741169131862 Centerline is valid? [True, True] Translation: X:267.00, Y:-195.87, Z:-32.57 [[ 7.15467085e-01 6.94432579e-01 7.66175119e-02 2.67001948e+02] [-6.90323239e-01 7.19556957e-01 -7.54427782e-02 -1.95874428e+02] [-1.07520587e-01 1.08597565e-03 9.94202265e-01 -3.25651691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64592 meters 0.028951595908551717 Centerline is valid? [True, True] Translation: X:267.02, Y:-195.90, Z:-32.57 [[ 7.17562713e-01 6.92321866e-01 7.61195519e-02 2.67024240e+02] [-6.88246817e-01 7.21587384e-01 -7.50197656e-02 -1.95897288e+02] [-1.06864732e-01 1.44234718e-03 9.94272522e-01 -3.25685441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67591999999996 meters 0.02906764536682966 Centerline is valid? [True, True] Translation: X:267.05, Y:-195.92, Z:-32.57 [[ 7.18434157e-01 6.91455266e-01 7.57758354e-02 2.67047084e+02] [-6.87404890e-01 7.22417477e-01 -7.47496218e-02 -1.95921096e+02] [-1.06427807e-01 1.61400177e-03 9.94319122e-01 -3.25715670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70592 meters 0.029137546310031993 Centerline is valid? [True, True] Translation: X:267.07, Y:-195.94, Z:-32.57 [[ 7.19068169e-01 6.90748876e-01 7.62034093e-02 2.67068888e+02] [-6.86640389e-01 7.23092532e-01 -7.52473671e-02 -1.95944692e+02] [-1.07079150e-01 1.78364780e-03 9.94248900e-01 -3.25741583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73591999999996 meters 0.029013235457203666 Centerline is valid? [True, True] Translation: X:267.09, Y:-195.97, Z:-32.58 [[ 7.20521618e-01 6.89391464e-01 7.47529765e-02 2.67089283e+02] [-6.85424040e-01 7.24386241e-01 -7.38813840e-02 -1.95970373e+02] [-1.05083223e-01 1.99564711e-03 9.94461429e-01 -3.25757599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76592 meters 0.02913489603131119 Centerline is valid? [True, True] Translation: X:267.11, Y:-195.99, Z:-32.58 [[ 7.20178014e-01 6.89675346e-01 7.54423311e-02 2.67111254e+02] [-6.85627582e-01 7.24115878e-01 -7.46392273e-02 -1.95994927e+02] [-1.06105825e-01 2.02818746e-03 9.94352775e-01 -3.25799906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79591999999997 meters 0.02884649123573792 Centerline is valid? [True, True] Translation: X:267.13, Y:-196.02, Z:-32.58 [[ 7.19400184e-01 6.90437686e-01 7.58892419e-02 2.67131057e+02] [-6.86337597e-01 7.23389153e-01 -7.51587368e-02 -1.96021761e+02] [-1.06789879e-01 1.98356913e-03 9.94279632e-01 -3.25815815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82592 meters 0.028914619514066292 Centerline is valid? [True, True] Translation: X:267.15, Y:-196.05, Z:-32.58 [[ 7.18842888e-01 6.91055447e-01 7.55464859e-02 2.67153034e+02] [-6.86987714e-01 7.22799150e-01 -7.48950509e-02 -1.96045715e+02] [-1.06361569e-01 1.93826697e-03 9.94325631e-01 -3.25840847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85591999999997 meters 0.028742489326900433 Centerline is valid? [True, True] Translation: X:267.17, Y:-196.07, Z:-32.59 [[ 7.17456693e-01 6.92409717e-01 7.63195726e-02 2.67174683e+02] [-6.88257206e-01 7.21502251e-01 -7.57398198e-02 -1.96070183e+02] [-1.07507731e-01 1.81254490e-03 9.94202596e-01 -3.25866318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88592 meters 0.028619510710454186 Centerline is valid? [True, True] Translation: X:267.19, Y:-196.10, Z:-32.59 [[ 7.16065870e-01 6.93820693e-01 7.65670667e-02 2.67193657e+02] [-6.89640688e-01 7.20145876e-01 -7.60633948e-02 -1.96097093e+02] [-1.07913815e-01 1.66263653e-03 9.94158863e-01 -3.25901410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91591999999997 meters 0.02841209502454671 Centerline is valid? [True, True] Translation: X:267.21, Y:-196.12, Z:-32.59 [[ 7.14882390e-01 6.95078719e-01 7.62151081e-02 2.67214874e+02] [-6.90936057e-01 7.18932028e-01 -7.57898670e-02 -1.96121544e+02] [-1.07473406e-01 1.52107497e-03 9.94206796e-01 -3.25923271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94592 meters 0.028209845137502146 Centerline is valid? [True, True] Translation: X:267.23, Y:-196.15, Z:-32.60 [[ 7.12684579e-01 6.97308631e-01 7.64288183e-02 2.67234052e+02] [-6.93147885e-01 7.16769935e-01 -7.60714772e-02 -1.96147643e+02] [-1.07827177e-01 1.23849498e-03 9.94168882e-01 -3.25958964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97592 meters 0.028053565363629518 Centerline is valid? [True, True] Translation: X:267.25, Y:-196.17, Z:-32.60 [[ 7.10676356e-01 6.99367638e-01 7.63152940e-02 2.67254540e+02] [-6.95223662e-01 7.14761469e-01 -7.60269806e-02 -1.96172230e+02] [-1.07718042e-01 9.74379297e-04 9.94181007e-01 -3.25989551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00591999999995 meters 0.028002380943600635 Centerline is valid? [True, True] Translation: X:267.28, Y:-196.20, Z:-32.60 [[ 7.09893684e-01 7.00274762e-01 7.52742722e-02 2.67275823e+02] [-6.96241259e-01 7.13872884e-01 -7.50574115e-02 -1.96196213e+02] [-1.06297073e-01 8.73728361e-04 9.94334033e-01 -3.26022254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03592 meters 0.028002380943600635 Centerline is valid? [True, True] Translation: X:267.30, Y:-196.22, Z:-32.61 [[ 7.09529948e-01 7.00647067e-01 7.52392209e-02 2.67299011e+02] [-6.96611927e-01 7.13507487e-01 -7.50925341e-02 -1.96218854e+02] [-1.06297111e-01 8.67863161e-04 9.94334034e-01 -3.26051030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06591999999995 meters 0.02816293530427228 Centerline is valid? [True, True] Translation: X:267.32, Y:-196.24, Z:-32.61 [[ 7.06548462e-01 7.03548145e-01 7.62186234e-02 2.67320240e+02] [-6.99415002e-01 7.10647425e-01 -7.61504576e-02 -1.96244247e+02] [-1.07740082e-01 4.95540093e-04 9.94178972e-01 -3.26092386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09592 meters 0.02811859592246058 Centerline is valid? [True, True] Translation: X:267.34, Y:-196.27, Z:-32.61 [[ 7.04986631e-01 7.05053359e-01 7.67698623e-02 2.67342407e+02] [-7.00860051e-01 7.09154183e-01 -7.67823814e-02 -1.96268730e+02] [-1.08577345e-01 3.25622797e-04 9.94087951e-01 -3.26129466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12591999999995 meters 0.02832205642625237 Centerline is valid? [True, True] Translation: X:267.47, Y:-196.43, Z:-30.75 [[ 7.55629385e-01 -6.53389265e-01 -4.58988147e-02 2.67473170e+02] [-6.51634475e-01 -7.56993400e-01 4.83063544e-02 -1.96434675e+02] [-6.63079532e-02 -6.59245088e-03 -9.97777428e-01 -3.07509283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15592 meters 0.02856141602033984 Centerline is valid? [True, True] Translation: X:267.38, Y:-196.33, Z:-32.62 [[ 7.54793301e-01 6.50464057e-01 8.47560204e-02 2.67384365e+02] [-6.46375401e-01 7.59537016e-01 -7.28173219e-02 -1.96334009e+02] [-1.11740385e-01 1.77820091e-04 9.93737417e-01 -3.26208655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18591999999995 meters 0.02864042448698417 Centerline is valid? [True, True] Translation: X:267.41, Y:-196.36, Z:-32.62 [[ 7.54139149e-01 6.51189832e-01 8.50055658e-02 2.67408702e+02] [-6.47072841e-01 7.58914874e-01 -7.31091820e-02 -1.96355755e+02] [-1.12119944e-01 1.29703316e-04 9.93694672e-01 -3.26235133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21592 meters 0.02869756785174869 Centerline is valid? [True, True] Translation: X:267.43, Y:-196.38, Z:-32.63 [[ 7.54798637e-01 6.50566935e-01 8.39147279e-02 2.67432604e+02] [-6.46543089e-01 7.59448870e-01 -7.22457431e-02 -1.96377630e+02] [-1.10729637e-01 2.76500994e-04 9.93850528e-01 -3.26264288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24591999999996 meters 0.028823037518878037 Centerline is valid? [True, True] Translation: X:267.46, Y:-196.40, Z:-32.63 [[ 7.55199077e-01 6.49969332e-01 8.49365785e-02 2.67456292e+02] [-6.45834977e-01 7.59960321e-01 -7.31948901e-02 -1.96398919e+02] [-1.12122863e-01 4.21700203e-04 9.93694262e-01 -3.26301004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.27592 meters 0.02903302283368115 Centerline is valid? [True, True] Translation: X:267.48, Y:-196.42, Z:-32.63 [[ 7.55507093e-01 6.49378227e-01 8.67003466e-02 2.67478551e+02] [-6.45057732e-01 7.60465376e-01 -7.47859198e-02 -1.96421901e+02] [-1.14496960e-01 5.74563953e-04 9.93423432e-01 -3.26329724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30591999999996 meters 0.029072985770800287 Centerline is valid? [True, True] Translation: X:267.50, Y:-196.45, Z:-32.64 [[ 7.55408960e-01 6.49448691e-01 8.70270117e-02 2.67502597e+02] [-6.45087515e-01 7.60405162e-01 -7.51404490e-02 -1.96445060e+02] [-1.14975655e-01 6.21729700e-04 9.93368115e-01 -3.26352607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.33592 meters 0.029164959750621333 Centerline is valid? [True, True] Translation: X:267.52, Y:-196.47, Z:-32.64 [[ 7.56118969e-01 6.48554933e-01 8.75248748e-02 2.67524933e+02] [-6.44128423e-01 7.61167408e-01 -7.56488733e-02 -1.96468886e+02] [-1.15683532e-01 8.22288492e-04 9.93285782e-01 -3.26383543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36591999999996 meters 0.029139914934152772 Centerline is valid? [True, True] Translation: X:267.55, Y:-196.49, Z:-32.64 [[ 7.56038743e-01 6.48661677e-01 8.74268154e-02 2.67549184e+02] [-6.44237381e-01 7.61076401e-01 -7.56366926e-02 -1.96491151e+02] [-1.15601110e-01 8.60647377e-04 9.93295345e-01 -3.26410724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39592 meters 0.029237790967675634 Centerline is valid? [True, True] Translation: X:267.57, Y:-196.51, Z:-32.64 [[ 7.55970365e-01 6.48790006e-01 8.70651182e-02 2.67573628e+02] [-6.44394536e-01 7.60966969e-01 -7.53986364e-02 -1.96513877e+02] [-1.15171561e-01 8.94848215e-04 9.93345212e-01 -3.26442171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42591999999996 meters 0.02931277675159097 Centerline is valid? [True, True] Translation: X:267.60, Y:-196.54, Z:-32.65 [[ 7.55381826e-01 6.49423037e-01 8.74529371e-02 2.67596679e+02] [-6.44985144e-01 7.60426852e-01 -7.57968808e-02 -1.96537516e+02] [-1.15725802e-01 8.49741017e-04 9.93280835e-01 -3.26466771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45592 meters 0.029316168169219708 Centerline is valid? [True, True] Translation: X:267.62, Y:-196.56, Z:-32.65 [[ 7.55409588e-01 6.49351681e-01 8.77425154e-02 2.67620941e+02] [-6.44874329e-01 7.60487697e-01 -7.61285915e-02 -1.96559390e+02] [-1.16161332e-01 9.25372151e-04 9.93229927e-01 -3.26491075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48591999999996 meters 0.029312549340590875 Centerline is valid? [True, True] Translation: X:267.64, Y:-196.58, Z:-32.65 [[ 7.54601894e-01 6.50254637e-01 8.80050501e-02 2.67643034e+02] [-6.45746955e-01 7.59715857e-01 -7.64374701e-02 -1.96584697e+02] [-1.16562651e-01 8.50866513e-04 9.93182976e-01 -3.26522631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51592 meters 0.029210749313550395 Centerline is valid? [True, True] Translation: X:267.67, Y:-196.61, Z:-32.65 [[ 7.53842824e-01 6.51204528e-01 8.74851901e-02 2.67665739e+02] [-6.46747383e-01 7.58901895e-01 -7.60640340e-02 -1.96608078e+02] [-1.15925920e-01 7.59508515e-04 9.93257572e-01 -3.26548471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54591999999997 meters 0.029165988092592115 Centerline is valid? [True, True] Translation: X:267.69, Y:-196.63, Z:-32.66 [[ 7.54265080e-01 6.50955189e-01 8.56827308e-02 2.67688868e+02] [-6.46671802e-01 7.59115707e-01 -7.45581956e-02 -1.96631267e+02] [-1.13577151e-01 8.28037448e-04 9.93528835e-01 -3.26565645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57592 meters 0.029133166029787202 Centerline is valid? [True, True] Translation: X:267.71, Y:-196.66, Z:-32.66 [[ 7.52640616e-01 6.52650434e-01 8.70604080e-02 2.67710388e+02] [-6.48233600e-01 7.57658914e-01 -7.58034961e-02 -1.96655058e+02] [-1.15435279e-01 6.17308291e-04 9.93314812e-01 -3.26607563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60591999999997 meters 0.02906418221420496 Centerline is valid? [True, True] Translation: X:267.73, Y:-196.68, Z:-32.66 [[ 7.51377594e-01 6.54131664e-01 8.68531966e-02 2.67732843e+02] [-6.49737260e-01 7.56380572e-01 -7.56962651e-02 -1.96678815e+02] [-1.15209394e-01 4.44719635e-04 9.93341129e-01 -3.26637503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63592 meters 0.028965446279175945 Centerline is valid? [True, True] Translation: X:267.75, Y:-196.71, Z:-32.67 [[ 7.49692300e-01 6.56190912e-01 8.58774858e-02 2.67751979e+02] [-6.51899617e-01 7.54594893e-01 -7.49228680e-02 -1.96705186e+02] [-1.13966417e-01 1.85597118e-04 9.93484585e-01 -3.26665977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66591999999997 meters 0.029054571878776546 Centerline is valid? [True, True] Translation: X:267.78, Y:-196.73, Z:-32.67 [[ 7.47750737e-01 6.58421522e-01 8.57317537e-02 2.67775014e+02] [-6.54151072e-01 7.52649380e-01 -7.48684621e-02 -1.96728957e+02] [-1.13820958e-01 -9.85708283e-05 9.93501273e-01 -3.26689723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69592 meters 0.029158514665910625 Centerline is valid? [True, True] Translation: X:267.80, Y:-196.75, Z:-32.67 [[ 7.45962898e-01 6.60428358e-01 8.58704800e-02 2.67798225e+02] [-6.56147902e-01 7.50888984e-01 -7.50710623e-02 -1.96752910e+02] [-1.14058256e-01 -3.43508086e-04 9.93474004e-01 -3.26726037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72592 meters 0.029295754715570624 Centerline is valid? [True, True] Translation: X:267.82, Y:-196.78, Z:-32.68 [[ 7.42174997e-01 6.64752264e-01 8.53270340e-02 2.67818416e+02] [-6.60545086e-01 7.47063281e-01 -7.46769255e-02 -1.96779442e+02] [-1.13386349e-01 -9.39006100e-04 9.93550529e-01 -3.26758940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75591999999995 meters 0.029427139588504826 Centerline is valid? [True, True] Translation: X:267.84, Y:-196.80, Z:-32.68 [[ 7.39981999e-01 6.67288176e-01 8.45761842e-02 2.67840868e+02] [-6.63162426e-01 7.44798572e-01 -7.40991517e-02 -1.96803158e+02] [-1.12437709e-01 -1.25570905e-03 9.93657982e-01 -3.26788211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78592 meters 0.029822838815371785 Centerline is valid? [True, True] Translation: X:267.86, Y:-196.83, Z:-32.68 [[ 7.35459640e-01 6.72347333e-01 8.39534488e-02 2.67862506e+02] [-6.68306476e-01 7.40233233e-01 -7.36288978e-02 -1.96826309e+02] [-1.11649326e-01 -1.95555093e-03 9.93745744e-01 -3.26824398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81591999999995 meters 0.030238135376805374 Centerline is valid? [True, True] Translation: X:267.89, Y:-196.85, Z:-32.69 [[ 7.32154980e-01 6.75847872e-01 8.47274390e-02 2.67885821e+02] [-6.71747915e-01 7.37037030e-01 -7.43717371e-02 -1.96847664e+02] [-1.12711240e-01 -2.46384286e-03 9.93624731e-01 -3.26853537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84592 meters 0.03081195209463769 Centerline is valid? [True, True] Translation: X:267.91, Y:-196.87, Z:-32.69 [[ 7.29019650e-01 6.79169404e-01 8.52013579e-02 2.67909320e+02] [-6.75038408e-01 7.33975645e-01 -7.48525285e-02 -1.96869258e+02] [-1.13373269e-01 -2.94522482e-03 9.93548100e-01 -3.26888958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87591999999995 meters 0.0316938378629429 Centerline is valid? [True, True] Translation: X:267.93, Y:-196.89, Z:-32.69 [[ 7.23812535e-01 6.84781758e-01 8.46720612e-02 2.67932707e+02] [-6.80733059e-01 7.28738544e-01 -7.44488909e-02 -1.96891356e+02] [-1.12685037e-01 -3.75203075e-03 9.93623674e-01 -3.26901047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90592 meters 0.032681340605905856 Centerline is valid? [True, True] Translation: X:267.96, Y:-196.91, Z:-32.69 [[ 7.19459326e-01 6.89491464e-01 8.35451926e-02 2.67957740e+02] [-6.85576295e-01 7.24280485e-01 -7.35045692e-02 -1.96911878e+02] [-1.11190926e-01 -4.39305588e-03 9.93789354e-01 -3.26923048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93591999999995 meters 0.03297793302811796 Centerline is valid? [True, True] Translation: X:267.98, Y:-196.93, Z:-32.70 [[ 7.17539780e-01 6.91443829e-01 8.39171944e-02 2.67983440e+02] [-6.87499071e-01 7.22415157e-01 -7.39010693e-02 -1.96931087e+02] [-1.11721492e-01 -4.66603613e-03 9.93728603e-01 -3.26959441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96592 meters 0.03317576019082947 Centerline is valid? [True, True] Translation: X:268.01, Y:-196.95, Z:-32.70 [[ 7.15528015e-01 6.93418088e-01 8.47998589e-02 2.68009653e+02] [-6.89395973e-01 7.20518259e-01 -7.47437704e-02 -1.96950289e+02] [-1.12928529e-01 -4.97941961e-03 9.93590636e-01 -3.26985976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99591999999996 meters 0.03438904666175342 Centerline is valid? [True, True] Translation: X:268.04, Y:-196.97, Z:-32.70 [[ 7.11587097e-01 6.97520000e-01 8.43187535e-02 2.68037238e+02] [-6.93564725e-01 7.16543820e-01 -7.43836432e-02 -1.96967635e+02] [-1.12302161e-01 -5.55007238e-03 9.93658604e-01 -3.27007754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.02592 meters 0.03463305701578406 Centerline is valid? [True, True] Translation: X:268.06, Y:-196.99, Z:-32.70 [[ 7.09750362e-01 6.99342694e-01 8.47007630e-02 2.68063578e+02] [-6.95358085e-01 7.14762796e-01 -7.47748519e-02 -1.96985574e+02] [-1.12834201e-01 -5.82588220e-03 9.93596750e-01 -3.27038801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05591999999996 meters 0.03532230830960068 Centerline is valid? [True, True] Translation: X:268.09, Y:-197.00, Z:-32.71 [[ 7.07482514e-01 7.01670974e-01 8.44176340e-02 2.68092690e+02] [-6.97725080e-01 7.12474592e-01 -7.45631816e-02 -1.97000309e+02] [-1.12464240e-01 -6.14815328e-03 9.93636752e-01 -3.27061866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.08592 meters 0.035252899993483744 Centerline is valid? [True, True] Translation: X:268.12, Y:-197.02, Z:-32.71 [[ 7.06863556e-01 7.02390909e-01 8.36117544e-02 2.68120226e+02] [-6.98518367e-01 7.11764767e-01 -7.39121593e-02 -1.97018534e+02] [-1.11427130e-01 -6.15853434e-03 9.93753524e-01 -3.27081620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11591999999996 meters 0.034990686992934075 Centerline is valid? [True, True] Translation: X:268.15, Y:-197.04, Z:-32.71 [[ 7.06963145e-01 7.02103877e-01 8.51660631e-02 2.68147853e+02] [-6.98075068e-01 7.12047760e-01 -7.53603852e-02 -1.97036440e+02] [-1.13553123e-01 -6.17529037e-03 9.93512735e-01 -3.27114751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14592 meters 0.03435614844412358 Centerline is valid? [True, True] Translation: X:268.18, Y:-197.05, Z:-32.71 [[ 7.07229493e-01 7.01801117e-01 8.54496110e-02 2.68178379e+02] [-6.97736026e-01 7.12346790e-01 -7.56735740e-02 -1.97050044e+02] [-1.13977555e-01 -6.10268861e-03 9.93464581e-01 -3.27128552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17591999999996 meters 0.0340992584785347 Centerline is valid? [True, True] Translation: X:268.21, Y:-197.07, Z:-32.72 [[ 7.07119704e-01 7.01846790e-01 8.59814418e-02 2.68206772e+02] [-6.97727034e-01 7.12301615e-01 -7.61800237e-02 -1.97068154e+02] [-1.14711425e-01 -6.12318058e-03 9.93379986e-01 -3.27152540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20592 meters 0.03452313393118398 Centerline is valid? [True, True] Translation: X:268.24, Y:-197.08, Z:-32.72 [[ 7.07774754e-01 7.01133667e-01 8.64087863e-02 2.68235795e+02] [-6.96958887e-01 7.13004743e-01 -7.66325448e-02 -1.97083579e+02] [-1.15339532e-01 -5.98479089e-03 9.93308097e-01 -3.27192730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23591999999996 meters 0.034080562466770666 Centerline is valid? [True, True] Translation: X:268.26, Y:-197.10, Z:-32.72 [[ 7.08039068e-01 7.00891634e-01 8.62067040e-02 2.68262922e+02] [-6.96726998e-01 7.13243505e-01 -7.65192310e-02 -1.97101169e+02] [-1.15118060e-01 -5.88393312e-03 9.93334391e-01 -3.27219908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26592 meters 0.033209663518814415 Centerline is valid? [True, True] Translation: X:268.29, Y:-197.11, Z:-32.72 [[ 7.10762387e-01 6.98391853e-01 8.40574196e-02 2.68293672e+02] [-6.94409631e-01 7.15695957e-01 -7.46629936e-02 -1.97114483e+02] [-1.12303582e-01 -5.30263415e-03 9.93659795e-01 -3.27238668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29591999999997 meters 0.03261709557247801 Centerline is valid? [True, True] Translation: X:268.32, Y:-197.13, Z:-32.73 [[ 7.12516213e-01 6.96619379e-01 8.39171432e-02 2.68321814e+02] [-6.92636155e-01 7.17423466e-01 -7.45568716e-02 -1.97131682e+02] [-1.12141889e-01 -5.00106759e-03 9.93679619e-01 -3.27271139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32592 meters 0.03191296482568691 Centerline is valid? [True, True] Translation: X:268.35, Y:-197.15, Z:-32.73 [[ 7.15005681e-01 6.94117378e-01 8.34741986e-02 2.68348786e+02] [-6.90155766e-01 7.19847388e-01 -7.41940479e-02 -1.97148887e+02] [-1.11588062e-01 -4.56103378e-03 9.93744082e-01 -3.27301718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35591999999997 meters 0.030301295244014426 Centerline is valid? [True, True] Translation: X:268.38, Y:-197.16, Z:-32.73 [[ 7.21223765e-01 6.87610533e-01 8.38333770e-02 2.68378262e+02] [-6.83568754e-01 7.26071021e-01 -7.45294025e-02 -1.97163359e+02] [-1.12116188e-01 -3.55350076e-03 9.93688751e-01 -3.27334528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38592 meters 0.029869245189955273 Centerline is valid? [True, True] Translation: X:268.40, Y:-197.18, Z:-32.74 [[ 7.23886768e-01 6.84666245e-01 8.49710582e-02 2.68404652e+02] [-6.80489523e-01 7.28850077e-01 -7.55749578e-02 -1.97181593e+02] [-1.13674785e-01 -3.11420293e-03 9.93513133e-01 -3.27365749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41591999999997 meters 0.02898746363252031 Centerline is valid? [True, True] Translation: X:268.43, Y:-197.20, Z:-32.74 [[ 7.30534993e-01 6.77387773e-01 8.63969232e-02 2.68432082e+02] [-6.73011331e-01 7.35623501e-01 -7.69013172e-02 -1.97198384e+02] [-1.15647619e-01 -1.96700505e-03 9.93288356e-01 -3.27392311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44592 meters 0.028780469724348758 Centerline is valid? [True, True] Translation: X:268.46, Y:-197.22, Z:-32.74 [[ 7.32743725e-01 6.74914131e-01 8.70491135e-02 2.68457392e+02] [-6.70450245e-01 7.37894615e-01 -7.75113344e-02 -1.97217718e+02] [-1.16546567e-01 -1.56615547e-03 9.93183993e-01 -3.27423287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47592 meters 0.028490821206208883 Centerline is valid? [True, True] Translation: X:268.48, Y:-197.24, Z:-32.74 [[ 7.34447967e-01 6.73164298e-01 8.62323169e-02 2.68482831e+02] [-6.68764981e-01 7.39491929e-01 -7.68445649e-02 -1.97238081e+02] [-1.15497120e-01 -1.23081935e-03 9.93307052e-01 -3.27447912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50591999999995 meters 0.028314936074826613 Centerline is valid? [True, True] Translation: X:268.51, Y:-197.26, Z:-32.75 [[ 7.37434927e-01 6.70059910e-01 8.49084494e-02 2.68508928e+02] [-6.65771626e-01 7.42306681e-01 -7.56897194e-02 -1.97257671e+02] [-1.13744756e-01 -7.13393733e-04 9.93509749e-01 -3.27483884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53592 meters 0.027946134841112618 Centerline is valid? [True, True] Translation: X:268.53, Y:-197.28, Z:-32.75 [[ 7.38100587e-01 6.69458786e-01 8.38597504e-02 2.68533304e+02] [-6.65268379e-01 7.42848968e-01 -7.47890029e-02 -1.97278953e+02] [-1.12363284e-01 -5.87433195e-04 9.93667020e-01 -3.27504919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56591999999995 meters 0.027946435276173683 Centerline is valid? [True, True] Translation: X:268.56, Y:-197.30, Z:-32.75 [[ 7.38366375e-01 6.69140936e-01 8.40565558e-02 2.68557972e+02] [-6.64920599e-01 7.43135365e-01 -7.50361605e-02 -1.97300225e+02] [-1.12675166e-01 -4.86757592e-04 9.93631758e-01 -3.27531522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59592 meters 0.027741058227751445 Centerline is valid? [True, True] Translation: X:268.58, Y:-197.32, Z:-32.76 [[ 7.38115837e-01 6.69262946e-01 8.52767262e-02 2.68583408e+02] [-6.64910485e-01 7.43025506e-01 -7.62046150e-02 -1.97320379e+02] [-1.14363708e-01 -4.53556260e-04 9.93438844e-01 -3.27559039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62591999999995 meters 0.02795052164427525 Centerline is valid? [True, True] Translation: X:268.61, Y:-197.34, Z:-32.76 [[ 7.37316770e-01 6.70173481e-01 8.50381412e-02 2.68608126e+02] [-6.65843090e-01 7.42204295e-01 -7.60642104e-02 -1.97341487e+02] [-1.14091890e-01 -5.38640845e-04 9.93470055e-01 -3.27582234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65592 meters 0.027859233698976103 Centerline is valid? [True, True] Translation: X:268.63, Y:-197.36, Z:-32.76 [[ 7.36562375e-01 6.71090838e-01 8.43383326e-02 2.68632182e+02] [-6.66828865e-01 7.41374875e-01 -7.55152906e-02 -1.97362608e+02] [-1.13203940e-01 -6.17512704e-04 9.93571581e-01 -3.27615522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68591999999995 meters 0.02772629728286805 Centerline is valid? [True, True] Translation: X:268.66, Y:-197.38, Z:-32.76 [[ 7.36634423e-01 6.71045952e-01 8.40657888e-02 2.68657084e+02] [-6.66803124e-01 7.41415553e-01 -7.53430257e-02 -1.97384506e+02] [-1.12886316e-01 -5.55064318e-04 9.93607755e-01 -3.27647367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71592 meters 0.027847167522252664 Centerline is valid? [True, True] Translation: X:268.68, Y:-197.41, Z:-32.77 [[ 7.35861566e-01 6.71853158e-01 8.43865524e-02 2.68682434e+02] [-6.67573882e-01 7.40684108e-01 -7.57110526e-02 -1.97405519e+02] [-1.13370488e-01 -6.21404670e-04 9.93552589e-01 -3.27667537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74591999999996 meters 0.027842297279206365 Centerline is valid? [True, True] Translation: X:268.71, Y:-197.43, Z:-32.77 [[ 7.35118685e-01 6.72573849e-01 8.51171946e-02 2.68706779e+02] [-6.68215606e-01 7.40029699e-01 -7.64457236e-02 -1.97426548e+02] [-1.14404646e-01 -6.79957927e-04 9.93434001e-01 -3.27701420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.77592 meters 0.027794039366395476 Centerline is valid? [True, True] Translation: X:268.73, Y:-197.45, Z:-32.77 [[ 7.34904789e-01 6.72913415e-01 8.42762554e-02 2.68731200e+02] [-6.68635420e-01 7.39720949e-01 -7.57601048e-02 -1.97448056e+02] [-1.13320902e-01 -6.73625612e-04 9.93558211e-01 -3.27723068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80591999999996 meters 0.027726106229178253 Centerline is valid? [True, True] Translation: X:268.76, Y:-197.47, Z:-32.77 [[ 7.35025048e-01 6.72661917e-01 8.52298305e-02 2.68755267e+02] [-6.68276450e-01 7.39949726e-01 -7.66876012e-02 -1.97468585e+02] [-1.14650619e-01 -5.89780871e-04 9.93405702e-01 -3.27748715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.83592 meters 0.027682947360852615 Centerline is valid? [True, True] Translation: X:268.78, Y:-197.49, Z:-32.78 [[ 7.34772410e-01 6.73026360e-01 8.45282410e-02 2.68779944e+02] [-6.68707832e-01 7.39618259e-01 -7.61227101e-02 -1.97489783e+02] [-1.13751221e-01 -5.91829656e-04 9.93509089e-01 -3.27778139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86591999999996 meters 0.027863260166812644 Centerline is valid? [True, True] Translation: X:268.81, Y:-197.51, Z:-32.78 [[ 7.35570143e-01 6.72120605e-01 8.47965635e-02 2.68805300e+02] [-6.67759985e-01 7.40441581e-01 -7.64386567e-02 -1.97511276e+02] [-1.14162898e-01 -3.97758275e-04 9.93461964e-01 -3.27818357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89592 meters 0.027930337055912906 Centerline is valid? [True, True] Translation: X:268.83, Y:-197.53, Z:-32.79 [[ 7.35299762e-01 6.72416557e-01 8.47952465e-02 2.68829723e+02] [-6.68048627e-01 7.40172836e-01 -7.65193066e-02 -1.97533698e+02] [-1.14215987e-01 -3.82720110e-04 9.93455868e-01 -3.27850141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92591999999996 meters 0.027930337055912906 Centerline is valid? [True, True] Translation: X:268.85, Y:-197.56, Z:-32.79 [[ 7.34946769e-01 6.72807469e-01 8.47546826e-02 2.68854031e+02] [-6.68436951e-01 7.39817520e-01 -7.65642155e-02 -1.97555164e+02] [-1.14215975e-01 -3.82538859e-04 9.93455870e-01 -3.27878839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95592 meters 0.028119772702600472 Centerline is valid? [True, True] Translation: X:268.88, Y:-197.58, Z:-32.79 [[ 7.34946463e-01 6.72703445e-01 8.55790420e-02 2.68878971e+02] [-6.68237179e-01 7.39912143e-01 -7.73892372e-02 -1.97575671e+02] [-1.15380979e-01 -3.10151497e-04 9.93321264e-01 -3.27904388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98591999999996 meters 0.027942235608873725 Centerline is valid? [True, True] Translation: X:268.90, Y:-197.60, Z:-32.79 [[ 7.35121197e-01 6.72623566e-01 8.47016210e-02 2.68904131e+02] [-6.68240077e-01 7.39984784e-01 -7.66662873e-02 -1.97595757e+02] [-1.14245462e-01 -2.42004830e-04 9.93452523e-01 -3.27928580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01592 meters 0.028098112222851964 Centerline is valid? [True, True] Translation: X:268.93, Y:-197.62, Z:-32.80 [[ 7.35373407e-01 6.72369262e-01 8.45312252e-02 2.68929424e+02] [-6.67993369e-01 7.40215883e-01 -7.65852814e-02 -1.97616274e+02] [-1.14064945e-01 -1.47518581e-04 9.93473284e-01 -3.27961353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04591999999997 meters 0.027953058114194757 Centerline is valid? [True, True] Translation: X:268.95, Y:-197.64, Z:-32.80 [[ 7.36404036e-01 6.71299107e-01 8.40630985e-02 2.68954184e+02] [-6.66955541e-01 7.41186551e-01 -7.62417448e-02 -1.97638572e+02] [-1.13487453e-01 7.83792368e-05 9.93539426e-01 -3.27989318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07592 meters 0.028165219268519774 Centerline is valid? [True, True] Translation: X:268.98, Y:-197.66, Z:-32.80 [[ 7.37235583e-01 6.70373835e-01 8.41582793e-02 2.68979167e+02] [-6.66005164e-01 7.42023478e-01 -7.64086391e-02 -1.97659898e+02] [-1.13669772e-01 2.81319010e-04 9.93518547e-01 -3.28012907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10591999999997 meters 0.02830294050822329 Centerline is valid? [True, True] Translation: X:269.01, Y:-197.68, Z:-32.80 [[ 7.39368386e-01 6.68050995e-01 8.39181689e-02 2.69006704e+02] [-6.63683191e-01 7.44115168e-01 -7.62708260e-02 -1.97678100e+02] [-1.13397584e-01 6.97159298e-04 9.93549446e-01 -3.28034187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13592 meters 0.028514597553962368 Centerline is valid? [True, True] Translation: X:269.03, Y:-197.70, Z:-32.81 [[ 7.39533289e-01 6.67776040e-01 8.46503037e-02 2.69031793e+02] [-6.63320574e-01 7.44361815e-01 -7.70149573e-02 -1.97697778e+02] [-1.14439197e-01 8.04836595e-04 9.93429928e-01 -3.28069847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16591999999997 meters 0.02870080243242098 Centerline is valid? [True, True] Translation: X:269.06, Y:-197.72, Z:-32.81 [[ 7.39983533e-01 6.67235690e-01 8.49759039e-02 2.69057070e+02] [-6.62733857e-01 7.44846051e-01 -7.73834319e-02 -1.97717984e+02] [-1.14926954e-01 9.46056795e-04 9.93373495e-01 -3.28111324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19592 meters 0.0291628509363519 Centerline is valid? [True, True] Translation: X:269.08, Y:-197.74, Z:-32.81 [[ 7.42563207e-01 6.64297796e-01 8.54887266e-02 2.69082919e+02] [-6.59713082e-01 7.47466580e-01 -7.79253605e-02 -1.97736896e+02] [-1.15665611e-01 1.46647433e-03 9.93287127e-01 -3.28134860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22592 meters 0.02929290390688401 Centerline is valid? [True, True] Translation: X:269.11, Y:-197.76, Z:-32.82 [[ 7.44140908e-01 6.62604673e-01 8.49079282e-02 2.69108681e+02] [-6.58063025e-01 7.48967228e-01 -7.74670669e-02 -1.97758074e+02] [-1.14923296e-01 1.77164547e-03 9.93372789e-01 -3.28165781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25591999999995 meters 0.03022677497567681 Centerline is valid? [True, True] Translation: X:269.13, Y:-197.78, Z:-32.82 [[ 7.48433312e-01 6.57954617e-01 8.33264625e-02 2.69134075e+02] [-6.53543878e-01 7.53053443e-01 -7.60980428e-02 -1.97778124e+02] [-1.12818338e-01 2.49681071e-03 9.93612494e-01 -3.28193106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28592 meters 0.03077987525046776 Centerline is valid? [True, True] Translation: X:269.16, Y:-197.80, Z:-32.82 [[ 7.50770917e-01 6.55382285e-01 8.25656770e-02 2.69158622e+02] [-6.51029056e-01 7.55291737e-01 -7.54689337e-02 -1.97798752e+02] [-1.11822176e-01 2.90722580e-03 9.93723980e-01 -3.28214557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31591999999995 meters 0.031272912366133915 Centerline is valid? [True, True] Translation: X:269.18, Y:-197.82, Z:-32.82 [[ 7.52340343e-01 6.53559319e-01 8.27298277e-02 2.69183597e+02] [-6.49170272e-01 7.56868384e-01 -7.56849224e-02 -1.97819156e+02] [-1.12080177e-01 3.23507576e-03 9.93693901e-01 -3.28245880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34592 meters 0.03193497512546804 Centerline is valid? [True, True] Translation: X:269.21, Y:-197.84, Z:-32.83 [[ 7.54963584e-01 6.50565830e-01 8.24262566e-02 2.69207202e+02] [-6.46183995e-01 7.59440778e-01 -7.54715172e-02 -1.97840959e+02] [-1.11697051e-01 3.71571938e-03 9.93735358e-01 -3.28259273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37591999999995 meters 0.032262001773300165 Centerline is valid? [True, True] Translation: X:269.23, Y:-197.86, Z:-32.83 [[ 7.54938503e-01 6.50438021e-01 8.36554717e-02 2.69229739e+02] [-6.45915931e-01 7.59549625e-01 -7.66614461e-02 -1.97863769e+02] [-1.13404001e-01 3.84027541e-03 9.93541537e-01 -3.28296685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40592 meters 0.032465899339570385 Centerline is valid? [True, True] Translation: X:269.25, Y:-197.89, Z:-32.83 [[ 7.55708948e-01 6.49560155e-01 8.35200067e-02 2.69251104e+02] [-6.45039986e-01 7.60299600e-01 -7.66024423e-02 -1.97887432e+02] [-1.13258122e-01 4.01540711e-03 9.93557484e-01 -3.28323111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43591999999995 meters 0.03286926382375588 Centerline is valid? [True, True] Translation: X:269.27, Y:-197.91, Z:-32.84 [[ 7.56325930e-01 6.48850788e-01 8.34490487e-02 2.69274761e+02] [-6.44326627e-01 7.60904254e-01 -7.66023064e-02 -1.97908880e+02] [-1.13200203e-01 4.16786653e-03 9.93563457e-01 -3.28353520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46592 meters 0.03291044819822395 Centerline is valid? [True, True] Translation: X:269.30, Y:-197.93, Z:-32.84 [[ 7.56695887e-01 6.48600609e-01 8.20279459e-02 2.69298251e+02] [-6.44220968e-01 7.61117438e-01 -7.53630612e-02 -1.97931744e+02] [-1.11313427e-01 4.18279578e-03 9.93776547e-01 -3.28379793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49591999999996 meters 0.03306952539987839 Centerline is valid? [True, True] Translation: X:269.32, Y:-197.96, Z:-32.84 [[ 7.57412760e-01 6.47907297e-01 8.08829200e-02 2.69319583e+02] [-6.43637651e-01 7.61707179e-01 -7.43824508e-02 -1.97957524e+02] [-1.09802033e-01 4.27892477e-03 9.93944266e-01 -3.28403463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.52592 meters 0.03313916954115804 Centerline is valid? [True, True] Translation: X:269.34, Y:-197.98, Z:-32.84 [[ 7.56635655e-01 6.48770930e-01 8.12327889e-02 2.69341768e+02] [-6.44461193e-01 7.60972022e-01 -7.47753429e-02 -1.97980919e+02] [-1.10327948e-01 4.22631054e-03 9.93886252e-01 -3.28432130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55591999999996 meters 0.033142939796832874 Centerline is valid? [True, True] Translation: X:269.37, Y:-198.00, Z:-32.84 [[ 7.56089952e-01 6.49452197e-01 8.08692033e-02 2.69365226e+02] [-6.45177993e-01 7.60391063e-01 -7.45036216e-02 -1.98002578e+02] [-1.09878760e-01 4.15640941e-03 9.93936307e-01 -3.28449061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.58592 meters 0.032544159551747956 Centerline is valid? [True, True] Translation: X:269.39, Y:-198.03, Z:-32.85 [[ 7.55080431e-01 6.50536826e-01 8.15805205e-02 2.69387639e+02] [-6.46186939e-01 7.59463770e-01 -7.52145060e-02 -1.98025707e+02] [-1.10887256e-01 4.07673478e-03 9.93824631e-01 -3.28481824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61591999999996 meters 0.03238126043705348 Centerline is valid? [True, True] Translation: X:269.41, Y:-198.05, Z:-32.85 [[ 7.53988225e-01 6.51892139e-01 8.08603411e-02 2.69409561e+02] [-6.47623294e-01 7.58301846e-01 -7.45813651e-02 -1.98048992e+02] [-1.09935552e-01 3.86643062e-03 9.93931197e-01 -3.28509955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64592 meters 0.03160017005485549 Centerline is valid? [True, True] Translation: X:269.43, Y:-198.07, Z:-32.85 [[ 7.51458305e-01 6.54807008e-01 8.08591195e-02 2.69430344e+02] [-6.50548537e-01 7.55788089e-01 -7.46389026e-02 -1.98074323e+02] [-1.09986436e-01 3.48524128e-03 9.93926978e-01 -3.28534247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67591999999996 meters 0.031082717663490602 Centerline is valid? [True, True] Translation: X:269.45, Y:-198.10, Z:-32.86 [[ 7.49251701e-01 6.57206133e-01 8.18656640e-02 2.69453391e+02] [-6.52850111e-01 7.53704070e-01 -7.56102332e-02 -1.98096240e+02] [-1.11393993e-01 3.20508809e-03 9.93771154e-01 -3.28552139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70592 meters 0.03105508566111155 Centerline is valid? [True, True] Translation: X:269.48, Y:-198.12, Z:-32.86 [[ 7.48321849e-01 6.58280017e-01 8.17424553e-02 2.69476647e+02] [-6.53936234e-01 7.52766811e-01 -7.55614369e-02 -1.98118261e+02] [-1.11273591e-01 3.08992084e-03 9.93785007e-01 -3.28575773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73591999999996 meters 0.030888085609508842 Centerline is valid? [True, True] Translation: X:269.50, Y:-198.14, Z:-32.86 [[ 7.47443565e-01 6.59222800e-01 8.21791801e-02 2.69500127e+02] [-6.54830304e-01 7.51941617e-01 -7.60333943e-02 -1.98141726e+02] [-1.11916893e-01 3.01725379e-03 9.93712989e-01 -3.28603008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76592 meters 0.030856467924165305 Centerline is valid? [True, True] Translation: X:269.52, Y:-198.17, Z:-32.86 [[ 7.46505078e-01 6.60213811e-01 8.27519929e-02 2.69523046e+02] [-6.55757058e-01 7.51071928e-01 -7.66396765e-02 -1.98165375e+02] [-1.12751272e-01 2.94670418e-03 9.93618874e-01 -3.28637068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79591999999997 meters 0.03058068796568227 Centerline is valid? [True, True] Translation: X:269.55, Y:-198.19, Z:-32.87 [[ 7.44712256e-01 6.62154385e-01 8.33979949e-02 2.69546432e+02] [-6.57631028e-01 7.49362471e-01 -7.73131212e-02 -1.98187627e+02] [-1.13688550e-01 2.73091984e-03 9.93512685e-01 -3.28665486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82592 meters 0.03020227681837463 Centerline is valid? [True, True] Translation: X:269.57, Y:-198.21, Z:-32.87 [[ 7.42629315e-01 6.64566583e-01 8.27825878e-02 2.69570638e+02] [-6.60117280e-01 7.47225215e-01 -7.68092048e-02 -1.98209002e+02] [-1.12902068e-01 2.39455048e-03 9.93603235e-01 -3.28686511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85591999999997 meters 0.02986991784119944 Centerline is valid? [True, True] Translation: X:269.59, Y:-198.23, Z:-32.87 [[ 7.40588276e-01 6.66730387e-01 8.36635986e-02 2.69593709e+02] [-6.62191349e-01 7.45295925e-01 -7.76955690e-02 -1.98231908e+02] [-1.14156136e-01 2.13911621e-03 9.93460518e-01 -3.28713857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88592 meters 0.030006629540057356 Centerline is valid? [True, True] Translation: X:269.62, Y:-198.25, Z:-32.88 [[ 7.39675275e-01 6.67570848e-01 8.50273487e-02 2.69616630e+02] [-6.62879347e-01 7.44543330e-01 -7.90329128e-02 -1.98254502e+02] [-1.16066614e-01 2.09581817e-03 9.93239220e-01 -3.28756234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91591999999997 meters 0.029788785093489662 Centerline is valid? [True, True] Translation: X:269.64, Y:-198.28, Z:-32.88 [[ 7.39192374e-01 6.68226289e-01 8.40729523e-02 2.69639516e+02] [-6.63636167e-01 7.43955334e-01 -7.82144402e-02 -1.98277546e+02] [-1.14811466e-01 2.02166599e-03 9.93385243e-01 -3.28775607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94592 meters 0.029976558589292976 Centerline is valid? [True, True] Translation: X:269.66, Y:-198.30, Z:-32.88 [[ 7.39373787e-01 6.68065266e-01 8.37568153e-02 2.69664169e+02] [-6.63500506e-01 7.44099740e-01 -7.79913777e-02 -1.98299565e+02] [-1.14426755e-01 2.09209097e-03 9.93429485e-01 -3.28802790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97592 meters 0.030201073491613138 Centerline is valid? [True, True] Translation: X:269.69, Y:-198.32, Z:-32.88 [[ 7.40162332e-01 6.67261565e-01 8.31969152e-02 2.69688466e+02] [-6.62743836e-01 7.44820043e-01 -7.75481221e-02 -1.98322039e+02] [-1.13711611e-01 2.25995621e-03 9.93511229e-01 -3.28838279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00591999999995 meters 0.03052839326494311 Centerline is valid? [True, True] Translation: X:269.71, Y:-198.34, Z:-32.89 [[ 7.40356427e-01 6.67020641e-01 8.34015914e-02 2.69711750e+02] [-6.62470304e-01 7.45035499e-01 -7.78151764e-02 -1.98344065e+02] [-1.14041475e-01 2.35988835e-03 9.93473187e-01 -3.28879419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03592 meters 0.03086258657185108 Centerline is valid? [True, True] Translation: X:269.73, Y:-198.37, Z:-32.89 [[ 7.39905069e-01 6.67434492e-01 8.40933297e-02 2.69734755e+02] [-6.62802700e-01 7.44664752e-01 -7.85301693e-02 -1.98366443e+02] [-1.15035082e-01 2.36758432e-03 9.93358608e-01 -3.28910788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06591999999995 meters 0.03088953483614334 Centerline is valid? [True, True] Translation: X:269.76, Y:-198.39, Z:-32.89 [[ 7.39264445e-01 6.67881337e-01 8.61545139e-02 2.69757752e+02] [-6.63013341e-01 7.44263875e-01 -8.05269756e-02 -1.98388538e+02] [-1.17904157e-01 2.40913778e-03 9.93022057e-01 -3.28939916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09592 meters 0.031202672153383522 Centerline is valid? [True, True] Translation: X:269.78, Y:-198.41, Z:-32.90 [[ 7.38864773e-01 6.68306380e-01 8.62868997e-02 2.69781736e+02] [-6.63417500e-01 7.43882264e-01 -8.07242104e-02 -1.98410391e+02] [-1.18135799e-01 2.40003612e-03 9.92994548e-01 -3.28979681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12591999999995 meters 0.03132755633505021 Centerline is valid? [True, True] Translation: X:269.80, Y:-198.43, Z:-32.90 [[ 7.38937967e-01 6.68371993e-01 8.51443493e-02 2.69804696e+02] [-6.63603592e-01 7.43823263e-01 -7.97322129e-02 -1.98432734e+02] [-1.16623126e-01 2.41506321e-03 9.93173305e-01 -3.29008922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15592 meters 0.03135569392520581 Centerline is valid? [True, True] Translation: X:269.83, Y:-198.46, Z:-32.90 [[ 7.39632024e-01 6.67718867e-01 8.42376654e-02 2.69828576e+02] [-6.63039351e-01 7.44409190e-01 -7.89542718e-02 -1.98455191e+02] [-1.15426549e-01 2.54422083e-03 9.93312760e-01 -3.29031855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18591999999995 meters 0.03158399177007215 Centerline is valid? [True, True] Translation: X:269.85, Y:-198.48, Z:-32.91 [[ 7.39929216e-01 6.67301441e-01 8.49325699e-02 2.69851700e+02] [-6.62532206e-01 7.44782888e-01 -7.96839117e-02 -1.98477308e+02] [-1.16429514e-01 2.68989140e-03 9.93195315e-01 -3.29069453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21592 meters 0.03200753416943365 Centerline is valid? [True, True] Translation: X:269.87, Y:-198.50, Z:-32.91 [[ 7.40496655e-01 6.66597169e-01 8.55156061e-02 2.69874909e+02] [-6.61748949e-01 7.45412610e-01 -8.03017438e-02 -1.98499189e+02] [-1.17273326e-01 2.87331025e-03 9.93095520e-01 -3.29109004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24591999999996 meters 0.031866426229281625 Centerline is valid? [True, True] Translation: X:269.90, Y:-198.52, Z:-32.91 [[ 7.40253165e-01 6.66927840e-01 8.50441560e-02 2.69897511e+02] [-6.62127143e-01 7.45116832e-01 -7.99284291e-02 -1.98521549e+02] [-1.16674327e-01 2.85722862e-03 9.93166118e-01 -3.29131734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.27592 meters 0.032153175715914396 Centerline is valid? [True, True] Translation: X:269.92, Y:-198.55, Z:-32.92 [[ 7.40770728e-01 6.66441561e-01 8.43467512e-02 2.69919813e+02] [-6.61708149e-01 7.45551386e-01 -7.93439174e-02 -1.98545213e+02] [-1.15762921e-01 2.96271889e-03 9.93272454e-01 -3.29160229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30591999999996 meters 0.03224373928650429 Centerline is valid? [True, True] Translation: X:269.94, Y:-198.57, Z:-32.92 [[ 7.41107359e-01 6.66031444e-01 8.46285906e-02 2.69942684e+02] [-6.61254504e-01 7.45917244e-01 -7.96865450e-02 -1.98567959e+02] [-1.16199670e-01 3.09524818e-03 9.93221051e-01 -3.29180826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.33592 meters 0.032490005224630115 Centerline is valid? [True, True] Translation: X:269.97, Y:-198.59, Z:-32.92 [[ 7.42429456e-01 6.64794076e-01 8.27486479e-02 2.69965152e+02] [-6.60212199e-01 7.47019521e-01 -7.79851804e-02 -1.98592744e+02] [-1.13658941e-01 3.26682833e-03 9.93514455e-01 -3.29209335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36591999999996 meters 0.03281864536038863 Centerline is valid? [True, True] Translation: X:269.99, Y:-198.62, Z:-32.92 [[ 7.42762630e-01 6.64219503e-01 8.43571385e-02 2.69986820e+02] [-6.59444488e-01 7.47529499e-01 -7.95777364e-02 -1.98615681e+02] [-1.15916534e-01 3.47851879e-03 9.93252867e-01 -3.29246611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39592 meters 0.032987597972020215 Centerline is valid? [True, True] Translation: X:270.01, Y:-198.64, Z:-32.93 [[ 7.43307058e-01 6.63645477e-01 8.40791198e-02 2.70008316e+02] [-6.58890956e-01 7.48038564e-01 -7.93789396e-02 -1.98638979e+02] [-1.15573898e-01 3.60395449e-03 9.93292346e-01 -3.29268503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42591999999996 meters 0.032778053797058775 Centerline is valid? [True, True] Translation: X:270.03, Y:-198.67, Z:-32.93 [[ 7.43113678e-01 6.63917332e-01 8.36411234e-02 2.70027436e+02] [-6.59206438e-01 7.47797344e-01 -7.90316646e-02 -1.98667058e+02] [-1.15017102e-01 3.59274393e-03 9.93357015e-01 -3.29281565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45592 meters 0.03255786017054548 Centerline is valid? [True, True] Translation: X:270.05, Y:-198.69, Z:-32.93 [[ 7.43163490e-01 6.63984461e-01 8.26599210e-02 2.70048443e+02] [-6.59375785e-01 7.47737727e-01 -7.81784186e-02 -1.98691341e+02] [-1.13717197e-01 3.59539611e-03 9.93506654e-01 -3.29304168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48591999999996 meters 0.03234007315588845 Centerline is valid? [True, True] Translation: X:270.07, Y:-198.72, Z:-32.93 [[ 7.41674996e-01 6.65740677e-01 8.18996422e-02 2.70065739e+02] [-6.61219779e-01 7.46175690e-01 -7.75257636e-02 -1.98719456e+02] [-1.12723576e-01 3.34525701e-03 9.93620755e-01 -3.29332271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51592 meters 0.03204593266053599 Centerline is valid? [True, True] Translation: X:270.09, Y:-198.75, Z:-32.94 [[ 7.40324449e-01 6.67149267e-01 8.26532849e-02 2.70086060e+02] [-6.62545109e-01 7.44917130e-01 -7.83099457e-02 -1.98745198e+02] [-1.13814271e-01 3.21323772e-03 9.93496848e-01 -3.29370959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54591999999997 meters 0.031546528157980085 Centerline is valid? [True, True] Translation: X:270.10, Y:-198.77, Z:-32.94 [[ 7.36487495e-01 6.71276574e-01 8.35100635e-02 2.70102673e+02] [-6.66593453e-01 7.41202183e-01 -7.91990660e-02 -1.98774619e+02] [-1.15062319e-01 2.66186011e-03 9.93354709e-01 -3.29405941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57592 meters 0.031041392848281908 Centerline is valid? [True, True] Translation: X:270.12, Y:-198.80, Z:-32.94 [[ 7.33526534e-01 6.74524984e-01 8.33958563e-02 2.70123015e+02] [-6.69867465e-01 7.38248736e-01 -7.91604929e-02 -1.98800222e+02] [-1.14962616e-01 2.20215124e-03 9.93367378e-01 -3.29417297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60591999999997 meters 0.030688836090682337 Centerline is valid? [True, True] Translation: X:270.14, Y:-198.82, Z:-32.94 [[ 7.30918808e-01 6.77286051e-01 8.39124600e-02 2.70143768e+02] [-6.72580185e-01 7.35717505e-01 -7.97223225e-02 -1.98824432e+02] [-1.15730683e-01 1.83268711e-03 9.93278939e-01 -3.29440584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63592 meters 0.030242083494860766 Centerline is valid? [True, True] Translation: X:270.16, Y:-198.85, Z:-32.95 [[ 7.24977565e-01 6.83597601e-01 8.42724692e-02 2.70163116e+02] [-6.78884786e-01 7.29858571e-01 -8.01368412e-02 -1.98850337e+02] [-1.16288336e-01 8.86114800e-04 9.93215101e-01 -3.29463482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66591999999997 meters 0.030318982260800823 Centerline is valid? [True, True] Translation: X:270.19, Y:-198.87, Z:-32.95 [[ 7.22354385e-01 6.86373161e-01 8.42379228e-02 2.70185436e+02] [-6.81674365e-01 7.27249366e-01 -8.01774276e-02 -1.98873284e+02] [-1.16293610e-01 4.93683870e-04 9.93214756e-01 -3.29504355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69592 meters 0.03039387550985746 Centerline is valid? [True, True] Translation: X:270.21, Y:-198.90, Z:-32.95 [[ 7.18572421e-01 6.90327550e-01 8.42706959e-02 2.70208667e+02] [-6.85643004e-01 7.23496971e-01 -8.02857720e-02 -1.98895872e+02] [-1.16393073e-01 -8.84715162e-05 9.93203224e-01 -3.29535289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72592 meters 0.030188817827555062 Centerline is valid? [True, True] Translation: X:270.23, Y:-198.92, Z:-32.96 [[ 7.16635595e-01 6.92498423e-01 8.29418971e-02 2.70232465e+02] [-6.87966083e-01 7.21419291e-01 -7.91004179e-02 -1.98917119e+02] [-1.14612799e-01 -3.75037001e-04 9.93410170e-01 -3.29559693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75591999999995 meters 0.03032646575814619 Centerline is valid? [True, True] Translation: X:270.26, Y:-198.94, Z:-32.96 [[ 7.14611162e-01 6.94586728e-01 8.29467513e-02 2.70257305e+02] [-6.90058991e-01 7.19408680e-01 -7.91816862e-02 -1.98939430e+02] [-1.14671161e-01 -6.54034759e-04 9.93403290e-01 -3.29584723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78592 meters 0.03039235280382172 Centerline is valid? [True, True] Translation: X:270.28, Y:-198.96, Z:-32.96 [[ 7.11731774e-01 6.97673788e-01 8.17873312e-02 2.70283272e+02] [-6.93282931e-01 7.16414777e-01 -7.81578225e-02 -1.98960055e+02] [-1.13122317e-01 -1.07435503e-03 9.93580489e-01 -3.29599491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81591999999995 meters 0.030510211174444166 Centerline is valid? [True, True] Translation: X:270.31, Y:-198.98, Z:-32.96 [[ 7.10308044e-01 6.98970111e-01 8.30858960e-02 2.70307939e+02] [-6.94437412e-01 7.15149805e-01 -7.94823113e-02 -1.98980363e+02] [-1.14974622e-01 -1.24102949e-03 9.93367654e-01 -3.29641201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84592 meters 0.030510211174444166 Centerline is valid? [True, True] Translation: X:270.33, Y:-199.00, Z:-32.97 [[ 7.09938645e-01 6.99349856e-01 8.30475761e-02 2.70331577e+02] [-6.94815064e-01 7.14778444e-01 -7.95223345e-02 -1.99002510e+02] [-1.14974550e-01 -1.24672851e-03 9.93367655e-01 -3.29669898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87591999999995 meters 0.030736479984046418 Centerline is valid? [True, True] Translation: X:270.36, Y:-199.02, Z:-32.97 [[ 7.08619831e-01 7.00531752e-01 8.43397931e-02 2.70357920e+02] [-6.95852826e-01 7.13619858e-01 -8.08427085e-02 -1.99020609e+02] [-1.16819435e-01 -1.40133693e-03 9.93152182e-01 -3.29704451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90592 meters 0.030855788812334247 Centerline is valid? [True, True] Translation: X:270.38, Y:-199.04, Z:-32.97 [[ 7.08329208e-01 7.00776524e-01 8.47466574e-02 2.70383758e+02] [-6.96045173e-01 7.13379503e-01 -8.13068314e-02 -1.99041558e+02] [-1.17434447e-01 -1.39549831e-03 9.93079656e-01 -3.29735028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93591999999995 meters 0.03068986976814659 Centerline is valid? [True, True] Translation: X:270.41, Y:-199.06, Z:-32.98 [[ 7.09369562e-01 6.99713106e-01 8.48315596e-02 2.70410716e+02] [-6.94954466e-01 7.14423003e-01 -8.14743086e-02 -1.99060343e+02] [-1.17614259e-01 -1.15867659e-03 9.93058681e-01 -3.29761659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96592 meters 0.030535833902573854 Centerline is valid? [True, True] Translation: X:270.44, Y:-199.08, Z:-32.98 [[ 7.10563805e-01 6.98591678e-01 8.40758355e-02 2.70435484e+02] [-6.93900186e-01 7.15519985e-01 -8.08311944e-02 -1.99080713e+02] [-1.16625940e-01 -9.04516864e-04 9.93175499e-01 -3.29790046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99591999999996 meters 0.030396094260749903 Centerline is valid? [True, True] Translation: X:270.46, Y:-199.10, Z:-32.98 [[ 7.13719711e-01 6.95368605e-01 8.40635286e-02 2.70461235e+02] [-6.90647238e-01 7.18653184e-01 -8.08949543e-02 -1.99099778e+02] [-1.16664334e-01 -3.21920411e-04 9.93171350e-01 -3.29817916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.02592 meters 0.030328402357199954 Centerline is valid? [True, True] Translation: X:270.49, Y:-199.12, Z:-32.99 [[ 7.15162585e-01 6.93863725e-01 8.42354329e-02 2.70485994e+02] [-6.89103283e-01 7.20106333e-01 -8.11389871e-02 -1.99121158e+02] [-1.16957869e-01 -1.93455046e-05 9.93136877e-01 -3.29851237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05591999999996 meters 0.0303194263728627 Centerline is valid? [True, True] Translation: X:270.51, Y:-199.14, Z:-32.99 [[ 7.16727421e-01 6.92329951e-01 8.35526413e-02 2.70510176e+02] [-6.87626572e-01 7.21581011e-01 -8.05639025e-02 -1.99142021e+02] [-1.16066802e-01 2.89341733e-04 9.93241367e-01 -3.29874333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.08592 meters 0.030597303572541788 Centerline is valid? [True, True] Translation: X:270.54, Y:-199.16, Z:-32.99 [[ 7.17595845e-01 6.91410869e-01 8.37091001e-02 2.70535096e+02] [-6.86674470e-01 7.22461601e-01 -8.07923766e-02 -1.99163623e+02] [-1.16337338e-01 4.95371812e-04 9.93209635e-01 -3.29915670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11591999999996 meters 0.03077552265440062 Centerline is valid? [True, True] Translation: X:270.56, Y:-199.18, Z:-32.99 [[ 7.21387906e-01 6.87484978e-01 8.34499457e-02 2.70560376e+02] [-6.82742069e-01 7.26197629e-01 -8.06242531e-02 -1.99183233e+02] [-1.16029116e-01 1.18657254e-03 9.93245104e-01 -3.29946221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14592 meters 0.030654752359766925 Centerline is valid? [True, True] Translation: X:270.58, Y:-199.21, Z:-33.00 [[ 7.21663829e-01 6.87250176e-01 8.29970645e-02 2.70584221e+02] [-6.82548482e-01 7.26419696e-01 -8.02620335e-02 -1.99206076e+02] [-1.15450799e-01 1.27268606e-03 9.93312385e-01 -3.29975371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17591999999996 meters 0.030863773006973728 Centerline is valid? [True, True] Translation: X:270.61, Y:-199.23, Z:-33.00 [[ 7.23655477e-01 6.85106093e-01 8.33810065e-02 2.70607562e+02] [-6.80336918e-01 7.28441357e-01 -8.07147332e-02 -1.99228140e+02] [-1.16036329e-01 1.68248179e-03 9.93243545e-01 -3.30001727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20592 meters 0.030886593364417025 Centerline is valid? [True, True] Translation: X:270.63, Y:-199.25, Z:-33.00 [[ 7.23834256e-01 6.84836428e-01 8.40418697e-02 2.70630541e+02] [-6.79980566e-01 7.28694620e-01 -8.14283805e-02 -1.99250661e+02] [-1.17005980e-01 1.79381314e-03 9.93129590e-01 -3.30028995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23591999999996 meters 0.03079515975823115 Centerline is valid? [True, True] Translation: X:270.65, Y:-199.27, Z:-33.01 [[ 7.23870284e-01 6.84849815e-01 8.36214264e-02 2.70653352e+02] [-6.80033900e-01 7.28681930e-01 -8.10958698e-02 -1.99273775e+02] [-1.16471914e-01 1.83748561e-03 9.93192286e-01 -3.30064648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26592 meters 0.030620109000146584 Centerline is valid? [True, True] Translation: X:270.67, Y:-199.30, Z:-33.01 [[ 7.24993799e-01 6.83759110e-01 8.28098485e-02 2.70673788e+02] [-6.79019947e-01 7.29704916e-01 -8.03905942e-02 -1.99299734e+02] [-1.15394555e-01 2.05314337e-03 9.93317614e-01 -3.30093970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29591999999997 meters 0.03052400858426272 Centerline is valid? [True, True] Translation: X:270.70, Y:-199.32, Z:-33.01 [[ 7.24816133e-01 6.83920060e-01 8.30356803e-02 2.70695788e+02] [-6.79146346e-01 7.29553951e-01 -8.06924623e-02 -1.99323950e+02] [-1.15766202e-01 2.09381961e-03 9.93274284e-01 -3.30128597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32592 meters 0.030075703277197795 Centerline is valid? [True, True] Translation: X:270.72, Y:-199.35, Z:-33.02 [[ 7.23722608e-01 6.85164023e-01 8.23155372e-02 2.70716522e+02] [-6.80473162e-01 7.28386260e-01 -8.00608039e-02 -1.99349299e+02] [-1.14812289e-01 1.92829997e-03 9.93385333e-01 -3.30151419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35591999999997 meters 0.029855047872227286 Centerline is valid? [True, True] Translation: X:270.74, Y:-199.37, Z:-33.02 [[ 7.21819985e-01 6.87124743e-01 8.26770611e-02 2.70738000e+02] [-6.82400946e-01 7.26537585e-01 -8.04492832e-02 -1.99372906e+02] [-1.15346685e-01 1.65099573e-03 9.93323923e-01 -3.30175586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38592 meters 0.029695813789449684 Centerline is valid? [True, True] Translation: X:270.76, Y:-199.40, Z:-33.02 [[ 7.20113752e-01 6.88756632e-01 8.39671743e-02 2.70760015e+02] [-6.83885945e-01 7.24991139e-01 -8.17793546e-02 -1.99396969e+02] [-1.17201530e-01 1.46646762e-03 9.93107069e-01 -3.30198236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41591999999997 meters 0.02936848291962652 Centerline is valid? [True, True] Translation: X:270.78, Y:-199.42, Z:-33.02 [[ 7.17063393e-01 6.91969026e-01 8.36597692e-02 2.70780374e+02] [-6.87147100e-01 7.21926507e-01 -8.15535493e-02 -1.99422244e+02] [-1.16828735e-01 9.92496938e-04 9.93151580e-01 -3.30229434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44592 meters 0.029179873631358044 Centerline is valid? [True, True] Translation: X:270.80, Y:-199.45, Z:-33.03 [[ 7.15061443e-01 6.94068591e-01 8.34021834e-02 2.70801940e+02] [-6.89281928e-01 7.19908535e-01 -8.13764429e-02 -1.99445598e+02] [-1.16522777e-01 7.01538916e-04 9.93187772e-01 -3.30267039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47592 meters 0.028955325325108253 Centerline is valid? [True, True] Translation: X:270.82, Y:-199.47, Z:-33.03 [[ 7.11696508e-01 6.97469414e-01 8.38122688e-02 2.70823244e+02] [-6.92649625e-01 7.16614523e-01 -8.18542750e-02 -1.99471090e+02] [-1.17151942e-01 2.02865190e-04 9.93113982e-01 -3.30303365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50591999999995 meters 0.028834950589746364 Centerline is valid? [True, True] Translation: X:270.85, Y:-199.50, Z:-33.03 [[ 7.09439344e-01 6.99750135e-01 8.39378705e-02 2.70845229e+02] [-6.94922848e-01 7.14387664e-01 -8.20518191e-02 -1.99495201e+02] [-1.17379951e-01 -1.19555319e-04 9.93087072e-01 -3.30318890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53592 meters 0.029137457486992743 Centerline is valid? [True, True] Translation: X:270.87, Y:-199.52, Z:-33.03 [[ 7.05629826e-01 7.03505235e-01 8.46577419e-02 2.70868250e+02] [-6.98615453e-01 7.10689717e-01 -8.28044351e-02 -1.99517896e+02] [-1.18418740e-01 -7.13927633e-04 9.92963490e-01 -3.30337401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56591999999995 meters 0.029173652469123696 Centerline is valid? [True, True] Translation: X:270.89, Y:-199.54, Z:-33.04 [[ 7.02971324e-01 7.06238153e-01 8.40177878e-02 2.70891989e+02] [-7.01432257e-01 7.07973477e-01 -8.22577982e-02 -1.99539995e+02] [-1.17575961e-01 -1.10791328e-03 9.93063274e-01 -3.30362849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59592 meters 0.02929834223244339 Centerline is valid? [True, True] Translation: X:270.92, Y:-199.56, Z:-33.04 [[ 7.00733055e-01 7.08442226e-01 8.41593659e-02 2.70915272e+02] [-7.03625900e-01 7.05767381e-01 -8.24802775e-02 -1.99561277e+02] [-1.17829447e-01 -1.42005278e-03 9.93032832e-01 -3.30393403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62591999999995 meters 0.02972202839181382 Centerline is valid? [True, True] Translation: X:270.94, Y:-199.58, Z:-33.04 [[ 6.95973180e-01 7.13212235e-01 8.33645076e-02 2.70940286e+02] [-7.08512263e-01 7.00944841e-01 -8.17722641e-02 -1.99581336e+02] [-1.16754901e-01 -2.15347328e-03 9.93158424e-01 -3.30423273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65592 meters 0.029775464104277526 Centerline is valid? [True, True] Translation: X:270.97, Y:-199.60, Z:-33.05 [[ 6.94635244e-01 7.14513432e-01 8.33812526e-02 2.70965506e+02] [-7.09812091e-01 6.99617877e-01 -8.18634344e-02 -1.99601537e+02] [-1.16827538e-01 -2.31979448e-03 9.93149508e-01 -3.30450267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68591999999995 meters 0.03025763988468165 Centerline is valid? [True, True] Translation: X:270.99, Y:-199.62, Z:-33.05 [[ 6.91208887e-01 7.17634146e-01 8.50382694e-02 2.70992655e+02] [-7.12757781e-01 6.96414466e-01 -8.35657711e-02 -1.99618988e+02] [-1.19191532e-01 -2.85028456e-03 9.92867189e-01 -3.30472139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71592 meters 0.030477441907064393 Centerline is valid? [True, True] Translation: X:271.02, Y:-199.64, Z:-33.05 [[ 6.90210052e-01 7.18684279e-01 8.42792500e-02 2.71018784e+02] [-7.13893971e-01 6.95330272e-01 -8.28927675e-02 -1.99639947e+02] [-1.18175643e-01 -2.95302715e-03 9.92988317e-01 -3.30496403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74591999999996 meters 0.030253816855569788 Centerline is valid? [True, True] Translation: X:271.05, Y:-199.66, Z:-33.05 [[ 6.89253225e-01 7.19680327e-01 8.36075254e-02 2.71045478e+02] [-7.14963696e-01 6.94298917e-01 -8.23160212e-02 -1.99659576e+02] [-1.17289835e-01 -3.03976227e-03 9.93093074e-01 -3.30511779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.77592 meters 0.03006876070166404 Centerline is valid? [True, True] Translation: X:271.08, Y:-199.67, Z:-33.05 [[ 6.89002693e-01 7.19943161e-01 8.34094413e-02 2.71076434e+02] [-7.15240905e-01 6.94026466e-01 -8.22053015e-02 -1.99674394e+02] [-1.17071504e-01 -3.01817015e-03 9.93118902e-01 -3.30536752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80591999999996 meters 0.030253806896897998 Centerline is valid? [True, True] Translation: X:271.10, Y:-199.69, Z:-33.06 [[ 6.89211809e-01 7.19644558e-01 8.42543295e-02 2.71103791e+02] [-7.14833660e-01 6.94336434e-01 -8.31249374e-02 -1.99693308e+02] [-1.18321260e-01 -2.93714227e-03 9.92971023e-01 -3.30582742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.83592 meters 0.029774033507529534 Centerline is valid? [True, True] Translation: X:271.13, Y:-199.71, Z:-33.06 [[ 6.91562931e-01 7.17378005e-01 8.43179117e-02 2.71134113e+02] [-7.12532932e-01 6.96679690e-01 -8.32720227e-02 -1.99708390e+02] [-1.18480094e-01 -2.49144477e-03 9.92953302e-01 -3.30603903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86591999999996 meters 0.02958914271772281 Centerline is valid? [True, True] Translation: X:271.16, Y:-199.73, Z:-33.06 [[ 6.93226296e-01 7.15841152e-01 8.37182628e-02 2.71160231e+02] [-7.11044872e-01 6.98259824e-01 -8.27551082e-02 -1.99727085e+02] [-1.17696611e-01 -2.15942427e-03 9.93047252e-01 -3.30633996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89592 meters 0.029441999688072863 Centerline is valid? [True, True] Translation: X:271.19, Y:-199.75, Z:-33.07 [[ 6.95679834e-01 7.13534461e-01 8.30550518e-02 2.71186387e+02] [-7.08788790e-01 7.00618070e-01 -8.21752509e-02 -1.99745800e+02] [-1.16824743e-01 -1.70082477e-03 9.93151089e-01 -3.30664210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92591999999996 meters 0.02914330470252214 Centerline is valid? [True, True] Translation: X:271.22, Y:-199.76, Z:-33.07 [[ 7.00895526e-01 7.08487543e-01 8.24066956e-02 2.71215697e+02] [-7.03772112e-01 7.05722869e-01 -8.16091103e-02 -1.99761816e+02] [-1.15975328e-01 -7.96073887e-04 9.93251776e-01 -3.30700769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95592 meters 0.029216388411492628 Centerline is valid? [True, True] Translation: X:271.24, Y:-199.78, Z:-33.07 [[ 7.03506280e-01 7.05866029e-01 8.26562986e-02 2.71241865e+02] [-7.01094536e-01 7.08345293e-01 -8.19353197e-02 -1.99782198e+02] [-1.16384559e-01 -3.07867384e-04 9.93204178e-01 -3.30743886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98591999999996 meters 0.029397457008153525 Centerline is valid? [True, True] Translation: X:271.27, Y:-199.80, Z:-33.08 [[ 7.09093008e-01 7.00298251e-01 8.22767613e-02 2.71269946e+02] [-6.95522881e-01 7.13850063e-01 -8.16456381e-02 -1.99800754e+02] [-1.15909569e-01 6.68981115e-04 9.93259545e-01 -3.30779099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01592 meters 0.02958607304525871 Centerline is valid? [True, True] Translation: X:271.30, Y:-199.82, Z:-33.08 [[ 7.11349531e-01 6.98031433e-01 8.20607360e-02 2.71295303e+02] [-6.93256185e-01 7.16066278e-01 -8.15165494e-02 -1.99822352e+02] [-1.15662040e-01 1.09764644e-03 9.93288019e-01 -3.30817644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04591999999997 meters 0.030070925118723866 Centerline is valid? [True, True] Translation: X:271.32, Y:-199.84, Z:-33.08 [[ 7.14149022e-01 6.95123031e-01 8.24326760e-02 2.71320763e+02] [-6.90275237e-01 7.18888930e-01 -8.19683074e-02 -1.99842825e+02] [-1.16237997e-01 1.63635160e-03 9.93220041e-01 -3.30845512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07592 meters 0.030067291162035666 Centerline is valid? [True, True] Translation: X:271.34, Y:-199.87, Z:-33.09 [[ 7.14518338e-01 6.94668743e-01 8.30595118e-02 2.71342985e+02] [-6.89734862e-01 7.19327588e-01 -8.26658373e-02 -1.99865561e+02] [-1.17172372e-01 1.77721573e-03 9.93110002e-01 -3.30869528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10591999999997 meters 0.030409742406273362 Centerline is valid? [True, True] Translation: X:271.37, Y:-199.89, Z:-33.09 [[ 7.15401640e-01 6.93684820e-01 8.36771467e-02 2.71365783e+02] [-6.88661536e-01 7.20275881e-01 -8.33543277e-02 -1.99888296e+02] [-1.18092262e-01 2.00659030e-03 9.93000600e-01 -3.30912139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13592 meters 0.030659068657909728 Centerline is valid? [True, True] Translation: X:271.39, Y:-199.91, Z:-33.09 [[ 7.17340825e-01 6.91781879e-01 8.28249481e-02 2.71387391e+02] [-6.86839573e-01 7.22102703e-01 -8.25777651e-02 -1.99912036e+02] [-1.16933920e-01 2.34895019e-03 9.93136919e-01 -3.30940615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16591999999997 meters 0.030922716611931283 Centerline is valid? [True, True] Translation: X:271.41, Y:-199.94, Z:-33.10 [[ 7.18430556e-01 6.90646848e-01 8.28520900e-02 2.71409072e+02] [-6.85685250e-01 7.23187554e-01 -8.26770814e-02 -1.99935710e+02] [-1.17018266e-01 2.58728547e-03 9.93126392e-01 -3.30977208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19592 meters 0.031084513457994737 Centerline is valid? [True, True] Translation: X:271.43, Y:-199.96, Z:-33.10 [[ 7.19578517e-01 6.89537428e-01 8.21272992e-02 2.71428479e+02] [-6.84646793e-01 7.24244650e-01 -8.20271662e-02 -1.99963175e+02] [-1.16041058e-01 2.79679460e-03 9.93240480e-01 -3.30999580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22592 meters 0.03096945841106613 Centerline is valid? [True, True] Translation: X:271.45, Y:-199.99, Z:-33.10 [[ 7.19397972e-01 6.89790134e-01 8.15851004e-02 2.71449755e+02] [-6.84956322e-01 7.24003971e-01 -8.15664574e-02 -1.99988146e+02] [-1.15331674e-01 2.79651373e-03 9.93323102e-01 -3.31027836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25591999999995 meters 0.031176482794248308 Centerline is valid? [True, True] Translation: X:271.55, Y:-200.19, Z:-31.24 [[ 7.40225863e-01 -6.71078969e-01 -4.14570731e-02 2.71553277e+02] [-6.69626811e-01 -7.41368197e-01 4.44199396e-02 -2.00194169e+02] [-6.05442428e-02 -5.12002045e-03 -9.98152383e-01 -3.12437159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28592 meters 0.031268959643013926 Centerline is valid? [True, True] Translation: X:271.50, Y:-200.06, Z:-33.11 [[ 7.68527742e-01 6.33767045e-01 8.77749507e-02 2.71495168e+02] [-6.29262612e-01 7.73518998e-01 -7.54779717e-02 -2.00059662e+02] [-1.15731043e-01 2.77342045e-03 9.93276716e-01 -3.31109407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31591999999995 meters 0.030925588828336577 Centerline is valid? [True, True] Translation: X:271.52, Y:-200.08, Z:-33.11 [[ 7.67399615e-01 6.35044843e-01 8.84074575e-02 2.71518214e+02] [-6.30474420e-01 7.72470695e-01 -7.60988243e-02 -2.00083436e+02] [-1.16618336e-01 2.65956792e-03 9.93173243e-01 -3.31138124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34592 meters 0.030485662936966827 Centerline is valid? [True, True] Translation: X:271.54, Y:-200.11, Z:-33.12 [[ 7.64476917e-01 6.38717871e-01 8.72612428e-02 2.71539330e+02] [-6.34280870e-01 7.69438073e-01 -7.51853107e-02 -2.00107997e+02] [-1.15164324e-01 2.12929756e-03 9.93344172e-01 -3.31159830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37591999999995 meters 0.030065966177714877 Centerline is valid? [True, True] Translation: X:271.56, Y:-200.13, Z:-33.12 [[ 7.62082298e-01 6.41411269e-01 8.84429514e-02 2.71563127e+02] [-6.36862460e-01 7.67195110e-01 -7.62749585e-02 -2.00130413e+02] [-1.16776618e-01 1.80180000e-03 9.93156571e-01 -3.31190223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40592 meters 0.029697609867457408 Centerline is valid? [True, True] Translation: X:271.59, Y:-200.15, Z:-33.12 [[ 7.60068517e-01 6.43919140e-01 8.75442213e-02 2.71586062e+02] [-6.39471662e-01 7.65092173e-01 -7.55642801e-02 -2.00152778e+02] [-1.15636685e-01 1.45198167e-03 9.93290516e-01 -3.31211460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43591999999995 meters 0.029444897568646447 Centerline is valid? [True, True] Translation: X:271.61, Y:-200.18, Z:-33.12 [[ 7.55527535e-01 6.49226311e-01 8.76546678e-02 2.71608703e+02] [-6.44798822e-01 7.60594996e-01 -7.56949872e-02 -2.00175308e+02] [-1.15812879e-01 6.70020473e-04 9.93270823e-01 -3.31244054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46592 meters 0.02917592051304073 Centerline is valid? [True, True] Translation: X:271.63, Y:-200.20, Z:-33.13 [[ 7.53085838e-01 6.52220984e-01 8.64263259e-02 2.71633171e+02] [-6.47928880e-01 7.58028839e-01 -7.47023813e-02 -2.00195852e+02] [-1.14236108e-01 2.59192926e-04 9.93453595e-01 -3.31270170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49591999999996 meters 0.029363787116403937 Centerline is valid? [True, True] Translation: X:271.66, Y:-200.22, Z:-33.13 [[ 7.49192970e-01 6.56661385e-01 8.66355556e-02 2.71659233e+02] [-6.52369520e-01 7.54185451e-01 -7.49554239e-02 -2.00216559e+02] [-1.14559608e-01 -3.62319197e-04 9.93416310e-01 -3.31301398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.52592 meters 0.02943436322656738 Centerline is valid? [True, True] Translation: X:271.68, Y:-200.24, Z:-33.13 [[ 7.47039096e-01 6.59047113e-01 8.71176923e-02 2.71683617e+02] [-6.54714163e-01 7.52101357e-01 -7.54513965e-02 -2.00237444e+02] [-1.15247360e-01 -6.72043987e-04 9.93336597e-01 -3.31333686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55591999999996 meters 0.02951722196484037 Centerline is valid? [True, True] Translation: X:271.71, Y:-200.26, Z:-33.13 [[ 7.44744889e-01 6.61633243e-01 8.71579132e-02 2.71708913e+02] [-6.57305410e-01 7.49826925e-01 -7.55591258e-02 -2.00258198e+02] [-1.15345779e-01 -1.01709511e-03 9.93324880e-01 -3.31343604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.58592 meters 0.029544865551422994 Centerline is valid? [True, True] Translation: X:271.74, Y:-200.28, Z:-33.14 [[ 7.41887458e-01 6.64796926e-01 8.74531109e-02 2.71735600e+02] [-6.60452315e-01 7.47022712e-01 -7.58933941e-02 -2.00276713e+02] [-1.15783155e-01 -1.45425231e-03 9.93273450e-01 -3.31368465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61591999999996 meters 0.029762528476494677 Centerline is valid? [True, True] Translation: X:271.76, Y:-200.30, Z:-33.14 [[ 7.40399983e-01 6.66567336e-01 8.65785892e-02 2.71761924e+02] [-6.62313184e-01 7.45442978e-01 -7.52064677e-02 -2.00297104e+02] [-1.14669576e-01 -1.65927373e-03 9.93402303e-01 -3.31400739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64592 meters 0.02959860545838335 Centerline is valid? [True, True] Translation: X:271.79, Y:-200.32, Z:-33.14 [[ 7.38821124e-01 6.68449688e-01 8.55474262e-02 2.71788877e+02] [-6.64300111e-01 7.43755016e-01 -7.43897724e-02 -2.00315937e+02] [-1.13352147e-01 -1.86842953e-03 9.93553119e-01 -3.31425980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67591999999996 meters 0.029776083939025564 Centerline is valid? [True, True] Translation: X:271.82, Y:-200.34, Z:-33.15 [[ 7.38278849e-01 6.68991870e-01 8.59896417e-02 2.71815338e+02] [-6.64793589e-01 7.43267288e-01 -7.48546780e-02 -2.00335351e+02] [-1.13990459e-01 -1.90173697e-03 9.93480024e-01 -3.31457971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70592 meters 0.02973747890028277 Centerline is valid? [True, True] Translation: X:271.84, Y:-200.35, Z:-33.15 [[ 7.38160741e-01 6.69058890e-01 8.64807643e-02 2.71841657e+02] [-6.64803429e-01 7.43207060e-01 -7.53635633e-02 -2.00354653e+02] [-1.14695777e-01 -1.86228502e-03 9.93398918e-01 -3.31484871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73591999999996 meters 0.02973747890028277 Centerline is valid? [True, True] Translation: X:271.87, Y:-200.38, Z:-33.15 [[ 7.37806797e-01 6.69454360e-01 8.64406801e-02 2.71866320e+02] [-6.65196221e-01 7.42850854e-01 -7.54095170e-02 -2.00375704e+02] [-1.14695763e-01 -1.86235964e-03 9.93398920e-01 -3.31513491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76592 meters 0.029662037622919375 Centerline is valid? [True, True] Translation: X:271.89, Y:-200.39, Z:-33.15 [[ 7.37739698e-01 6.69522585e-01 8.64849491e-02 2.71893739e+02] [-6.65251160e-01 7.42789486e-01 -7.55292859e-02 -2.00393742e+02] [-1.14808674e-01 -1.81326014e-03 9.93385968e-01 -3.31531410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79591999999997 meters 0.029675071413242257 Centerline is valid? [True, True] Translation: X:271.92, Y:-200.41, Z:-33.16 [[ 7.38058753e-01 6.69001819e-01 8.77829361e-02 2.71919314e+02] [-6.64587643e-01 7.43258826e-01 -7.67436112e-02 -2.00412643e+02] [-1.16587058e-01 -1.69816062e-03 9.93179024e-01 -3.31568964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82592 meters 0.02953434182229989 Centerline is valid? [True, True] Translation: X:271.95, Y:-200.43, Z:-33.16 [[ 7.38801078e-01 6.68170105e-01 8.78730760e-02 2.71947555e+02] [-6.63732173e-01 7.44007005e-01 -7.68972013e-02 -2.00430523e+02] [-1.16758595e-01 -1.51245239e-03 9.93159173e-01 -3.31614099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85591999999997 meters 0.029638327636618077 Centerline is valid? [True, True] Translation: X:271.97, Y:-200.45, Z:-33.16 [[ 7.39303109e-01 6.67590881e-01 8.80529846e-02 2.71974749e+02] [-6.63120855e-01 7.44527072e-01 -7.71373492e-02 -2.00449944e+02] [-1.17054022e-01 -1.36188831e-03 9.93124615e-01 -3.31636561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88592 meters 0.02954337208251641 Centerline is valid? [True, True] Translation: X:272.00, Y:-200.47, Z:-33.17 [[ 7.39756324e-01 6.67068762e-01 8.82034481e-02 2.72001793e+02] [-6.62569958e-01 7.44995154e-01 -7.73516068e-02 -2.00469710e+02] [-1.17309982e-01 -1.21961455e-03 9.93094598e-01 -3.31659544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91591999999997 meters 0.029495888485252957 Centerline is valid? [True, True] Translation: X:272.03, Y:-200.49, Z:-33.17 [[ 7.42258783e-01 6.64522964e-01 8.63778323e-02 2.72029268e+02] [-6.60182881e-01 7.47267476e-01 -7.58279801e-02 -2.00487126e+02] [-1.14936779e-01 -7.41182029e-04 9.93372532e-01 -3.31679586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94592 meters 0.02923505239689644 Centerline is valid? [True, True] Translation: X:272.05, Y:-200.51, Z:-33.17 [[ 7.43150904e-01 6.63696572e-01 8.50505391e-02 2.72054743e+02] [-6.59476011e-01 7.48001709e-01 -7.47317509e-02 -2.00507012e+02] [-1.13217155e-01 -5.51822027e-04 9.93570114e-01 -3.31704141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97592 meters 0.029158857789955295 Centerline is valid? [True, True] Translation: X:272.08, Y:-200.53, Z:-33.17 [[ 7.44862850e-01 6.61988650e-01 8.33688339e-02 2.72081025e+02] [-6.57915735e-01 7.49513824e-01 -7.33206200e-02 -2.00525407e+02] [-1.11023512e-01 -2.35861735e-04 9.93817752e-01 -3.31738602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00591999999995 meters 0.029279812142165896 Centerline is valid? [True, True] Translation: X:272.11, Y:-200.54, Z:-33.18 [[ 7.45570891e-01 6.61061230e-01 8.43925151e-02 2.72107310e+02] [-6.56873561e-01 7.50331959e-01 -7.42904883e-02 -2.00544377e+02] [-1.12432963e-01 -4.63863334e-05 9.93659311e-01 -3.31770232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03592 meters 0.029313108390247714 Centerline is valid? [True, True] Translation: X:272.13, Y:-200.56, Z:-33.18 [[ 7.46174391e-01 6.60434840e-01 8.39618995e-02 2.72133144e+02] [-6.56278044e-01 7.50883354e-01 -7.39818696e-02 -2.00564191e+02] [-1.11905797e-01 1.01025258e-04 9.93718815e-01 -3.31793989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06591999999995 meters 0.02953772798267296 Centerline is valid? [True, True] Translation: X:272.16, Y:-200.58, Z:-33.18 [[ 7.47935843e-01 6.58240101e-01 8.55099042e-02 2.72158261e+02] [-6.53904757e-01 7.52807892e-01 -7.54244450e-02 -2.00583903e+02] [-1.14019925e-01 4.97312737e-04 9.93478339e-01 -3.31825315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09592 meters 0.029712569033117812 Centerline is valid? [True, True] Translation: X:272.18, Y:-200.60, Z:-33.19 [[ 7.48562210e-01 6.57458584e-01 8.60396918e-02 2.72181951e+02] [-6.53055924e-01 7.53490383e-01 -7.59618488e-02 -2.00604944e+02] [-1.14771850e-01 6.73438981e-04 9.93391649e-01 -3.31857348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12591999999995 meters 0.02991395814745116 Centerline is valid? [True, True] Translation: X:272.21, Y:-200.63, Z:-33.19 [[ 7.50465834e-01 6.55308936e-01 8.58558737e-02 2.72207065e+02] [-6.50902817e-01 7.55360236e-01 -7.58711868e-02 -2.00625494e+02] [-1.14571180e-01 1.05490341e-03 9.93414481e-01 -3.31896180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15592 meters 0.03007318014077833 Centerline is valid? [True, True] Translation: X:272.23, Y:-200.65, Z:-33.19 [[ 7.51551095e-01 6.53947239e-01 8.67407644e-02 2.72230865e+02] [-6.49431550e-01 7.56538981e-01 -7.67296082e-02 -2.00646182e+02] [-1.15799885e-01 1.33403202e-03 9.93271668e-01 -3.31935528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18591999999995 meters 0.03054895348416921 Centerline is valid? [True, True] Translation: X:272.25, Y:-200.67, Z:-33.20 [[ 7.53934880e-01 6.51186967e-01 8.68201056e-02 2.72253133e+02] [-6.46637044e-01 7.58915184e-01 -7.68653170e-02 -2.00669391e+02] [-1.15942789e-01 1.81034705e-03 9.93254244e-01 -3.31966395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21592 meters 0.03092247696255844 Centerline is valid? [True, True] Translation: X:272.28, Y:-200.69, Z:-33.20 [[ 7.55253177e-01 6.49585910e-01 8.73543619e-02 2.72276451e+02] [-6.44960735e-01 7.60285237e-01 -7.74080694e-02 -2.00692052e+02] [-1.16697423e-01 2.12255690e-03 9.93165246e-01 -3.31997317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24591999999996 meters 0.030922627402013337 Centerline is valid? [True, True] Translation: X:272.30, Y:-200.71, Z:-33.20 [[ 7.56072553e-01 6.48726923e-01 8.66468325e-02 2.72300867e+02] [-6.44162855e-01 7.61017827e-01 -7.68510458e-02 -2.00714931e+02] [-1.15795127e-01 2.29029540e-03 9.93270478e-01 -3.32020236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.27592 meters 0.031148355374380193 Centerline is valid? [True, True] Translation: X:272.32, Y:-200.74, Z:-33.21 [[ 7.56811717e-01 6.47972390e-01 8.58359360e-02 2.72322909e+02] [-6.43480028e-01 7.61659913e-01 -7.62078128e-02 -2.00738952e+02] [-1.14758350e-01 2.44125508e-03 9.93390438e-01 -3.32056717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30591999999996 meters 0.03101954807825668 Centerline is valid? [True, True] Translation: X:272.34, Y:-200.76, Z:-33.21 [[ 7.55774735e-01 6.49225812e-01 8.55008499e-02 2.72344829e+02] [-6.44768034e-01 7.60592243e-01 -7.59843506e-02 -2.00762311e+02] [-1.14362285e-01 2.29883748e-03 9.93436452e-01 -3.32084671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.33592 meters 0.03080483368554367 Centerline is valid? [True, True] Translation: X:272.37, Y:-200.79, Z:-33.21 [[ 7.52791418e-01 6.52339829e-01 8.80785395e-02 2.72365416e+02] [-6.47620974e-01 7.57924137e-01 -7.83458839e-02 -2.00787627e+02] [-1.17864992e-01 1.93659951e-03 9.93027741e-01 -3.32120596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36591999999996 meters 0.030499674676825073 Centerline is valid? [True, True] Translation: X:272.39, Y:-200.81, Z:-33.21 [[ 7.50104489e-01 6.55321432e-01 8.88654991e-02 2.72387616e+02] [-6.50529868e-01 7.55348570e-01 -7.91165559e-02 -2.00810923e+02] [-1.18971202e-01 1.53602238e-03 9.92896517e-01 -3.32146728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39592 meters 0.03036033354119449 Centerline is valid? [True, True] Translation: X:272.41, Y:-200.83, Z:-33.22 [[ 7.47430397e-01 6.58177069e-01 9.02814914e-02 2.72410108e+02] [-6.53242829e-01 7.52862279e-01 -8.04499513e-02 -2.00833787e+02] [-1.20919843e-01 1.15500209e-03 9.92661603e-01 -3.32179040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42591999999996 meters 0.02998354791290077 Centerline is valid? [True, True] Translation: X:272.43, Y:-200.86, Z:-33.22 [[ 7.43536505e-01 6.62823028e-01 8.84256727e-02 2.72432014e+02] [-6.58115267e-01 7.48775961e-01 -7.88597199e-02 -2.00858288e+02] [-1.18481056e-01 4.40795336e-04 9.92956215e-01 -3.32203120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45592 meters 0.030012920624335325 Centerline is valid? [True, True] Translation: X:272.46, Y:-200.88, Z:-33.22 [[ 7.42027054e-01 6.64599917e-01 8.77656015e-02 2.72455321e+02] [-6.59968639e-01 7.47199379e-01 -7.83229474e-02 -2.00880480e+02] [-1.17631827e-01 1.95201376e-04 9.93057257e-01 -3.32239014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48591999999996 meters 0.029969093371878218 Centerline is valid? [True, True] Translation: X:272.48, Y:-200.90, Z:-33.23 [[ 7.37898881e-01 6.69130966e-01 8.81418840e-02 2.72478077e+02] [-6.64482785e-01 7.43144352e-01 -7.87343626e-02 -2.00904330e+02] [-1.18185743e-01 -4.70766582e-04 9.92991394e-01 -3.32265723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51592 meters 0.029934709305472488 Centerline is valid? [True, True] Translation: X:272.50, Y:-200.93, Z:-33.23 [[ 7.35929661e-01 6.71281108e-01 8.82564951e-02 2.72502723e+02] [-6.66626177e-01 7.41202473e-01 -7.89204315e-02 -2.00926630e+02] [-1.18393727e-01 -7.54203567e-04 9.92966443e-01 -3.32283048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54591999999997 meters 0.030093548905016303 Centerline is valid? [True, True] Translation: X:272.53, Y:-200.95, Z:-33.23 [[ 7.34701754e-01 6.72696988e-01 8.77045885e-02 2.72527210e+02] [-6.68100525e-01 7.39917513e-01 -7.85096299e-02 -2.00947952e+02] [-1.17707353e-01 -9.14318816e-04 9.93047906e-01 -3.32310415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57592 meters 0.030388336105385313 Centerline is valid? [True, True] Translation: X:272.55, Y:-200.97, Z:-33.24 [[ 7.31869190e-01 6.75671377e-01 8.85193730e-02 2.72551365e+02] [-6.71000534e-01 7.37201726e-01 -7.93214890e-02 -2.00969148e+02] [-1.18851894e-01 -1.34359264e-03 9.92911085e-01 -3.32354750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60591999999997 meters 0.03048363042274077 Centerline is valid? [True, True] Translation: X:272.58, Y:-200.99, Z:-33.24 [[ 7.29398644e-01 6.78485877e-01 8.73758143e-02 2.72577338e+02] [-6.73946552e-01 7.34611427e-01 -7.83715307e-02 -2.00989779e+02] [-1.17361248e-01 -1.72254057e-03 9.93087796e-01 -3.32381650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63592 meters 0.030325753792635725 Centerline is valid? [True, True] Translation: X:272.60, Y:-201.01, Z:-33.24 [[ 7.28294879e-01 6.79680587e-01 8.72975950e-02 2.72602728e+02] [-6.75148147e-01 7.33505876e-01 -7.83843688e-02 -2.01010238e+02] [-1.17309633e-01 -1.85187514e-03 9.93093662e-01 -3.32411360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66591999999997 meters 0.030779972910822476 Centerline is valid? [True, True] Translation: X:272.63, Y:-201.03, Z:-33.25 [[ 7.27117973e-01 6.80864051e-01 8.78839976e-02 2.72627137e+02] [-6.76269141e-01 7.32407100e-01 -7.89929733e-02 -2.01030573e+02] [-1.18150340e-01 -1.99602492e-03 9.92993713e-01 -3.32452864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69592 meters 0.03093873123888514 Centerline is valid? [True, True] Translation: X:272.65, Y:-201.05, Z:-33.25 [[ 7.25777237e-01 6.82273889e-01 8.80326242e-02 2.72652921e+02] [-6.77664899e-01 7.31093434e-01 -7.92002178e-02 -2.01049192e+02] [-1.18396314e-01 -2.17490415e-03 9.92964039e-01 -3.32481088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72592 meters 0.03075459782748415 Centerline is valid? [True, True] Translation: X:272.68, Y:-201.07, Z:-33.25 [[ 7.25076049e-01 6.83102965e-01 8.73788412e-02 2.72679017e+02] [-6.78559529e-01 7.30318651e-01 -7.86869409e-02 -2.01069723e+02] [-1.17565680e-01 -2.23772905e-03 9.93062588e-01 -3.32508120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75591999999995 meters 0.031181825045135045 Centerline is valid? [True, True] Translation: X:272.71, Y:-201.09, Z:-33.25 [[ 7.23229707e-01 6.84911984e-01 8.85119452e-02 2.72705993e+02] [-6.80253218e-01 7.28621506e-01 -7.97888515e-02 -2.01086836e+02] [-1.19140047e-01 -2.50486782e-03 9.92874300e-01 -3.32545082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78592 meters 0.03130859483262067 Centerline is valid? [True, True] Translation: X:272.73, Y:-201.11, Z:-33.26 [[ 7.22566017e-01 6.85628991e-01 8.83812102e-02 2.72732934e+02] [-6.80980652e-01 7.27946635e-01 -7.97436426e-02 -2.01106337e+02] [-1.19011358e-01 -2.56584796e-03 9.92889578e-01 -3.32574482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81591999999995 meters 0.03128965636921546 Centerline is valid? [True, True] Translation: X:272.76, Y:-201.12, Z:-33.26 [[ 7.21179577e-01 6.87077027e-01 8.84600304e-02 2.72761464e+02] [-6.82421378e-01 7.26579391e-01 -7.98965077e-02 -2.01122959e+02] [-1.19168290e-01 -2.74728628e-03 9.92870269e-01 -3.32604989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84592 meters 0.031455363935088 Centerline is valid? [True, True] Translation: X:272.79, Y:-201.14, Z:-33.26 [[ 7.20944533e-01 6.87314608e-01 8.85302791e-02 2.72788250e+02] [-6.82644120e-01 7.26354708e-01 -8.00365141e-02 -2.01142224e+02] [-1.19314650e-01 -2.73278726e-03 9.92852731e-01 -3.32640492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87591999999995 meters 0.031206885443311006 Centerline is valid? [True, True] Translation: X:272.81, Y:-201.16, Z:-33.27 [[ 7.21963985e-01 6.86362567e-01 8.76038314e-02 2.72814558e+02] [-6.81773156e-01 7.27255271e-01 -7.92788381e-02 -2.01160871e+02] [-1.18124375e-01 -2.48947464e-03 9.92995687e-01 -3.32663551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90592 meters 0.031018402989520216 Centerline is valid? [True, True] Translation: X:272.84, Y:-201.18, Z:-33.27 [[ 7.25263522e-01 6.83062109e-01 8.61334991e-02 2.72842738e+02] [-6.78594374e-01 7.30357910e-01 -7.80192216e-02 -2.01177593e+02] [-1.16200256e-01 -1.86521255e-03 9.93224054e-01 -3.32694212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93591999999995 meters 0.030850617427914936 Centerline is valid? [True, True] Translation: X:272.87, Y:-201.20, Z:-33.27 [[ 7.27052478e-01 6.81285411e-01 8.51168782e-02 2.72868799e+02] [-6.76902468e-01 7.32016332e-01 -7.71695395e-02 -2.01196205e+02] [-1.14881426e-01 -1.50952004e-03 9.93378065e-01 -3.32710115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96592 meters 0.03083643452338115 Centerline is valid? [True, True] Translation: X:272.90, Y:-201.21, Z:-33.28 [[ 7.30776512e-01 6.77165082e-01 8.60995956e-02 2.72896549e+02] [-6.72642813e-01 7.35830677e-01 -7.81336064e-02 -2.01213489e+02] [-1.16264074e-01 -8.16069843e-04 9.93218002e-01 -3.32750707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99591999999996 meters 0.030913879593857253 Centerline is valid? [True, True] Translation: X:272.92, Y:-201.23, Z:-33.28 [[ 7.31576221e-01 6.76253475e-01 8.64723644e-02 2.72922651e+02] [-6.71676569e-01 7.36668756e-01 -7.85476376e-02 -2.01233437e+02] [-1.16819602e-01 -6.17877055e-04 9.93152958e-01 -3.32785866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.02592 meters 0.03098148399457381 Centerline is valid? [True, True] Translation: X:272.95, Y:-201.25, Z:-33.28 [[ 7.32224295e-01 6.75655834e-01 8.56549888e-02 2.72947999e+02] [-6.71152069e-01 7.37217053e-01 -7.78839972e-02 -2.01253069e+02] [-1.15769096e-01 -4.58968016e-04 9.93276047e-01 -3.32816288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05591999999996 meters 0.0310752788380058 Centerline is valid? [True, True] Translation: X:272.97, Y:-201.27, Z:-33.29 [[ 7.31681930e-01 6.76250124e-01 8.55997851e-02 2.72974123e+02] [-6.71747596e-01 7.36671923e-01 -7.79079295e-02 -2.01272579e+02] [-1.15744205e-01 -4.97625684e-04 9.93278929e-01 -3.32861460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.08592 meters 0.030973417788213418 Centerline is valid? [True, True] Translation: X:273.00, Y:-201.29, Z:-33.29 [[ 7.31150020e-01 6.76962073e-01 8.45103567e-02 2.72998642e+02] [-6.72569576e-01 7.36017700e-01 -7.69942208e-02 -2.01293695e+02] [-1.14323286e-01 -5.44768741e-04 9.93443451e-01 -3.32891266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11591999999996 meters 0.03110075860289935 Centerline is valid? [True, True] Translation: X:273.02, Y:-201.31, Z:-33.29 [[ 7.30432886e-01 6.77722815e-01 8.46143336e-02 2.73024887e+02] [-6.73316086e-01 7.35317220e-01 -7.71623919e-02 -2.01313675e+02] [-1.14513090e-01 -6.10243313e-04 9.93421552e-01 -3.32911055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14592 meters 0.031048486752161195 Centerline is valid? [True, True] Translation: X:273.05, Y:-201.33, Z:-33.29 [[ 7.30098325e-01 6.78167083e-01 8.39395203e-02 2.73050245e+02] [-6.73824590e-01 7.34907496e-01 -7.66250295e-02 -2.01332942e+02] [-1.13652355e-01 -6.16707074e-04 9.93520388e-01 -3.32939184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17591999999996 meters 0.031079152844174722 Centerline is valid? [True, True] Translation: X:273.08, Y:-201.35, Z:-33.30 [[ 7.30361227e-01 6.77816841e-01 8.44796352e-02 2.73076182e+02] [-6.73407190e-01 7.35230623e-01 -7.71925302e-02 -2.01353119e+02] [-1.14434412e-01 -5.10762770e-04 9.93430674e-01 -3.32964917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20592 meters 0.031236059853044028 Centerline is valid? [True, True] Translation: X:273.10, Y:-201.37, Z:-33.30 [[ 7.31824776e-01 6.76160885e-01 8.50820502e-02 2.73101753e+02] [-6.71667145e-01 7.36753976e-01 -7.78256104e-02 -2.01373617e+02] [-1.15307172e-01 -1.92107745e-04 9.93329864e-01 -3.33010225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23591999999996 meters 0.03138826591662707 Centerline is valid? [True, True] Translation: X:273.13, Y:-201.39, Z:-33.30 [[ 7.33115941e-01 6.74739472e-01 8.52505818e-02 2.73127128e+02] [-6.70208662e-01 7.38055985e-01 -7.80622351e-02 -2.01394533e+02] [-1.15591373e-01 9.29906240e-05 9.93296847e-01 -3.33041419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26592 meters 0.03146672110224519 Centerline is valid? [True, True] Translation: X:273.15, Y:-201.41, Z:-33.31 [[ 7.34758174e-01 6.72922054e-01 8.54771058e-02 2.73154247e+02] [-6.68345161e-01 7.39713265e-01 -7.83519745e-02 -2.01413292e+02] [-1.15953321e-01 4.41543673e-04 9.93254566e-01 -3.33074585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29591999999997 meters 0.031562649399531004 Centerline is valid? [True, True] Translation: X:273.18, Y:-201.43, Z:-33.31 [[ 7.35930534e-01 6.71744279e-01 8.46514738e-02 2.73179677e+02] [-6.67238869e-01 7.40782803e-01 -7.76732265e-02 -2.01433372e+02] [-1.14884902e-01 6.79345401e-04 9.93378577e-01 -3.33095433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32592 meters 0.031839352456008246 Centerline is valid? [True, True] Translation: X:273.20, Y:-201.45, Z:-33.31 [[ 7.39056628e-01 6.68331116e-01 8.44323417e-02 2.73203916e+02] [-6.63818736e-01 7.43862845e-01 -7.75419498e-02 -2.01454447e+02] [-1.14629780e-01 1.26012164e-03 9.93407482e-01 -3.33124282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35591999999997 meters 0.03185751433888617 Centerline is valid? [True, True] Translation: X:273.23, Y:-201.48, Z:-33.32 [[ 7.40324223e-01 6.66897336e-01 8.46639701e-02 2.73228189e+02] [-6.62342629e-01 7.45148022e-01 -7.78245884e-02 -2.01475895e+02] [-1.14988201e-01 1.53887140e-03 9.93365666e-01 -3.33152149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38592 meters 0.03201183259617345 Centerline is valid? [True, True] Translation: X:273.25, Y:-201.50, Z:-33.32 [[ 7.40899354e-01 6.66237799e-01 8.48253640e-02 2.73251817e+02] [-6.61653422e-01 7.45737434e-01 -7.80412024e-02 -2.01496918e+02] [-1.15251448e-01 1.69568409e-03 9.93334902e-01 -3.33180149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41591999999997 meters 0.03227057516596061 Centerline is valid? [True, True] Translation: X:273.28, Y:-201.52, Z:-33.32 [[ 7.42540765e-01 6.64517909e-01 8.39592825e-02 2.73276480e+02] [-6.60008391e-01 7.47269683e-01 -7.73107082e-02 -2.01518726e+02] [-1.14114577e-01 1.99252148e-03 9.93465597e-01 -3.33204366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44592 meters 0.032289748958609345 Centerline is valid? [True, True] Translation: X:273.30, Y:-201.54, Z:-33.32 [[ 7.43663402e-01 6.63407321e-01 8.27977679e-02 2.73300907e+02] [-6.59006607e-01 7.48255256e-01 -7.63175128e-02 -2.01541278e+02] [-1.12583462e-01 2.19026509e-03 9.93639858e-01 -3.33231694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47592 meters 0.03229859437902524 Centerline is valid? [True, True] Translation: X:273.32, Y:-201.57, Z:-33.33 [[ 7.45126571e-01 6.61930107e-01 8.14550645e-02 2.73322389e+02] [-6.57654345e-01 7.49561625e-01 -7.51540623e-02 -2.01566524e+02] [-1.10802327e-01 2.43001156e-03 9.93839494e-01 -3.33252604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50591999999995 meters 0.032396665302313186 Centerline is valid? [True, True] Translation: X:273.34, Y:-201.59, Z:-33.33 [[ 7.45693085e-01 6.61279036e-01 8.15589296e-02 2.73344321e+02] [-6.56980248e-01 7.50135556e-01 -7.53233191e-02 -2.01589668e+02] [-1.10989985e-01 2.58547247e-03 9.93818162e-01 -3.33282217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53592 meters 0.03277019530800688 Centerline is valid? [True, True] Translation: X:273.36, Y:-201.62, Z:-33.33 [[ 7.47881285e-01 6.58751896e-01 8.19726982e-02 2.73363707e+02] [-6.54386702e-01 7.52354160e-01 -7.57711114e-02 -2.01615463e+02] [-1.11586864e-01 3.02595244e-03 9.93750077e-01 -3.33299844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56591999999995 meters 0.03282262655489535 Centerline is valid? [True, True] Translation: X:273.38, Y:-201.64, Z:-33.33 [[ 7.48757236e-01 6.57769837e-01 8.18623393e-02 2.73384799e+02] [-6.53403648e-01 7.53212126e-01 -7.57308830e-02 -2.01639519e+02] [-1.11473197e-01 3.21489548e-03 9.93762241e-01 -3.33322575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59592 meters 0.03328732859014151 Centerline is valid? [True, True] Translation: X:273.41, Y:-201.66, Z:-33.34 [[ 7.49645659e-01 6.56654189e-01 8.26841118e-02 2.73406360e+02] [-6.52185330e-01 7.54183842e-01 -7.65573586e-02 -2.01662972e+02] [-1.12630731e-01 3.46552686e-03 9.93630871e-01 -3.33358399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62591999999995 meters 0.03277916459930175 Centerline is valid? [True, True] Translation: X:273.42, Y:-201.69, Z:-33.34 [[ 7.49454587e-01 6.57037103e-01 8.13638004e-02 2.73424042e+02] [-6.52705374e-01 7.53850565e-01 -7.53990721e-02 -2.01691643e+02] [-1.10876135e-01 3.40159063e-03 9.93828412e-01 -3.33372560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65592 meters 0.03277916459930175 Centerline is valid? [True, True] Translation: X:273.45, Y:-201.71, Z:-33.34 [[ 7.49133644e-01 6.57407119e-01 8.13305817e-02 2.73448073e+02] [-6.53073679e-01 7.53527934e-01 -7.54348904e-02 -2.01713453e+02] [-1.10876299e-01 3.39595222e-03 9.93828413e-01 -3.33401190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68591999999995 meters 0.03199811669575843 Centerline is valid? [True, True] Translation: X:273.46, Y:-201.74, Z:-33.34 [[ 7.46709870e-01 6.60317136e-01 8.00353096e-02 2.73463734e+02] [-6.56129906e-01 7.50980998e-01 -7.43040160e-02 -2.01743995e+02] [-1.09169212e-01 2.96998186e-03 9.94018744e-01 -3.33425507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71592 meters 0.03140974604620026 Centerline is valid? [True, True] Translation: X:273.48, Y:-201.77, Z:-33.34 [[ 7.44576180e-01 6.62839111e-01 7.90608948e-02 2.73483912e+02] [-6.58760829e-01 7.48757284e-01 -7.34622364e-02 -2.01769188e+02] [-1.07891064e-01 2.61601079e-03 9.94159280e-01 -3.33441999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74591999999996 meters 0.03085067186130397 Centerline is valid? [True, True] Translation: X:273.50, Y:-201.79, Z:-33.35 [[ 7.41474892e-01 6.66289612e-01 7.92031410e-02 2.73503857e+02] [-6.62209116e-01 7.45689920e-01 -7.36588746e-02 -2.01794616e+02] [-1.08139127e-01 2.16716414e-03 9.94133408e-01 -3.33475763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.77592 meters 0.0298237093274754 Centerline is valid? [True, True] Translation: X:273.52, Y:-201.82, Z:-33.35 [[ 7.34421506e-01 6.74020433e-01 7.95079085e-02 2.73520783e+02] [-6.69945939e-01 7.38711902e-01 -7.40078634e-02 -2.01823897e+02] [-1.08616250e-01 1.08696606e-03 9.94083160e-01 -3.33502446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80591999999996 meters 0.029519063178073516 Centerline is valid? [True, True] Translation: X:273.54, Y:-201.85, Z:-33.35 [[ 7.30665942e-01 6.78034174e-01 7.99808733e-02 2.73541600e+02] [-6.73928303e-01 7.35030182e-01 -7.45068723e-02 -2.01849443e+02] [-1.09306562e-01 5.38259819e-04 9.94007941e-01 -3.33519891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.83592 meters 0.029194298356253024 Centerline is valid? [True, True] Translation: X:273.56, Y:-201.87, Z:-33.36 [[ 7.23242651e-01 6.85949585e-01 7.99577091e-02 2.73562926e+02] [-6.81889992e-01 7.27648799e-01 -7.45202242e-02 -2.01874947e+02] [-1.09298248e-01 -6.26157154e-04 9.94008803e-01 -3.33551270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86591999999996 meters 0.028951774608248645 Centerline is valid? [True, True] Translation: X:273.59, Y:-201.90, Z:-33.36 [[ 7.20434693e-01 6.89119959e-01 7.80226587e-02 2.73586859e+02] [-6.85265580e-01 7.24646556e-01 -7.27904819e-02 -2.01896621e+02] [-1.06700225e-01 -1.02545396e-03 9.94290707e-01 -3.33566429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89592 meters 0.02932971520476895 Centerline is valid? [True, True] Translation: X:273.61, Y:-201.92, Z:-33.36 [[ 7.13180878e-01 6.96440356e-01 7.96483915e-02 2.73609298e+02] [-6.92461608e-01 7.17611562e-01 -7.43677803e-02 -2.01919630e+02] [-1.08949330e-01 -2.11577445e-03 9.94045053e-01 -3.33590490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92591999999996 meters 0.02972845411274544 Centerline is valid? [True, True] Translation: X:273.63, Y:-201.94, Z:-33.36 [[ 7.10134434e-01 6.99465820e-01 8.03532899e-02 2.73632730e+02] [-6.95432746e-01 7.14661377e-01 -7.50494044e-02 -2.01940755e+02] [-1.09919886e-01 -2.58514270e-03 9.93937088e-01 -3.33616005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95592 meters 0.030462920043703438 Centerline is valid? [True, True] Translation: X:273.66, Y:-201.96, Z:-33.36 [[ 7.04893103e-01 7.04768420e-01 8.01697397e-02 2.73657917e+02] [-7.00783757e-01 7.09429404e-01 -7.49135920e-02 -2.01960217e+02] [-1.09671505e-01 -3.37557703e-03 9.93962156e-01 -3.33631564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98591999999996 meters 0.030626240257768955 Centerline is valid? [True, True] Translation: X:273.68, Y:-201.98, Z:-33.36 [[ 7.02635022e-01 7.07174601e-01 7.87915565e-02 2.73683669e+02] [-7.03337001e-01 7.07029491e-01 -7.36638468e-02 -2.01979933e+02] [-1.07801156e-01 -3.65821837e-03 9.94165745e-01 -3.33648156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01592 meters 0.030886028606084772 Centerline is valid? [True, True] Translation: X:273.71, Y:-202.00, Z:-33.37 [[ 7.00388739e-01 7.09365693e-01 7.90944280e-02 2.73709400e+02] [-7.05505015e-01 7.04829489e-01 -7.40139542e-02 -2.01999447e+02] [-1.08251045e-01 -3.96297558e-03 9.94115690e-01 -3.33677376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04591999999997 meters 0.03156878403189412 Centerline is valid? [True, True] Translation: X:273.74, Y:-202.02, Z:-33.37 [[ 6.97327082e-01 7.12427260e-01 7.86278546e-02 2.73737027e+02] [-7.08624328e-01 7.01732391e-01 -7.36424688e-02 -2.02016260e+02] [-1.07640615e-01 -4.36472278e-03 9.94180289e-01 -3.33701925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07592 meters 0.03185250829498289 Centerline is valid? [True, True] Translation: X:273.76, Y:-202.04, Z:-33.37 [[ 6.96252098e-01 7.13422905e-01 7.91250580e-02 2.73763249e+02] [-7.09571099e-01 7.00719260e-01 -7.41712454e-02 -2.02035040e+02] [-1.08359918e-01 -4.50296920e-03 9.94101530e-01 -3.33728636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10591999999997 meters 0.03187177199084664 Centerline is valid? [True, True] Translation: X:273.79, Y:-202.05, Z:-33.38 [[ 6.94655872e-01 7.14785769e-01 8.08364043e-02 2.73792936e+02] [-7.10767325e-01 6.99327179e-01 -7.58373687e-02 -2.02049434e+02] [-1.10738566e-01 -4.77500134e-03 9.93838100e-01 -3.33758866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13592 meters 0.03174269353537397 Centerline is valid? [True, True] Translation: X:273.82, Y:-202.07, Z:-33.38 [[ 6.94227679e-01 7.15395118e-01 7.91059772e-02 2.73819682e+02] [-7.11546979e-01 6.98704063e-01 -7.42531429e-02 -2.02067669e+02] [-1.08392004e-01 -4.73903205e-03 9.94096934e-01 -3.33779823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16591999999997 meters 0.031315447010397846 Centerline is valid? [True, True] Translation: X:273.85, Y:-202.08, Z:-33.38 [[ 6.96311893e-01 7.13378597e-01 7.89982590e-02 2.73848815e+02] [-7.09520850e-01 7.00765198e-01 -7.42179315e-02 -2.02083855e+02] [-1.08304714e-01 -4.37208342e-03 9.94108130e-01 -3.33814422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19592 meters 0.030817003875869154 Centerline is valid? [True, True] Translation: X:273.88, Y:-202.10, Z:-33.38 [[ 6.97685084e-01 7.11967847e-01 7.96072203e-02 2.73875878e+02] [-7.08033678e-01 7.02199876e-01 -7.48574996e-02 -2.02102273e+02] [-1.09196313e-01 -4.13763213e-03 9.94011592e-01 -3.33830681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22592 meters 0.03055013224302079 Centerline is valid? [True, True] Translation: X:273.90, Y:-202.12, Z:-33.39 [[ 6.99097061e-01 7.10443079e-01 8.08327388e-02 2.73903324e+02] [-7.06368653e-01 7.03743799e-01 -7.60788510e-02 -2.02120438e+02] [-1.10935232e-01 -3.91121165e-03 9.93819942e-01 -3.33863503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25591999999995 meters 0.029560128331126707 Centerline is valid? [True, True] Translation: X:273.93, Y:-202.13, Z:-33.39 [[ 7.03889598e-01 7.05752533e-01 8.03293026e-02 2.73934185e+02] [-7.01691740e-01 7.08451626e-01 -7.56637012e-02 -2.02134134e+02] [-1.10309274e-01 -3.10751592e-03 9.93892453e-01 -3.33882362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28592 meters 0.029205189227208682 Centerline is valid? [True, True] Translation: X:273.96, Y:-202.15, Z:-33.39 [[ 7.06270518e-01 7.03378167e-01 8.02565204e-02 2.73960778e+02] [-6.99305786e-01 7.10810671e-01 -7.56280921e-02 -2.02152602e+02] [-1.10242340e-01 -2.70995729e-03 9.93901043e-01 -3.33916269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31591999999995 meters 0.028915194928792593 Centerline is valid? [True, True] Translation: X:273.99, Y:-202.17, Z:-33.39 [[ 7.08465739e-01 7.01121827e-01 8.06503568e-02 2.73987124e+02] [-6.96986768e-01 7.13037730e-01 -7.60699714e-02 -2.02171851e+02] [-1.10841065e-01 -2.31926304e-03 9.93835439e-01 -3.33947955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34592 meters 0.028301156000058 Centerline is valid? [True, True] Translation: X:274.01, Y:-202.19, Z:-33.40 [[ 7.13526695e-01 6.96111269e-01 7.94276840e-02 2.74014539e+02] [-6.92062310e-01 7.17932417e-01 -7.49853523e-02 -2.02189568e+02] [-1.09221858e-01 -1.46485590e-03 9.94016318e-01 -3.33973431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37591999999995 meters 0.028316622222688038 Centerline is valid? [True, True] Translation: X:274.04, Y:-202.21, Z:-33.40 [[ 7.15960894e-01 6.93524416e-01 8.01491263e-02 2.74039989e+02] [-6.89377321e-01 7.20432389e-01 -7.57369315e-02 -2.02209539e+02] [-1.10267438e-01 -1.02830882e-03 9.93901421e-01 -3.34003502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40592 meters 0.028076456797085494 Centerline is valid? [True, True] Translation: X:274.07, Y:-202.23, Z:-33.40 [[ 7.19952936e-01 6.89409938e-01 7.98855917e-02 2.74066686e+02] [-6.85257080e-01 7.24371327e-01 -7.55573599e-02 -2.02227369e+02] [-1.09956827e-01 -3.44424259e-04 9.93936305e-01 -3.34031396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43591999999995 meters 0.02802358452403231 Centerline is valid? [True, True] Translation: X:274.09, Y:-202.25, Z:-33.41 [[ 7.21925679e-01 6.87394399e-01 7.94496954e-02 2.74092351e+02] [-6.83266829e-01 7.26284338e-01 -7.52163589e-02 -2.02248304e+02] [-1.09406373e-01 1.52796250e-05 9.93997105e-01 -3.34068173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46592 meters 0.02791261403110718 Centerline is valid? [True, True] Translation: X:274.12, Y:-202.27, Z:-33.41 [[ 7.23815247e-01 6.85420304e-01 7.93126402e-02 2.74116993e+02] [-6.81286396e-01 7.28147560e-01 -7.51663328e-02 -2.02270862e+02] [-1.09271836e-01 3.71914961e-04 9.94011835e-01 -3.34096857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49591999999996 meters 0.027938851346370697 Centerline is valid? [True, True] Translation: X:274.14, Y:-202.29, Z:-33.41 [[ 7.23676836e-01 6.85558421e-01 7.93819147e-02 2.74140952e+02] [-6.81409505e-01 7.28017502e-01 -7.53100454e-02 -2.02293854e+02] [-1.09420859e-01 4.08544140e-04 9.93995427e-01 -3.34121523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.52592 meters 0.027811126062090488 Centerline is valid? [True, True] Translation: X:274.16, Y:-202.32, Z:-33.41 [[ 7.23082248e-01 6.86261416e-01 7.87231330e-02 2.74164167e+02] [-6.82177230e-01 7.27354895e-01 -7.47601772e-02 -2.02315544e+02] [-1.08564681e-01 3.54628151e-04 9.94089324e-01 -3.34138886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55591999999996 meters 0.02785336958014703 Centerline is valid? [True, True] Translation: X:274.19, Y:-202.34, Z:-33.42 [[ 7.21547776e-01 6.87762356e-01 7.96978644e-02 2.74187976e+02] [-6.83577562e-01 7.25935885e-01 -7.57549187e-02 -2.02336949e+02] [-1.09956921e-01 1.81121235e-04 9.93936337e-01 -3.34167014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.58592 meters 0.02773508262973717 Centerline is valid? [True, True] Translation: X:274.21, Y:-202.36, Z:-33.42 [[ 7.20493023e-01 6.88926790e-01 7.91813232e-02 2.74212299e+02] [-6.84795556e-01 7.24830928e-01 -7.53337382e-02 -2.02359648e+02] [-1.09292502e-01 5.44145214e-05 9.94009631e-01 -3.34202852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61591999999996 meters 0.027648991649330587 Centerline is valid? [True, True] Translation: X:274.24, Y:-202.38, Z:-33.42 [[ 7.18691179e-01 6.90880364e-01 7.85322331e-02 2.74236784e+02] [-6.86819918e-01 7.22969078e-01 -7.47937923e-02 -2.02381427e+02] [-1.08449939e-01 -1.83863119e-04 9.94101895e-01 -3.34234847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64592 meters 0.02798113206182012 Centerline is valid? [True, True] Translation: X:274.26, Y:-202.40, Z:-33.43 [[ 7.17884966e-01 6.91697272e-01 7.87150584e-02 2.74261610e+02] [-6.87614125e-01 7.22187525e-01 -7.50466084e-02 -2.02402464e+02] [-1.08756567e-01 -2.50754138e-04 9.94068381e-01 -3.34268807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67591999999996 meters 0.027942563395654704 Centerline is valid? [True, True] Translation: X:274.29, Y:-202.42, Z:-33.43 [[ 7.16602056e-01 6.92969814e-01 7.92106691e-02 2.74287962e+02] [-6.88833939e-01 7.20966494e-01 -7.55984045e-02 -2.02422926e+02] [-1.09495651e-01 -3.89025164e-04 9.93987199e-01 -3.34300381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70592 meters 0.028054622224834482 Centerline is valid? [True, True] Translation: X:274.31, Y:-202.44, Z:-33.43 [[ 7.16341121e-01 6.93192062e-01 7.96251491e-02 2.74312822e+02] [-6.89005183e-01 7.20752822e-01 -7.60738286e-02 -2.02444466e+02] [-1.10123825e-01 -3.67328838e-04 9.93917808e-01 -3.34325117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73591999999996 meters 0.027911828719943844 Centerline is valid? [True, True] Translation: X:274.34, Y:-202.47, Z:-33.43 [[ 7.16439059e-01 6.93094803e-01 7.95906288e-02 2.74337687e+02] [-6.88902191e-01 7.20846382e-01 -7.61200626e-02 -2.02466007e+02] [-1.10131037e-01 -2.94772510e-04 9.93917033e-01 -3.34340880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76592 meters 0.028074959025215517 Centerline is valid? [True, True] Translation: X:274.36, Y:-202.49, Z:-33.44 [[ 7.16272279e-01 6.93191621e-01 8.02458663e-02 2.74362913e+02] [-6.88921205e-01 7.20753294e-01 -7.68261798e-02 -2.02486513e+02] [-1.11092737e-01 -2.54616053e-04 9.93810012e-01 -3.34377101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79591999999997 meters 0.028159087200755595 Centerline is valid? [True, True] Translation: X:274.39, Y:-202.50, Z:-33.44 [[ 7.16748429e-01 6.92774703e-01 7.95920896e-02 2.74390749e+02] [-6.88563157e-01 7.21154070e-01 -7.62731040e-02 -2.02503556e+02] [-1.10238236e-01 -1.35553111e-04 9.93905183e-01 -3.34408153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82592 meters 0.028314098520165414 Centerline is valid? [True, True] Translation: X:274.42, Y:-202.52, Z:-33.44 [[ 7.17404851e-01 6.91979261e-01 8.05914537e-02 2.74417474e+02] [-6.87648005e-01 7.21917378e-01 -7.73014864e-02 -2.02522097e+02] [-1.11671396e-01 3.79089807e-05 9.93745188e-01 -3.34446411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85591999999997 meters 0.028398462026520493 Centerline is valid? [True, True] Translation: X:274.44, Y:-202.54, Z:-33.45 [[ 7.17423314e-01 6.92042348e-01 7.98822676e-02 2.74441604e+02] [-6.87779920e-01 7.21856899e-01 -7.66902794e-02 -2.02543070e+02] [-1.10736487e-01 7.79747159e-05 9.93849800e-01 -3.34475742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88592 meters 0.028568810840463452 Centerline is valid? [True, True] Translation: X:274.47, Y:-202.56, Z:-33.45 [[ 7.18622967e-01 6.90762319e-01 8.01776187e-02 2.74466585e+02] [-6.86452232e-01 7.23081815e-01 -7.70455822e-02 -2.02564115e+02] [-1.11195163e-01 3.28619524e-04 9.93798535e-01 -3.34503035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91591999999997 meters 0.028764485623376603 Centerline is valid? [True, True] Translation: X:274.49, Y:-202.58, Z:-33.45 [[ 7.20519371e-01 6.88768178e-01 8.03133389e-02 2.74493212e+02] [-6.84422080e-01 7.24981318e-01 -7.72561017e-02 -2.02583375e+02] [-1.11437215e-01 6.96295365e-04 9.93771232e-01 -3.34529358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94592 meters 0.029086614161421543 Centerline is valid? [True, True] Translation: X:274.52, Y:-202.60, Z:-33.46 [[ 7.21932950e-01 6.87251878e-01 8.06081426e-02 2.74517790e+02] [-6.82855520e-01 7.26418526e-01 -7.76174183e-02 -2.02604746e+02] [-1.11897965e-01 9.90856559e-04 9.93719208e-01 -3.34561813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97592 meters 0.029633171032893188 Centerline is valid? [True, True] Translation: X:274.54, Y:-202.63, Z:-33.46 [[ 7.26292526e-01 6.82750876e-01 7.96894495e-02 2.74541499e+02] [-6.78419802e-01 7.30649228e-01 -7.68002437e-02 -2.02626301e+02] [-1.10660468e-01 1.71654242e-03 9.93856788e-01 -3.34584367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00591999999995 meters 0.030291316722422905 Centerline is valid? [True, True] Translation: X:274.56, Y:-202.65, Z:-33.46 [[ 7.28111893e-01 6.80741288e-01 8.02768380e-02 2.74564771e+02] [-6.76326048e-01 7.32520949e-01 -7.74347272e-02 -2.02648701e+02] [-1.11517481e-01 2.08782924e-03 9.93760279e-01 -3.34619365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03592 meters 0.030840715955190764 Centerline is valid? [True, True] Translation: X:274.59, Y:-202.67, Z:-33.46 [[ 7.31752673e-01 6.77006228e-01 7.87438440e-02 2.74587641e+02] [-6.72729669e-01 7.35972496e-01 -7.60215654e-02 -2.02672076e+02] [-1.09420377e-01 2.65566357e-03 9.93992016e-01 -3.34628845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06591999999995 meters 0.030925357397546503 Centerline is valid? [True, True] Translation: X:274.61, Y:-202.70, Z:-33.47 [[ 7.32094935e-01 6.76571422e-01 7.92976524e-02 2.74610164e+02] [-6.72224418e-01 7.36371735e-01 -7.66224456e-02 -2.02695129e+02] [-1.10233107e-01 2.78908602e-03 9.93901848e-01 -3.34657153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09592 meters 0.030867120361367493 Centerline is valid? [True, True] Translation: X:274.63, Y:-202.72, Z:-33.47 [[ 7.31815583e-01 6.76955283e-01 7.85970567e-02 2.74630870e+02] [-6.72680106e-01 7.36018992e-01 -7.60099954e-02 -2.02719963e+02] [-1.09304294e-01 2.75462269e-03 9.94004519e-01 -3.34669090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12591999999995 meters 0.03072024599587296 Centerline is valid? [True, True] Translation: X:274.65, Y:-202.74, Z:-33.47 [[ 7.30455585e-01 6.78526944e-01 7.76905751e-02 2.74652703e+02] [-6.74352068e-01 7.34571134e-01 -7.51966597e-02 -2.02743402e+02] [-1.08092213e-01 2.53701999e-03 9.94137635e-01 -3.34693155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15592 meters 0.030502287614891946 Centerline is valid? [True, True] Translation: X:274.68, Y:-202.77, Z:-33.47 [[ 7.28741968e-01 6.80197572e-01 7.91606401e-02 2.74675312e+02] [-6.75864916e-01 7.33024952e-01 -7.66879091e-02 -2.02767613e+02] [-1.10189654e-01 2.38379844e-03 9.93907721e-01 -3.34734474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18591999999995 meters 0.029943923576073766 Centerline is valid? [True, True] Translation: X:274.70, Y:-202.79, Z:-33.48 [[ 7.25168983e-01 6.84090294e-01 7.84245822e-02 2.74695601e+02] [-6.79852716e-01 7.29395038e-01 -7.60471140e-02 -2.02792441e+02] [-1.09225594e-01 1.82984311e-03 9.94015302e-01 -3.34762216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21592 meters 0.029825436040097936 Centerline is valid? [True, True] Translation: X:274.72, Y:-202.82, Z:-33.48 [[ 7.23112980e-01 6.86163201e-01 7.92948934e-02 2.74718283e+02] [-6.81835462e-01 7.27445909e-01 -7.69600683e-02 -2.02816636e+02] [-1.10489913e-01 1.58475407e-03 9.93875982e-01 -3.34794002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24591999999996 meters 0.029511573349381783 Centerline is valid? [True, True] Translation: X:274.74, Y:-202.84, Z:-33.48 [[ 7.20848965e-01 6.88533044e-01 7.93663517e-02 2.74741445e+02] [-6.84203407e-01 7.25203844e-01 -7.71043649e-02 -2.02838407e+02] [-1.10645686e-01 1.27787336e-03 9.93859094e-01 -3.34811806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.27592 meters 0.029233696356857377 Centerline is valid? [True, True] Translation: X:274.77, Y:-202.86, Z:-33.48 [[ 7.19409794e-01 6.90140779e-01 7.84554232e-02 2.74765400e+02] [-6.85912495e-01 7.23674351e-01 -7.62855318e-02 -2.02860128e+02] [-1.09423934e-01 1.06700364e-03 9.93994600e-01 -3.34833592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30591999999996 meters 0.029191630964533612 Centerline is valid? [True, True] Translation: X:274.79, Y:-202.88, Z:-33.49 [[ 7.17603111e-01 6.92063807e-01 7.80606330e-02 2.74789132e+02] [-6.87882076e-01 7.21835865e-01 -7.59686302e-02 -2.02881216e+02] [-1.08922104e-01 8.18815029e-04 9.94049951e-01 -3.34855629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.33592 meters 0.02893097958609096 Centerline is valid? [True, True] Translation: X:274.81, Y:-202.90, Z:-33.49 [[ 7.15997228e-01 6.93713791e-01 7.81610220e-02 2.74813419e+02] [-6.89523397e-01 7.20250507e-01 -7.61360116e-02 -2.02903305e+02] [-1.09112117e-01 6.19319878e-04 9.94029256e-01 -3.34886654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36591999999996 meters 0.029016027804233194 Centerline is valid? [True, True] Translation: X:274.84, Y:-202.92, Z:-33.49 [[ 7.13909852e-01 6.95648317e-01 8.00383829e-02 2.74839494e+02] [-6.91256689e-01 7.18382396e-01 -7.80443634e-02 -2.02923049e+02] [-1.11789595e-01 3.89572354e-04 9.93731822e-01 -3.34917138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39592 meters 0.029323578636225832 Centerline is valid? [True, True] Translation: X:274.87, Y:-202.94, Z:-33.49 [[ 7.12981993e-01 6.96589693e-01 8.01216478e-02 2.74865473e+02] [-6.92186680e-01 7.17469660e-01 -7.81977426e-02 -2.02943841e+02] [-1.11956593e-01 2.94444971e-04 9.93713054e-01 -3.34940781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42591999999996 meters 0.029077239970812255 Centerline is valid? [True, True] Translation: X:274.89, Y:-202.96, Z:-33.50 [[ 7.12591341e-01 6.97078066e-01 7.93457595e-02 2.74890262e+02] [-6.92754636e-01 7.16995185e-01 -7.75172171e-02 -2.02964710e+02] [-1.10926079e-01 2.70955013e-04 9.93828623e-01 -3.34960718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45592 meters 0.029100365860875808 Centerline is valid? [True, True] Translation: X:274.92, Y:-202.99, Z:-33.50 [[ 7.12164398e-01 6.97545752e-01 7.90682878e-02 2.74915844e+02] [-6.93247583e-01 7.16540203e-01 -7.73170520e-02 -2.02985499e+02] [-1.10587788e-01 2.48552380e-04 9.93866329e-01 -3.34991397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48591999999996 meters 0.029109933142993906 Centerline is valid? [True, True] Translation: X:274.94, Y:-203.01, Z:-33.50 [[ 7.11964830e-01 6.97795542e-01 7.86604271e-02 2.74940603e+02] [-6.93534580e-01 7.16296944e-01 -7.69965879e-02 -2.03006774e+02] [-1.10072099e-01 2.65136333e-04 9.93923570e-01 -3.35015360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51592 meters 0.029016910067673173 Centerline is valid? [True, True] Translation: X:274.97, Y:-203.03, Z:-33.50 [[ 7.11989869e-01 6.97887088e-01 7.76146773e-02 2.74967203e+02] [-6.93731355e-01 7.16207736e-01 -7.60479240e-02 -2.03025127e+02] [-1.08661097e-01 3.01616184e-04 9.94078807e-01 -3.35033155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54591999999997 meters 0.029016910067673173 Centerline is valid? [True, True] Translation: X:274.99, Y:-203.05, Z:-33.51 [[ 7.11634671e-01 6.98253155e-01 7.75798124e-02 2.74990646e+02] [-6.94095714e-01 7.15850853e-01 -7.60834778e-02 -2.03047604e+02] [-1.08661103e-01 2.95825370e-04 9.94078808e-01 -3.35061775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57592 meters 0.0290738281033077 Centerline is valid? [True, True] Translation: X:275.02, Y:-203.07, Z:-33.51 [[ 7.11888559e-01 6.98001892e-01 7.75115377e-02 2.75016736e+02] [-6.93841800e-01 7.16095808e-01 -7.60943535e-02 -2.03068836e+02] [-1.08619690e-01 3.89954815e-04 9.94083302e-01 -3.35086233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60591999999997 meters 0.02917811993283374 Centerline is valid? [True, True] Translation: X:275.04, Y:-203.09, Z:-33.51 [[ 7.11918746e-01 6.97990805e-01 7.73339229e-02 2.75042212e+02] [-6.93841281e-01 7.16106582e-01 -7.59976366e-02 -2.03090197e+02] [-1.08424983e-01 4.46674000e-04 9.94104534e-01 -3.35118420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63592 meters 0.029114719449324457 Centerline is valid? [True, True] Translation: X:275.07, Y:-203.11, Z:-33.51 [[ 7.13186549e-01 6.96766888e-01 7.66867030e-02 2.75069557e+02] [-6.92671379e-01 7.17297315e-01 -7.54382055e-02 -2.03110075e+02] [-1.07570010e-01 6.82829106e-04 9.94197278e-01 -3.35133821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66591999999997 meters 0.02894528513048348 Centerline is valid? [True, True] Translation: X:275.09, Y:-203.13, Z:-33.52 [[ 7.13668453e-01 6.96341869e-01 7.60614237e-02 2.75093585e+02] [-6.92303542e-01 7.17709815e-01 -7.48894281e-02 -2.03130995e+02] [-1.06738675e-01 7.88629293e-04 9.94286796e-01 -3.35151332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69592 meters 0.0290518112492711 Centerline is valid? [True, True] Translation: X:275.12, Y:-203.15, Z:-33.52 [[ 7.15668642e-01 6.94326386e-01 7.56919113e-02 2.75118192e+02] [-6.90312659e-01 7.19659395e-01 -7.45572812e-02 -2.03152253e+02] [-1.06239483e-01 1.10722364e-03 9.94339955e-01 -3.35184037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72592 meters 0.02904819934625138 Centerline is valid? [True, True] Translation: X:275.14, Y:-203.17, Z:-33.52 [[ 7.15893994e-01 6.94202976e-01 7.46861268e-02 2.75141614e+02] [-6.90287586e-01 7.19778356e-01 -7.36353618e-02 -2.03174144e+02] [-1.04875345e-01 1.16020710e-03 9.94484699e-01 -3.35205746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75591999999995 meters 0.028971180806338852 Centerline is valid? [True, True] Translation: X:275.17, Y:-203.19, Z:-33.52 [[ 7.16653591e-01 6.93403385e-01 7.48289799e-02 2.75167892e+02] [-6.89461758e-01 7.20548392e-01 -7.38410341e-02 -2.03193987e+02] [-1.05119524e-01 1.32672216e-03 9.94458710e-01 -3.35226954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78592 meters 0.029076364499470788 Centerline is valid? [True, True] Translation: X:275.19, Y:-203.21, Z:-33.53 [[ 7.16545778e-01 6.93429736e-01 7.56131543e-02 2.75192452e+02] [-6.89397924e-01 7.20522924e-01 -7.46807747e-02 -2.03214817e+02] [-1.06266881e-01 1.38464217e-03 9.94336680e-01 -3.35266740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81591999999995 meters 0.02914577275196404 Centerline is valid? [True, True] Translation: X:275.22, Y:-203.24, Z:-33.53 [[ 7.16930022e-01 6.93071334e-01 7.52560239e-02 2.75217097e+02] [-6.89068606e-01 7.20867490e-01 -7.43943434e-02 -2.03237266e+02] [-1.05810208e-01 1.47897484e-03 9.94385244e-01 -3.35304264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84592 meters 0.029073571567244914 Centerline is valid? [True, True] Translation: X:275.24, Y:-203.26, Z:-33.53 [[ 7.17073714e-01 6.92962460e-01 7.48887039e-02 2.75240353e+02] [-6.88990873e-01 7.20972027e-01 -7.41007025e-02 -2.03260433e+02] [-1.05341666e-01 1.53803248e-03 9.94434899e-01 -3.35320549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87591999999995 meters 0.02911705998830369 Centerline is valid? [True, True] Translation: X:275.26, Y:-203.28, Z:-33.53 [[ 7.17610956e-01 6.92360142e-01 7.53123482e-02 2.75264089e+02] [-6.88334259e-01 7.21550155e-01 -7.45742676e-02 -2.03282004e+02] [-1.05973887e-01 1.67524204e-03 9.94367502e-01 -3.35346360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90592 meters 0.029341356307040926 Centerline is valid? [True, True] Translation: X:275.29, Y:-203.30, Z:-33.54 [[ 7.19606669e-01 6.90204200e-01 7.60552715e-02 2.75288309e+02] [-6.86079030e-01 7.23611713e-01 -7.53767466e-02 -2.03303367e+02] [-1.07059832e-01 2.06168266e-03 9.94250442e-01 -3.35370605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93591999999995 meters 0.029468853418689298 Centerline is valid? [True, True] Translation: X:275.31, Y:-203.33, Z:-33.54 [[ 7.20287051e-01 6.89604010e-01 7.50524742e-02 2.75311601e+02] [-6.85577055e-01 7.24183404e-01 -7.44479685e-02 -2.03326191e+02] [-1.05691374e-01 2.16965349e-03 9.94396614e-01 -3.35390989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96592 meters 0.02958647087170564 Centerline is valid? [True, True] Translation: X:275.33, Y:-203.35, Z:-33.54 [[ 7.20453443e-01 6.89318039e-01 7.60754749e-02 2.75333495e+02] [-6.85170771e-01 7.24455225e-01 -7.55356992e-02 -2.03350205e+02] [-1.07181395e-01 2.29526278e-03 9.94236833e-01 -3.35424027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99591999999996 meters 0.02938729628274514 Centerline is valid? [True, True] Translation: X:275.36, Y:-203.37, Z:-33.55 [[ 7.19711410e-01 6.90091165e-01 7.60898799e-02 2.75356604e+02] [-6.85939447e-01 7.23719017e-01 -7.56165367e-02 -2.03374257e+02] [-1.07249997e-01 2.22903413e-03 9.94229586e-01 -3.35459802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.02592 meters 0.029623758704344198 Centerline is valid? [True, True] Translation: X:275.38, Y:-203.40, Z:-33.55 [[ 7.19317514e-01 6.90445520e-01 7.65982919e-02 2.75378904e+02] [-6.86231758e-01 7.23380909e-01 -7.61973399e-02 -2.03397976e+02] [-1.08019854e-01 2.24590051e-03 9.94146200e-01 -3.35501450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05591999999996 meters 0.02918440556701386 Centerline is valid? [True, True] Translation: X:275.40, Y:-203.42, Z:-33.55 [[ 7.18903935e-01 6.90883061e-01 7.65357952e-02 2.75399961e+02] [-6.86670575e-01 7.22963077e-01 -7.62096497e-02 -2.03423258e+02] [-1.07984510e-01 2.23253860e-03 9.94150070e-01 -3.35523012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.08592 meters 0.029494876661215898 Centerline is valid? [True, True] Translation: X:275.42, Y:-203.45, Z:-33.56 [[ 7.19269097e-01 6.90347137e-01 7.79281474e-02 2.75420898e+02] [-6.85968080e-01 7.23474272e-01 -7.76709150e-02 -2.03447768e+02] [-1.09998903e-01 2.41006727e-03 9.93928787e-01 -3.35568564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11591999999996 meters 0.029350624486774887 Centerline is valid? [True, True] Translation: X:275.44, Y:-203.47, Z:-33.56 [[ 7.19546197e-01 6.90126175e-01 7.73248578e-02 2.75442048e+02] [-6.85807306e-01 7.23684862e-01 -7.71269072e-02 -2.03471866e+02] [-1.09186126e-01 2.46642033e-03 9.94018263e-01 -3.35596538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14592 meters 0.029701369382913664 Centerline is valid? [True, True] Translation: X:275.46, Y:-203.50, Z:-33.56 [[ 7.20079148e-01 6.89540411e-01 7.75889267e-02 2.75464518e+02] [-6.85184931e-01 7.24242587e-01 -7.74227733e-02 -2.03495271e+02] [-1.09579336e-01 2.58776130e-03 9.93974684e-01 -3.35626883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17591999999996 meters 0.029669230107907858 Centerline is valid? [True, True] Translation: X:275.49, Y:-203.52, Z:-33.57 [[ 7.19829924e-01 6.89811764e-01 7.74894298e-02 2.75487707e+02] [-6.85461463e-01 7.23984120e-01 -7.73923625e-02 -2.03519267e+02] [-1.09487279e-01 2.59332051e-03 9.93984814e-01 -3.35655101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20592 meters 0.02918645746514556 Centerline is valid? [True, True] Translation: X:275.51, Y:-203.54, Z:-33.57 [[ 7.18477354e-01 6.91266239e-01 7.70796891e-02 2.75508346e+02] [-6.86962280e-01 7.22596130e-01 -7.70562028e-02 -2.03543566e+02] [-1.08963837e-01 2.41229768e-03 9.94042787e-01 -3.35678070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23591999999996 meters 0.028775438940244907 Centerline is valid? [True, True] Translation: X:275.53, Y:-203.54, Z:-33.57 [[ 6.68827618e-01 7.39983668e-01 7.13707763e-02 2.75528931e+02] [-7.35419359e-01 6.72620476e-01 -8.20978769e-02 -2.03544391e+02] [-1.08756534e-01 2.42187691e-03 9.94065466e-01 -3.35684376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26592 meters 0.02848163243287748 Centerline is valid? [True, True] Translation: X:275.42, Y:-203.88, Z:-31.73 [[ 6.95212868e-01 -7.17508953e-01 -4.31273830e-02 2.75416887e+02] [-7.15661704e-01 -6.96530756e-01 5.17033071e-02 -2.03880315e+02] [-6.71371345e-02 -5.08018799e-03 -9.97730824e-01 -3.17259968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29591999999997 meters 0.028219533458773146 Centerline is valid? [True, True] Translation: X:275.53, Y:-203.58, Z:-33.57 [[ 7.16400150e-01 6.93429375e-01 7.69839423e-02 2.75534470e+02] [-6.89206344e-01 7.20522602e-01 -7.64316443e-02 -2.03576065e+02] [-1.08468618e-01 1.69782006e-03 9.94098424e-01 -3.35719957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32592 meters 0.02802950813293229 Centerline is valid? [True, True] Translation: X:275.56, Y:-203.60, Z:-33.58 [[ 7.13607272e-01 6.96178268e-01 7.81055722e-02 2.75557457e+02] [-6.91843322e-01 7.17867720e-01 -7.75806390e-02 -2.03599343e+02] [-1.10079424e-01 1.32528968e-03 9.93921910e-01 -3.35751552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35591999999997 meters 0.027837211666285038 Centerline is valid? [True, True] Translation: X:275.58, Y:-203.62, Z:-33.58 [[ 7.13084715e-01 6.96815254e-01 7.71925586e-02 2.75580640e+02] [-6.92576871e-01 7.17249536e-01 -7.67488150e-02 -2.03621672e+02] [-1.08846072e-01 1.26662615e-03 9.94057809e-01 -3.35766702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38592 meters 0.028020304517846345 Centerline is valid? [True, True] Translation: X:275.61, Y:-203.64, Z:-33.58 [[ 7.14097315e-01 6.95845224e-01 7.65796902e-02 2.75605010e+02] [-6.91661099e-01 7.18190305e-01 -7.62076801e-02 -2.03643698e+02] [-1.08027541e-01 1.45250699e-03 9.94146841e-01 -3.35795919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41591999999997 meters 0.028231478996011423 Centerline is valid? [True, True] Translation: X:275.63, Y:-203.67, Z:-33.58 [[ 7.15385005e-01 6.94639074e-01 7.55039891e-02 2.75629320e+02] [-6.90557275e-01 7.19356506e-01 -7.52121520e-02 -2.03665933e+02] [-1.06559585e-01 1.66581674e-03 9.94304923e-01 -3.35820751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44592 meters 0.02876167337646936 Centerline is valid? [True, True] Translation: X:275.65, Y:-203.69, Z:-33.59 [[ 7.18352381e-01 6.91521978e-01 7.59421602e-02 2.75652612e+02] [-6.87367051e-01 7.22352084e-01 -7.57232074e-02 -2.03688020e+02] [-1.07221240e-01 2.19580757e-03 9.94232762e-01 -3.35853100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47592 meters 0.029047782292203356 Centerline is valid? [True, True] Translation: X:275.67, Y:-203.71, Z:-33.59 [[ 7.19819878e-01 6.89974238e-01 7.61242003e-02 2.75674838e+02] [-6.85783573e-01 7.23829676e-01 -7.59703305e-02 -2.03710799e+02] [-1.07518526e-01 2.48022788e-03 9.94199987e-01 -3.35884060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50591999999995 meters 0.02971192513480635 Centerline is valid? [True, True] Translation: X:275.70, Y:-203.73, Z:-33.59 [[ 7.22031572e-01 6.87570254e-01 7.69256436e-02 2.75697424e+02] [-6.83269708e-01 7.26111998e-01 -7.68366681e-02 -2.03734043e+02] [-1.08687240e-01 2.91753825e-03 9.94071714e-01 -3.35903136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53592 meters 0.029992773289320058 Centerline is valid? [True, True] Translation: X:275.72, Y:-203.76, Z:-33.59 [[ 7.22718131e-01 6.86818609e-01 7.71926199e-02 2.75720085e+02] [-6.82476518e-01 7.26822297e-01 -7.71696297e-02 -2.03757261e+02] [-1.09106855e-01 3.08974018e-03 9.94025225e-01 -3.35935197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56591999999995 meters 0.030527388170972176 Centerline is valid? [True, True] Translation: X:275.64, Y:-204.10, Z:-31.76 [[ 7.33990401e-01 -6.77678870e-01 -4.48267849e-02 2.75644051e+02] [-6.76049161e-01 -7.35345310e-01 4.71678733e-02 -2.04102467e+02] [-6.49278371e-02 -4.31565589e-03 -9.97880630e-01 -3.17558024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59592 meters 0.030439096689709396 Centerline is valid? [True, True] Translation: X:275.73, Y:-203.80, Z:-33.60 [[ 7.70615689e-01 6.31786932e-01 8.36464689e-02 2.75734787e+02] [-6.27624381e-01 7.75134828e-01 -7.24819638e-02 -2.03801350e+02] [-1.10630449e-01 3.35717519e-03 9.93855942e-01 -3.35965829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62591999999995 meters 0.030497291040647325 Centerline is valid? [True, True] Translation: X:275.76, Y:-203.82, Z:-33.60 [[ 7.70676849e-01 6.31677374e-01 8.39100158e-02 2.75758000e+02] [-6.27480131e-01 7.75223762e-01 -7.27791513e-02 -2.03823526e+02] [-1.11021981e-01 3.43733925e-03 9.93812007e-01 -3.35998315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65592 meters 0.030800850869395987 Centerline is valid? [True, True] Translation: X:275.78, Y:-203.85, Z:-33.60 [[ 7.70311458e-01 6.32072613e-01 8.42880214e-02 2.75781513e+02] [-6.27832468e-01 7.74901502e-01 -7.31714079e-02 -2.03846134e+02] [-1.11564557e-01 3.44601733e-03 9.93751214e-01 -3.36038128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68591999999995 meters 0.03032438378827767 Centerline is valid? [True, True] Translation: X:275.80, Y:-203.87, Z:-33.61 [[ 7.70219758e-01 6.32322668e-01 8.32440276e-02 2.75801673e+02] [-6.28182065e-01 7.74697612e-01 -7.23249833e-02 -2.03871493e+02] [-1.10221676e-01 3.41372595e-03 9.93901166e-01 -3.36065953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71592 meters 0.03032595567454495 Centerline is valid? [True, True] Translation: X:275.82, Y:-203.90, Z:-33.61 [[ 7.69387341e-01 6.33482170e-01 8.21185728e-02 2.75822608e+02] [-6.29456497e-01 7.73750562e-01 -7.13763678e-02 -2.03895899e+02] [-1.08754948e-01 3.22600465e-03 9.94063355e-01 -3.36100044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74591999999996 meters 0.03012437038720097 Centerline is valid? [True, True] Translation: X:275.85, Y:-203.92, Z:-33.61 [[ 7.68373947e-01 6.34730859e-01 8.19647157e-02 2.75845271e+02] [-6.30720669e-01 7.72727107e-01 -7.13039722e-02 -2.03919270e+02] [-1.08595189e-01 3.09127419e-03 9.94081249e-01 -3.36133124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.77592 meters 0.029485778997388884 Centerline is valid? [True, True] Translation: X:275.87, Y:-203.95, Z:-33.62 [[ 7.66084418e-01 6.37344061e-01 8.31096389e-02 2.75865421e+02] [-6.33229913e-01 7.70574263e-01 -7.23545598e-02 -2.03945814e+02] [-1.10156898e-01 2.80219142e-03 9.93910260e-01 -3.36151016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80591999999996 meters 0.029411893115645425 Centerline is valid? [True, True] Translation: X:275.89, Y:-203.97, Z:-33.62 [[ 7.64314298e-01 6.39388222e-01 8.37039824e-02 2.75888017e+02] [-6.35223516e-01 7.68879833e-01 -7.29032699e-02 -2.03969219e+02] [-1.10971796e-01 2.55027351e-03 9.93820284e-01 -3.36179663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.83592 meters 0.028770470125623046 Centerline is valid? [True, True] Translation: X:275.91, Y:-203.99, Z:-33.62 [[ 7.62618082e-01 6.41600332e-01 8.22354881e-02 2.75909180e+02] [-6.37586937e-01 7.67035860e-01 -7.16860378e-02 -2.03994087e+02] [-1.09071354e-01 2.23679568e-03 9.94031406e-01 -3.36199092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86591999999996 meters 0.028538675064643918 Centerline is valid? [True, True] Translation: X:275.93, Y:-204.02, Z:-33.62 [[ 7.60993268e-01 6.43522500e-01 8.22680882e-02 2.75931236e+02] [-6.39510192e-01 7.65424555e-01 -7.17771887e-02 -2.04017750e+02] [-1.09160251e-01 2.01067651e-03 9.94022131e-01 -3.36224676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89592 meters 0.02815092869036522 Centerline is valid? [True, True] Translation: X:275.95, Y:-204.04, Z:-33.63 [[ 7.59140334e-01 6.45759482e-01 8.18574616e-02 2.75953538e+02] [-6.41793313e-01 7.63538932e-01 -7.14817640e-02 -2.04041543e+02] [-1.08661386e-01 1.72911874e-03 9.94077318e-01 -3.36252783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92591999999996 meters 0.027841105649638504 Centerline is valid? [True, True] Translation: X:275.97, Y:-204.07, Z:-33.63 [[ 7.56111937e-01 6.49345639e-01 8.15167406e-02 2.75974225e+02] [-6.45426293e-01 7.60492379e-01 -7.12477507e-02 -2.04066539e+02] [-1.08257276e-01 1.25822710e-03 9.94122115e-01 -3.36271745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95592 meters 0.027634394030535518 Centerline is valid? [True, True] Translation: X:276.00, Y:-204.09, Z:-33.63 [[ 7.54725409e-01 6.51053765e-01 8.07375529e-02 2.75997255e+02] [-6.47212105e-01 7.59030888e-01 -7.06300409e-02 -2.04088988e+02] [-1.07266250e-01 1.05196501e-03 9.94229775e-01 -3.36297511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98591999999996 meters 0.027559431851738918 Centerline is valid? [True, True] Translation: X:276.02, Y:-204.11, Z:-33.63 [[ 7.52524114e-01 6.53575676e-01 8.09091701e-02 2.76017930e+02] [-6.49725155e-01 7.56860808e-01 -7.08444747e-02 -2.04113991e+02] [-1.07539205e-01 7.43452477e-04 9.94200567e-01 -3.36314016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01592 meters 0.02759260797869377 Centerline is valid? [True, True] Translation: X:276.04, Y:-204.14, Z:-33.64 [[ 7.51486006e-01 6.54702315e-01 8.14472932e-02 2.76041137e+02] [-6.50799502e-01 7.55886548e-01 -7.13830147e-02 -2.04137765e+02] [-1.08299538e-01 6.37478773e-04 9.94118103e-01 -3.36357696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04591999999997 meters 0.02772855404839888 Centerline is valid? [True, True] Translation: X:276.06, Y:-204.16, Z:-33.64 [[ 7.50046822e-01 6.56484404e-01 8.03616339e-02 2.76063513e+02] [-6.52687695e-01 7.54339474e-01 -7.05034019e-02 -2.04161223e+02] [-1.06904336e-01 4.29802894e-04 9.94269218e-01 -3.36393014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07592 meters 0.027700683664096778 Centerline is valid? [True, True] Translation: X:276.09, Y:-204.18, Z:-33.64 [[ 7.49015564e-01 6.57662386e-01 8.03484380e-02 2.76088170e+02] [-6.53866577e-01 7.53312743e-01 -7.05578558e-02 -2.04182379e+02] [-1.06930750e-01 3.11774066e-04 9.94266422e-01 -3.36426768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10591999999997 meters 0.027664107836808425 Centerline is valid? [True, True] Translation: X:276.11, Y:-204.20, Z:-33.65 [[ 7.47951022e-01 6.58973429e-01 7.95191131e-02 2.76112672e+02] [-6.55255611e-01 7.52166198e-01 -6.99006150e-02 -2.04203730e+02] [-1.05874237e-01 1.76891391e-04 9.94379512e-01 -3.36450271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13592 meters 0.027449481837216242 Centerline is valid? [True, True] Translation: X:276.13, Y:-204.23, Z:-33.65 [[ 7.45627365e-01 6.61704745e-01 7.86553440e-02 2.76134938e+02] [-6.58075930e-01 7.49764500e-01 -6.92045218e-02 -2.04226599e+02] [-1.04765945e-01 -1.60403420e-04 9.94496893e-01 -3.36480108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16591999999997 meters 0.027401616659887953 Centerline is valid? [True, True] Translation: X:276.16, Y:-204.25, Z:-33.65 [[ 7.45108711e-01 6.62367363e-01 7.79902867e-02 2.76158472e+02] [-6.58797501e-01 7.49179173e-01 -6.86761917e-02 -2.04248847e+02] [-1.03917566e-01 -2.08577281e-04 9.94585892e-01 -3.36503483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19592 meters 0.027351274057462426 Centerline is valid? [True, True] Translation: X:276.18, Y:-204.27, Z:-33.65 [[ 7.45022955e-01 6.62356398e-01 7.88973980e-02 2.76183894e+02] [-6.58699364e-01 7.49188873e-01 -6.95066941e-02 -2.04270084e+02] [-1.05147256e-01 -1.85583283e-04 9.94456646e-01 -3.36536204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22592 meters 0.027705946045150996 Centerline is valid? [True, True] Translation: X:276.21, Y:-204.29, Z:-33.66 [[ 7.44722338e-01 6.62479053e-01 8.06854650e-02 2.76208157e+02] [-6.58646412e-01 7.49080424e-01 -7.11577277e-02 -2.04291214e+02] [-1.07580406e-01 -1.50442668e-04 9.94196376e-01 -3.36577474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25591999999995 meters 0.027570094180638778 Centerline is valid? [True, True] Translation: X:276.23, Y:-204.31, Z:-33.66 [[ 7.45288687e-01 6.61814669e-01 8.09080830e-02 2.76232605e+02] [-6.57949475e-01 7.49667489e-01 -7.14222970e-02 -2.04313016e+02] [-1.07922483e-01 -3.20074992e-06 9.94159312e-01 -3.36605177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28592 meters 0.027554878502328458 Centerline is valid? [True, True] Translation: X:276.26, Y:-204.34, Z:-33.66 [[ 7.47299155e-01 6.59631274e-01 8.01907390e-02 2.76256478e+02] [-6.55813928e-01 7.51589282e-01 -7.08635623e-02 -2.04335608e+02] [-1.07014322e-01 3.66076757e-04 9.94257412e-01 -3.36624476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31591999999995 meters 0.027609996962206503 Centerline is valid? [True, True] Translation: X:276.28, Y:-204.36, Z:-33.66 [[ 7.48796974e-01 6.57937361e-01 8.01343905e-02 2.76281747e+02] [-6.54107649e-01 7.53072365e-01 -7.08886189e-02 -2.04356770e+02] [-1.06987266e-01 6.64665490e-04 9.94260169e-01 -3.36637730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34592 meters 0.02778476512950825 Centerline is valid? [True, True] Translation: X:276.31, Y:-204.38, Z:-33.67 [[ 7.49498459e-01 6.57033639e-01 8.09867713e-02 2.76305669e+02] [-6.53108484e-01 7.53860770e-01 -7.17164386e-02 -2.04378151e+02] [-1.08172862e-01 8.58212778e-04 9.94131729e-01 -3.36673254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37591999999995 meters 0.027837138991639622 Centerline is valid? [True, True] Translation: X:276.33, Y:-204.40, Z:-33.67 [[ 7.50412862e-01 6.56075957e-01 8.02799824e-02 2.76329381e+02] [-6.52207622e-01 7.54694161e-01 -7.11473201e-02 -2.04400608e+02] [-1.07264880e-01 1.03064767e-03 9.94229945e-01 -3.36692580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40592 meters 0.02790738936298155 Centerline is valid? [True, True] Translation: X:276.35, Y:-204.42, Z:-33.67 [[ 7.50174818e-01 6.56273688e-01 8.08862772e-02 2.76353365e+02] [-6.52344073e-01 7.54522217e-01 -7.17177423e-02 -2.04423705e+02] [-1.08096960e-01 1.03516070e-03 9.94139817e-01 -3.36728684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43591999999995 meters 0.027994692387670196 Centerline is valid? [True, True] Translation: X:276.38, Y:-204.45, Z:-33.68 [[ 7.50043200e-01 6.56416904e-01 8.09447161e-02 2.76376170e+02] [-6.52474294e-01 7.54397574e-01 -7.18442525e-02 -2.04447674e+02] [-1.08224279e-01 1.07194659e-03 9.94125926e-01 -3.36754438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46592 meters 0.027994692387670196 Centerline is valid? [True, True] Translation: X:276.40, Y:-204.47, Z:-33.68 [[ 7.49705232e-01 6.56807423e-01 8.09078217e-02 2.76400659e+02] [-6.52862599e-01 7.54057598e-01 -7.18857815e-02 -2.04468949e+02] [-1.08224273e-01 1.07145568e-03 9.94125927e-01 -3.36782975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49591999999996 meters 0.027915949795287585 Centerline is valid? [True, True] Translation: X:276.42, Y:-204.49, Z:-33.68 [[ 7.49506463e-01 6.56951038e-01 8.15806117e-02 2.76423438e+02] [-6.52932619e-01 7.53932415e-01 -7.25596927e-02 -2.04493158e+02] [-1.09174433e-01 1.11731614e-03 9.94021979e-01 -3.36815812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.52592 meters 0.02791451568696347 Centerline is valid? [True, True] Translation: X:276.45, Y:-204.52, Z:-33.68 [[ 7.49277967e-01 6.57190540e-01 8.17503692e-02 2.76447193e+02] [-6.53148397e-01 7.53723616e-01 -7.27865566e-02 -2.04516167e+02] [-1.09451820e-01 1.14224055e-03 9.93991446e-01 -3.36846210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55591999999996 meters 0.02799664517027154 Centerline is valid? [True, True] Translation: X:276.47, Y:-204.54, Z:-33.69 [[ 7.48811586e-01 6.57711465e-01 8.18342083e-02 2.76471093e+02] [-6.53655741e-01 7.53269118e-01 -7.29370205e-02 -2.04539180e+02] [-1.09614697e-01 1.12468593e-03 9.93973517e-01 -3.36884044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.58592 meters 0.027798687662372992 Centerline is valid? [True, True] Translation: X:276.49, Y:-204.56, Z:-33.69 [[ 7.48770585e-01 6.57953663e-01 8.02470496e-02 2.76492563e+02] [-6.54047850e-01 7.53057580e-01 -7.15939343e-02 -2.04563446e+02] [-1.07536140e-01 1.12202174e-03 9.94200543e-01 -3.36902163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61591999999996 meters 0.027835365244435965 Centerline is valid? [True, True] Translation: X:276.52, Y:-204.59, Z:-33.69 [[ 7.48712897e-01 6.57873529e-01 8.14335128e-02 2.76515410e+02] [-6.53843228e-01 7.53127464e-01 -7.27190237e-02 -2.04586243e+02] [-1.09169736e-01 1.20092005e-03 9.94022397e-01 -3.36935441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64592 meters 0.027680264025896448 Centerline is valid? [True, True] Translation: X:276.54, Y:-204.61, Z:-33.70 [[ 7.48577063e-01 6.58113258e-01 8.07423130e-02 2.76536081e+02] [-6.54145453e-01 7.52917980e-01 -7.21681415e-02 -2.04612971e+02] [-1.08287150e-01 1.20619845e-03 9.94118926e-01 -3.36955319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67591999999996 meters 0.02760255662633145 Centerline is valid? [True, True] Translation: X:276.56, Y:-204.64, Z:-33.70 [[ 7.47492075e-01 6.59229337e-01 8.16840170e-02 2.76558724e+02] [-6.55166398e-01 7.51941114e-01 -7.30859211e-02 -2.04637414e+02] [-1.09601954e-01 1.11452365e-03 9.93974934e-01 -3.36988209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70592 meters 0.027481367764780485 Centerline is valid? [True, True] Translation: X:276.58, Y:-204.66, Z:-33.70 [[ 7.46181098e-01 6.60695680e-01 8.18229110e-02 2.76580933e+02] [-6.56619224e-01 7.50653249e-01 -7.32863880e-02 -2.04661736e+02] [-1.09840634e-01 9.58421123e-04 9.93948749e-01 -3.37022326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73591999999996 meters 0.02700631721117048 Centerline is valid? [True, True] Translation: X:276.60, Y:-204.69, Z:-33.70 [[ 7.43841573e-01 6.63541405e-01 8.00781929e-02 2.76601697e+02] [-6.59646713e-01 7.48139339e-01 -7.17895814e-02 -2.04687457e+02] [-1.07545006e-01 5.76758518e-04 9.94200050e-01 -3.37036416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76592 meters 0.02686317235260865 Centerline is valid? [True, True] Translation: X:276.62, Y:-204.71, Z:-33.71 [[ 7.42272665e-01 6.65309979e-01 7.99620065e-02 2.76624069e+02] [-6.61432155e-01 7.46567148e-01 -7.17286341e-02 -2.04711239e+02] [-1.07418783e-01 3.52762064e-04 9.94213800e-01 -3.37062674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79591999999997 meters 0.02656367558537357 Centerline is valid? [True, True] Translation: X:276.64, Y:-204.74, Z:-33.71 [[ 7.38524299e-01 6.69408281e-01 8.04637363e-02 2.76644004e+02] [-6.65497267e-01 7.42894689e-01 -7.22555792e-02 -2.04738190e+02] [-1.08144565e-01 -1.85895596e-04 9.94135161e-01 -3.37073140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82592 meters 0.026543094796249778 Centerline is valid? [True, True] Translation: X:276.67, Y:-204.76, Z:-33.71 [[ 7.36457390e-01 6.71693011e-01 8.03679836e-02 2.76666781e+02] [-6.67796513e-01 7.40829457e-01 -7.22463277e-02 -2.04761774e+02] [-1.08066323e-01 -4.63117337e-04 9.94143579e-01 -3.37098666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85591999999997 meters 0.026712351417985992 Centerline is valid? [True, True] Translation: X:276.69, Y:-204.79, Z:-33.71 [[ 7.32620687e-01 6.75850784e-01 8.05769614e-02 2.76688338e+02] [-6.71951536e-01 7.37037761e-01 -7.25015286e-02 -2.04785409e+02] [-1.08388478e-01 -1.02769331e-03 9.94108084e-01 -3.37113131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88592 meters 0.026988591290929887 Centerline is valid? [True, True] Translation: X:276.71, Y:-204.81, Z:-33.71 [[ 7.30607606e-01 6.77954749e-01 8.11781026e-02 2.76711709e+02] [-6.74006185e-01 7.35102444e-01 -7.30757123e-02 -2.04807806e+02] [-1.09216248e-01 -1.32487199e-03 9.94017131e-01 -3.37142291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91591999999997 meters 0.027038388848908537 Centerline is valid? [True, True] Translation: X:276.74, Y:-204.83, Z:-33.72 [[ 7.28441446e-01 6.80203939e-01 8.18270232e-02 2.76735210e+02] [-6.76198159e-01 7.33021123e-01 -7.37297985e-02 -2.04829760e+02] [-1.10132236e-01 -1.62344146e-03 9.93915618e-01 -3.37170752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94592 meters 0.027324302799541757 Centerline is valid? [True, True] Translation: X:276.76, Y:-204.85, Z:-33.72 [[ 7.25631753e-01 6.83342891e-01 8.06291066e-02 2.76759452e+02] [-6.79465846e-01 7.30094800e-01 -7.27168978e-02 -2.04849989e+02] [-1.08557467e-01 -2.01903415e-03 9.94088125e-01 -3.37201058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97592 meters 0.027567335876815383 Centerline is valid? [True, True] Translation: X:276.79, Y:-204.87, Z:-33.72 [[ 7.23406240e-01 6.85657018e-01 8.09806445e-02 2.76785370e+02] [-6.81753325e-01 7.27921032e-01 -7.30983870e-02 -2.04868934e+02] [-1.09067936e-01 -2.32899438e-03 9.94031569e-01 -3.37238877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00591999999995 meters 0.02760340086052638 Centerline is valid? [True, True] Translation: X:276.81, Y:-204.89, Z:-33.73 [[ 7.23056232e-01 6.86052038e-01 8.07606747e-02 2.76810959e+02] [-6.82164425e-01 7.27548738e-01 -7.29693848e-02 -2.04890087e+02] [-1.08818122e-01 -2.33109078e-03 9.94058943e-01 -3.37265586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03592 meters 0.02746887164599616 Centerline is valid? [True, True] Translation: X:276.84, Y:-204.91, Z:-33.73 [[ 7.22635148e-01 6.86545213e-01 8.03374931e-02 2.76836420e+02] [-6.82692957e-01 7.27083361e-01 -7.26643834e-02 -2.04910527e+02] [-1.08299439e-01 -2.33600328e-03 9.94115574e-01 -3.37288410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06591999999995 meters 0.027501220693573844 Centerline is valid? [True, True] Translation: X:276.86, Y:-204.93, Z:-33.73 [[ 7.22714091e-01 6.86373346e-01 8.10923771e-02 2.76864751e+02] [-6.82438392e-01 7.27245802e-01 -7.34260455e-02 -2.04928912e+02] [-1.09371771e-01 -2.27451375e-03 9.93998311e-01 -3.37313784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09592 meters 0.027482266623749765 Centerline is valid? [True, True] Translation: X:276.89, Y:-204.95, Z:-33.73 [[ 7.22264243e-01 6.86726460e-01 8.21044016e-02 2.76890374e+02] [-6.82685948e-01 7.26912290e-01 -7.44205499e-02 -2.04948219e+02] [-1.10789259e-01 -2.30021920e-03 9.93841259e-01 -3.37340388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12591999999995 meters 0.02771625588398269 Centerline is valid? [True, True] Translation: X:276.92, Y:-204.97, Z:-33.74 [[ 7.22153374e-01 6.86722412e-01 8.31073571e-02 2.76918146e+02] [-6.82574204e-01 7.26916191e-01 -7.54009706e-02 -2.04965461e+02] [-1.12191620e-01 -2.27587283e-03 9.93683984e-01 -3.37385875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15592 meters 0.02760552169130884 Centerline is valid? [True, True] Translation: X:276.94, Y:-204.98, Z:-33.74 [[ 7.21976068e-01 6.86855264e-01 8.35488089e-02 2.76944717e+02] [-6.82655320e-01 7.26790726e-01 -7.58746038e-02 -2.04984897e+02] [-1.12837370e-01 -2.25539073e-03 9.93610910e-01 -3.37426239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18591999999995 meters 0.02745517139256758 Centerline is valid? [True, True] Translation: X:276.97, Y:-205.00, Z:-33.75 [[ 7.22533811e-01 6.86257859e-01 8.36363764e-02 2.76972940e+02] [-6.82036132e-01 7.27355287e-01 -7.60328964e-02 -2.05001586e+02] [-1.13011533e-01 -2.10669221e-03 9.93591443e-01 -3.37458266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21592 meters 0.027312201672647907 Centerline is valid? [True, True] Translation: X:277.00, Y:-205.02, Z:-33.75 [[ 7.22886347e-01 6.86056840e-01 8.22273759e-02 2.76998855e+02] [-6.81967613e-01 7.27545224e-01 -7.48205930e-02 -2.05021509e+02] [-1.11155314e-01 -1.98962215e-03 9.93801055e-01 -3.37477098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24591999999996 meters 0.02724656627179341 Centerline is valid? [True, True] Translation: X:277.02, Y:-205.04, Z:-33.75 [[ 7.23676491e-01 6.85124129e-01 8.30497647e-02 2.77024260e+02] [-6.80938084e-01 7.28424084e-01 -7.56417933e-02 -2.05041888e+02] [-1.12319467e-01 -1.81156009e-03 9.93670497e-01 -3.37509784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.27592 meters 0.026969243166132723 Centerline is valid? [True, True] Translation: X:277.05, Y:-205.06, Z:-33.75 [[ 7.26634026e-01 6.82071591e-01 8.23488741e-02 2.77051067e+02] [-6.77927810e-01 7.31284303e-01 -7.50809747e-02 -2.05059592e+02] [-1.11431039e-01 -1.27020101e-03 9.93771357e-01 -3.37536371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30591999999996 meters 0.026707677115541287 Centerline is valid? [True, True] Translation: X:277.08, Y:-205.08, Z:-33.76 [[ 7.30653732e-01 6.77690663e-01 8.29487126e-02 2.77077058e+02] [-6.73449781e-01 7.35346898e-01 -7.56989616e-02 -2.05077831e+02] [-1.12296558e-01 -5.52063543e-04 9.93674584e-01 -3.37590565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.33592 meters 0.02670985910986186 Centerline is valid? [True, True] Translation: X:277.10, Y:-205.10, Z:-33.76 [[ 7.32145469e-01 6.76105963e-01 8.27268958e-02 2.77101539e+02] [-6.71869463e-01 7.36804358e-01 -7.55695878e-02 -2.05099742e+02] [-1.12046586e-01 -2.53743812e-04 9.93702922e-01 -3.37630212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36591999999996 meters 0.026662151671294657 Centerline is valid? [True, True] Translation: X:277.13, Y:-205.12, Z:-33.77 [[ 7.33148328e-01 6.74984075e-01 8.30061958e-02 2.77125671e+02] [-6.70702499e-01 7.37832297e-01 -7.59055959e-02 -2.05122365e+02] [-1.12479720e-01 -2.24022506e-05 9.93654020e-01 -3.37665343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39592 meters 0.026657106766378762 Centerline is valid? [True, True] Translation: X:277.15, Y:-205.15, Z:-33.77 [[ 7.33033778e-01 6.74910953e-01 8.45971993e-02 2.77148684e+02] [-6.70453352e-01 7.37899183e-01 -7.74409437e-02 -2.05145280e+02] [-1.14689945e-01 4.83516839e-05 9.93401336e-01 -3.37703660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42591999999996 meters 0.02663216329847277 Centerline is valid? [True, True] Translation: X:277.17, Y:-205.17, Z:-33.77 [[ 7.32711865e-01 6.75380639e-01 8.36320205e-02 2.77172079e+02] [-6.71019574e-01 7.37469316e-01 -7.66272812e-02 -2.05167176e+02] [-1.13428631e-01 2.69953669e-05 9.93546146e-01 -3.37724991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45592 meters 0.02669210063212504 Centerline is valid? [True, True] Translation: X:277.19, Y:-205.19, Z:-33.78 [[ 7.30069520e-01 6.78145460e-01 8.43636854e-02 2.77193993e+02] [-6.73717581e-01 7.34927623e-01 -7.73693109e-02 -2.05190532e+02] [-1.14468850e-01 -3.52322421e-04 9.93426776e-01 -3.37761757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48591999999996 meters 0.026826818353604495 Centerline is valid? [True, True] Translation: X:277.22, Y:-205.21, Z:-33.78 [[ 7.29045064e-01 6.79208895e-01 8.46674188e-02 2.77217956e+02] [-6.74747549e-01 7.33944861e-01 -7.77218449e-02 -2.05213669e+02] [-1.14930585e-01 -4.66405929e-04 9.93373416e-01 -3.37800306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51592 meters 0.0270206848054656 Centerline is valid? [True, True] Translation: X:277.24, Y:-205.24, Z:-33.78 [[ 7.27913297e-01 6.80329922e-01 8.54015785e-02 2.77241032e+02] [-6.75788812e-01 7.32905758e-01 -7.84769496e-02 -2.05235516e+02] [-1.15981526e-01 -5.89016153e-04 9.93251196e-01 -3.37840716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54591999999997 meters 0.02709439380544234 Centerline is valid? [True, True] Translation: X:277.26, Y:-205.26, Z:-33.79 [[ 7.26892956e-01 6.81200550e-01 8.71346145e-02 2.77264881e+02] [-6.76469890e-01 7.32096536e-01 -8.01445554e-02 -2.05257291e+02] [-1.18385465e-01 -6.87430303e-04 9.92967476e-01 -3.37873340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57592 meters 0.027259044528924564 Centerline is valid? [True, True] Translation: X:277.29, Y:-205.28, Z:-33.79 [[ 7.26485035e-01 6.81647511e-01 8.70411657e-02 2.77289508e+02] [-6.76921123e-01 7.31680378e-01 -8.01349964e-02 -2.05279902e+02] [-1.18310134e-01 -7.03127900e-04 9.92976444e-01 -3.37897608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60591999999997 meters 0.027201651577238327 Centerline is valid? [True, True] Translation: X:277.31, Y:-205.30, Z:-33.79 [[ 7.26630092e-01 6.81595306e-01 8.62354185e-02 2.77313133e+02] [-6.76946447e-01 7.31729078e-01 -7.94736699e-02 -2.05301946e+02] [-1.17269844e-01 -6.28800125e-04 9.93099888e-01 -3.37924073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63592 meters 0.02725551654478565 Centerline is valid? [True, True] Translation: X:277.34, Y:-205.32, Z:-33.80 [[ 7.26995115e-01 6.81225891e-01 8.60778020e-02 2.77337678e+02] [-6.76582531e-01 7.32073099e-01 -7.94043810e-02 -2.05323933e+02] [-1.17107563e-01 -5.12140105e-04 9.93119105e-01 -3.37955899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66591999999997 meters 0.027471952826711013 Centerline is valid? [True, True] Translation: X:277.36, Y:-205.35, Z:-33.80 [[ 7.26540798e-01 6.81639632e-01 8.66364900e-02 2.77361410e+02] [-6.76928728e-01 7.31687870e-01 -8.00022366e-02 -2.05345371e+02] [-1.17923564e-01 -5.21840142e-04 9.93022538e-01 -3.37987127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69592 meters 0.027611575805365902 Centerline is valid? [True, True] Translation: X:277.38, Y:-205.37, Z:-33.80 [[ 7.25538405e-01 6.82550270e-01 8.78587047e-02 2.77384160e+02] [-6.77702593e-01 7.30838381e-01 -8.12062509e-02 -2.05368330e+02] [-1.19637862e-01 -6.23818299e-04 9.92817402e-01 -3.38025074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72592 meters 0.027623503289771603 Centerline is valid? [True, True] Translation: X:277.41, Y:-205.39, Z:-33.81 [[ 7.24679457e-01 6.83394851e-01 8.83807778e-02 2.77407335e+02] [-6.78486277e-01 7.30048608e-01 -8.17643031e-02 -2.05390479e+02] [-1.20399568e-01 -7.12234143e-04 9.92725258e-01 -3.38050514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75591999999995 meters 0.02807607760228082 Centerline is valid? [True, True] Translation: X:277.43, Y:-205.41, Z:-33.81 [[ 7.22920780e-01 6.85225018e-01 8.86127576e-02 2.77431047e+02] [-6.80295035e-01 7.28330794e-01 -8.20543697e-02 -2.05412565e+02] [-1.20765107e-01 -9.64010067e-04 9.92680643e-01 -3.38087019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78592 meters 0.028200485465714787 Centerline is valid? [True, True] Translation: X:277.45, Y:-205.43, Z:-33.81 [[ 7.21906507e-01 6.86407008e-01 8.77292152e-02 2.77454863e+02] [-6.81574955e-01 7.27216763e-01 -8.13102734e-02 -2.05434238e+02] [-1.19610097e-01 -1.09562051e-03 9.92820338e-01 -3.38116260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81591999999995 meters 0.028267002535298326 Centerline is valid? [True, True] Translation: X:277.48, Y:-205.46, Z:-33.82 [[ 7.21009270e-01 6.87539070e-01 8.62302740e-02 2.77478457e+02] [-6.82870719e-01 7.26146383e-01 -7.99938240e-02 -2.05456120e+02] [-1.17614681e-01 -1.20784054e-03 9.93058572e-01 -3.38163249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84592 meters 0.028558047322673627 Centerline is valid? [True, True] Translation: X:277.50, Y:-205.48, Z:-33.82 [[ 7.19883527e-01 6.88602219e-01 8.71475289e-02 2.77502120e+02] [-6.83832398e-01 7.25138046e-01 -8.09201227e-02 -2.05477519e+02] [-1.18915765e-01 -1.34124028e-03 9.92903440e-01 -3.38206741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87591999999995 meters 0.028609712391880742 Centerline is valid? [True, True] Translation: X:277.53, Y:-205.50, Z:-33.82 [[ 7.18927685e-01 6.89617169e-01 8.70123264e-02 2.77526376e+02] [-6.84860384e-01 7.24172671e-01 -8.08714929e-02 -2.05499079e+02] [-1.18782319e-01 -1.45054010e-03 9.92919260e-01 -3.38237293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90592 meters 0.028898140880943328 Centerline is valid? [True, True] Translation: X:277.55, Y:-205.52, Z:-33.83 [[ 7.17919867e-01 6.90614726e-01 8.74206227e-02 2.77550635e+02] [-6.85810433e-01 7.23221169e-01 -8.13338249e-02 -2.05519454e+02] [-1.19394782e-01 -1.56280637e-03 9.92845629e-01 -3.38282990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93591999999995 meters 0.028937178049320087 Centerline is valid? [True, True] Translation: X:277.57, Y:-205.54, Z:-33.83 [[ 7.17110039e-01 6.91411960e-01 8.77649924e-02 2.77574296e+02] [-6.86566602e-01 7.22458847e-01 -8.17283030e-02 -2.05540398e+02] [-1.19914521e-01 -1.64832608e-03 9.92782852e-01 -3.38308392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96592 meters 0.02923523899396338 Centerline is valid? [True, True] Translation: X:277.60, Y:-205.56, Z:-33.84 [[ 7.16867788e-01 6.91668094e-01 8.77258385e-02 2.77599001e+02] [-6.86820004e-01 7.22213660e-01 -8.17662024e-02 -2.05561217e+02] [-1.19911872e-01 -1.63630410e-03 9.92783192e-01 -3.38359780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99591999999996 meters 0.029260736153785757 Centerline is valid? [True, True] Translation: X:277.62, Y:-205.58, Z:-33.84 [[ 7.16922302e-01 6.91705728e-01 8.69804523e-02 2.77623292e+02] [-6.86931917e-01 7.22177745e-01 -8.11409025e-02 -2.05582807e+02] [-1.18940974e-01 -1.57792621e-03 9.92900073e-01 -3.38394525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.02592 meters 0.029393325834093074 Centerline is valid? [True, True] Translation: X:277.65, Y:-205.60, Z:-33.84 [[ 7.16801177e-01 6.91688317e-01 8.81098462e-02 2.77647233e+02] [-6.86784241e-01 7.22194447e-01 -8.22349526e-02 -2.05603999e+02] [-1.20513398e-01 -1.56634300e-03 9.92710465e-01 -3.38432323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05591999999996 meters 0.029469159288875203 Centerline is valid? [True, True] Translation: X:277.67, Y:-205.62, Z:-33.85 [[ 7.16245264e-01 6.91957350e-01 9.04861723e-02 2.77671549e+02] [-6.86776650e-01 7.21936610e-01 -8.45302616e-02 -2.05624240e+02] [-1.23816616e-01 -1.59939073e-03 9.92303828e-01 -3.38460474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.08592 meters 0.02948060041697942 Centerline is valid? [True, True] Translation: X:277.70, Y:-205.64, Z:-33.85 [[ 7.16048449e-01 6.92209232e-01 9.01165781e-02 2.77696486e+02] [-6.87063855e-01 7.21695139e-01 -8.42578542e-02 -2.05644338e+02] [-1.23360761e-01 -1.58313777e-03 9.92360628e-01 -3.38490679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11591999999996 meters 0.029338695572720796 Centerline is valid? [True, True] Translation: X:277.72, Y:-205.66, Z:-33.85 [[ 7.14947422e-01 6.93619219e-01 8.79918382e-02 2.77722954e+02] [-6.88716140e-01 7.20339774e-01 -8.23449419e-02 -2.05663069e+02] [-1.20500055e-01 -1.72909519e-03 9.92711815e-01 -3.38512360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14592 meters 0.029319447234263576 Centerline is valid? [True, True] Translation: X:277.75, Y:-205.68, Z:-33.85 [[ 7.14922025e-01 6.93725670e-01 8.73567002e-02 2.77747664e+02] [-6.88885156e-01 7.20237372e-01 -8.18252430e-02 -2.05683280e+02] [-1.19681832e-01 -1.68006563e-03 9.92810877e-01 -3.38548611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17591999999996 meters 0.029554497080313224 Centerline is valid? [True, True] Translation: X:277.77, Y:-205.70, Z:-33.86 [[ 7.15545740e-01 6.93000674e-01 8.80020487e-02 2.77772945e+02] [-6.88073012e-01 7.20935349e-01 -8.25091040e-02 -2.05703723e+02] [-1.20622652e-01 -1.51279683e-03 9.92697279e-01 -3.38608680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20592 meters 0.029555838143448396 Centerline is valid? [True, True] Translation: X:277.80, Y:-205.72, Z:-33.86 [[ 7.16144480e-01 6.92132743e-01 8.99408105e-02 2.77797329e+02] [-6.86967098e-01 7.21768999e-01 -8.44139769e-02 -2.05724532e+02] [-1.23342166e-01 -1.33377397e-03 9.92363306e-01 -3.38643144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23591999999996 meters 0.02955387876270629 Centerline is valid? [True, True] Translation: X:277.82, Y:-205.75, Z:-33.87 [[ 7.16515848e-01 6.91658396e-01 9.06294776e-02 2.77822077e+02] [-6.86399491e-01 7.22223795e-01 -8.51382872e-02 -2.05745466e+02] [-1.24341376e-01 -1.20509529e-03 9.92238767e-01 -3.38672377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26592 meters 0.02956333561299968 Centerline is valid? [True, True] Translation: X:277.85, Y:-205.77, Z:-33.87 [[ 7.20243548e-01 6.87785823e-01 9.05532655e-02 2.77848052e+02] [-6.82495468e-01 7.25913517e-01 -8.51440153e-02 -2.05765067e+02] [-1.24294686e-01 -4.77765662e-04 9.92245233e-01 -3.38709369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29591999999997 meters 0.029359728090893357 Centerline is valid? [True, True] Translation: X:277.87, Y:-205.79, Z:-33.87 [[ 7.21547199e-01 6.86539291e-01 8.96294715e-02 2.77871882e+02] [-6.81337609e-01 7.27092677e-01 -8.43522453e-02 -2.05785947e+02] [-1.23080063e-01 -2.03803501e-04 9.92396723e-01 -3.38745034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32592 meters 0.029591286824096983 Centerline is valid? [True, True] Translation: X:277.90, Y:-205.81, Z:-33.88 [[ 7.23836908e-01 6.84121594e-01 8.96536393e-02 2.77896337e+02] [-6.78888519e-01 7.29367927e-01 -8.44559436e-02 -2.05807503e+02] [-1.23168624e-01 2.67502714e-04 9.92385721e-01 -3.38783577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35591999999997 meters 0.029591286824096983 Centerline is valid? [True, True] Translation: X:277.92, Y:-205.83, Z:-33.88 [[ 7.23487559e-01 6.84496794e-01 8.96096575e-02 2.77920203e+02] [-6.79260808e-01 7.29015821e-01 -8.45025907e-02 -2.05829494e+02] [-1.23168610e-01 2.68244701e-04 9.92385722e-01 -3.38812123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38592 meters 0.029661471379533535 Centerline is valid? [True, True] Translation: X:277.94, Y:-205.85, Z:-33.88 [[ 7.23392407e-01 6.84527506e-01 9.01416567e-02 2.77943998e+02] [-6.79218570e-01 7.28986959e-01 -8.50890566e-02 -2.05850916e+02] [-1.23957892e-01 3.26890322e-04 9.92287425e-01 -3.38843344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41591999999997 meters 0.029701841284178233 Centerline is valid? [True, True] Translation: X:277.97, Y:-205.87, Z:-33.89 [[ 7.23144642e-01 6.84756659e-01 9.03888553e-02 2.77968268e+02] [-6.79410191e-01 7.28771705e-01 -8.54025436e-02 -2.05872786e+02] [-1.24352801e-01 3.47282341e-04 9.92238006e-01 -3.38861365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44592 meters 0.029759178950010734 Centerline is valid? [True, True] Translation: X:277.99, Y:-205.89, Z:-33.89 [[ 7.23198942e-01 6.84849228e-01 8.92458755e-02 2.77991343e+02] [-6.79628075e-01 7.28684695e-01 -8.44055366e-02 -2.05894953e+02] [-1.22837170e-01 3.87992112e-04 9.92426763e-01 -3.38886882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47592 meters 0.029567317195563176 Centerline is valid? [True, True] Translation: X:278.01, Y:-205.92, Z:-33.89 [[ 7.22644941e-01 6.85566417e-01 8.82211835e-02 2.78014566e+02] [-6.80461082e-01 7.28010018e-01 -8.35112519e-02 -2.05917139e+02] [-1.21478415e-01 3.17901655e-04 9.92594023e-01 -3.38911316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50591999999995 meters 0.029650481330598395 Centerline is valid? [True, True] Translation: X:278.04, Y:-205.94, Z:-33.89 [[ 7.22361569e-01 6.86018630e-01 8.70184018e-02 2.78037492e+02] [-6.81048008e-01 7.27583919e-01 -8.24333168e-02 -2.05940169e+02] [-1.19863981e-01 2.82950865e-04 9.92790283e-01 -3.38943002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53592 meters 0.029770206362871043 Centerline is valid? [True, True] Translation: X:278.06, Y:-205.96, Z:-33.90 [[ 7.22032932e-01 6.86366844e-01 8.70000032e-02 2.78061361e+02] [-6.81395736e-01 7.27255450e-01 -8.24582437e-02 -2.05962723e+02] [-1.19867831e-01 2.56136198e-04 9.92789825e-01 -3.38972578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56591999999995 meters 0.03010527358680469 Centerline is valid? [True, True] Translation: X:278.09, Y:-205.98, Z:-33.90 [[ 7.21977122e-01 6.86284403e-01 8.81064923e-02 2.78085111e+02] [-6.81174660e-01 7.27333215e-01 -8.35911296e-02 -2.05984247e+02] [-1.21450067e-01 3.34973255e-04 9.92597486e-01 -3.39006139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59592 meters 0.030515844494469174 Centerline is valid? [True, True] Translation: X:278.11, Y:-206.01, Z:-33.90 [[ 7.22272711e-01 6.85685729e-01 9.03172819e-02 2.78109131e+02] [-6.80300737e-01 7.27897538e-01 -8.57675970e-02 -2.06005847e+02] [-1.24551344e-01 5.04681412e-04 9.92213036e-01 -3.39038116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62591999999995 meters 0.03080881775388645 Centerline is valid? [True, True] Translation: X:278.13, Y:-206.03, Z:-33.91 [[ 7.22194070e-01 6.85632102e-01 9.13473902e-02 2.78132846e+02] [-6.80112637e-01 7.27947997e-01 -8.68246158e-02 -2.06027917e+02] [-1.26025894e-01 5.77708226e-04 9.92026784e-01 -3.39075484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65592 meters 0.0313058113523769 Centerline is valid? [True, True] Translation: X:278.16, Y:-206.05, Z:-33.91 [[ 7.23109963e-01 6.84678758e-01 9.12522807e-02 2.78156271e+02] [-6.79152939e-01 7.28844533e-01 -8.68155101e-02 -2.06051292e+02] [-1.25949462e-01 8.02905741e-04 9.92036334e-01 -3.39130691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68591999999995 meters 0.031299419372142805 Centerline is valid? [True, True] Translation: X:278.18, Y:-206.07, Z:-33.92 [[ 7.23652711e-01 6.84087100e-01 9.13870554e-02 2.78179686e+02] [-6.78528840e-01 7.29399680e-01 -8.70328622e-02 -2.06074145e+02] [-1.26195747e-01 9.72813953e-04 9.92004883e-01 -3.39158921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71592 meters 0.0317129450267911 Centerline is valid? [True, True] Translation: X:278.20, Y:-206.10, Z:-33.92 [[ 7.24480811e-01 6.83059567e-01 9.25050432e-02 2.78202947e+02] [-6.77344334e-01 7.30361633e-01 -8.81846831e-02 -2.06096555e+02] [-1.27797526e-01 1.23034379e-03 9.91799515e-01 -3.39197839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74591999999996 meters 0.03185593627228457 Centerline is valid? [True, True] Translation: X:278.23, Y:-206.12, Z:-33.92 [[ 7.26109878e-01 6.81496953e-01 9.12488245e-02 2.78225700e+02] [-6.75914486e-01 7.31819327e-01 -8.70636586e-02 -2.06119186e+02] [-1.26111271e-01 1.54138022e-03 9.92014905e-01 -3.39223594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.77592 meters 0.031918334844810735 Centerline is valid? [True, True] Translation: X:278.25, Y:-206.14, Z:-33.93 [[ 7.26407838e-01 6.81149706e-01 9.14698403e-02 2.78248265e+02] [-6.75527493e-01 7.32142278e-01 -8.73515398e-02 -2.06141677e+02] [-1.26468413e-01 1.66245123e-03 9.91969242e-01 -3.39259482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80591999999996 meters 0.03188799337279038 Centerline is valid? [True, True] Translation: X:278.27, Y:-206.17, Z:-33.93 [[ 7.26464382e-01 6.81069541e-01 9.16175901e-02 2.78270126e+02] [-6.75418145e-01 7.32216674e-01 -8.75732377e-02 -2.06166281e+02] [-1.26727392e-01 1.73865528e-03 9.91936059e-01 -3.39294966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.83592 meters 0.03186124381284302 Centerline is valid? [True, True] Translation: X:278.29, Y:-206.19, Z:-33.93 [[ 7.26659834e-01 6.80933652e-01 9.10760480e-02 2.78293263e+02] [-6.75337412e-01 7.32342865e-01 -8.71395923e-02 -2.06188572e+02] [-1.26035175e-01 1.81377915e-03 9.92024115e-01 -3.39325689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86591999999996 meters 0.03196339481159147 Centerline is valid? [True, True] Translation: X:278.32, Y:-206.21, Z:-33.94 [[ 7.26410006e-01 6.81135507e-01 9.15583052e-02 2.78315744e+02] [-6.75471301e-01 7.32155048e-01 -8.76784314e-02 -2.06211087e+02] [-1.26755768e-01 1.84548241e-03 9.91932240e-01 -3.39362259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89592 meters 0.03200085979214104 Centerline is valid? [True, True] Translation: X:278.34, Y:-206.24, Z:-33.94 [[ 7.25775550e-01 6.81682122e-01 9.25166821e-02 2.78335273e+02] [-6.75892510e-01 7.31646191e-01 -8.86744954e-02 -2.06237079e+02] [-1.28137296e-01 1.82644817e-03 9.91754757e-01 -3.39394449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92591999999996 meters 0.03202784203727961 Centerline is valid? [True, True] Translation: X:278.36, Y:-206.26, Z:-33.94 [[ 7.25382942e-01 6.82216551e-01 9.16524126e-02 2.78356729e+02] [-6.76529480e-01 7.31148027e-01 -8.79228428e-02 -2.06261606e+02] [-1.26993899e-01 1.77217144e-03 9.91901915e-01 -3.39426724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95592 meters 0.031781510497235446 Centerline is valid? [True, True] Translation: X:278.38, Y:-206.29, Z:-33.95 [[ 7.23346105e-01 6.84424949e-01 9.12847311e-02 2.78377651e+02] [-6.78791230e-01 7.29081907e-01 -8.76472427e-02 -2.06286552e+02] [-1.26542005e-01 1.43601678e-03 9.91960210e-01 -3.39453543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98591999999996 meters 0.031515340489188914 Centerline is valid? [True, True] Translation: X:278.40, Y:-206.31, Z:-33.95 [[ 7.21746336e-01 6.86184435e-01 9.07366940e-02 2.78400297e+02] [-6.80622548e-01 7.27426653e-01 -8.71975429e-02 -2.06309400e+02] [-1.25837886e-01 1.17706727e-03 9.92050120e-01 -3.39481428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01592 meters 0.03135364885967109 Centerline is valid? [True, True] Translation: X:278.42, Y:-206.33, Z:-33.95 [[ 7.17814692e-01 6.90288531e-01 9.07954408e-02 2.78420484e+02] [-6.84742067e-01 7.23534020e-01 -8.73316945e-02 -2.06334832e+02] [-1.25977657e-01 5.16515626e-04 9.92032945e-01 -3.39511433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04591999999997 meters 0.03137872559868718 Centerline is valid? [True, True] Translation: X:278.44, Y:-206.36, Z:-33.95 [[ 7.15053821e-01 6.93033227e-01 9.16677732e-02 2.78442518e+02] [-6.87391381e-01 7.20905638e-01 -8.82505053e-02 -2.06357537e+02] [-1.27244347e-01 9.22238226e-05 9.91871397e-01 -3.39543176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07592 meters 0.03118981057316166 Centerline is valid? [True, True] Translation: X:278.47, Y:-206.38, Z:-33.96 [[ 7.12984393e-01 6.95371407e-01 9.00658716e-02 2.78465744e+02] [-6.89934547e-01 7.18650497e-01 -8.67858514e-02 -2.06380148e+02] [-1.25074283e-01 -2.62598674e-04 9.92147345e-01 -3.39564511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10591999999997 meters 0.03116553516089955 Centerline is valid? [True, True] Translation: X:278.49, Y:-206.40, Z:-33.96 [[ 7.08135847e-01 7.00337400e-01 8.98395685e-02 2.78489065e+02] [-6.94957202e-01 7.13811158e-01 -8.66493967e-02 -2.06403840e+02] [-1.24812300e-01 -1.07511118e-03 9.92179789e-01 -3.39601051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13592 meters 0.03141389618257937 Centerline is valid? [True, True] Translation: X:278.51, Y:-206.43, Z:-33.96 [[ 7.06066997e-01 7.02408351e-01 8.99550151e-02 2.78512220e+02] [-6.97019999e-01 7.11772860e-01 -8.68476666e-02 -2.06426346e+02] [-1.25030065e-01 -1.38017334e-03 9.92151993e-01 -3.39624695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16591999999997 meters 0.03163710533700904 Centerline is valid? [True, True] Translation: X:278.54, Y:-206.45, Z:-33.97 [[ 7.03558260e-01 7.04940415e-01 8.98041587e-02 2.78537646e+02] [-6.99580665e-01 7.09264324e-01 -8.67814044e-02 -2.06446506e+02] [-1.24870605e-01 -1.76947918e-03 9.92171457e-01 -3.39665112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19592 meters 0.031891944602514564 Centerline is valid? [True, True] Translation: X:278.56, Y:-206.47, Z:-33.97 [[ 7.02661149e-01 7.05749866e-01 9.04678775e-02 2.78562735e+02] [-7.00306746e-01 7.08458629e-01 -8.75033258e-02 -2.06466743e+02] [-1.25848209e-01 -1.87007750e-03 9.92047746e-01 -3.39704058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22592 meters 0.03181850941022267 Centerline is valid? [True, True] Translation: X:278.59, Y:-206.49, Z:-33.97 [[ 7.01472007e-01 7.07083304e-01 8.92761086e-02 2.78587709e+02] [-7.01784127e-01 7.07127357e-01 -8.64288162e-02 -2.06487598e+02] [-1.24241952e-01 -2.02516069e-03 9.92249886e-01 -3.39732848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25591999999995 meters 0.031566159219554586 Centerline is valid? [True, True] Translation: X:278.61, Y:-206.51, Z:-33.98 [[ 7.01207208e-01 7.07437722e-01 8.85455859e-02 2.78613213e+02] [-7.02218363e-01 7.06772812e-01 -8.57995494e-02 -2.06507015e+02] [-1.23279451e-01 -2.01507388e-03 9.92369949e-01 -3.39755569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28592 meters 0.031803400275279656 Centerline is valid? [True, True] Translation: X:278.64, Y:-206.53, Z:-33.98 [[ 7.01265548e-01 7.07336311e-01 8.88930536e-02 2.78638569e+02] [-7.02064652e-01 7.06874497e-01 -8.62187366e-02 -2.06528213e+02] [-1.23821876e-01 -1.94644115e-03 9.92302552e-01 -3.39791340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31591999999995 meters 0.031904139689534546 Centerline is valid? [True, True] Translation: X:278.66, Y:-206.55, Z:-33.98 [[ 7.01742682e-01 7.06700079e-01 9.01787457e-02 2.78664592e+02] [-7.01257658e-01 7.07510967e-01 -8.75552954e-02 -2.06547511e+02] [-1.25677786e-01 -1.79724816e-03 9.92069486e-01 -3.39823987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34592 meters 0.03186181042539297 Centerline is valid? [True, True] Translation: X:278.69, Y:-206.57, Z:-33.99 [[ 7.01841846e-01 7.06544917e-01 9.06217616e-02 2.78689768e+02] [-7.01036645e-01 7.07666114e-01 -8.80698255e-02 -2.06569037e+02] [-1.26355237e-01 -1.71808683e-03 9.91983570e-01 -3.39852598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37591999999995 meters 0.03182978038665946 Centerline is valid? [True, True] Translation: X:278.71, Y:-206.59, Z:-33.99 [[ 7.02383985e-01 7.05928789e-01 9.12210676e-02 2.78714789e+02] [-7.00330036e-01 7.08281115e-01 -8.87451606e-02 -2.06590286e+02] [-1.27257923e-01 -1.55167402e-03 9.91868446e-01 -3.39892789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40592 meters 0.03153630992829054 Centerline is valid? [True, True] Translation: X:278.74, Y:-206.61, Z:-33.99 [[ 7.02823048e-01 7.05654980e-01 8.99489467e-02 2.78740661e+02] [-7.00198697e-01 7.08554187e-01 -8.75942259e-02 -2.06610005e+02] [-1.25545004e-01 -1.41889444e-03 9.92086911e-01 -3.39913271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43591999999995 meters 0.03153094288753343 Centerline is valid? [True, True] Translation: X:278.77, Y:-206.63, Z:-33.99 [[ 7.01784702e-01 7.06790785e-01 8.91348311e-02 2.78766282e+02] [-7.01432507e-01 7.07420935e-01 -8.68795618e-02 -2.06629256e+02] [-1.24461519e-01 -1.55132061e-03 9.92223223e-01 -3.39939340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46592 meters 0.031604521769724496 Centerline is valid? [True, True] Translation: X:278.79, Y:-206.65, Z:-34.00 [[ 7.00947980e-01 7.07565935e-01 8.95677226e-02 2.78790669e+02] [-7.02151505e-01 7.06645425e-01 -8.73813904e-02 -2.06650080e+02] [-1.25120717e-01 -1.64030209e-03 9.92140169e-01 -3.39975317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49591999999996 meters 0.031877224020635295 Centerline is valid? [True, True] Translation: X:278.81, Y:-206.67, Z:-34.00 [[ 6.99515976e-01 7.08939722e-01 8.98992162e-02 2.78814777e+02] [-7.03486128e-01 7.05266687e-01 -8.77847880e-02 -2.06671532e+02] [-1.25637046e-01 -1.83598981e-03 9.92074575e-01 -3.40018290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.52592 meters 0.031860451635606676 Centerline is valid? [True, True] Translation: X:278.84, Y:-206.69, Z:-34.00 [[ 6.97966110e-01 7.10577658e-01 8.90095563e-02 2.78839547e+02] [-7.05234872e-01 7.03615793e-01 -8.69976477e-02 -2.06692961e+02] [-1.24447114e-01 -2.05123338e-03 9.92224122e-01 -3.40048302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55591999999996 meters 0.03167810359126646 Centerline is valid? [True, True] Translation: X:278.87, Y:-206.71, Z:-34.01 [[ 6.95866965e-01 7.12917698e-01 8.67036534e-02 2.78866617e+02] [-7.07857015e-01 7.01243791e-01 -8.48268361e-02 -2.06711624e+02] [-1.21274951e-01 -2.34559634e-03 9.92616182e-01 -3.40076773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.58592 meters 0.031608964428722824 Centerline is valid? [True, True] Translation: X:278.89, Y:-206.73, Z:-34.01 [[ 6.94606595e-01 7.14109632e-01 8.70006453e-02 2.78893859e+02] [-7.09013898e-01 7.00029389e-01 -8.51947590e-02 -2.06729819e+02] [-1.21741407e-01 -2.50782524e-03 9.92558684e-01 -3.40121433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61591999999996 meters 0.03151671751137984 Centerline is valid? [True, True] Translation: X:278.92, Y:-206.75, Z:-34.02 [[ 6.93908750e-01 7.14648242e-01 8.81393065e-02 2.78918745e+02] [-7.09412202e-01 6.99479256e-01 -8.63892281e-02 -2.06750083e+02] [-1.23389527e-01 -2.58085820e-03 9.92354959e-01 -3.40163237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64592 meters 0.03139202454919528 Centerline is valid? [True, True] Translation: X:278.94, Y:-206.77, Z:-34.02 [[ 6.92839813e-01 7.15703624e-01 8.79847476e-02 2.78944513e+02] [-7.10484286e-01 6.98398883e-01 -8.63196355e-02 -2.06771273e+02] [-1.23227725e-01 -2.70610048e-03 9.92374730e-01 -3.40191807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67591999999996 meters 0.03130895369798931 Centerline is valid? [True, True] Translation: X:278.97, Y:-206.79, Z:-34.02 [[ 6.92574436e-01 7.15894552e-01 8.85191532e-02 2.78972087e+02] [-7.10601970e-01 6.98203212e-01 -8.69316705e-02 -2.06788207e+02] [-1.24038266e-01 -2.69523197e-03 9.92273775e-01 -3.40241048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70592 meters 0.031045089690953785 Centerline is valid? [True, True] Translation: X:279.00, Y:-206.81, Z:-34.03 [[ 6.92658812e-01 7.15889449e-01 8.78980493e-02 2.78998189e+02] [-7.10661407e-01 6.98208731e-01 -8.63998434e-02 -2.06807600e+02] [-1.23223922e-01 -2.62013841e-03 9.92375433e-01 -3.40271113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73591999999996 meters 0.03102219376667916 Centerline is valid? [True, True] Translation: X:279.03, Y:-206.83, Z:-34.03 [[ 6.93138593e-01 7.15305405e-01 8.88654509e-02 2.79025781e+02] [-7.09946396e-01 6.98807546e-01 -8.74307068e-02 -2.06825038e+02] [-1.24639505e-01 -2.48810948e-03 9.92198974e-01 -3.40324183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76592 meters 0.031025044529707554 Centerline is valid? [True, True] Translation: X:279.05, Y:-206.85, Z:-34.03 [[ 6.93350179e-01 7.15095344e-01 8.89054479e-02 2.79051890e+02] [-7.09719388e-01 6.99022834e-01 -8.75526624e-02 -2.06846203e+02] [-1.24755439e-01 -2.39326588e-03 9.92184636e-01 -3.40346779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79591999999997 meters 0.030864759826513707 Centerline is valid? [True, True] Translation: X:279.08, Y:-206.87, Z:-34.04 [[ 6.94757022e-01 7.13683974e-01 8.92629068e-02 2.79077173e+02] [-7.08241886e-01 7.00464725e-01 -8.79920385e-02 -2.06866499e+02] [-1.25324025e-01 -2.08664293e-03 9.92113670e-01 -3.40381106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82592 meters 0.030806038624286308 Centerline is valid? [True, True] Translation: X:279.11, Y:-206.88, Z:-34.04 [[ 6.96559897e-01 7.11927339e-01 8.92399760e-02 2.79105033e+02] [-7.06463633e-01 7.02251043e-01 -8.80488928e-02 -2.06884079e+02] [-1.25353280e-01 -1.71347000e-03 9.92110689e-01 -3.40428159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85591999999997 meters 0.03062980594084689 Centerline is valid? [True, True] Translation: X:279.13, Y:-206.90, Z:-34.05 [[ 6.98000503e-01 7.10681457e-01 8.79042925e-02 2.79130849e+02] [-7.05361265e-01 7.03512525e-01 -8.68079094e-02 -2.06903562e+02] [-1.23534542e-01 -1.41231854e-03 9.92339268e-01 -3.40470074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88592 meters 0.03033435743734272 Centerline is valid? [True, True] Translation: X:279.16, Y:-206.92, Z:-34.05 [[ 7.00904375e-01 7.07872313e-01 8.74633916e-02 2.79158212e+02] [-7.02574137e-01 7.06339900e-01 -8.64495641e-02 -2.06920971e+02] [-1.22974136e-01 -8.56639154e-04 9.92409506e-01 -3.40511082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91591999999997 meters 0.030443263744667163 Centerline is valid? [True, True] Translation: X:279.18, Y:-206.94, Z:-34.05 [[ 7.02151061e-01 7.06641499e-01 8.74166933e-02 2.79183637e+02] [-7.01329524e-01 7.07571517e-01 -8.64838027e-02 -2.06941898e+02] [-1.22966606e-01 -5.83214003e-04 9.92410638e-01 -3.40539651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94592 meters 0.03052655474733898 Centerline is valid? [True, True] Translation: X:279.21, Y:-206.96, Z:-34.06 [[ 7.04846876e-01 7.03881321e-01 8.79884502e-02 2.79210506e+02] [-6.98466656e-01 7.10317594e-01 -8.71392308e-02 -2.06961102e+02] [-1.23835421e-01 -3.71840204e-05 9.92302770e-01 -3.40580615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97592 meters 0.03063589198977532 Centerline is valid? [True, True] Translation: X:279.24, Y:-206.98, Z:-34.06 [[ 7.06404945e-01 7.02360818e-01 8.76432250e-02 2.79235994e+02] [-6.96965986e-01 7.11821042e-01 -8.68862442e-02 -2.06982207e+02] [-1.23411785e-01 2.92525772e-04 9.92355504e-01 -3.40618972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00591999999995 meters 0.03063975289506558 Centerline is valid? [True, True] Translation: X:279.26, Y:-207.00, Z:-34.06 [[ 7.07661638e-01 7.01146239e-01 8.72293396e-02 2.79261829e+02] [-6.95782358e-01 7.13017273e-01 -8.65637245e-02 -2.07003472e+02] [-1.22889856e-01 5.65191454e-04 9.92420155e-01 -3.40643993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03592 meters 0.03118478856942086 Centerline is valid? [True, True] Translation: X:279.29, Y:-207.02, Z:-34.07 [[ 7.10368684e-01 6.98293664e-01 8.81038693e-02 2.79287839e+02] [-6.92788633e-01 7.15810503e-01 -8.75170444e-02 -2.07022559e+02] [-1.24178273e-01 1.13200845e-03 9.92259278e-01 -3.40687465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06591999999995 meters 0.03131992917430905 Centerline is valid? [True, True] Translation: X:279.31, Y:-207.04, Z:-34.07 [[ 7.11004780e-01 6.97649959e-01 8.80723438e-02 2.79312298e+02] [-6.92134028e-01 7.16437605e-01 -8.75650897e-02 -2.07044743e+02] [-1.24188120e-01 1.30133129e-03 9.92257838e-01 -3.40725764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09592 meters 0.031547304124108215 Centerline is valid? [True, True] Translation: X:279.34, Y:-207.06, Z:-34.08 [[ 7.11806015e-01 6.96818632e-01 8.81815796e-02 2.79338090e+02] [-6.91272134e-01 7.17245786e-01 -8.77571600e-02 -2.07064977e+02] [-1.24398691e-01 1.50860573e-03 9.92231168e-01 -3.40754665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12591999999995 meters 0.03139510032760063 Centerline is valid? [True, True] Translation: X:279.36, Y:-207.09, Z:-34.08 [[ 7.11577315e-01 6.97102184e-01 8.77853695e-02 2.79361958e+02] [-6.91598394e-01 7.16970206e-01 -8.74378965e-02 -2.07086529e+02] [-1.23892643e-01 1.50660303e-03 9.92294484e-01 -3.40793976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15592 meters 0.03106326010973365 Centerline is valid? [True, True] Translation: X:279.38, Y:-207.11, Z:-34.08 [[ 7.10762907e-01 6.98181884e-01 8.57796421e-02 2.79384808e+02] [-6.92926683e-01 7.15919173e-01 -8.55122818e-02 -2.07109121e+02] [-1.21114416e-01 1.33995517e-03 9.92637649e-01 -3.40823354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18591999999995 meters 0.031248352238764293 Centerline is valid? [True, True] Translation: X:279.41, Y:-207.13, Z:-34.09 [[ 7.08200138e-01 7.00525577e-01 8.78435027e-02 2.79407765e+02] [-6.95021759e-01 7.13626569e-01 -8.76463025e-02 -2.07131427e+02] [-1.24085934e-01 1.01797777e-03 9.92270953e-01 -3.40862954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21592 meters 0.031098280403506873 Centerline is valid? [True, True] Translation: X:279.43, Y:-207.15, Z:-34.09 [[ 7.07000240e-01 7.01663954e-01 8.84214710e-02 2.79431736e+02] [-6.96086361e-01 7.12507490e-01 -8.82998007e-02 -2.07153274e+02] [-1.24957748e-01 8.79000244e-04 9.92161675e-01 -3.40888892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24591999999996 meters 0.031066986067152934 Centerline is valid? [True, True] Translation: X:279.46, Y:-207.17, Z:-34.09 [[ 7.05482613e-01 7.03269385e-01 8.77864168e-02 2.79455981e+02] [-6.97776656e-01 7.10923182e-01 -8.77266663e-02 -2.07174986e+02] [-1.24104877e-01 6.34325462e-04 9.92268904e-01 -3.40927400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.27592 meters 0.031066986067152934 Centerline is valid? [True, True] Translation: X:279.48, Y:-207.20, Z:-34.10 [[ 7.05132306e-01 7.03623438e-01 8.77638261e-02 2.79479206e+02] [-6.98130628e-01 7.10572792e-01 -8.77492609e-02 -2.07197711e+02] [-1.24105024e-01 6.04223662e-04 9.92268904e-01 -3.40955994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30591999999996 meters 0.030940765657917303 Centerline is valid? [True, True] Translation: X:279.50, Y:-207.20, Z:-34.10 [[ 6.55809039e-01 7.50521372e-01 8.14381649e-02 2.79502444e+02] [-7.44685614e-01 6.60845891e-01 -9.34133021e-02 -2.07198456e+02] [-1.23926756e-01 6.15458081e-04 9.92291177e-01 -3.40973402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.33592 meters 0.031057498542956002 Centerline is valid? [True, True] Translation: X:279.39, Y:-207.55, Z:-32.15 [[ 7.05785288e-01 -7.07673392e-01 -3.26419435e-02 2.79392209e+02] [-7.06495321e-01 -7.06513706e-01 4.12643262e-02 -2.07549337e+02] [-5.22636462e-02 -6.06237408e-03 -9.98614920e-01 -3.21494953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36591999999996 meters 0.030971078177638816 Centerline is valid? [True, True] Translation: X:279.51, Y:-207.23, Z:-34.10 [[ 7.07180730e-01 7.01701011e-01 8.66666363e-02 2.79513270e+02] [-6.96403410e-01 7.12471356e-01 -8.60630949e-02 -2.07229005e+02] [-1.22138057e-01 5.07221207e-04 9.92512991e-01 -3.41019854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39592 meters 0.03108973113852202 Centerline is valid? [True, True] Translation: X:279.54, Y:-207.25, Z:-34.11 [[ 7.07024913e-01 7.01773898e-01 8.73451129e-02 2.79537014e+02] [-6.96383799e-01 7.12399530e-01 -8.68131007e-02 -2.07250802e+02] [-1.23147785e-01 5.53303423e-04 9.92388189e-01 -3.41055485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42591999999996 meters 0.030875429212957824 Centerline is valid? [True, True] Translation: X:279.56, Y:-207.27, Z:-34.11 [[ 7.06392235e-01 7.02379743e-01 8.75939882e-02 2.79559446e+02] [-6.96955656e-01 7.11802257e-01 -8.71226786e-02 -2.07274299e+02] [-1.23542803e-01 4.93658170e-04 9.92339122e-01 -3.41078545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45592 meters 0.03107815309006092 Centerline is valid? [True, True] Translation: X:279.58, Y:-207.30, Z:-34.11 [[ 7.06016723e-01 7.02644134e-01 8.84963720e-02 2.79582691e+02] [-6.97103910e-01 7.11541277e-01 -8.80633332e-02 -2.07296592e+02] [-1.24846006e-01 4.83019053e-04 9.92176013e-01 -3.41114424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48591999999996 meters 0.031052823664961263 Centerline is valid? [True, True] Translation: X:279.61, Y:-207.32, Z:-34.11 [[ 7.03667260e-01 7.05093356e-01 8.77254062e-02 2.79608340e+02] [-6.99658792e-01 7.09114482e-01 -8.73740602e-02 -2.07316879e+02] [-1.23814225e-01 1.04413855e-04 9.92305410e-01 -3.41149747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51592 meters 0.031108470687702647 Centerline is valid? [True, True] Translation: X:279.63, Y:-207.34, Z:-34.12 [[ 7.02678864e-01 7.06121727e-01 8.73757512e-02 2.79633348e+02] [-7.00728220e-01 7.08090465e-01 -8.71082949e-02 -2.07337887e+02] [-1.23378996e-01 -1.74969816e-05 9.92359624e-01 -3.41189282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54591999999997 meters 0.031370584507728685 Centerline is valid? [True, True] Translation: X:279.66, Y:-207.36, Z:-34.12 [[ 7.01623446e-01 7.07261636e-01 8.66344006e-02 2.79659206e+02] [-7.01957582e-01 7.06951876e-01 -8.64557608e-02 -2.07357708e+02] [-1.22393195e-01 -1.54285517e-04 9.92481678e-01 -3.41230439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57592 meters 0.031043970527950628 Centerline is valid? [True, True] Translation: X:279.68, Y:-207.38, Z:-34.13 [[ 7.01519215e-01 7.07523708e-01 8.53287392e-02 2.79683833e+02] [-7.02371754e-01 7.06689594e-01 -8.52275592e-02 -2.07378627e+02] [-1.20601451e-01 -1.43725703e-04 9.92700997e-01 -3.41257553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60591999999997 meters 0.03091227019419428 Centerline is valid? [True, True] Translation: X:279.71, Y:-207.40, Z:-34.13 [[ 7.01560411e-01 7.07540952e-01 8.48456929e-02 2.79707723e+02] [-7.02438524e-01 7.06672338e-01 -8.48193796e-02 -2.07399703e+02] [-1.19971289e-01 -9.29644427e-05 9.92777357e-01 -3.41292036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63592 meters 0.030890305532074763 Centerline is valid? [True, True] Translation: X:279.60, Y:-207.79, Z:-32.17 [[ 7.53478829e-01 -6.56399019e-01 -3.75497303e-02 2.79603274e+02] [-6.55156731e-01 -7.54388699e-01 4.08331862e-02 -2.07786364e+02] [-5.51299556e-02 -6.16598275e-03 -9.98460149e-01 -3.21704705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66591999999997 meters 0.030903635049978662 Centerline is valid? [True, True] Translation: X:279.72, Y:-207.43, Z:-34.14 [[ 7.51733551e-01 6.53362098e-01 8.95245051e-02 2.79724862e+02] [-6.48739427e-01 7.57045513e-01 -7.75838007e-02 -2.07431981e+02] [-1.18464440e-01 2.44269851e-04 9.92958265e-01 -3.41352497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69592 meters 0.030952726669349853 Centerline is valid? [True, True] Translation: X:279.75, Y:-207.45, Z:-34.14 [[ 7.53857379e-01 6.51093228e-01 8.81853784e-02 2.79750393e+02] [-6.46584824e-01 7.58997493e-01 -7.64909882e-02 -2.07451612e+02] [-1.16735246e-01 6.43968500e-04 9.93162861e-01 -3.41366912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72592 meters 0.030804631582820402 Centerline is valid? [True, True] Translation: X:279.78, Y:-207.47, Z:-34.14 [[ 7.55173855e-01 6.49662877e-01 8.74676815e-02 2.79776611e+02] [-6.45210158e-01 7.60221886e-01 -7.59377124e-02 -2.07471985e+02] [-1.15828759e-01 9.11138432e-04 9.93268780e-01 -3.41394347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75591999999995 meters 0.03085370208937311 Centerline is valid? [True, True] Translation: X:279.80, Y:-207.49, Z:-34.14 [[ 7.55519566e-01 6.49272407e-01 8.73815057e-02 2.79802904e+02] [-6.44816941e-01 7.60555247e-01 -7.59396426e-02 -2.07492621e+02] [-1.15763977e-01 1.02881059e-03 9.93276217e-01 -3.41423961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78592 meters 0.031157842505283834 Centerline is valid? [True, True] Translation: X:279.83, Y:-207.51, Z:-34.15 [[ 7.57162447e-01 6.47162434e-01 8.88021042e-02 2.79827928e+02] [-6.42536863e-01 7.62350793e-01 -7.72505476e-02 -2.07512818e+02] [-1.17692007e-01 1.43258809e-03 9.93049112e-01 -3.41472430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81591999999995 meters 0.031218807114787205 Centerline is valid? [True, True] Translation: X:279.85, Y:-207.53, Z:-34.15 [[ 7.57583178e-01 6.46596410e-01 8.93353828e-02 2.79852106e+02] [-6.41902835e-01 7.62830636e-01 -7.77828528e-02 -2.07533489e+02] [-1.18441880e-01 1.58234536e-03 9.92959726e-01 -3.41499813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84592 meters 0.031281881364075614 Centerline is valid? [True, True] Translation: X:279.88, Y:-207.55, Z:-34.15 [[ 7.59361226e-01 6.44898437e-01 8.64669574e-02 2.79876095e+02] [-6.40484147e-01 7.64266076e-01 -7.53486804e-02 -2.07554955e+02] [-1.14676008e-01 1.83615087e-03 9.93401249e-01 -3.41519678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87591999999995 meters 0.03134363000505689 Centerline is valid? [True, True] Translation: X:279.90, Y:-207.58, Z:-34.16 [[ 7.58854882e-01 6.45302532e-01 8.78857803e-02 2.79899294e+02] [-6.40736522e-01 7.63924864e-01 -7.66518873e-02 -2.07576695e+02] [-1.16601790e-01 1.85602978e-03 9.93177012e-01 -3.41566265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90592 meters 0.03133665461329995 Centerline is valid? [True, True] Translation: X:279.92, Y:-207.60, Z:-34.16 [[ 7.59160264e-01 6.45233034e-01 8.57322929e-02 2.79923395e+02] [-6.40881107e-01 7.63983533e-01 -7.48369402e-02 -2.07598436e+02] [-1.13785326e-01 1.86902440e-03 9.93503602e-01 -3.41598506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93591999999995 meters 0.03117112717494166 Centerline is valid? [True, True] Translation: X:279.95, Y:-207.62, Z:-34.16 [[ 7.58323922e-01 6.46350282e-01 8.47121179e-02 2.79946927e+02] [-6.42101451e-01 7.63038873e-01 -7.40094853e-02 -2.07619742e+02] [-1.12474691e-01 1.72938928e-03 9.93653085e-01 -3.41637951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96592 meters 0.031048223128501647 Centerline is valid? [True, True] Translation: X:279.97, Y:-207.64, Z:-34.17 [[ 7.57045674e-01 6.47722010e-01 8.56623871e-02 2.79971353e+02] [-6.43378009e-01 7.61875091e-01 -7.49071683e-02 -2.07641636e+02] [-1.13783061e-01 1.59485171e-03 9.93504339e-01 -3.41672358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99591999999996 meters 0.030962630129067022 Centerline is valid? [True, True] Translation: X:280.00, Y:-207.67, Z:-34.17 [[ 7.54296085e-01 6.50810873e-01 8.65021537e-02 2.79995287e+02] [-6.46392394e-01 7.59238941e-01 -7.57172555e-02 -2.07665074e+02] [-1.14953417e-01 1.19889521e-03 9.93370160e-01 -3.41700950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.02592 meters 0.030765597348120014 Centerline is valid? [True, True] Translation: X:280.02, Y:-207.69, Z:-34.17 [[ 7.53701615e-01 6.51769688e-01 8.44402099e-02 2.80019547e+02] [-6.47558056e-01 7.58416182e-01 -7.39828346e-02 -2.07686424e+02] [-1.12260591e-01 1.08104379e-03 9.93678213e-01 -3.41726503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05591999999996 meters 0.030273444443917375 Centerline is valid? [True, True] Translation: X:280.04, Y:-207.71, Z:-34.18 [[ 7.50801069e-01 6.55246028e-01 8.33690482e-02 2.80042207e+02] [-6.51155127e-01 7.55415303e-01 -7.31076035e-02 -2.07709122e+02] [-1.10881722e-01 6.03083705e-04 9.93833427e-01 -3.41775552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.08592 meters 0.030444701697411213 Centerline is valid? [True, True] Translation: X:280.07, Y:-207.73, Z:-34.18 [[ 7.49336258e-01 6.56982389e-01 8.28813223e-02 2.80065878e+02] [-6.52942867e-01 7.53905821e-01 -7.27435624e-02 -2.07730451e+02] [-1.10275951e-01 3.92620736e-04 9.93900931e-01 -3.41807906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11591999999996 meters 0.030413567574192214 Centerline is valid? [True, True] Translation: X:280.09, Y:-207.75, Z:-34.18 [[ 7.47160890e-01 6.59257144e-01 8.44430106e-02 2.80089856e+02] [-6.55070336e-01 7.51917553e-01 -7.41811889e-02 -2.07751528e+02] [-1.12398661e-01 1.09171783e-04 9.93663187e-01 -3.41844134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14592 meters 0.030208523779048452 Centerline is valid? [True, True] Translation: X:280.12, Y:-207.77, Z:-34.19 [[ 7.43693357e-01 6.63427610e-01 8.23650249e-02 2.80116229e+02] [-6.59463303e-01 7.48240333e-01 -7.24193069e-02 -2.07770120e+02] [-1.09673801e-01 -4.58953986e-04 9.93967528e-01 -3.41856606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17591999999996 meters 0.030184224937810783 Centerline is valid? [True, True] Translation: X:280.14, Y:-207.79, Z:-34.19 [[ 7.39335941e-01 6.68609802e-01 7.96448335e-02 2.80142443e+02] [-6.64927041e-01 7.43612557e-01 -7.00884788e-02 -2.07788786e+02] [-1.06086742e-01 -1.13907210e-03 9.94356227e-01 -3.41877417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20592 meters 0.030077109262236792 Centerline is valid? [True, True] Translation: X:280.17, Y:-207.81, Z:-34.19 [[ 7.37189099e-01 6.70922484e-01 8.00952738e-02 2.80167822e+02] [-6.67204566e-01 7.41526108e-01 -7.05485579e-02 -2.07808272e+02] [-1.06725350e-01 -1.43230459e-03 9.94287508e-01 -3.41906589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23591999999996 meters 0.0302738299467344 Centerline is valid? [True, True] Translation: X:280.19, Y:-207.83, Z:-34.19 [[ 7.34649800e-01 6.73772402e-01 7.95010844e-02 2.80193779e+02] [-6.70119492e-01 7.38936779e-01 -7.00878165e-02 -2.07827492e+02] [-1.05969512e-01 -1.78522598e-03 9.94367777e-01 -3.41939537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26592 meters 0.03073764641504395 Centerline is valid? [True, True] Translation: X:280.22, Y:-207.84, Z:-34.20 [[ 7.30649107e-01 6.78203649e-01 7.86873075e-02 2.80222136e+02] [-6.74644351e-01 7.34870233e-01 -6.94315514e-02 -2.07843391e+02] [-1.04913692e-01 -2.35584646e-03 9.94478540e-01 -3.41958912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29591999999997 meters 0.030968690344179248 Centerline is valid? [True, True] Translation: X:280.25, Y:-207.86, Z:-34.20 [[ 7.27413508e-01 6.81787094e-01 7.76913568e-02 2.80252866e+02] [-6.78331838e-01 7.31545323e-01 -6.86101852e-02 -2.07857427e+02] [-1.03612288e-01 -2.79254534e-03 9.94613842e-01 -3.41979419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32592 meters 0.030845196378793495 Centerline is valid? [True, True] Translation: X:280.28, Y:-207.87, Z:-34.20 [[ 7.26594103e-01 6.82721330e-01 7.71530646e-02 2.80281029e+02] [-6.79312694e-01 7.30673258e-01 -6.81971761e-02 -2.07874922e+02] [-1.02933348e-01 -2.85939012e-03 9.94684146e-01 -3.42006976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35591999999997 meters 0.030926227849082524 Centerline is valid? [True, True] Translation: X:280.31, Y:-207.89, Z:-34.20 [[ 7.26460266e-01 6.83004859e-01 7.58936364e-02 2.80308174e+02] [-6.79702161e-01 7.30408437e-01 -6.71452747e-02 -2.07892221e+02] [-1.01293901e-01 -2.80669456e-03 9.94852586e-01 -3.42037551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38592 meters 0.030727261253718167 Centerline is valid? [True, True] Translation: X:280.34, Y:-207.90, Z:-34.21 [[ 7.27817740e-01 6.81311946e-01 7.80728451e-02 2.80339982e+02] [-6.77804730e-01 7.31988459e-01 -6.90915591e-02 -2.07904502e+02] [-1.04221326e-01 -2.63208128e-03 9.94550646e-01 -3.42077029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41591999999997 meters 0.030458915559170702 Centerline is valid? [True, True] Translation: X:280.37, Y:-207.92, Z:-34.21 [[ 7.28811278e-01 6.80253278e-01 7.80358790e-02 2.80367423e+02] [-6.76741471e-01 7.32972984e-01 -6.90766702e-02 -2.07921549e+02] [-1.04187822e-01 -2.46625922e-03 9.94554581e-01 -3.42101245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44592 meters 0.029930897514091073 Centerline is valid? [True, True] Translation: X:280.40, Y:-207.94, Z:-34.21 [[ 7.31814769e-01 6.77205144e-01 7.64220970e-02 2.80398005e+02] [-6.73818981e-01 7.35791607e-01 -6.76660333e-02 -2.07936052e+02] [-1.02054523e-01 -1.97565702e-03 9.94776845e-01 -3.42130669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47592 meters 0.029849297423055525 Centerline is valid? [True, True] Translation: X:280.43, Y:-207.95, Z:-34.22 [[ 7.33400542e-01 6.75350319e-01 7.76246845e-02 2.80425159e+02] [-6.71843808e-01 7.37495057e-01 -6.87527375e-02 -2.07953567e+02] [-1.03680004e-01 -1.72836872e-03 9.94609204e-01 -3.42169356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50591999999995 meters 0.029676950451975756 Centerline is valid? [True, True] Translation: X:280.45, Y:-207.97, Z:-34.22 [[ 7.34568768e-01 6.73824968e-01 7.98037501e-02 2.80451836e+02] [-6.70107279e-01 7.38889393e-01 -7.07014770e-02 -2.07971089e+02] [-1.06606565e-01 -1.54197699e-03 9.94300087e-01 -3.42209466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53592 meters 0.02974816749699236 Centerline is valid? [True, True] Translation: X:280.48, Y:-207.99, Z:-34.23 [[ 7.37505309e-01 6.70503138e-01 8.06936211e-02 2.80480323e+02] [-6.66680115e-01 7.41905936e-01 -7.15066916e-02 -2.07986095e+02] [-1.07812538e-01 -1.06026790e-03 9.94170676e-01 -3.42254257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56591999999995 meters 0.02941092095451643 Centerline is valid? [True, True] Translation: X:280.51, Y:-208.00, Z:-34.23 [[ 7.40931302e-01 6.67012777e-01 7.81969334e-02 2.80506556e+02] [-6.63403070e-01 7.45046090e-01 -6.93014495e-02 -2.08001755e+02] [-1.04485272e-01 -5.28472382e-04 9.94526294e-01 -3.42287660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59592 meters 0.029341442923326345 Centerline is valid? [True, True] Translation: X:280.53, Y:-208.02, Z:-34.23 [[ 7.42618837e-01 6.65247545e-01 7.72202457e-02 2.80530676e+02] [-6.61718283e-01 7.46622814e-01 -6.84345431e-02 -2.08019152e+02] [-1.03180309e-01 -2.77267622e-04 9.94662630e-01 -3.42311086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62591999999995 meters 0.029164231831260237 Centerline is valid? [True, True] Translation: X:280.55, Y:-208.04, Z:-34.23 [[ 7.44494443e-01 6.63278388e-01 7.60907656e-02 2.80554228e+02] [-6.59843193e-01 7.48372755e-01 -6.74179551e-02 -2.08035725e+02] [-1.01661128e-01 -1.56807628e-05 9.94819086e-01 -3.42332840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65592 meters 0.029231839550391697 Centerline is valid? [True, True] Translation: X:280.58, Y:-208.05, Z:-34.24 [[ 7.46698802e-01 6.60728614e-01 7.66720116e-02 2.80577496e+02] [-6.57233396e-01 7.50624817e-01 -6.78722939e-02 -2.08052901e+02] [-1.02397081e-01 2.88753996e-04 9.94743562e-01 -3.42361784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68591999999995 meters 0.029506596886846655 Centerline is valid? [True, True] Translation: X:280.60, Y:-208.07, Z:-34.24 [[ 7.50080165e-01 6.56806441e-01 7.73630798e-02 2.80601695e+02] [-6.53233227e-01 7.54058805e-01 -6.84227362e-02 -2.08068793e+02] [-1.03276805e-01 7.86403021e-04 9.94652343e-01 -3.42386843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71592 meters 0.02960878306083592 Centerline is valid? [True, True] Translation: X:280.62, Y:-208.09, Z:-34.24 [[ 7.53089049e-01 6.53372145e-01 7.72122029e-02 2.80624403e+02] [-6.49801013e-01 7.57035914e-01 -6.82295250e-02 -2.08086368e+02] [-1.03031682e-01 1.21034038e-03 9.94677338e-01 -3.42425295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74591999999996 meters 0.029910902625505466 Centerline is valid? [True, True] Translation: X:280.65, Y:-208.10, Z:-34.25 [[ 7.55105818e-01 6.51268575e-01 7.52625122e-02 2.80645145e+02] [-6.47871316e-01 7.58845991e-01 -6.64493785e-02 -2.08104130e+02] [-1.00389048e-01 1.41588953e-03 9.94947252e-01 -3.42455610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.77592 meters 0.029701838400071297 Centerline is valid? [True, True] Translation: X:280.67, Y:-208.12, Z:-34.25 [[ 7.56171164e-01 6.50076400e-01 7.48721873e-02 2.80666097e+02] [-6.46715018e-01 7.59867339e-01 -6.60402275e-02 -2.08121765e+02] [-9.98241232e-02 1.51674775e-03 9.95003942e-01 -3.42480527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80591999999996 meters 0.029740283350437585 Centerline is valid? [True, True] Translation: X:280.69, Y:-208.14, Z:-34.25 [[ 7.56766087e-01 6.49507667e-01 7.37894296e-02 2.80687928e+02] [-6.46246583e-01 7.60353522e-01 -6.50221117e-02 -2.08139122e+02] [-9.83384127e-02 1.52036233e-03 9.95151870e-01 -3.42497172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.83592 meters 0.029672332476539838 Centerline is valid? [True, True] Translation: X:280.71, Y:-208.15, Z:-34.25 [[ 7.56831965e-01 6.49452173e-01 7.36019829e-02 2.80711477e+02] [-6.46213698e-01 7.60401012e-01 -6.47931869e-02 -2.08154394e+02] [-9.80470984e-02 1.47494542e-03 9.95180683e-01 -3.42499069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86591999999996 meters 0.029699244246261663 Centerline is valid? [True, True] Translation: X:280.73, Y:-208.17, Z:-34.25 [[ 7.55160477e-01 6.51185388e-01 7.54337074e-02 2.80734051e+02] [-6.47798602e-01 7.58917700e-01 -6.63392484e-02 -2.08171300e+02] [-1.00447125e-01 1.23092825e-03 9.94941636e-01 -3.42522960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89592 meters 0.0296072347151975 Centerline is valid? [True, True] Translation: X:280.76, Y:-208.19, Z:-34.26 [[ 7.54513154e-01 6.51762485e-01 7.69127007e-02 2.80755106e+02] [-6.48250510e-01 7.58422300e-01 -6.75787816e-02 -2.08189831e+02] [-1.02377622e-01 1.13038214e-03 9.94744965e-01 -3.42563992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92591999999996 meters 0.02951914990815025 Centerline is valid? [True, True] Translation: X:280.78, Y:-208.21, Z:-34.26 [[ 7.54603894e-01 6.51794310e-01 7.57439125e-02 2.80776975e+02] [-6.48391251e-01 7.58395009e-01 -6.65266553e-02 -2.08208895e+02] [-1.00805501e-01 1.08958295e-03 9.94905555e-01 -3.42587427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95592 meters 0.029460993098443914 Centerline is valid? [True, True] Translation: X:280.80, Y:-208.23, Z:-34.26 [[ 7.55278146e-01 6.51078032e-01 7.51819104e-02 2.80797795e+02] [-6.47727719e-01 7.59009957e-01 -6.59748942e-02 -2.08227284e+02] [-1.00018623e-01 1.13198842e-03 9.94984921e-01 -3.42620586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98591999999996 meters 0.02984839868307371 Centerline is valid? [True, True] Translation: X:280.82, Y:-208.25, Z:-34.26 [[ 7.56819427e-01 6.49209613e-01 7.58368865e-02 2.80818528e+02] [-6.45797810e-01 7.60608362e-01 -6.64838954e-02 -2.08247620e+02] [-1.00844154e-01 1.34100842e-03 9.94901331e-01 -3.42646524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01592 meters 0.030232168199148056 Centerline is valid? [True, True] Translation: X:280.84, Y:-208.27, Z:-34.27 [[ 7.59891906e-01 6.45640358e-01 7.55831925e-02 2.80838422e+02] [-6.42239025e-01 7.63639574e-01 -6.62090334e-02 -2.08267878e+02] [-1.00465541e-01 1.76923278e-03 9.94938965e-01 -3.42661372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04591999999997 meters 0.03065253493044128 Centerline is valid? [True, True] Translation: X:280.86, Y:-208.29, Z:-34.27 [[ 7.61982897e-01 6.43022306e-01 7.68399609e-02 2.80859075e+02] [-6.39495999e-01 7.65844486e-01 -6.72836553e-02 -2.08287589e+02] [-1.02112352e-01 2.13014700e-03 9.94770592e-01 -3.42691745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07592 meters 0.030920777048025136 Centerline is valid? [True, True] Translation: X:280.88, Y:-208.31, Z:-34.27 [[ 7.63661872e-01 6.41057526e-01 7.65884641e-02 2.80879466e+02] [-6.37550253e-01 7.67489261e-01 -6.70067839e-02 -2.08307462e+02] [-1.01736027e-01 2.34153136e-03 9.94808674e-01 -3.42712678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10591999999997 meters 0.031057013808763002 Centerline is valid? [True, True] Translation: X:280.90, Y:-208.33, Z:-34.27 [[ 7.64788931e-01 6.39944465e-01 7.46255529e-02 2.80898380e+02] [-6.36615306e-01 7.68417467e-01 -6.52345673e-02 -2.08328118e+02] [-9.90900786e-02 2.38290574e-03 9.95075614e-01 -3.42737032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13592 meters 0.031520574589068574 Centerline is valid? [True, True] Translation: X:280.92, Y:-208.35, Z:-34.28 [[ 7.67533832e-01 6.36735522e-01 7.38897322e-02 2.80915802e+02] [-6.33462983e-01 7.71077467e-01 -6.45305286e-02 -2.08351911e+02] [-9.80635874e-02 2.72295372e-03 9.95176426e-01 -3.42778050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16591999999997 meters 0.031520574589068574 Centerline is valid? [True, True] Translation: X:280.94, Y:-208.37, Z:-34.28 [[ 7.67835436e-01 6.36368625e-01 7.39169572e-02 2.80936107e+02] [-6.33097391e-01 7.71380276e-01 -6.44993300e-02 -2.08370110e+02] [-9.80634327e-02 2.72823834e-03 9.95176427e-01 -3.42802090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19592 meters 0.03158119540111658 Centerline is valid? [True, True] Translation: X:280.95, Y:-208.39, Z:-34.28 [[ 7.68515639e-01 6.35545649e-01 7.39286225e-02 2.80954791e+02] [-6.32275234e-01 7.72058255e-01 -6.44521519e-02 -2.08391617e+02] [-9.80394880e-02 2.78924967e-03 9.95178617e-01 -3.42823034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22592 meters 0.0313388202324413 Centerline is valid? [True, True] Translation: X:280.97, Y:-208.42, Z:-34.29 [[ 7.67743376e-01 6.36362027e-01 7.49231588e-02 2.80971566e+02] [-6.33008499e-01 7.71385793e-01 -6.53008334e-02 -2.08417399e+02] [-9.93496309e-02 2.70728597e-03 9.95048904e-01 -3.42858873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25591999999995 meters 0.03120204753237887 Centerline is valid? [True, True] Translation: X:280.99, Y:-208.44, Z:-34.29 [[ 7.66557666e-01 6.37737728e-01 7.53653484e-02 2.80991975e+02] [-6.34351611e-01 7.70249402e-01 -6.56802346e-02 -2.08441400e+02] [-9.99368781e-02 2.53955722e-03 9.94990538e-01 -3.42882845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28592 meters 0.030066648076862396 Centerline is valid? [True, True] Translation: X:281.01, Y:-208.47, Z:-34.29 [[ 7.62318992e-01 6.42997148e-01 7.36506702e-02 2.81010130e+02] [-6.39787327e-01 7.65866419e-01 -6.41934914e-02 -2.08468397e+02] [-9.76828070e-02 1.81515230e-03 9.95215944e-01 -3.42889425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31591999999995 meters 0.029725635008749203 Centerline is valid? [True, True] Translation: X:281.03, Y:-208.49, Z:-34.29 [[ 7.59725138e-01 6.46011767e-01 7.40709959e-02 2.81031944e+02] [-6.42778474e-01 7.63326086e-01 -6.45687183e-02 -2.08491729e+02] [-9.82524752e-02 1.44323675e-03 9.95160474e-01 -3.42919334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34592 meters 0.029150822522465016 Centerline is valid? [True, True] Translation: X:281.05, Y:-208.52, Z:-34.30 [[ 7.52521599e-01 6.54287187e-01 7.49634539e-02 2.81052379e+02] [-6.51014237e-01 7.56246077e-01 -6.53631006e-02 -2.08517264e+02] [-9.94570572e-02 3.84869290e-04 9.95041781e-01 -3.42962267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37591999999995 meters 0.029129692443515296 Centerline is valid? [True, True] Translation: X:281.08, Y:-208.54, Z:-34.30 [[ 7.49617963e-01 6.57693265e-01 7.42460749e-02 2.81075944e+02] [-6.54497796e-01 7.53285847e-01 -6.47539066e-02 -2.08539381e+02] [-9.85167256e-02 -5.32008168e-05 9.95135394e-01 -3.42982937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40592 meters 0.029169711657308434 Centerline is valid? [True, True] Translation: X:281.10, Y:-208.56, Z:-34.30 [[ 7.46458351e-01 6.61130911e-01 7.55370628e-02 2.81099267e+02] [-6.57838820e-01 7.50270395e-01 -6.58970425e-02 -2.08560807e+02] [-1.00239794e-01 -5.01814564e-04 9.94963181e-01 -3.43010411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43591999999995 meters 0.029470944871556142 Centerline is valid? [True, True] Translation: X:281.12, Y:-208.58, Z:-34.30 [[ 7.42063250e-01 6.66330287e-01 7.31169032e-02 2.81123768e+02] [-6.63269696e-01 7.45655835e-01 -6.38019349e-02 -2.08581555e+02] [-9.70332070e-02 -1.15115497e-03 9.95280479e-01 -3.43032140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46592 meters 0.02958682808524768 Centerline is valid? [True, True] Translation: X:281.15, Y:-208.60, Z:-34.31 [[ 7.41038530e-01 6.67583101e-01 7.20742686e-02 2.81148512e+02] [-6.64613399e-01 7.44534190e-01 -6.29116002e-02 -2.08602015e+02] [-9.56604784e-02 -1.28160497e-03 9.95413196e-01 -3.43060785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49591999999996 meters 0.02959913335107668 Centerline is valid? [True, True] Translation: X:281.17, Y:-208.62, Z:-34.31 [[ 7.39858138e-01 6.68771122e-01 7.31787023e-02 2.81173659e+02] [-6.65713730e-01 7.43466945e-01 -6.38915639e-02 -2.08620214e+02] [-9.71347791e-02 -1.44537345e-03 9.95270187e-01 -3.43098671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.52592 meters 0.029635469651289076 Centerline is valid? [True, True] Translation: X:281.20, Y:-208.64, Z:-34.31 [[ 7.40142940e-01 6.68430325e-01 7.34120502e-02 2.81198435e+02] [-6.65350876e-01 7.43773449e-01 -6.41035732e-02 -2.08639837e+02] [-9.74507060e-02 -1.39896481e-03 9.95239370e-01 -3.43135707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55591999999996 meters 0.029585261614273696 Centerline is valid? [True, True] Translation: X:281.22, Y:-208.66, Z:-34.32 [[ 7.40052440e-01 6.68511687e-01 7.35833576e-02 2.81222384e+02] [-6.65417409e-01 7.43700306e-01 -6.42613990e-02 -2.08659242e+02] [-9.76834619e-02 -1.40684202e-03 9.95216540e-01 -3.43156913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.58592 meters 0.029535175989808444 Centerline is valid? [True, True] Translation: X:281.25, Y:-208.68, Z:-34.32 [[ 7.40328899e-01 6.68142542e-01 7.41529826e-02 2.81248281e+02] [-6.64997474e-01 7.44032046e-01 -6.47663132e-02 -2.08676599e+02] [-9.84453245e-02 -1.36317277e-03 9.95141528e-01 -3.43174690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61591999999996 meters 0.02965975051165497 Centerline is valid? [True, True] Translation: X:281.27, Y:-208.70, Z:-34.32 [[ 7.40216917e-01 6.68403734e-01 7.29065400e-02 2.81273041e+02] [-6.65365047e-01 7.43797391e-01 -6.36772689e-02 -2.08695394e+02] [-9.67898186e-02 -1.37447169e-03 9.95303894e-01 -3.43185668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64592 meters 0.029796643253890105 Centerline is valid? [True, True] Translation: X:281.30, Y:-208.71, Z:-34.32 [[ 7.40192629e-01 6.68306124e-01 7.40391609e-02 2.81295930e+02] [-6.65172572e-01 7.43885066e-01 -6.46564626e-02 -2.08712571e+02] [-9.82869360e-02 -1.39058208e-03 9.95157146e-01 -3.43215638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67591999999996 meters 0.029639439194487336 Centerline is valid? [True, True] Translation: X:281.32, Y:-208.73, Z:-34.32 [[ 7.41187195e-01 6.67335905e-01 7.28308425e-02 2.81318152e+02] [-6.64304822e-01 7.44755761e-01 -6.35449437e-02 -2.08731212e+02] [-9.66470120e-02 -1.28318126e-03 9.95317893e-01 -3.43227865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70592 meters 0.02935168077143476 Centerline is valid? [True, True] Translation: X:281.34, Y:-208.75, Z:-34.32 [[ 7.43604107e-01 6.64707756e-01 7.22255601e-02 2.81340596e+02] [-6.61719980e-01 7.47102836e-01 -6.29604663e-02 -2.08749041e+02] [-9.58102310e-02 -9.75434853e-04 9.95399140e-01 -3.43248869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73591999999996 meters 0.029207337560248747 Centerline is valid? [True, True] Translation: X:281.36, Y:-208.77, Z:-34.33 [[ 7.44898071e-01 6.63367438e-01 7.12074815e-02 2.81361976e+02] [-6.60462584e-01 7.48293357e-01 -6.20179531e-02 -2.08767996e+02] [-9.44247760e-02 -8.32823633e-04 9.95531651e-01 -3.43272838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76592 meters 0.029188761166430252 Centerline is valid? [True, True] Translation: X:281.38, Y:-208.79, Z:-34.33 [[ 7.48212966e-01 6.59588665e-01 7.15552275e-02 2.81382640e+02] [-6.56643344e-01 7.51626659e-01 -6.22646368e-02 -2.08787002e+02] [-9.48518652e-02 -3.99055281e-04 9.95491318e-01 -3.43306350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79591999999997 meters 0.029100173576547518 Centerline is valid? [True, True] Translation: X:281.40, Y:-208.81, Z:-34.33 [[ 7.49418481e-01 6.58074328e-01 7.28705683e-02 2.81402565e+02] [-6.55018062e-01 7.52952929e-01 -6.33500174e-02 -2.08806216e+02] [-9.65571280e-02 -2.55864647e-04 9.95327411e-01 -3.43344373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82592 meters 0.029042444472169044 Centerline is valid? [True, True] Translation: X:281.42, Y:-208.83, Z:-34.34 [[ 7.50839563e-01 6.56573546e-01 7.17713757e-02 2.81423875e+02] [-6.53607778e-01 7.54262002e-01 -6.23354156e-02 -2.08827099e+02] [-9.50622064e-02 -1.06433264e-04 9.95471328e-01 -3.43365788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85591999999997 meters 0.028975058799372115 Centerline is valid? [True, True] Translation: X:281.44, Y:-208.85, Z:-34.34 [[ 7.51743005e-01 6.55617630e-01 7.10491260e-02 2.81443274e+02] [-6.52707807e-01 7.55093056e-01 -6.17008495e-02 -2.08850566e+02] [-9.41008664e-02 8.86278105e-06 9.95562669e-01 -3.43377096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88592 meters 0.02886603152756479 Centerline is valid? [True, True] Translation: X:281.47, Y:-208.87, Z:-34.34 [[ 7.51568947e-01 6.55938700e-01 6.99181001e-02 2.81465756e+02] [-6.53122367e-01 7.54814163e-01 -6.07186381e-02 -2.08871541e+02] [-9.26028768e-02 -3.08320994e-05 9.95703122e-01 -3.43392581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91591999999997 meters 0.028905443881500074 Centerline is valid? [True, True] Translation: X:281.49, Y:-208.89, Z:-34.34 [[ 7.49843774e-01 6.58122460e-01 6.78906685e-02 2.81487930e+02] [-6.55476327e-01 7.52910846e-01 -5.89579655e-02 -2.08892983e+02] [-8.99171820e-02 -2.91462720e-04 9.95949203e-01 -3.43399494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94592 meters 0.028914329014961115 Centerline is valid? [True, True] Translation: X:281.51, Y:-208.91, Z:-34.34 [[ 7.47901448e-01 6.60325110e-01 6.79277089e-02 2.81508617e+02] [-6.57685145e-01 7.50979653e-01 -5.89899241e-02 -2.08913810e+02] [-8.99648554e-02 -5.56395399e-04 9.95944785e-01 -3.43424541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97592 meters 0.029226830575985983 Centerline is valid? [True, True] Translation: X:281.53, Y:-208.94, Z:-34.35 [[ 7.43799292e-01 6.64722045e-01 7.00515234e-02 2.81529534e+02] [-6.61934076e-01 7.47089911e-01 -6.08271709e-02 -2.08937754e+02] [-9.27679478e-02 -1.12628373e-03 9.95687119e-01 -3.43453844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00591999999995 meters 0.029298950362066083 Centerline is valid? [True, True] Translation: X:281.55, Y:-208.96, Z:-34.35 [[ 7.41959207e-01 6.66930582e-01 6.85575206e-02 2.81552571e+02] [-6.64269201e-01 7.45118603e-01 -5.95373567e-02 -2.08959434e+02] [-9.07907679e-02 -1.36635947e-03 9.95869052e-01 -3.43458973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03592 meters 0.02936365634715436 Centerline is valid? [True, True] Translation: X:281.58, Y:-208.98, Z:-34.35 [[ 7.41017998e-01 6.67970743e-01 6.86105953e-02 2.81575725e+02] [-6.65309000e-01 7.44186044e-01 -5.95908152e-02 -2.08979509e+02] [-9.08639686e-02 -1.48937998e-03 9.95862200e-01 -3.43477208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06591999999995 meters 0.029552814119093815 Centerline is valid? [True, True] Translation: X:281.60, Y:-209.00, Z:-34.35 [[ 7.39317829e-01 6.70000858e-01 6.71416247e-02 2.81598339e+02] [-6.67460417e-01 7.42358375e-01 -5.83149605e-02 -2.09000216e+02] [-8.89142209e-02 -1.70108685e-03 9.96037834e-01 -3.43500254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09592 meters 0.02939876167523543 Centerline is valid? [True, True] Translation: X:281.62, Y:-209.02, Z:-34.35 [[ 7.39729518e-01 6.69532366e-01 6.72803979e-02 2.81619927e+02] [-6.66979546e-01 7.42781053e-01 -5.84345132e-02 -2.09019348e+02] [-8.90984027e-02 -1.64891497e-03 9.96021464e-01 -3.43527774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12591999999995 meters 0.029647605369807158 Centerline is valid? [True, True] Translation: X:281.64, Y:-209.04, Z:-34.35 [[ 7.38578572e-01 6.71006438e-01 6.52077697e-02 2.81643089e+02] [-6.68618870e-01 7.41449319e-01 -5.65836909e-02 -2.09038774e+02] [-8.63162773e-02 -1.80764366e-03 9.96266146e-01 -3.43526444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15592 meters 0.029758916788916023 Centerline is valid? [True, True] Translation: X:281.67, Y:-209.06, Z:-34.35 [[ 7.38017359e-01 6.71623893e-01 6.52052454e-02 2.81665728e+02] [-6.69239490e-01 7.40889867e-01 -5.65748278e-02 -2.09057090e+02] [-8.63069116e-02 -1.88472008e-03 9.96266814e-01 -3.43537893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18591999999995 meters 0.030031292867323846 Centerline is valid? [True, True] Translation: X:281.69, Y:-209.07, Z:-34.35 [[ 7.36726907e-01 6.73027818e-01 6.53224354e-02 2.81689528e+02] [-6.70644786e-01 7.39614213e-01 -5.66249623e-02 -2.09074036e+02] [-8.64235764e-02 -2.09101732e-03 9.96256289e-01 -3.43549049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21592 meters 0.02992948228472704 Centerline is valid? [True, True] Translation: X:281.71, Y:-209.09, Z:-34.36 [[ 7.36646406e-01 6.73139730e-01 6.50766888e-02 2.81712220e+02] [-6.70779473e-01 7.39512237e-01 -5.63608898e-02 -2.09092171e+02] [-8.60637619e-02 -2.13406006e-03 9.96287345e-01 -3.43575681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24591999999996 meters 0.029826401733721395 Centerline is valid? [True, True] Translation: X:281.73, Y:-209.11, Z:-34.36 [[ 7.36738609e-01 6.73152271e-01 6.38924187e-02 2.81734973e+02] [-6.70881489e-01 7.39500825e-01 -5.52861346e-02 -2.09110248e+02] [-8.44644835e-02 -2.13281106e-03 9.96424208e-01 -3.43584522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.27592 meters 0.02982776272560926 Centerline is valid? [True, True] Translation: X:281.76, Y:-209.13, Z:-34.36 [[ 7.38223532e-01 6.71445014e-01 6.47117498e-02 2.81758824e+02] [-6.69113379e-01 7.41051679e-01 -5.59436769e-02 -2.09126848e+02] [-8.55178538e-02 -2.00055891e-03 9.96334630e-01 -3.43621095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30591999999996 meters 0.029558247145303383 Centerline is valid? [True, True] Translation: X:281.78, Y:-209.14, Z:-34.36 [[ 7.39716684e-01 6.69843287e-01 6.42588393e-02 2.81781412e+02] [-6.67542488e-01 7.42500226e-01 -5.55017329e-02 -2.09144930e+02] [-8.48896658e-02 -1.83994766e-03 9.96388659e-01 -3.43645896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.33592 meters 0.02904939256969008 Centerline is valid? [True, True] Translation: X:281.80, Y:-209.16, Z:-34.37 [[ 7.42607780e-01 6.66735797e-01 6.32223237e-02 2.81804769e+02] [-6.64501583e-01 7.45292652e-01 -5.45573989e-02 -2.09162233e+02] [-8.34945041e-02 -1.49658532e-03 9.96507114e-01 -3.43668758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36591999999996 meters 0.0290375181995674 Centerline is valid? [True, True] Translation: X:281.83, Y:-209.18, Z:-34.37 [[ 7.44608453e-01 6.64453325e-01 6.37183742e-02 2.81827666e+02] [-6.62179756e-01 7.47328656e-01 -5.49349625e-02 -2.09179562e+02] [-8.41202855e-02 -1.28798008e-03 9.96454775e-01 -3.43694775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39592 meters 0.028854582839115045 Centerline is valid? [True, True] Translation: X:281.85, Y:-209.20, Z:-34.37 [[ 7.45907049e-01 6.62906090e-01 6.46389277e-02 2.81850982e+02] [-6.60564853e-01 7.48701644e-01 -5.56769609e-02 -2.09196369e+02] [-8.53038678e-02 -1.16836620e-03 9.96354297e-01 -3.43715282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42591999999996 meters 0.02893217013450313 Centerline is valid? [True, True] Translation: X:281.87, Y:-209.21, Z:-34.37 [[ 7.46773506e-01 6.61854237e-01 6.54087048e-02 2.81873322e+02] [-6.59457279e-01 7.49631749e-01 -5.62879998e-02 -2.09213077e+02] [-8.62868929e-02 -1.09985950e-03 9.96269724e-01 -3.43735060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45592 meters 0.028853325808735668 Centerline is valid? [True, True] Translation: X:281.89, Y:-209.23, Z:-34.38 [[ 7.46639635e-01 6.61766635e-01 6.77803533e-02 2.81894605e+02] [-6.59197669e-01 7.49708967e-01 -5.82657509e-02 -2.09230996e+02] [-8.93738686e-02 -1.17713192e-03 9.95997453e-01 -3.43750861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48591999999996 meters 0.028816749200801742 Centerline is valid? [True, True] Translation: X:281.91, Y:-209.25, Z:-34.38 [[ 7.47175800e-01 6.61207910e-01 6.73232744e-02 2.81913859e+02] [-6.58676568e-01 7.50201828e-01 -5.78134646e-02 -2.09251321e+02] [-8.87327637e-02 -1.14744160e-03 9.96054808e-01 -3.43765561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51592 meters 0.02866524276184611 Centerline is valid? [True, True] Translation: X:281.93, Y:-209.27, Z:-34.38 [[ 7.47763630e-01 6.60537273e-01 6.73799982e-02 2.81933946e+02] [-6.58004310e-01 7.50792428e-01 -5.78018951e-02 -2.09270600e+02] [-8.87686986e-02 -1.11417427e-03 9.96051644e-01 -3.43795363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54591999999997 meters 0.028735984644542023 Centerline is valid? [True, True] Translation: X:281.95, Y:-209.29, Z:-34.38 [[ 7.48354378e-01 6.59846928e-01 6.75851783e-02 2.81954454e+02] [-6.57301128e-01 7.51399269e-01 -5.79168826e-02 -2.09289577e+02] [-8.89997306e-02 -1.08146128e-03 9.96031063e-01 -3.43822536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57592 meters 0.02879434337157497 Centerline is valid? [True, True] Translation: X:281.98, Y:-209.31, Z:-34.38 [[ 7.49535671e-01 6.58499623e-01 6.76352299e-02 2.81975232e+02] [-6.55949949e-01 7.52580435e-01 -5.78995079e-02 -2.09308678e+02] [-8.90277549e-02 -9.67579072e-04 9.96028676e-01 -3.43849638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60591999999997 meters 0.0285026330787759 Centerline is valid? [True, True] Translation: X:282.00, Y:-209.33, Z:-34.39 [[ 7.49922134e-01 6.58005887e-01 6.81545820e-02 2.81995240e+02] [-6.55420286e-01 7.53012170e-01 -5.82831113e-02 -2.09328264e+02] [-8.96718600e-02 -9.62100390e-04 9.95970899e-01 -3.43871345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63592 meters 0.028707210028424364 Centerline is valid? [True, True] Translation: X:282.02, Y:-209.35, Z:-34.39 [[ 7.50130599e-01 6.57673138e-01 6.90661108e-02 2.82015390e+02] [-6.55022020e-01 7.53302781e-01 -5.90006253e-02 -2.09347311e+02] [-9.08308197e-02 -9.81649030e-04 9.95865854e-01 -3.43885782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66591999999997 meters 0.02872756276908972 Centerline is valid? [True, True] Translation: X:282.04, Y:-209.37, Z:-34.39 [[ 7.49153333e-01 6.58734531e-01 6.95564549e-02 2.82037282e+02] [-6.56055750e-01 7.52374548e-01 -5.93581632e-02 -2.09366308e+02] [-9.14337781e-02 -1.16454640e-03 9.95810478e-01 -3.43907982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69592 meters 0.028777201176218094 Centerline is valid? [True, True] Translation: X:282.06, Y:-209.38, Z:-34.39 [[ 7.47785588e-01 6.60273411e-01 6.96831241e-02 2.82059550e+02] [-6.57596425e-01 7.51024018e-01 -5.94126749e-02 -2.09384818e+02] [-9.15623094e-02 -1.39543129e-03 9.95798371e-01 -3.43919068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72592 meters 0.02909824042510034 Centerline is valid? [True, True] Translation: X:282.08, Y:-209.40, Z:-34.39 [[ 7.45328185e-01 6.63178699e-01 6.84098645e-02 2.82080259e+02] [-6.60615663e-01 7.48459031e-01 -5.82754263e-02 -2.09404668e+02] [-8.98490023e-02 -1.75831023e-03 9.95953847e-01 -3.43947568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75591999999995 meters 0.029328215150298292 Centerline is valid? [True, True] Translation: X:282.10, Y:-209.42, Z:-34.40 [[ 7.44096269e-01 6.64422975e-01 6.97341597e-02 2.82101091e+02] [-6.61770041e-01 7.47354108e-01 -5.93485527e-02 -2.09424143e+02] [-9.15486527e-02 -1.98694109e-03 9.95798622e-01 -3.43979642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78592 meters 0.02950882239135904 Centerline is valid? [True, True] Translation: X:282.12, Y:-209.44, Z:-34.40 [[ 7.43492639e-01 6.65096013e-01 6.97566364e-02 2.82123370e+02] [-6.62449313e-01 7.46754870e-01 -5.93133322e-02 -2.09441592e+02] [-9.15401687e-02 -2.11121001e-03 9.95799147e-01 -3.43997156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81591999999995 meters 0.029453569746922575 Centerline is valid? [True, True] Translation: X:282.15, Y:-209.46, Z:-34.40 [[ 7.44252643e-01 6.64269462e-01 6.95275831e-02 2.82145416e+02] [-6.61641465e-01 7.47490406e-01 -5.90649169e-02 -2.09458563e+02] [-9.12062219e-02 -2.04311138e-03 9.95829931e-01 -3.44016603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84592 meters 0.029257692820343847 Centerline is valid? [True, True] Translation: X:282.17, Y:-209.48, Z:-34.40 [[ 7.44905291e-01 6.63505503e-01 6.98323355e-02 2.82167226e+02] [-6.60856740e-01 7.48168717e-01 -5.92616277e-02 -2.09475861e+02] [-9.15667849e-02 -2.00486953e-03 9.95796919e-01 -3.44041132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87591999999995 meters 0.02913134830393443 Centerline is valid? [True, True] Translation: X:282.19, Y:-209.49, Z:-34.41 [[ 7.45480616e-01 6.62905486e-01 6.93899623e-02 2.82188548e+02] [-6.60293261e-01 7.48700511e-01 -5.88247786e-02 -2.09493769e+02] [-9.09475687e-02 -1.96499228e-03 9.95853744e-01 -3.44063316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90592 meters 0.028966278185071782 Centerline is valid? [True, True] Translation: X:282.21, Y:-209.51, Z:-34.41 [[ 7.46610805e-01 6.61640689e-01 6.93102103e-02 2.82211343e+02] [-6.59034594e-01 7.49818751e-01 -5.86962076e-02 -2.09511850e+02] [-9.08058945e-02 -1.85460352e-03 9.95866884e-01 -3.44083336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93591999999995 meters 0.028635430368955047 Centerline is valid? [True, True] Translation: X:282.23, Y:-209.53, Z:-34.41 [[ 7.49123675e-01 6.58498265e-01 7.20677103e-02 2.82234424e+02] [-6.55671167e-01 7.52580594e-01 -6.09735173e-02 -2.09528283e+02] [-9.43877157e-02 -1.57601437e-03 9.95534266e-01 -3.44115016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96592 meters 0.028192449976356074 Centerline is valid? [True, True] Translation: X:282.26, Y:-209.55, Z:-34.41 [[ 7.52472321e-01 6.54686198e-01 7.19123590e-02 2.82256237e+02] [-6.51859134e-01 7.55899920e-01 -6.07863485e-02 -2.09546937e+02] [-9.41545299e-02 -1.13668329e-03 9.95556946e-01 -3.44139680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99591999999996 meters 0.02816720044503626 Centerline is valid? [True, True] Translation: X:282.28, Y:-209.57, Z:-34.42 [[ 7.54284835e-01 6.52566097e-01 7.21933294e-02 2.82277175e+02] [-6.49712426e-01 7.57731250e-01 -6.09681543e-02 -2.09565945e+02] [-9.44888922e-02 -9.17548950e-04 9.95525493e-01 -3.44156612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.02592 meters 0.02801399094177655 Centerline is valid? [True, True] Translation: X:282.30, Y:-209.58, Z:-34.42 [[ 7.55952594e-01 6.50752882e-01 7.11081039e-02 2.82299196e+02] [-6.47981511e-01 7.59289251e-01 -5.99982879e-02 -2.09584607e+02] [-9.30356777e-02 -7.20875247e-04 9.95662515e-01 -3.44166031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05591999999996 meters 0.027786491748270727 Centerline is valid? [True, True] Translation: X:282.32, Y:-209.60, Z:-34.42 [[ 7.57880442e-01 6.48523417e-01 7.09550155e-02 2.82321514e+02] [-6.45759266e-01 7.61194548e-01 -5.98149649e-02 -2.09602595e+02] [-9.28019764e-02 -4.87266676e-04 9.95684466e-01 -3.44193957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.08592 meters 0.027786491748270727 Centerline is valid? [True, True] Translation: X:282.34, Y:-209.62, Z:-34.42 [[ 7.58213146e-01 6.48131450e-01 7.09820336e-02 2.82342126e+02] [-6.45368588e-01 7.61528327e-01 -5.97828865e-02 -2.09620425e+02] [-9.28019981e-02 -4.81404289e-04 9.95684467e-01 -3.44217987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11591999999996 meters 0.027609484481769662 Centerline is valid? [True, True] Translation: X:282.37, Y:-209.64, Z:-34.42 [[ 7.62423047e-01 6.43364825e-01 6.92300522e-02 2.82365131e+02] [-6.40722608e-01 7.65559730e-01 -5.82480868e-02 -2.09637028e+02] [-9.04745102e-02 5.24241864e-05 9.95898770e-01 -3.44230236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14592 meters 0.027877902569306355 Centerline is valid? [True, True] Translation: X:282.39, Y:-209.66, Z:-34.43 [[ 7.66031516e-01 6.38697011e-01 7.25385742e-02 2.82386856e+02] [-6.35780213e-01 7.69458109e-01 -6.09732643e-02 -2.09655786e+02] [-9.47588358e-02 5.88851929e-04 9.95500084e-01 -3.44255544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17591999999996 meters 0.02787160851776273 Centerline is valid? [True, True] Translation: X:282.41, Y:-209.68, Z:-34.43 [[ 7.68459542e-01 6.35741819e-01 7.28167012e-02 2.82408435e+02] [-6.32794583e-01 7.71901227e-01 -6.11515546e-02 -2.09675385e+02] [-9.50839015e-02 9.14481598e-04 9.95468842e-01 -3.44267090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20592 meters 0.028092042993107105 Centerline is valid? [True, True] Translation: X:282.43, Y:-209.69, Z:-34.43 [[ 7.70491825e-01 6.33213153e-01 7.33720021e-02 2.82429611e+02] [-6.30214533e-01 7.73976536e-01 -6.15626781e-02 -2.09694585e+02] [-9.57705055e-02 1.19343812e-03 9.95402726e-01 -3.44290575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23591999999996 meters 0.02862099325145691 Centerline is valid? [True, True] Translation: X:282.45, Y:-209.71, Z:-34.43 [[ 7.73923838e-01 6.28969507e-01 7.37512953e-02 2.82450680e+02] [-6.25925760e-01 7.77428144e-01 -6.18257573e-02 -2.09714556e+02] [-9.62228487e-02 1.68559181e-03 9.95358389e-01 -3.44310482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26592 meters 0.028782571505761488 Centerline is valid? [True, True] Translation: X:282.47, Y:-209.73, Z:-34.43 [[ 7.75148352e-01 6.27445423e-01 7.38733629e-02 2.82470365e+02] [-6.24389873e-01 7.78658379e-01 -6.18741949e-02 -2.09734971e+02] [-9.63447934e-02 1.83590053e-03 9.95346327e-01 -3.44338061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29591999999997 meters 0.02943077368297089 Centerline is valid? [True, True] Translation: X:282.49, Y:-209.76, Z:-34.44 [[ 7.76356742e-01 6.25834828e-01 7.48396806e-02 2.82489696e+02] [-6.22695975e-01 7.79952993e-01 -6.26342736e-02 -2.09758851e+02] [-9.75701427e-02 2.02417270e-03 9.95226592e-01 -3.44366601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32592 meters 0.029402905625947193 Centerline is valid? [True, True] Translation: X:282.51, Y:-209.78, Z:-34.44 [[ 7.76449908e-01 6.25775804e-01 7.43651992e-02 2.82512737e+02] [-6.22676345e-01 7.80000362e-01 -6.22382894e-02 -2.09780926e+02] [-9.69520979e-02 2.01946366e-03 9.95287000e-01 -3.44382710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35591999999997 meters 0.029339907075380818 Centerline is valid? [True, True] Translation: X:282.54, Y:-209.80, Z:-34.44 [[ 7.76713354e-01 6.25482698e-01 7.40794186e-02 2.82535190e+02] [-6.22404681e-01 7.80235326e-01 -6.20100689e-02 -2.09802432e+02] [-9.65856046e-02 2.05667174e-03 9.95322556e-01 -3.44404689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38592 meters 0.029781779022036083 Centerline is valid? [True, True] Translation: X:282.55, Y:-209.83, Z:-34.45 [[ 7.77247952e-01 6.24780054e-01 7.44009710e-02 2.82554940e+02] [-6.21671157e-01 7.80797809e-01 -6.22876737e-02 -2.09828163e+02] [-9.70082113e-02 2.16002911e-03 9.95281237e-01 -3.44454063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41591999999997 meters 0.029781808631633197 Centerline is valid? [True, True] Translation: X:282.58, Y:-209.85, Z:-34.45 [[ 7.76946070e-01 6.25195731e-01 7.40614751e-02 2.82576637e+02] [-6.22115609e-01 7.80465146e-01 -6.20187455e-02 -2.09852628e+02] [-9.65762549e-02 2.11042097e-03 9.95323351e-01 -3.44471368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44592 meters 0.029836886976892567 Centerline is valid? [True, True] Translation: X:282.60, Y:-209.88, Z:-34.45 [[ 7.76493310e-01 6.25755725e-01 7.40804472e-02 2.82595127e+02] [-6.22675078e-01 7.80016383e-01 -6.20499066e-02 -2.09879904e+02] [-9.66120467e-02 2.05328918e-03 9.95319997e-01 -3.44498477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47592 meters 0.029550943227340854 Centerline is valid? [True, True] Translation: X:282.62, Y:-209.90, Z:-34.45 [[ 7.75432289e-01 6.27083723e-01 7.39646493e-02 2.82616777e+02] [-6.24017223e-01 7.78949553e-01 -6.19685422e-02 -2.09904744e+02] [-9.64741945e-02 1.89719351e-03 9.95333678e-01 -3.44529828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50591999999995 meters 0.029498741465349806 Centerline is valid? [True, True] Translation: X:282.64, Y:-209.93, Z:-34.46 [[ 7.74148828e-01 6.28594664e-01 7.45810953e-02 2.82638028e+02] [-6.25481828e-01 7.77731140e-01 -6.25040518e-02 -2.09929828e+02] [-9.72937537e-02 1.73831865e-03 9.95254191e-01 -3.44554052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53592 meters 0.029248715595977432 Centerline is valid? [True, True] Translation: X:282.66, Y:-209.96, Z:-34.46 [[ 7.70350683e-01 6.32968142e-01 7.68840441e-02 2.82656127e+02] [-6.29679010e-01 7.74176847e-01 -6.44558310e-02 -2.09957960e+02] [-1.00320334e-01 1.24132475e-03 9.94954416e-01 -3.44575333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56591999999995 meters 0.029171639293176736 Centerline is valid? [True, True] Translation: X:282.68, Y:-209.98, Z:-34.46 [[ 7.69082300e-01 6.34472011e-01 7.71860368e-02 2.82679330e+02] [-6.31158554e-01 7.72945062e-01 -6.47673533e-02 -2.09981931e+02] [-1.00753639e-01 1.09479754e-03 9.94910803e-01 -3.44607374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59592 meters 0.028880618233178976 Centerline is valid? [True, True] Translation: X:282.70, Y:-210.01, Z:-34.46 [[ 7.65337487e-01 6.39030527e-01 7.68017959e-02 2.82698176e+02] [-6.35766418e-01 7.69181182e-01 -6.45086897e-02 -2.10009216e+02] [-1.00297518e-01 5.42915791e-04 9.94957342e-01 -3.44619342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62591999999995 meters 0.028769600790082554 Centerline is valid? [True, True] Translation: X:282.72, Y:-210.03, Z:-34.46 [[ 7.63230786e-01 6.41604031e-01 7.63088109e-02 2.82719885e+02] [-6.38389345e-01 7.67035989e-01 -6.41469928e-02 -2.10032749e+02] [-9.96885734e-02 2.44227944e-04 9.95018657e-01 -3.44641841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65592 meters 0.028734629296557297 Centerline is valid? [True, True] Translation: X:282.74, Y:-210.06, Z:-34.47 [[ 7.61024965e-01 6.44309540e-01 7.55395190e-02 2.82742936e+02] [-6.41170215e-01 7.64764806e-01 -6.35259519e-02 -2.10056041e+02] [-9.87003425e-02 -8.88543196e-05 9.95117196e-01 -3.44672148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68591999999995 meters 0.02901504413152368 Centerline is valid? [True, True] Translation: X:282.77, Y:-210.08, Z:-34.47 [[ 7.56251240e-01 6.49921984e-01 7.54021010e-02 2.82765527e+02] [-6.46815241e-01 7.60000543e-01 -6.34761259e-02 -2.10079431e+02] [-9.85601675e-02 -7.67329159e-04 9.95130798e-01 -3.44676841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71592 meters 0.028922540139913366 Centerline is valid? [True, True] Translation: X:282.79, Y:-210.10, Z:-34.47 [[ 7.54232259e-01 6.52278850e-01 7.52728429e-02 2.82790817e+02] [-6.49188607e-01 7.57978393e-01 -6.34263985e-02 -2.10100972e+02] [-9.84268868e-02 -1.02803617e-03 9.95143754e-01 -3.44703587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74591999999996 meters 0.029170413215965828 Centerline is valid? [True, True] Translation: X:282.81, Y:-210.12, Z:-34.47 [[ 7.51003186e-01 6.56107216e-01 7.42801177e-02 2.82813886e+02] [-6.53110472e-01 7.54666278e-01 -6.26539803e-02 -2.10122858e+02] [-9.71644285e-02 -1.45978392e-03 9.95267272e-01 -3.44717051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.77592 meters 0.02925341726963366 Centerline is valid? [True, True] Translation: X:282.84, Y:-210.14, Z:-34.47 [[ 7.50404803e-01 6.56729986e-01 7.48221668e-02 2.82839201e+02] [-6.53686537e-01 7.54124296e-01 -6.31700686e-02 -2.10144261e+02] [-9.79108922e-02 -1.50712021e-03 9.95194044e-01 -3.44744834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80591999999996 meters 0.029153904169421634 Centerline is valid? [True, True] Translation: X:282.87, Y:-210.17, Z:-34.48 [[ 7.51030508e-01 6.55873596e-01 7.60460540e-02 2.82865153e+02] [-6.52718235e-01 7.54869499e-01 -6.42724308e-02 -2.10165190e+02] [-9.95594370e-02 -1.36608982e-03 9.95030679e-01 -3.44774313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.83592 meters 0.029227646132737355 Centerline is valid? [True, True] Translation: X:282.89, Y:-210.19, Z:-34.48 [[ 7.50865736e-01 6.55989236e-01 7.66731316e-02 2.82890350e+02] [-6.52775081e-01 7.54769055e-01 -6.48719326e-02 -2.10186997e+02] [-1.00425797e-01 -1.34019824e-03 9.94943648e-01 -3.44803987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86591999999996 meters 0.029052173394794847 Centerline is valid? [True, True] Translation: X:282.91, Y:-210.21, Z:-34.48 [[ 7.51296912e-01 6.55558423e-01 7.61321481e-02 2.82914563e+02] [-6.52380731e-01 7.55143469e-01 -6.44804121e-02 -2.10208219e+02] [-9.97613716e-02 -1.22321187e-03 9.95010639e-01 -3.44831839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89592 meters 0.029290861082948795 Centerline is valid? [True, True] Translation: X:282.94, Y:-210.23, Z:-34.49 [[ 7.51672631e-01 6.55209669e-01 7.54224497e-02 2.82939465e+02] [-6.52083897e-01 7.55446243e-01 -6.39340682e-02 -2.10229288e+02] [-9.88678259e-02 -1.12427567e-03 9.95099939e-01 -3.44854551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92591999999996 meters 0.029140165295896574 Centerline is valid? [True, True] Translation: X:282.96, Y:-210.25, Z:-34.49 [[ 7.51360270e-01 6.55494877e-01 7.60540088e-02 2.82964758e+02] [-6.52314151e-01 7.55198755e-01 -6.45065089e-02 -2.10250223e+02] [-9.97195788e-02 -1.14347828e-03 9.95014924e-01 -3.44888394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95592 meters 0.02920838423876049 Centerline is valid? [True, True] Translation: X:282.99, Y:-210.27, Z:-34.49 [[ 7.50732589e-01 6.56251944e-01 7.57229528e-02 2.82989736e+02] [-6.53096057e-01 7.54540904e-01 -6.42928068e-02 -2.10271010e+02] [-9.93283447e-02 -1.18765660e-03 9.95054003e-01 -3.44918677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98591999999996 meters 0.029208432102781345 Centerline is valid? [True, True] Translation: X:283.02, Y:-210.29, Z:-34.49 [[ 7.49562547e-01 6.57527439e-01 7.62473284e-02 2.83015082e+02] [-6.54327231e-01 7.53429453e-01 -6.48069051e-02 -2.10291522e+02] [-1.00059301e-01 -1.31387439e-03 9.94980608e-01 -3.44949004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01592 meters 0.029044445440341037 Centerline is valid? [True, True] Translation: X:283.04, Y:-210.31, Z:-34.50 [[ 7.49970122e-01 6.57073041e-01 7.61566539e-02 2.83041732e+02] [-6.53871288e-01 7.53825960e-01 -6.47978357e-02 -2.10311938e+02] [-9.99857737e-02 -1.20020866e-03 9.94988143e-01 -3.44970092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04591999999997 meters 0.02895210538466045 Centerline is valid? [True, True] Translation: X:283.07, Y:-210.33, Z:-34.50 [[ 7.50249025e-01 6.56663019e-01 7.69420546e-02 2.83066785e+02] [-6.53385546e-01 7.54183306e-01 -6.55352572e-02 -2.10333256e+02] [-1.01062993e-01 -1.10506350e-03 9.94879415e-01 -3.45006162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07592 meters 0.02880031029907781 Centerline is valid? [True, True] Translation: X:283.09, Y:-210.35, Z:-34.50 [[ 7.51756315e-01 6.55083324e-01 7.56854187e-02 2.83091439e+02] [-6.51897699e-01 7.55556189e-01 -6.45308924e-02 -2.10353588e+02] [-9.94576979e-02 -8.27644399e-04 9.95041447e-01 -3.45019035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10591999999997 meters 0.028601218915167675 Centerline is valid? [True, True] Translation: X:283.12, Y:-210.37, Z:-34.51 [[ 7.56089520e-01 6.50097166e-01 7.55136541e-02 2.83117791e+02] [-6.46895195e-01 7.59851077e-01 -6.44433634e-02 -2.10371537e+02] [-9.92735793e-02 -1.24468319e-04 9.95060170e-01 -3.45051624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13592 meters 0.02852905127371117 Centerline is valid? [True, True] Translation: X:283.14, Y:-210.39, Z:-34.51 [[ 7.57685578e-01 6.48232453e-01 7.55463560e-02 2.83144061e+02] [-6.45012342e-01 7.61442485e-01 -6.45323227e-02 -2.10391286e+02] [-9.93561510e-02 1.66878240e-04 9.95051922e-01 -3.45074975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16591999999997 meters 0.028536478899946843 Centerline is valid? [True, True] Translation: X:283.17, Y:-210.41, Z:-34.51 [[ 7.60952762e-01 6.44328173e-01 7.61058445e-02 2.83168936e+02] [-6.41033749e-01 7.64748760e-01 -6.50773923e-02 -2.10410969e+02] [-1.00133048e-01 7.34406600e-04 9.94973785e-01 -3.45113729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19592 meters 0.028765961559822053 Centerline is valid? [True, True] Translation: X:283.19, Y:-210.43, Z:-34.51 [[ 7.61753598e-01 6.43323997e-01 7.65877992e-02 2.83193061e+02] [-6.39976595e-01 7.65593491e-01 -6.55481818e-02 -2.10431622e+02] [-1.00803839e-01 9.17164344e-04 9.94905898e-01 -3.45127300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22592 meters 0.02908481760615089 Centerline is valid? [True, True] Translation: X:283.22, Y:-210.45, Z:-34.52 [[ 7.62929027e-01 6.41759608e-01 7.79993915e-02 2.83218042e+02] [-6.38273337e-01 7.66904944e-01 -6.68128378e-02 -2.10451893e+02] [-1.02695900e-01 1.18852149e-03 9.94712089e-01 -3.45161267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25591999999995 meters 0.02916372719694635 Centerline is valid? [True, True] Translation: X:283.24, Y:-210.47, Z:-34.52 [[ 7.64221817e-01 6.40311948e-01 7.72374498e-02 2.83243594e+02] [-6.36880187e-01 7.68113667e-01 -6.62194920e-02 -2.10472402e+02] [-1.01728273e-01 1.41537900e-03 9.94811216e-01 -3.45178895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28592 meters 0.029189046057119486 Centerline is valid? [True, True] Translation: X:283.27, Y:-210.49, Z:-34.52 [[ 7.64875832e-01 6.39583993e-01 7.67937383e-02 2.83267875e+02] [-6.36181273e-01 7.68719650e-01 -6.59051404e-02 -2.10494215e+02] [-1.01184728e-01 1.55451089e-03 9.94866440e-01 -3.45201606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31591999999995 meters 0.029203573193537474 Centerline is valid? [True, True] Translation: X:283.29, Y:-210.52, Z:-34.52 [[ 7.65447356e-01 6.39080385e-01 7.52768660e-02 2.83289322e+02] [-6.35802334e-01 7.69138206e-01 -6.46669392e-02 -2.10520016e+02] [-9.92256860e-02 1.63793061e-03 9.95063606e-01 -3.45236369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34592 meters 0.029448861718514248 Centerline is valid? [True, True] Translation: X:283.31, Y:-210.54, Z:-34.53 [[ 7.66064956e-01 6.38352109e-01 7.51735868e-02 2.83312496e+02] [-6.35073241e-01 7.69742437e-01 -6.46417723e-02 -2.10541982e+02] [-9.91285116e-02 1.77906308e-03 9.95073049e-01 -3.45268459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37591999999995 meters 0.029413818206976704 Centerline is valid? [True, True] Translation: X:283.34, Y:-210.57, Z:-34.53 [[ 7.65133669e-01 6.39349420e-01 7.61760266e-02 2.83335563e+02] [-6.35981227e-01 7.68914408e-01 -6.55630333e-02 -2.10565648e+02] [-1.00490532e-01 1.71796136e-03 9.94936531e-01 -3.45290682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40592 meters 0.029275980572773724 Centerline is valid? [True, True] Translation: X:283.36, Y:-210.59, Z:-34.53 [[ 7.64145889e-01 6.40563384e-01 7.58921084e-02 2.83358410e+02] [-6.37219813e-01 7.67903630e-01 -6.53829105e-02 -2.10587970e+02] [-1.00159724e-01 1.60212712e-03 9.94970081e-01 -3.45308589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43591999999995 meters 0.028985226314509782 Centerline is valid? [True, True] Translation: X:283.38, Y:-210.61, Z:-34.53 [[ 7.61716729e-01 6.43552021e-01 7.50228029e-02 2.83379101e+02] [-6.40294063e-01 7.65401378e-01 -6.46857309e-02 -2.10613784e+02] [-9.90511896e-02 1.23554810e-03 9.95081572e-01 -3.45337860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46592 meters 0.028804146045152315 Centerline is valid? [True, True] Translation: X:283.40, Y:-210.64, Z:-34.54 [[ 7.60915324e-01 6.44512060e-01 7.49137740e-02 2.83402981e+02] [-6.41265668e-01 7.64593310e-01 -6.46174387e-02 -2.10637293e+02] [-9.89252890e-02 1.12876801e-03 9.95094223e-01 -3.45363274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49591999999996 meters 0.028813080074208648 Centerline is valid? [True, True] Translation: X:283.42, Y:-210.66, Z:-34.54 [[ 7.58881345e-01 6.46672461e-01 7.69014421e-02 2.83424683e+02] [-6.43255021e-01 7.62767249e-01 -6.64010718e-02 -2.10662478e+02] [-1.01597646e-01 9.23295880e-04 9.94825143e-01 -3.45402084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.52592 meters 0.028882392771255056 Centerline is valid? [True, True] Translation: X:283.45, Y:-210.69, Z:-34.54 [[ 7.58594790e-01 6.47020312e-01 7.68027385e-02 2.83447932e+02] [-6.43606499e-01 7.62472200e-01 -6.63838758e-02 -2.10685652e+02] [-1.01511669e-01 9.27720608e-04 9.94833916e-01 -3.45429015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55591999999996 meters 0.028694035056212198 Centerline is valid? [True, True] Translation: X:283.47, Y:-210.71, Z:-34.55 [[ 7.57918037e-01 6.47891562e-01 7.61365442e-02 2.83469670e+02] [-6.44534538e-01 7.61732100e-01 -6.58743980e-02 -2.10709203e+02] [-1.00675116e-01 8.54762029e-04 9.94918987e-01 -3.45457967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.58592 meters 0.028687639109338386 Centerline is valid? [True, True] Translation: X:283.49, Y:-210.73, Z:-34.55 [[ 7.56141763e-01 6.50093181e-01 7.50232656e-02 2.83490099e+02] [-6.46838917e-01 7.59854262e-01 -6.49685743e-02 -2.10734253e+02] [-9.92423752e-02 5.97484410e-04 9.95063111e-01 -3.45473697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61591999999996 meters 0.02865219467272435 Centerline is valid? [True, True] Translation: X:283.51, Y:-210.76, Z:-34.55 [[ 7.54637653e-01 6.51822626e-01 7.51616722e-02 2.83514332e+02] [-6.48558887e-01 7.58371341e-01 -6.51481265e-02 -2.10756680e+02] [-9.94654810e-02 4.16458796e-04 9.95040926e-01 -3.45499372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64592 meters 0.028565804809154764 Centerline is valid? [True, True] Translation: X:283.54, Y:-210.78, Z:-34.55 [[ 7.51838736e-01 6.54943044e-01 7.60797225e-02 2.83537737e+02] [-6.51607725e-01 7.55678242e-01 -6.60133805e-02 -2.10780585e+02] [-1.00726795e-01 5.72816585e-05 9.94914122e-01 -3.45518227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67591999999996 meters 0.028450792236469073 Centerline is valid? [True, True] Translation: X:283.56, Y:-210.80, Z:-34.55 [[ 7.49743157e-01 6.57387860e-01 7.56729845e-02 2.83561014e+02] [-6.54093683e-01 7.53552357e-01 -6.57289835e-02 -2.10804219e+02] [-1.00232992e-01 -2.17365551e-04 9.94963969e-01 -3.45542801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70592 meters 0.02844280761464932 Centerline is valid? [True, True] Translation: X:283.58, Y:-210.83, Z:-34.56 [[ 7.48697615e-01 6.58514805e-01 7.62242331e-02 2.83584315e+02] [-6.55170996e-01 7.52567705e-01 -6.62783093e-02 -2.10828035e+02] [-1.01009144e-01 -3.17494681e-04 9.94885447e-01 -3.45569188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73591999999996 meters 0.02822971529415945 Centerline is valid? [True, True] Translation: X:283.61, Y:-210.85, Z:-34.56 [[ 7.47316991e-01 6.60137262e-01 7.57371062e-02 2.83605309e+02] [-6.56837499e-01 7.51144835e-01 -6.59237141e-02 -2.10853842e+02] [-1.00408236e-01 -4.81059766e-04 9.94946207e-01 -3.45593997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76592 meters 0.028265869229252776 Centerline is valid? [True, True] Translation: X:283.63, Y:-210.88, Z:-34.56 [[ 7.46463955e-01 6.61183054e-01 7.50235508e-02 2.83628140e+02] [-6.57943762e-01 7.50224400e-01 -6.53709015e-02 -2.10877200e+02] [-9.95066307e-02 -5.64255653e-04 9.95036739e-01 -3.45621427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79591999999997 meters 0.028200410382752682 Centerline is valid? [True, True] Translation: X:283.65, Y:-210.90, Z:-34.57 [[ 7.45629639e-01 6.62039139e-01 7.57668778e-02 2.83650234e+02] [-6.58732408e-01 7.49468998e-01 -6.60896021e-02 -2.10901755e+02] [-1.00538829e-01 -6.31731693e-04 9.94932935e-01 -3.45667765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82592 meters 0.028260265457038344 Centerline is valid? [True, True] Translation: X:283.67, Y:-210.92, Z:-34.57 [[ 7.45188736e-01 6.62540670e-01 7.57205886e-02 2.83674032e+02] [-6.59233499e-01 7.49025662e-01 -6.61192228e-02 -2.10924576e+02] [-1.00523338e-01 -6.46248517e-04 9.94934491e-01 -3.45694433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85591999999997 meters 0.028388206649759933 Centerline is valid? [True, True] Translation: X:283.70, Y:-210.95, Z:-34.57 [[ 7.44256534e-01 6.63538246e-01 7.61525228e-02 2.83697682e+02] [-6.60191116e-01 7.48142005e-01 -6.65674921e-02 -2.10947236e+02] [-1.01142978e-01 -7.31928025e-04 9.94871631e-01 -3.45725102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88592 meters 0.028373684948394515 Centerline is valid? [True, True] Translation: X:283.72, Y:-210.97, Z:-34.57 [[ 7.41974567e-01 6.66014840e-01 7.67982742e-02 2.83720238e+02] [-6.62616519e-01 7.45937787e-01 -6.72024305e-02 -2.10970726e+02] [-1.02044551e-01 -1.02531078e-03 9.94779301e-01 -3.45742993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91591999999997 meters 0.028593947042118567 Centerline is valid? [True, True] Translation: X:283.74, Y:-210.99, Z:-34.58 [[ 7.39916351e-01 6.68361717e-01 7.62653870e-02 2.83744419e+02] [-6.65016529e-01 7.43835295e-01 -6.67987294e-02 -2.10992375e+02] [-1.01374600e-01 -1.29227089e-03 9.94847486e-01 -3.45776312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94591999999994 meters 0.02879677497444403 Centerline is valid? [True, True] Translation: X:283.77, Y:-211.01, Z:-34.58 [[ 7.38741728e-01 6.69681673e-01 7.60730964e-02 2.83769158e+02] [-6.66353125e-01 7.42646921e-01 -6.67013005e-02 -2.11014259e+02] [-1.01164089e-01 -1.41651150e-03 9.94868745e-01 -3.45802018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97592 meters 0.02879677497444403 Centerline is valid? [True, True] Translation: X:283.79, Y:-211.04, Z:-34.58 [[ 7.38387542e-01 6.70076179e-01 7.60378363e-02 2.83793780e+02] [-6.66745580e-01 7.42290985e-01 -6.67414750e-02 -2.11035404e+02] [-1.01164073e-01 -1.41681763e-03 9.94868747e-01 -3.45830473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00591999999995 meters 0.028998562158029366 Centerline is valid? [True, True] Translation: X:283.82, Y:-211.06, Z:-34.59 [[ 7.37464961e-01 6.70939529e-01 7.73665316e-02 2.83818157e+02] [-6.67488436e-01 7.41510535e-01 -6.79802538e-02 -2.11056054e+02] [-1.02978738e-01 -1.50820998e-03 9.94682414e-01 -3.45869879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03592 meters 0.028947468011159234 Centerline is valid? [True, True] Translation: X:283.84, Y:-211.08, Z:-34.59 [[ 7.38060096e-01 6.70183708e-01 7.82374132e-02 2.83844589e+02] [-6.66643092e-01 7.42193993e-01 -6.88118093e-02 -2.11076101e+02] [-1.04183892e-01 -1.36918051e-03 9.94557109e-01 -3.45891407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06591999999995 meters 0.028992543102293013 Centerline is valid? [True, True] Translation: X:283.87, Y:-211.09, Z:-34.59 [[ 7.40069401e-01 6.67984340e-01 7.80653794e-02 2.83871341e+02] [-6.64440107e-01 7.44174649e-01 -6.87272583e-02 -2.11093900e+02] [-1.04003009e-01 -1.00682811e-03 9.94576473e-01 -3.45910723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09592 meters 0.028991048456235704 Centerline is valid? [True, True] Translation: X:283.90, Y:-211.11, Z:-34.59 [[ 7.41360261e-01 6.66595525e-01 7.76876419e-02 2.83896340e+02] [-6.63073889e-01 7.45419211e-01 -6.84340352e-02 -2.11114018e+02] [-1.03527682e-01 -7.78372606e-04 9.94626268e-01 -3.45947844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12591999999995 meters 0.028994223984987914 Centerline is valid? [True, True] Translation: X:283.92, Y:-211.13, Z:-34.60 [[ 7.45430326e-01 6.61791678e-01 7.97834800e-02 2.83922526e+02] [-6.58042082e-01 7.49687783e-01 -7.03480459e-02 -2.11132740e+02] [-1.06368452e-01 -6.13204444e-05 9.94326782e-01 -3.45986244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15592 meters 0.029081330826866005 Centerline is valid? [True, True] Translation: X:283.95, Y:-211.15, Z:-34.60 [[ 7.46808599e-01 6.60109428e-01 8.08236290e-02 2.83947659e+02] [-6.56244093e-01 7.51169414e-01 -7.13316302e-02 -2.11152533e+02] [-1.07798920e-01 2.31045707e-04 9.94172691e-01 -3.46014877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18591999999995 meters 0.02916800092988567 Centerline is valid? [True, True] Translation: X:283.97, Y:-211.17, Z:-34.60 [[ 7.48421661e-01 6.58403760e-01 7.98091868e-02 2.83973728e+02] [-6.54618469e-01 7.52664745e-01 -7.05013538e-02 -2.11173381e+02] [-1.06487918e-01 5.20172676e-04 9.94313860e-01 -3.46047837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21592 meters 0.02922063695229783 Centerline is valid? [True, True] Translation: X:284.00, Y:-211.19, Z:-34.61 [[ 7.50244920e-01 6.56422226e-01 7.90089968e-02 2.83999202e+02] [-6.52694073e-01 7.54393228e-01 -6.98663330e-02 -2.11194635e+02] [-1.05465666e-01 8.48157480e-04 9.94422583e-01 -3.46076425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24591999999996 meters 0.029335646566360785 Centerline is valid? [True, True] Translation: X:284.02, Y:-211.22, Z:-34.61 [[ 7.50174721e-01 6.56413961e-01 7.97408290e-02 2.84023734e+02] [-6.52608489e-01 7.54400345e-01 -7.05852587e-02 -2.11215559e+02] [-1.06489658e-01 9.11734813e-04 9.94313392e-01 -3.46102649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.27592 meters 0.029289949462401443 Centerline is valid? [True, True] Translation: X:284.05, Y:-211.24, Z:-34.61 [[ 7.50600697e-01 6.55956956e-01 7.94925451e-02 2.84049029e+02] [-6.52165776e-01 7.54797606e-01 -7.04299263e-02 -2.11237296e+02] [-1.06199783e-01 1.02243441e-03 9.94344287e-01 -3.46129626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30591999999996 meters 0.02915439128707642 Centerline is valid? [True, True] Translation: X:284.07, Y:-211.26, Z:-34.61 [[ 7.50228407e-01 6.56405612e-01 7.93032769e-02 2.84072581e+02] [-6.52627343e-01 7.54407482e-01 -7.03342143e-02 -2.11260248e+02] [-1.05994758e-01 1.01123867e-03 9.94366174e-01 -3.46148427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.33592 meters 0.029300804106305305 Centerline is valid? [True, True] Translation: X:284.10, Y:-211.28, Z:-34.62 [[ 7.50288161e-01 6.56131397e-01 8.09892907e-02 2.84095483e+02] [-6.52180712e-01 7.54645822e-01 -7.19027219e-02 -2.11282453e+02] [-1.08295863e-01 1.12810773e-03 9.94118068e-01 -3.46182237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36591999999996 meters 0.02961480763765898 Centerline is valid? [True, True] Translation: X:284.12, Y:-211.31, Z:-34.62 [[ 7.51740493e-01 6.54446325e-01 8.11556432e-02 2.84118541e+02] [-6.50462486e-01 7.56107124e-01 -7.21149904e-02 -2.11305026e+02] [-1.08557750e-01 1.42305702e-03 9.94089126e-01 -3.46214706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39592 meters 0.02974321072922468 Centerline is valid? [True, True] Translation: X:284.14, Y:-211.33, Z:-34.62 [[ 7.51943958e-01 6.54191660e-01 8.13237714e-02 2.84142631e+02] [-6.50182452e-01 7.56327297e-01 -7.23311733e-02 -2.11328103e+02] [-1.08825839e-01 1.51369960e-03 9.94059679e-01 -3.46247146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42591999999996 meters 0.02945492146236957 Centerline is valid? [True, True] Translation: X:284.16, Y:-211.35, Z:-34.63 [[ 7.50977431e-01 6.55417594e-01 8.03783315e-02 2.84163478e+02] [-6.51500734e-01 7.55265443e-01 -7.15604903e-02 -2.11352987e+02] [-1.07608981e-01 1.37377117e-03 9.94192346e-01 -3.46275113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45592 meters 0.02957515424567609 Centerline is valid? [True, True] Translation: X:284.19, Y:-211.38, Z:-34.63 [[ 7.50249490e-01 6.56124182e-01 8.14049151e-02 2.84186021e+02] [-6.52103415e-01 7.54651753e-01 -7.25387348e-02 -2.11375284e+02] [-1.09026780e-01 1.33772567e-03 9.94037913e-01 -3.46296805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48591999999996 meters 0.0295849346261778 Centerline is valid? [True, True] Translation: X:284.21, Y:-211.40, Z:-34.63 [[ 7.49207434e-01 6.57155592e-01 8.26725423e-02 2.84209232e+02] [-6.53007458e-01 7.53753909e-01 -7.37312988e-02 -2.11397688e+02] [-1.10767687e-01 1.25425043e-03 9.93845534e-01 -3.46333746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51592 meters 0.029480704620867975 Centerline is valid? [True, True] Translation: X:284.23, Y:-211.42, Z:-34.64 [[ 7.46772509e-01 6.59880062e-01 8.30007438e-02 2.84232033e+02] [-6.55708129e-01 7.51370405e-01 -7.40902375e-02 -2.11420111e+02] [-1.11254973e-01 9.04290145e-04 9.93791484e-01 -3.46358546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54591999999997 meters 0.029482494815532067 Centerline is valid? [True, True] Translation: X:284.26, Y:-211.44, Z:-34.64 [[ 7.46227021e-01 6.60527218e-01 8.27588491e-02 2.84255651e+02] [-6.56376022e-01 7.50801612e-01 -7.39422555e-02 -2.11443212e+02] [-1.10976350e-01 8.56784874e-04 9.93822678e-01 -3.46390896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57592 meters 0.029637302066447557 Centerline is valid? [True, True] Translation: X:284.28, Y:-211.47, Z:-34.64 [[ 7.45119319e-01 6.61814552e-01 8.24542286e-02 2.84276827e+02] [-6.57693597e-01 7.49667248e-01 -7.37438136e-02 -2.11466969e+02] [-1.10617964e-01 7.18322041e-04 9.93862742e-01 -3.46423607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60591999999997 meters 0.02948348245063985 Centerline is valid? [True, True] Translation: X:284.30, Y:-211.49, Z:-34.64 [[ 7.45063500e-01 6.61962430e-01 8.17687100e-02 2.84299917e+02] [-6.57903516e-01 7.49536652e-01 -7.31967928e-02 -2.11488841e+02] [-1.09742172e-01 7.40336804e-04 9.93959812e-01 -3.46438184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63592 meters 0.02933726067787411 Centerline is valid? [True, True] Translation: X:284.32, Y:-211.51, Z:-34.64 [[ 7.44775839e-01 6.62504231e-01 7.99818320e-02 2.84323627e+02] [-6.58617488e-01 7.49057850e-01 -7.16613035e-02 -2.11510991e+02] [-1.07386936e-01 6.94174102e-04 9.94217061e-01 -3.46439268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66591999999997 meters 0.029305737462089237 Centerline is valid? [True, True] Translation: X:284.35, Y:-211.53, Z:-34.65 [[ 7.44606415e-01 6.62635519e-01 8.04702187e-02 2.84348165e+02] [-6.58694428e-01 7.48941677e-01 -7.21665810e-02 -2.11532519e+02] [-1.08087640e-01 7.30414463e-04 9.94141101e-01 -3.46464729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69591999999994 meters 0.029257316622627164 Centerline is valid? [True, True] Translation: X:284.37, Y:-211.55, Z:-34.65 [[ 7.44826951e-01 6.62471472e-01 7.97769513e-02 2.84372224e+02] [-6.58589343e-01 7.49086713e-01 -7.16182490e-02 -2.11554564e+02] [-1.07204901e-01 8.02952064e-04 9.94236624e-01 -3.46501105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72592 meters 0.02935309278513157 Centerline is valid? [True, True] Translation: X:284.40, Y:-211.58, Z:-34.65 [[ 7.44970776e-01 6.62273916e-01 8.00737364e-02 2.84396731e+02] [-6.58353536e-01 7.49261280e-01 -7.19593991e-02 -2.11577039e+02] [-1.07652983e-01 8.90821844e-04 9.94188132e-01 -3.46539320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75591999999995 meters 0.029188865162159523 Centerline is valid? [True, True] Translation: X:284.42, Y:-211.60, Z:-34.66 [[ 7.45652410e-01 6.61550617e-01 7.97073628e-02 2.84420975e+02] [-6.57654866e-01 7.49899792e-01 -7.16964372e-02 -2.11599257e+02] [-1.07203357e-01 1.04068612e-03 9.94236570e-01 -3.46559776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78592 meters 0.029718501572417528 Centerline is valid? [True, True] Translation: X:284.44, Y:-211.62, Z:-34.66 [[ 7.49381673e-01 6.57292214e-01 7.99628240e-02 2.84444691e+02] [-6.53343491e-01 7.53633941e-01 -7.19594784e-02 -2.11619989e+02] [-1.07561103e-01 1.68192376e-03 9.94197053e-01 -3.46598166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81591999999995 meters 0.029701297451271022 Centerline is valid? [True, True] Translation: X:284.47, Y:-211.64, Z:-34.66 [[ 7.50598300e-01 6.56086593e-01 7.84383555e-02 2.84468751e+02] [-6.52276603e-01 7.54683352e-01 -7.06276934e-02 -2.11643272e+02] [-1.05534004e-01 1.84952253e-03 9.94413975e-01 -3.46624125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84592 meters 0.030371805192100542 Centerline is valid? [True, True] Translation: X:284.49, Y:-211.67, Z:-34.67 [[ 7.53864367e-01 6.52272017e-01 7.89286547e-02 2.84490397e+02] [-6.48385607e-01 7.57980999e-01 -7.11400743e-02 -2.11667481e+02] [-1.06229100e-01 2.45376335e-03 9.94338653e-01 -3.46652905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87591999999995 meters 0.030648598809801614 Centerline is valid? [True, True] Translation: X:284.51, Y:-211.69, Z:-34.67 [[ 7.55199855e-01 6.50763299e-01 7.86149371e-02 2.84513387e+02] [-6.46893022e-01 7.59275854e-01 -7.09196474e-02 -2.11689605e+02] [-1.05842327e-01 2.70305316e-03 9.94379251e-01 -3.46685232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90592 meters 0.03081913107846361 Centerline is valid? [True, True] Translation: X:284.54, Y:-211.71, Z:-34.67 [[ 7.56030380e-01 6.49831549e-01 7.83391547e-02 2.84536531e+02] [-6.45976949e-01 7.60072837e-01 -7.07323303e-02 -2.11711346e+02] [-1.05507563e-01 2.87050231e-03 9.94414357e-01 -3.46706011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93591999999995 meters 0.031387453699580195 Centerline is valid? [True, True] Translation: X:284.56, Y:-211.73, Z:-34.67 [[ 7.57846762e-01 6.47786448e-01 7.77238884e-02 2.84559800e+02] [-6.43975225e-01 7.61815349e-01 -7.02373420e-02 -2.11734046e+02] [-1.04710049e-01 3.17688365e-03 9.94497719e-01 -3.46735532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96592 meters 0.03124286723243507 Centerline is valid? [True, True] Translation: X:284.58, Y:-211.76, Z:-34.68 [[ 7.56869804e-01 6.48753393e-01 7.91652449e-02 2.84581562e+02] [-6.44797427e-01 7.60992192e-01 -7.16042019e-02 -2.11758261e+02] [-1.06697602e-01 3.14951201e-03 9.94286529e-01 -3.46773445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99591999999996 meters 0.03134190514194033 Centerline is valid? [True, True] Translation: X:284.60, Y:-211.78, Z:-34.68 [[ 7.56668274e-01 6.49029506e-01 7.88278046e-02 2.84603726e+02] [-6.45101331e-01 7.60756712e-01 -7.13687549e-02 -2.11783524e+02] [-1.06289209e-01 3.15055103e-03 9.94330266e-01 -3.46802708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.02592 meters 0.030930029232084124 Centerline is valid? [True, True] Translation: X:284.62, Y:-211.81, Z:-34.68 [[ 7.54500985e-01 6.51479025e-01 7.93936047e-02 2.84621980e+02] [-6.47500018e-01 7.58661181e-01 -7.19509475e-02 -2.11811266e+02] [-1.07107379e-01 2.87970023e-03 9.94243289e-01 -3.46832622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05591999999996 meters 0.030842496197585997 Centerline is valid? [True, True] Translation: X:284.64, Y:-211.83, Z:-34.69 [[ 7.53529558e-01 6.52632807e-01 7.91430646e-02 2.84643669e+02] [-6.48678621e-01 7.57669343e-01 -7.17858898e-02 -2.11834766e+02] [-1.06814101e-01 2.75437580e-03 9.94275194e-01 -3.46860325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.08592 meters 0.030027760304498684 Centerline is valid? [True, True] Translation: X:284.66, Y:-211.86, Z:-34.69 [[ 7.50934059e-01 6.55898585e-01 7.67794552e-02 2.84663699e+02] [-6.52188515e-01 7.54845620e-01 -6.97010089e-02 -2.11860670e+02] [-1.03673429e-01 2.26618267e-03 9.94608810e-01 -3.46868606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11591999999996 meters 0.02991899063599196 Centerline is valid? [True, True] Translation: X:284.69, Y:-211.88, Z:-34.69 [[ 7.49520067e-01 6.57493951e-01 7.69504641e-02 2.84685570e+02] [-6.53769911e-01 7.53456919e-01 -6.99111944e-02 -2.11884952e+02] [-1.03945047e-01 2.09194509e-03 9.94580842e-01 -3.46902713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14592 meters 0.029642545201610145 Centerline is valid? [True, True] Translation: X:284.71, Y:-211.91, Z:-34.69 [[ 7.48199865e-01 6.59032886e-01 7.66330045e-02 2.84707949e+02] [-6.55344698e-01 7.52111745e-01 -6.96509172e-02 -2.11908698e+02] [-1.03538828e-01 1.89177362e-03 9.94623613e-01 -3.46927377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17591999999996 meters 0.029202128794556803 Centerline is valid? [True, True] Translation: X:284.73, Y:-211.93, Z:-34.69 [[ 7.45579890e-01 6.61963374e-01 7.69098091e-02 2.84729678e+02] [-6.58257413e-01 7.49534607e-01 -6.99646417e-02 -2.11932039e+02] [-1.03960594e-01 1.53777784e-03 9.94580228e-01 -3.46946970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20592 meters 0.029376041199900612 Centerline is valid? [True, True] Translation: X:284.75, Y:-211.96, Z:-34.70 [[ 7.44544952e-01 6.63077795e-01 7.73346808e-02 2.84753092e+02] [-6.59329834e-01 7.48549109e-01 -7.04159225e-02 -2.11955234e+02] [-1.04580041e-01 1.43875745e-03 9.94515432e-01 -3.46983279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23591999999996 meters 0.029189164086942596 Centerline is valid? [True, True] Translation: X:284.78, Y:-211.98, Z:-34.70 [[ 7.43611445e-01 6.64155831e-01 7.70652360e-02 2.84775369e+02] [-6.60432338e-01 7.47592969e-01 -7.02415807e-02 -2.11978455e+02] [-1.04264784e-01 1.33606930e-03 9.94548676e-01 -3.47005700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26592 meters 0.029121295474577834 Centerline is valid? [True, True] Translation: X:284.80, Y:-212.00, Z:-34.70 [[ 7.42427222e-01 6.65358690e-01 7.81001534e-02 2.84797140e+02] [-6.61533798e-01 7.46522801e-01 -7.12512541e-02 -2.12002817e+02] [-1.05711186e-01 1.23297950e-03 9.94396111e-01 -3.47041390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29591999999997 meters 0.029183305515418624 Centerline is valid? [True, True] Translation: X:284.82, Y:-212.02, Z:-34.71 [[ 7.41738312e-01 6.66003566e-01 7.91424485e-02 2.84820579e+02] [-6.62071320e-01 7.45947573e-01 -7.22757607e-02 -2.12023990e+02] [-1.07172032e-01 1.21175532e-03 9.94239753e-01 -3.47072635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32592 meters 0.028895994190156066 Centerline is valid? [True, True] Translation: X:284.84, Y:-212.05, Z:-34.71 [[ 7.40964295e-01 6.66917356e-01 7.86965891e-02 2.84844619e+02] [-6.63027633e-01 7.45130848e-01 -7.19331413e-02 -2.12045862e+02] [-1.06612717e-01 1.12187615e-03 9.94299990e-01 -3.47101545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35591999999997 meters 0.028755529592882068 Centerline is valid? [True, True] Translation: X:284.87, Y:-212.07, Z:-34.71 [[ 7.39880710e-01 6.68128578e-01 7.86176768e-02 2.84867635e+02] [-6.64247342e-01 7.44045176e-01 -7.19183146e-02 -2.12068803e+02] [-1.06545784e-01 9.89390840e-04 9.94307305e-01 -3.47121323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38592 meters 0.02869677396269671 Centerline is valid? [True, True] Translation: X:284.89, Y:-212.09, Z:-34.71 [[ 7.38299950e-01 6.69847961e-01 7.88472776e-02 2.84890990e+02] [-6.65950172e-01 7.42497892e-01 -7.21612735e-02 -2.12092050e+02] [-1.06881019e-01 7.68306532e-04 9.94271521e-01 -3.47145912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41591999999997 meters 0.028880741304003046 Centerline is valid? [True, True] Translation: X:284.92, Y:-212.11, Z:-34.72 [[ 7.35076003e-01 6.73273085e-01 7.97911228e-02 2.84915049e+02] [-6.69292736e-01 7.39393834e-01 -7.31026069e-02 -2.12114869e+02] [-1.08215082e-01 3.32353121e-04 9.94127449e-01 -3.47182946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44591999999994 meters 0.02892059095187125 Centerline is valid? [True, True] Translation: X:284.94, Y:-212.14, Z:-34.72 [[ 7.33424692e-01 6.75041696e-01 8.00433072e-02 2.84939712e+02] [-6.71038112e-01 7.37779569e-01 -7.34109007e-02 -2.12136916e+02] [-1.08609736e-01 1.29257513e-04 9.94084458e-01 -3.47209441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47592 meters 0.029007857601504827 Centerline is valid? [True, True] Translation: X:284.96, Y:-212.16, Z:-34.72 [[ 7.31444287e-01 6.77122513e-01 8.05875761e-02 2.84962536e+02] [-6.73068137e-01 7.35870292e-01 -7.39878109e-02 -2.12159967e+02] [-1.09400816e-01 -1.22968095e-04 9.93997709e-01 -3.47238919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50591999999995 meters 0.028981445852432924 Centerline is valid? [True, True] Translation: X:284.99, Y:-212.18, Z:-34.73 [[ 7.30788495e-01 6.77876033e-01 8.02013721e-02 2.84986294e+02] [-6.73856888e-01 7.35176205e-01 -7.37078186e-02 -2.12183151e+02] [-1.08926904e-01 -1.79421244e-04 9.94049746e-01 -3.47270738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53592 meters 0.029061517789074107 Centerline is valid? [True, True] Translation: X:285.01, Y:-212.20, Z:-34.73 [[ 7.29434210e-01 6.79420985e-01 7.94534989e-02 2.85011445e+02] [-6.75477342e-01 7.33748597e-01 -7.30982728e-02 -2.12204815e+02] [-1.07963394e-01 -3.48657399e-04 9.94154809e-01 -3.47309277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56591999999995 meters 0.02871610546441183 Centerline is valid? [True, True] Translation: X:285.04, Y:-212.23, Z:-34.73 [[ 7.27998467e-01 6.81138971e-01 7.78969540e-02 2.85035432e+02] [-6.77350729e-01 7.32153955e-01 -7.17396346e-02 -2.12226081e+02] [-1.05897224e-01 -5.37214652e-04 9.94376935e-01 -3.47326517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59592 meters 0.029204827408469067 Centerline is valid? [True, True] Translation: X:285.06, Y:-212.25, Z:-34.74 [[ 7.24978485e-01 6.83904033e-01 8.17402573e-02 2.85060670e+02] [-6.79740909e-01 7.29571382e-01 -7.53518084e-02 -2.12246192e+02] [-1.11168758e-01 -9.33756949e-04 9.93801105e-01 -3.47352624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62591999999995 meters 0.029309399490546575 Centerline is valid? [True, True] Translation: X:285.09, Y:-212.27, Z:-34.74 [[ 7.23004497e-01 6.86101174e-01 8.08064109e-02 2.85086569e+02] [-6.82038751e-01 7.27505139e-01 -7.45614821e-02 -2.12266536e+02] [-1.09943800e-01 -1.20481678e-03 9.93937075e-01 -3.47371762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65592 meters 0.029473269479554698 Centerline is valid? [True, True] Translation: X:285.11, Y:-212.29, Z:-34.74 [[ 7.21879031e-01 6.87374605e-01 8.00425996e-02 2.85113354e+02] [-6.83388119e-01 7.26301857e-01 -7.39343641e-02 -2.12286237e+02] [-1.08955693e-01 -1.32849453e-03 9.94045719e-01 -3.47399070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68591999999995 meters 0.029294038592656613 Centerline is valid? [True, True] Translation: X:285.14, Y:-212.30, Z:-34.74 [[ 7.21600962e-01 6.87755906e-01 7.92708331e-02 2.85141370e+02] [-6.83840264e-01 7.25940822e-01 -7.32967649e-02 -2.12302366e+02] [-1.07956217e-01 -1.31757141e-03 9.94154776e-01 -3.47438455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71592 meters 0.02920293683587368 Centerline is valid? [True, True] Translation: X:285.17, Y:-212.32, Z:-34.75 [[ 7.22859164e-01 6.86434666e-01 7.92595653e-02 2.85166419e+02] [-6.82504828e-01 7.27190693e-01 -7.33543162e-02 -2.12322438e+02] [-1.07989764e-01 -1.07019625e-03 9.94151430e-01 -3.47465733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74591999999996 meters 0.029388252122994347 Centerline is valid? [True, True] Translation: X:285.19, Y:-212.34, Z:-34.75 [[ 7.28690576e-01 6.80012700e-01 8.11958900e-02 2.85192032e+02] [-6.75839678e-01 7.33200330e-01 -7.52197166e-02 -2.12342391e+02] [-1.10683216e-01 -6.35056190e-05 9.93855735e-01 -3.47517335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.77592 meters 0.029399118025356535 Centerline is valid? [True, True] Translation: X:285.22, Y:-212.36, Z:-34.76 [[ 7.31466631e-01 6.77084476e-01 8.07042818e-02 2.85217046e+02] [-6.72935285e-01 7.35905171e-01 -7.48443746e-02 -2.12363240e+02] [-1.10066662e-01 4.37403650e-04 9.93924111e-01 -3.47555068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80591999999996 meters 0.02967994318899526 Centerline is valid? [True, True] Translation: X:285.24, Y:-212.38, Z:-34.76 [[ 7.34923309e-01 6.73375727e-01 8.03296970e-02 2.85241708e+02] [-6.69234494e-01 7.39299693e-01 -7.45731573e-02 -2.12383265e+02] [-1.09603474e-01 1.04614745e-03 9.93974841e-01 -3.47590514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.83592 meters 0.03008398451535428 Centerline is valid? [True, True] Translation: X:285.27, Y:-212.40, Z:-34.76 [[ 7.38715015e-01 6.69061708e-01 8.15877297e-02 2.85265530e+02] [-6.64755183e-01 7.43204756e-01 -7.58105300e-02 -2.12404765e+02] [-1.11358312e-01 1.76651054e-03 9.93778751e-01 -3.47624178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86591999999996 meters 0.03023093184492071 Centerline is valid? [True, True] Translation: X:285.29, Y:-212.43, Z:-34.76 [[ 7.40285846e-01 6.67586070e-01 7.94084767e-02 2.85288229e+02] [-6.63491669e-01 7.44529989e-01 -7.38505280e-02 -2.12427497e+02] [-1.08423576e-01 1.98363784e-03 9.94102808e-01 -3.47640638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89592 meters 0.03023093184492071 Centerline is valid? [True, True] Translation: X:285.31, Y:-212.45, Z:-34.77 [[ 7.39950069e-01 6.67962212e-01 7.93749250e-02 2.85312210e+02] [-6.63866103e-01 7.44192563e-01 -7.38865751e-02 -2.12449333e+02] [-1.08423669e-01 1.97805419e-03 9.94102809e-01 -3.47669101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92591999999996 meters 0.030541613054270982 Centerline is valid? [True, True] Translation: X:285.33, Y:-212.47, Z:-34.77 [[ 7.40172134e-01 6.67383606e-01 8.21238917e-02 2.85333634e+02] [-6.62985616e-01 7.44710892e-01 -7.65229486e-02 -2.12473021e+02] [-1.12228718e-01 2.19319532e-03 9.93679981e-01 -3.47711230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95592 meters 0.030113901466642754 Centerline is valid? [True, True] Translation: X:285.36, Y:-212.50, Z:-34.77 [[ 7.39658366e-01 6.68253838e-01 7.96386219e-02 2.85356636e+02] [-6.64116844e-01 7.43930523e-01 -7.42710926e-02 -2.12495639e+02] [-1.08877544e-01 2.04588470e-03 9.94053064e-01 -3.47728800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98591999999996 meters 0.030141663705663745 Centerline is valid? [True, True] Translation: X:285.38, Y:-212.52, Z:-34.78 [[ 7.38315680e-01 6.69784033e-01 7.92420764e-02 2.85378916e+02] [-6.65689963e-01 7.42553628e-01 -7.39660923e-02 -2.12519043e+02] [-1.08382799e-01 1.85967083e-03 9.94107494e-01 -3.47769325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01592 meters 0.029640034815645658 Centerline is valid? [True, True] Translation: X:285.40, Y:-212.55, Z:-34.78 [[ 7.35326002e-01 6.72924165e-01 8.04284703e-02 2.85398335e+02] [-6.68717372e-01 7.39710017e-01 -7.51409822e-02 -2.12545614e+02] [-1.10057928e-01 1.46920279e-03 9.93924089e-01 -3.47787067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04591999999997 meters 0.0295481882390814 Centerline is valid? [True, True] Translation: X:285.42, Y:-212.57, Z:-34.78 [[ 7.34130082e-01 6.74342026e-01 7.94723581e-02 2.85421122e+02] [-6.70236054e-01 7.38418017e-01 -7.43132891e-02 -2.12568873e+02] [-1.08796395e-01 1.29038134e-03 9.94063217e-01 -3.47803477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07592 meters 0.029605138653892867 Centerline is valid? [True, True] Translation: X:285.44, Y:-212.59, Z:-34.79 [[ 7.33266671e-01 6.75156483e-01 8.05215047e-02 2.85442686e+02] [-6.70938334e-01 7.37673502e-01 -7.53628310e-02 -2.12592347e+02] [-1.10280284e-01 1.23608796e-03 9.93899759e-01 -3.47853050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10591999999997 meters 0.02950546552172827 Centerline is valid? [True, True] Translation: X:285.46, Y:-212.62, Z:-34.79 [[ 7.32543213e-01 6.76139934e-01 7.88367393e-02 2.85463721e+02] [-6.72095518e-01 7.36772387e-01 -7.38516465e-02 -2.12616250e+02] [-1.08018780e-01 1.11370328e-03 9.94148230e-01 -3.47875691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13592 meters 0.029406029808881306 Centerline is valid? [True, True] Translation: X:285.48, Y:-212.64, Z:-34.79 [[ 7.32024301e-01 6.76666352e-01 7.91395655e-02 2.85484205e+02] [-6.72586234e-01 7.36288977e-01 -7.42044551e-02 -2.12642836e+02] [-1.08481248e-01 1.09128207e-03 9.94097897e-01 -3.47899086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16591999999997 meters 0.029505521580748057 Centerline is valid? [True, True] Translation: X:285.51, Y:-212.67, Z:-34.79 [[ 7.31741880e-01 6.76854827e-01 8.01334152e-02 2.85507464e+02] [-6.72663916e-01 7.36115655e-01 -7.52130187e-02 -2.12665457e+02] [-1.09895756e-01 1.13365883e-03 9.93942472e-01 -3.47921228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19591999999994 meters 0.029517150049227073 Centerline is valid? [True, True] Translation: X:285.53, Y:-212.69, Z:-34.80 [[ 7.31004040e-01 6.77661306e-01 8.00515313e-02 2.85530432e+02] [-6.73476044e-01 7.35373390e-01 -7.52063513e-02 -2.12688480e+02] [-1.09832200e-01 1.06335802e-03 9.93949575e-01 -3.47951204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22592 meters 0.029322896561517053 Centerline is valid? [True, True] Translation: X:285.55, Y:-212.72, Z:-34.80 [[ 7.29267525e-01 6.79512477e-01 8.01976953e-02 2.85549864e+02] [-6.75314340e-01 7.33663466e-01 -7.54218863e-02 -2.12715998e+02] [-1.10088232e-01 8.44078742e-04 9.93921460e-01 -3.47978459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25591999999995 meters 0.029481301859966016 Centerline is valid? [True, True] Translation: X:285.57, Y:-212.74, Z:-34.80 [[ 7.28396250e-01 6.80298205e-01 8.14447915e-02 2.85571230e+02] [-6.75964077e-01 7.32935004e-01 -7.66736397e-02 -2.12739833e+02] [-1.11854678e-01 7.95038309e-04 9.93724257e-01 -3.48011815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28592 meters 0.02916731032675847 Centerline is valid? [True, True] Translation: X:285.59, Y:-212.76, Z:-34.80 [[ 7.25345273e-01 6.83767631e-01 7.95993829e-02 2.85592959e+02] [-6.79642600e-01 7.29699759e-01 -7.49946567e-02 -2.12764247e+02] [-1.09362569e-01 2.97888207e-04 9.94001881e-01 -3.48034870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31591999999995 meters 0.029240087830740443 Centerline is valid? [True, True] Translation: X:285.62, Y:-212.79, Z:-34.81 [[ 7.23973740e-01 6.85218280e-01 7.96111343e-02 2.85616172e+02] [-6.81096823e-01 7.28337763e-01 -7.50414571e-02 -2.12787459e+02] [-1.09403574e-01 1.05153624e-04 9.93997408e-01 -3.48071993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34592 meters 0.029187018381726233 Centerline is valid? [True, True] Translation: X:285.64, Y:-212.81, Z:-34.81 [[ 7.21900631e-01 6.87352611e-01 8.00366641e-02 2.85637650e+02] [-6.83190936e-01 7.26323869e-01 -7.55233861e-02 -2.12812198e+02] [-1.10043736e-01 -1.59943405e-04 9.93926733e-01 -3.48104193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37591999999995 meters 0.029425020374318444 Centerline is valid? [True, True] Translation: X:285.66, Y:-212.84, Z:-34.81 [[ 7.18931371e-01 6.90393577e-01 8.05877966e-02 2.85656928e+02] [-6.86184315e-01 7.23433745e-01 -7.61229453e-02 -2.12838645e+02] [-1.10854724e-01 -5.70908599e-04 9.93836458e-01 -3.48118760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40592 meters 0.029403143197566206 Centerline is valid? [True, True] Translation: X:285.68, Y:-212.86, Z:-34.81 [[ 7.17480290e-01 6.92031579e-01 7.94627428e-02 2.85679293e+02] [-6.87941740e-01 7.21866826e-01 -7.51295458e-02 -2.12861528e+02] [-1.09353536e-01 -7.61769249e-04 9.94002628e-01 -3.48145824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43591999999995 meters 0.029512456488339243 Centerline is valid? [True, True] Translation: X:285.70, Y:-212.88, Z:-34.82 [[ 7.16283436e-01 6.93189543e-01 8.01641853e-02 2.85702083e+02] [-6.89026402e-01 7.20754781e-01 -7.58627894e-02 -2.12883317e+02] [-1.10366012e-01 -8.95980748e-04 9.93890608e-01 -3.48178560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46592 meters 0.029596764145425822 Centerline is valid? [True, True] Translation: X:285.73, Y:-212.91, Z:-34.82 [[ 7.14724218e-01 6.94834280e-01 7.98411955e-02 2.85725207e+02] [-6.90707343e-01 7.19169051e-01 -7.56256745e-02 -2.12906887e+02] [-1.09966628e-01 -1.09539889e-03 9.93934676e-01 -3.48201857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49591999999996 meters 0.029718336541076407 Centerline is valid? [True, True] Translation: X:285.75, Y:-212.93, Z:-34.82 [[ 7.13748355e-01 6.95940711e-01 7.89291658e-02 2.85748774e+02] [-6.91905878e-01 7.18098253e-01 -7.48408587e-02 -2.12930109e+02] [-1.08763697e-01 -1.19401401e-03 9.94066916e-01 -3.48223542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.52592 meters 0.029655113375737622 Centerline is valid? [True, True] Translation: X:285.77, Y:-212.95, Z:-34.83 [[ 7.12472050e-01 6.97142380e-01 7.98503642e-02 2.85771232e+02] [-6.93011184e-01 7.16931460e-01 -7.57943337e-02 -2.12952865e+02] [-1.10086680e-01 -1.33585111e-03 9.93921093e-01 -3.48253550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55591999999996 meters 0.029870662725768236 Centerline is valid? [True, True] Translation: X:285.79, Y:-212.97, Z:-34.83 [[ 7.11398587e-01 6.98184051e-01 8.03186300e-02 2.85794281e+02] [-6.94002865e-01 7.15916835e-01 -7.63092945e-02 -2.12974438e+02] [-1.10779392e-01 -1.45503512e-03 9.93843956e-01 -3.48281097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.58592 meters 0.02980661544029747 Centerline is valid? [True, True] Translation: X:285.82, Y:-213.00, Z:-34.83 [[ 7.10409981e-01 6.99184397e-01 8.03668948e-02 2.85818782e+02] [-6.94996780e-01 7.14939675e-01 -7.64247162e-02 -2.12997001e+02] [-1.10892451e-01 -1.56185188e-03 9.93831185e-01 -3.48311772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61591999999996 meters 0.029972731498551317 Centerline is valid? [True, True] Translation: X:285.84, Y:-213.02, Z:-34.83 [[ 7.08246619e-01 7.01438138e-01 7.98202077e-02 2.85844451e+02] [-6.97312743e-01 7.12727958e-01 -7.59855024e-02 -2.13017135e+02] [-1.10189223e-01 -1.84317284e-03 9.93908918e-01 -3.48340541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64592 meters 0.030124114816987305 Centerline is valid? [True, True] Translation: X:285.87, Y:-213.04, Z:-34.84 [[ 7.06158220e-01 7.03607795e-01 7.92252479e-02 2.85869342e+02] [-6.99548853e-01 7.10585408e-01 -7.54968892e-02 -2.13037697e+02] [-1.09416505e-01 -2.10918245e-03 9.93993752e-01 -3.48365762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67591999999996 meters 0.030358042906683005 Centerline is valid? [True, True] Translation: X:285.89, Y:-213.06, Z:-34.84 [[ 7.03947234e-01 7.05850927e-01 7.89478399e-02 2.85894579e+02] [-7.01826888e-01 7.08356345e-01 -7.53014418e-02 -2.13058341e+02] [-1.09074796e-01 -2.39947516e-03 9.94030649e-01 -3.48391332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70592 meters 0.030525714734125936 Centerline is valid? [True, True] Translation: X:285.92, Y:-213.08, Z:-34.84 [[ 7.01501905e-01 7.08246620e-01 7.92578200e-02 2.85919101e+02] [-7.04198366e-01 7.05959811e-01 -7.56664145e-02 -2.13078815e+02] [-1.09543318e-01 -2.73309338e-03 9.93978265e-01 -3.48417501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73591999999996 meters 0.031024690511216764 Centerline is valid? [True, True] Translation: X:285.95, Y:-213.10, Z:-34.85 [[ 6.98643398e-01 7.11081213e-01 7.91259167e-02 2.85945331e+02] [-7.07056974e-01 7.03102948e-01 -7.56087337e-02 -2.13096898e+02] [-1.09397615e-01 -3.12298858e-03 9.93993163e-01 -3.48451257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76592 meters 0.031071275361694524 Centerline is valid? [True, True] Translation: X:285.97, Y:-213.12, Z:-34.85 [[ 6.97740481e-01 7.12129187e-01 7.76546322e-02 2.85971526e+02] [-7.08253026e-01 7.02041247e-01 -7.42680138e-02 -2.13116967e+02] [-1.07405175e-01 -3.17932852e-03 9.94210250e-01 -3.48474254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79591999999997 meters 0.03098762138217493 Centerline is valid? [True, True] Translation: X:286.00, Y:-213.13, Z:-34.85 [[ 6.97927617e-01 7.11996878e-01 7.71847642e-02 2.85998900e+02] [-7.08158781e-01 7.02175845e-01 -7.38933269e-02 -2.13134007e+02] [-1.06809095e-01 -3.08687497e-03 9.94274755e-01 -3.48510981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82592 meters 0.030836536594254574 Centerline is valid? [True, True] Translation: X:286.02, Y:-213.15, Z:-34.85 [[ 6.98069004e-01 7.11931740e-01 7.65040040e-02 2.86024573e+02] [-7.08153822e-01 7.02242251e-01 -7.33074658e-02 -2.13153136e+02] [-1.05914256e-01 -3.00293320e-03 9.94370732e-01 -3.48537793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85591999999997 meters 0.030565039327761882 Centerline is valid? [True, True] Translation: X:286.05, Y:-213.17, Z:-34.86 [[ 6.99403177e-01 7.10557670e-01 7.70908209e-02 2.86053258e+02] [-7.06705848e-01 7.03633522e-01 -7.39372132e-02 -2.13168993e+02] [-1.06780340e-01 -2.76861222e-03 9.94278781e-01 -3.48560506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88592 meters 0.030463859700394936 Centerline is valid? [True, True] Translation: X:286.08, Y:-213.19, Z:-34.86 [[ 6.99885348e-01 7.10040933e-01 7.74749795e-02 2.86078851e+02] [-7.06139993e-01 7.04155398e-01 -7.43739632e-02 -2.13188085e+02] [-1.07362983e-01 -2.65493427e-03 9.94216345e-01 -3.48588808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91591999999997 meters 0.0302569620561683 Centerline is valid? [True, True] Translation: X:286.10, Y:-213.21, Z:-34.86 [[ 7.01027569e-01 7.08831320e-01 7.82208913e-02 2.86104500e+02] [-7.04839596e-01 7.05373791e-01 -7.51595493e-02 -2.13207740e+02] [-1.08450409e-01 -2.44426529e-03 9.94098855e-01 -3.48608784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94591999999994 meters 0.02996247045858756 Centerline is valid? [True, True] Translation: X:286.13, Y:-213.23, Z:-34.86 [[ 7.02787207e-01 7.07000500e-01 7.89964206e-02 2.86130048e+02] [-7.02909625e-01 7.07209831e-01 -7.59757448e-02 -2.13227604e+02] [-1.09581935e-01 -2.13256292e-03 9.93975478e-01 -3.48645318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97592 meters 0.02967603434960532 Centerline is valid? [True, True] Translation: X:286.16, Y:-213.25, Z:-34.87 [[ 7.05989101e-01 7.03777922e-01 7.92213703e-02 2.86156979e+02] [-6.99635513e-01 7.10418274e-01 -7.62628762e-02 -2.13245451e+02] [-1.09952438e-01 -1.58532458e-03 9.93935586e-01 -3.48684735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00591999999995 meters 0.029552950346301822 Centerline is valid? [True, True] Translation: X:286.18, Y:-213.27, Z:-34.87 [[ 7.09449453e-01 7.00162449e-01 8.03369078e-02 2.86181800e+02] [-6.95870827e-01 7.13982894e-01 -7.74094318e-02 -2.13265473e+02] [-1.11558355e-01 -9.86031440e-04 9.93757396e-01 -3.48735298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03592 meters 0.029598422904431054 Centerline is valid? [True, True] Translation: X:286.21, Y:-213.29, Z:-34.88 [[ 7.11276982e-01 6.98270575e-01 8.06427862e-02 2.86206318e+02] [-6.93926929e-01 7.15833630e-01 -7.77665167e-02 -2.13287058e+02] [-1.12028889e-01 -6.46667683e-04 9.93704740e-01 -3.48754065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06591999999995 meters 0.029440691538178465 Centerline is valid? [True, True] Translation: X:286.23, Y:-213.31, Z:-34.88 [[ 7.12649472e-01 6.96827332e-01 8.10086355e-02 2.86231533e+02] [-6.92430356e-01 7.17238813e-01 -7.81580976e-02 -2.13308385e+02] [-1.12565236e-01 -3.93511264e-04 9.93644259e-01 -3.48780413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09592 meters 0.029640546555586223 Centerline is valid? [True, True] Translation: X:286.26, Y:-213.33, Z:-34.88 [[ 7.13063997e-01 6.96273670e-01 8.21140166e-02 2.86256276e+02] [-6.91742355e-01 7.17776367e-01 -7.93070065e-02 -2.13328614e+02] [-1.14158881e-01 -2.50772113e-04 9.93462474e-01 -3.48800035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12591999999995 meters 0.029512144335398685 Centerline is valid? [True, True] Translation: X:286.28, Y:-213.35, Z:-34.88 [[ 7.12832835e-01 6.96583384e-01 8.14919529e-02 2.86282683e+02] [-6.92114482e-01 7.17475803e-01 -7.87782685e-02 -2.13347838e+02] [-1.13344137e-01 -2.46024342e-04 9.93555759e-01 -3.48828771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15592 meters 0.029757762260805728 Centerline is valid? [True, True] Translation: X:286.31, Y:-213.37, Z:-34.89 [[ 7.11589258e-01 6.97842524e-01 8.15876248e-02 2.86307228e+02] [-6.93362723e-01 7.16251114e-01 -7.89460352e-02 -2.13370073e+02] [-1.13529128e-01 -3.92667137e-04 9.93534591e-01 -3.48873383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18591999999995 meters 0.029570818110036916 Centerline is valid? [True, True] Translation: X:286.33, Y:-213.39, Z:-34.89 [[ 7.10485762e-01 6.99155121e-01 7.99506038e-02 2.86332179e+02] [-6.94853399e-01 7.14969812e-01 -7.74397997e-02 -2.13390082e+02] [-1.11304701e-01 -5.34073683e-04 9.93786183e-01 -3.48906029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21592 meters 0.029520769220882256 Centerline is valid? [True, True] Translation: X:286.36, Y:-213.41, Z:-34.89 [[ 7.10486512e-01 6.99223939e-01 7.93397697e-02 2.86356813e+02] [-6.94981528e-01 7.14902536e-01 -7.69092945e-02 -2.13411532e+02] [-1.10497022e-01 -4.96657964e-04 9.93876331e-01 -3.48929132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24591999999996 meters 0.02954746008610593 Centerline is valid? [True, True] Translation: X:286.38, Y:-213.43, Z:-34.90 [[ 7.10638277e-01 6.99198282e-01 7.81984774e-02 2.86382067e+02] [-6.95073565e-01 7.14927654e-01 -7.58365911e-02 -2.13431806e+02] [-1.08931068e-01 -4.61310050e-04 9.94049199e-01 -3.48955447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.27592 meters 0.029602603377441254 Centerline is valid? [True, True] Translation: X:286.41, Y:-213.45, Z:-34.90 [[ 7.11866108e-01 6.97900779e-01 7.86202747e-02 2.86407522e+02] [-6.93715378e-01 7.16194428e-01 -7.63185180e-02 -2.13453309e+02] [-1.09570156e-01 -2.11527209e-04 9.93979042e-01 -3.48986952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30591999999996 meters 0.029575805770717025 Centerline is valid? [True, True] Translation: X:286.43, Y:-213.47, Z:-34.90 [[ 7.12849602e-01 6.96842204e-01 7.90973277e-02 2.86433133e+02] [-6.92590133e-01 7.17224472e-01 -7.68632915e-02 -2.13473872e+02] [-1.10292124e-01 9.93815009e-06 9.93899214e-01 -3.49020507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.33592 meters 0.029487724461554354 Centerline is valid? [True, True] Translation: X:286.46, Y:-213.49, Z:-34.90 [[ 7.14032519e-01 6.95825636e-01 7.73579085e-02 2.86458382e+02] [-6.91744862e-01 7.18210719e-01 -7.52489817e-02 -2.13494250e+02] [-1.07919450e-01 2.18284156e-04 9.94159617e-01 -3.49042963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36591999999996 meters 0.029840847558277275 Centerline is valid? [True, True] Translation: X:286.48, Y:-213.51, Z:-34.91 [[ 7.13340478e-01 6.96489720e-01 7.77652385e-02 2.86484571e+02] [-6.92361862e-01 7.17566750e-01 -7.57166514e-02 -2.13514859e+02] [-1.08537619e-01 1.70066906e-04 9.94092328e-01 -3.49093109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39592 meters 0.029978621537085384 Centerline is valid? [True, True] Translation: X:286.51, Y:-213.54, Z:-34.91 [[ 7.11270198e-01 6.98554227e-01 7.82093187e-02 2.86507958e+02] [-6.94382539e-01 7.15557115e-01 -7.62292961e-02 -2.13537799e+02] [-1.09213531e-01 -8.75587269e-05 9.94018308e-01 -3.49119553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42591999999996 meters 0.030103262078033495 Centerline is valid? [True, True] Translation: X:286.53, Y:-213.56, Z:-34.91 [[ 7.10754890e-01 6.98997458e-01 7.89306076e-02 2.86531349e+02] [-6.94742186e-01 7.15124146e-01 -7.70113658e-02 -2.13559657e+02] [-1.10275932e-01 -1.00218050e-04 9.93901006e-01 -3.49149964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45592 meters 0.030167850238713385 Centerline is valid? [True, True] Translation: X:286.55, Y:-213.58, Z:-34.92 [[ 7.10227675e-01 6.99625388e-01 7.81086741e-02 2.86554971e+02] [-6.95454667e-01 7.14509828e-01 -7.62791647e-02 -2.13581320e+02] [-1.09176256e-01 -1.45468094e-04 9.94022396e-01 -3.49178478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48591999999996 meters 0.030180499765940907 Centerline is valid? [True, True] Translation: X:286.58, Y:-213.60, Z:-34.92 [[ 7.09406422e-01 7.00381164e-01 7.87956425e-02 2.86579925e+02] [-6.96133066e-01 7.13768996e-01 -7.70232080e-02 -2.13602419e+02] [-1.10187491e-01 -2.11493811e-04 9.93910797e-01 -3.49208815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51592 meters 0.030186006188977994 Centerline is valid? [True, True] Translation: X:286.61, Y:-213.62, Z:-34.92 [[ 7.09195579e-01 7.00707172e-01 7.77887568e-02 2.86605043e+02] [-6.96560801e-01 7.13448960e-01 -7.61159117e-02 -2.13622600e+02] [-1.08833273e-01 -2.03530703e-04 9.94059997e-01 -3.49238237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54591999999997 meters 0.030386450777277568 Centerline is valid? [True, True] Translation: X:286.63, Y:-213.64, Z:-34.92 [[ 7.09243806e-01 7.00776400e-01 7.67180659e-02 2.86629178e+02] [-6.96736791e-01 7.13380972e-01 -7.51360914e-02 -2.13644573e+02] [-1.07382808e-01 -1.62491691e-04 9.94217736e-01 -3.49246338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57592 meters 0.030333368963332122 Centerline is valid? [True, True] Translation: X:286.65, Y:-213.67, Z:-34.93 [[ 7.09035499e-01 7.01017391e-01 7.64413411e-02 2.86653621e+02] [-6.97000771e-01 7.13144162e-01 -7.49355013e-02 -2.13666822e+02] [-1.07044786e-01 -1.47743101e-04 9.94254189e-01 -3.49274959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60591999999997 meters 0.030419950179161964 Centerline is valid? [True, True] Translation: X:286.68, Y:-213.69, Z:-34.93 [[ 7.09303019e-01 7.00655054e-01 7.72769175e-02 2.86677573e+02] [-6.96539248e-01 7.13500170e-01 -7.58325936e-02 -2.13687884e+02] [-1.08269584e-01 -3.81184933e-05 9.94121570e-01 -3.49313003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63592 meters 0.030321715986846128 Centerline is valid? [True, True] Translation: X:286.70, Y:-213.71, Z:-34.93 [[ 7.08912354e-01 7.01198953e-01 7.59164182e-02 2.86701247e+02] [-6.97223107e-01 7.12965653e-01 -7.45648418e-02 -2.13710088e+02] [-1.06410588e-01 -7.07434970e-05 9.94322273e-01 -3.49341746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66591999999997 meters 0.030378919879974063 Centerline is valid? [True, True] Translation: X:286.73, Y:-213.73, Z:-34.94 [[ 7.07554503e-01 7.02521370e-01 7.63567324e-02 2.86725945e+02] [-6.98499177e-01 7.11662614e-01 -7.50681256e-02 -2.13732447e+02] [-1.07077194e-01 -2.20324491e-04 9.94250686e-01 -3.49365393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69591999999994 meters 0.03045024682218366 Centerline is valid? [True, True] Translation: X:286.75, Y:-213.75, Z:-34.94 [[ 7.04254697e-01 7.05919294e-01 7.55200065e-02 2.86752395e+02] [-7.01996176e-01 7.08291958e-01 -7.43227474e-02 -2.13753063e+02] [-1.05956075e-01 -6.72611853e-04 9.94370584e-01 -3.49385076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72592 meters 0.03039116718092926 Centerline is valid? [True, True] Translation: X:286.78, Y:-213.77, Z:-34.94 [[ 7.02486404e-01 7.07817191e-01 7.42137163e-02 2.86777668e+02] [-7.04031617e-01 7.06395098e-01 -7.31125653e-02 -2.13774938e+02] [-1.04174536e-01 -8.88219585e-04 9.94558634e-01 -3.49405075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75591999999995 meters 0.03057354522335963 Centerline is valid? [True, True] Translation: X:286.80, Y:-213.80, Z:-34.94 [[ 7.00628584e-01 7.09622502e-01 7.45351746e-02 2.86801731e+02] [-7.05806175e-01 7.04581207e-01 -7.35048760e-02 -2.13795746e+02] [-1.04676797e-01 -1.10776925e-03 9.94505677e-01 -3.49443528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78592 meters 0.03057354522335963 Centerline is valid? [True, True] Translation: X:286.83, Y:-213.82, Z:-34.95 [[ 7.00258811e-01 7.09991009e-01 7.45007682e-02 2.86825071e+02] [-7.06173053e-01 7.04209860e-01 -7.35397348e-02 -2.13818288e+02] [-1.04676726e-01 -1.11358762e-03 9.94505678e-01 -3.49471987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81591999999995 meters 0.03075901454074416 Centerline is valid? [True, True] Translation: X:286.85, Y:-213.84, Z:-34.95 [[ 6.98237362e-01 7.11853921e-01 7.56873987e-02 2.86849980e+02] [-7.07915614e-01 7.02326239e-01 -7.47886217e-02 -2.13838958e+02] [-1.06395820e-01 -1.36008139e-03 9.94322925e-01 -3.49491473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84592 meters 0.03069353227750635 Centerline is valid? [True, True] Translation: X:286.87, Y:-213.86, Z:-34.95 [[ 6.98501211e-01 7.11550988e-01 7.61002583e-02 2.86874350e+02] [-7.07560928e-01 7.02633305e-01 -7.52593656e-02 -2.13860568e+02] [-1.07021452e-01 -1.27681140e-03 9.94255892e-01 -3.49511866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87591999999995 meters 0.030708220111719704 Centerline is valid? [True, True] Translation: X:286.90, Y:-213.88, Z:-34.95 [[ 6.99336216e-01 7.10700758e-01 7.63759745e-02 2.86899069e+02] [-7.06671891e-01 7.03493552e-01 -7.55755335e-02 -2.13883061e+02] [-1.07441595e-01 -1.12004671e-03 9.94210767e-01 -3.49542186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90592 meters 0.03063840181065545 Centerline is valid? [True, True] Translation: X:286.92, Y:-213.91, Z:-34.96 [[ 7.01060471e-01 7.08863504e-01 7.76321387e-02 2.86923229e+02] [-7.04680233e-01 7.05345238e-01 -7.69016555e-02 -2.13905220e+02] [-1.09270236e-01 -7.93122829e-04 9.94011764e-01 -3.49586850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93591999999995 meters 0.030497274810074602 Centerline is valid? [True, True] Translation: X:286.95, Y:-213.93, Z:-34.96 [[ 7.01875560e-01 7.08079034e-01 7.74259671e-02 2.86947490e+02] [-7.03904363e-01 7.06132925e-01 -7.67785061e-02 -2.13927934e+02] [-1.09038275e-01 -6.11519093e-04 9.94037364e-01 -3.49623977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96592 meters 0.03039898024813364 Centerline is valid? [True, True] Translation: X:286.97, Y:-213.95, Z:-34.96 [[ 7.02247286e-01 7.07838189e-01 7.62485953e-02 2.86970989e+02] [-7.03781119e-01 7.06374427e-01 -7.56789666e-02 -2.13950568e+02] [-1.07428520e-01 -5.16972802e-04 9.94212676e-01 -3.49642218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99591999999996 meters 0.030376330621848715 Centerline is valid? [True, True] Translation: X:286.99, Y:-213.97, Z:-34.97 [[ 7.01105253e-01 7.09030748e-01 7.56757737e-02 2.86994077e+02] [-7.05037831e-01 7.05177247e-01 -7.51445760e-02 -2.13973676e+02] [-1.06644649e-01 -6.70026360e-04 9.94296973e-01 -3.49666419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.02592 meters 0.03030769277700899 Centerline is valid? [True, True] Translation: X:287.02, Y:-214.00, Z:-34.97 [[ 6.99638930e-01 7.10535604e-01 7.51300484e-02 2.87017726e+02] [-7.06600591e-01 7.03660752e-01 -7.46803257e-02 -2.13997204e+02] [-1.05929097e-01 -8.37673461e-04 9.94373333e-01 -3.49681153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05591999999996 meters 0.030326915420752828 Centerline is valid? [True, True] Translation: X:287.04, Y:-214.02, Z:-34.97 [[ 6.97519063e-01 7.12669027e-01 7.46325360e-02 2.87041178e+02] [-7.08790109e-01 7.01499573e-01 -7.42625783e-02 -2.14020765e+02] [-1.05279331e-01 -1.09923932e-03 9.94442082e-01 -3.49703587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.08592 meters 0.030410818965039776 Centerline is valid? [True, True] Translation: X:287.07, Y:-214.04, Z:-34.97 [[ 6.95171655e-01 7.15032516e-01 7.39247642e-02 2.87065255e+02] [-7.11232250e-01 6.99089817e-01 -7.36350061e-02 -2.14043318e+02] [-1.04331474e-01 -1.38870728e-03 9.94541611e-01 -3.49729239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11591999999996 meters 0.030548598433152014 Centerline is valid? [True, True] Translation: X:287.09, Y:-214.07, Z:-34.98 [[ 6.92394694e-01 7.17620283e-01 7.49047182e-02 2.87088540e+02] [-7.13725143e-01 6.96432391e-01 -7.46883266e-02 -2.14065558e+02] [-1.05763930e-01 -1.74757963e-03 9.94389731e-01 -3.49767879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14592 meters 0.03068102313930672 Centerline is valid? [True, True] Translation: X:287.11, Y:-214.09, Z:-34.98 [[ 6.90942570e-01 7.19065547e-01 7.44520247e-02 2.87112017e+02] [-7.15218447e-01 6.94939637e-01 -7.43066211e-02 -2.14089118e+02] [-1.05170994e-01 -1.90785368e-03 9.94452323e-01 -3.49793950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17591999999996 meters 0.030649398747596705 Centerline is valid? [True, True] Translation: X:287.13, Y:-214.11, Z:-34.98 [[ 6.89337094e-01 7.20575567e-01 7.47343495e-02 2.87134532e+02] [-7.16699777e-01 6.93373258e-01 -7.46656220e-02 -2.14111634e+02] [-1.05621022e-01 -2.09230877e-03 9.94404255e-01 -3.49825373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20592 meters 0.030882423814157522 Centerline is valid? [True, True] Translation: X:287.16, Y:-214.14, Z:-34.99 [[ 6.88160702e-01 7.21828844e-01 7.34708707e-02 2.87157528e+02] [-7.18083303e-01 6.92068125e-01 -7.34716257e-02 -2.14135042e+02] [-1.03880786e-01 -2.19792004e-03 9.94587327e-01 -3.49850004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23591999999996 meters 0.030827508017698846 Centerline is valid? [True, True] Translation: X:287.16, Y:-214.41, Z:-33.08 [[ 7.67833334e-01 -6.38660779e-01 -5.04418493e-02 2.87161533e+02] [-6.36585602e-01 -7.69448409e-01 5.20376437e-02 -2.14413039e+02] [-7.20468028e-02 -7.84568243e-03 -9.97370394e-01 -3.30812588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26592 meters 0.030697610603434396 Centerline is valid? [True, True] Translation: X:287.18, Y:-214.18, Z:-34.99 [[ 7.38803033e-01 6.69609515e-01 7.61129180e-02 2.87184402e+02] [-6.66369820e-01 7.42710394e-01 -6.58219855e-02 -2.14180090e+02] [-1.00604883e-01 -2.08986898e-03 9.94924263e-01 -3.49892513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29591999999997 meters 0.030536641001304085 Centerline is valid? [True, True] Translation: X:287.21, Y:-214.20, Z:-34.99 [[ 7.39817822e-01 6.68537959e-01 7.56742183e-02 2.87210409e+02] [-6.65323900e-01 7.43675625e-01 -6.55032354e-02 -2.14199724e+02] [-1.00068471e-01 -1.88740506e-03 9.94978763e-01 -3.49922517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32592 meters 0.030332499242486186 Centerline is valid? [True, True] Translation: X:287.24, Y:-214.22, Z:-34.99 [[ 7.39215214e-01 6.69044031e-01 7.70775712e-02 2.87235399e+02] [-6.65705573e-01 7.43220224e-01 -6.67816500e-02 -2.14219457e+02] [-1.01965474e-01 -1.94495695e-03 9.94786037e-01 -3.49945656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35591999999997 meters 0.030568414869918972 Centerline is valid? [True, True] Translation: X:287.26, Y:-214.24, Z:-35.00 [[ 7.37288323e-01 6.71191401e-01 7.68637164e-02 2.87259844e+02] [-6.67876735e-01 7.41280858e-01 -6.66585040e-02 -2.14240264e+02] [-1.01718216e-01 -2.18895130e-03 9.94810843e-01 -3.49968473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38592 meters 0.03054652997274371 Centerline is valid? [True, True] Translation: X:287.28, Y:-214.26, Z:-35.00 [[ 7.36126945e-01 6.72435672e-01 7.71193073e-02 2.87284256e+02] [-6.69099276e-01 7.40151926e-01 -6.69424053e-02 -2.14260993e+02] [-1.02094465e-01 -2.32236434e-03 9.94771997e-01 -3.49996083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41591999999997 meters 0.030750736769271075 Centerline is valid? [True, True] Translation: X:287.31, Y:-214.28, Z:-35.00 [[ 7.34645175e-01 6.74173430e-01 7.60700569e-02 2.87309401e+02] [-6.70930518e-01 7.38568900e-01 -6.60925088e-02 -2.14281119e+02] [-1.00740792e-01 -2.48318009e-03 9.94909607e-01 -3.50015785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44591999999994 meters 0.03102222400782813 Centerline is valid? [True, True] Translation: X:287.34, Y:-214.30, Z:-35.00 [[ 7.32541007e-01 6.76398350e-01 7.66090383e-02 2.87335760e+02] [-6.73115324e-01 7.36530804e-01 -6.66193339e-02 -2.14298813e+02] [-1.01486124e-01 -2.76532363e-03 9.94833111e-01 -3.50048741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47592 meters 0.03098631054403795 Centerline is valid? [True, True] Translation: X:287.36, Y:-214.32, Z:-35.01 [[ 7.32210023e-01 6.76799668e-01 7.62278924e-02 2.87362697e+02] [-6.73547596e-01 7.36161999e-01 -6.63260697e-02 -2.14318096e+02] [-1.01005540e-01 -2.77850064e-03 9.94881983e-01 -3.50080101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50591999999995 meters 0.03044090502641056 Centerline is valid? [True, True] Translation: X:287.39, Y:-214.34, Z:-35.01 [[ 7.34463153e-01 6.74316751e-01 7.65558335e-02 2.87389962e+02] [-6.71015953e-01 7.38438340e-01 -6.66814021e-02 -2.14335684e+02] [-1.01496149e-01 -2.39515275e-03 9.94833049e-01 -3.50111880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53592 meters 0.03029536555187335 Centerline is valid? [True, True] Translation: X:287.42, Y:-214.36, Z:-35.01 [[ 7.36379339e-01 6.72046931e-01 7.80922037e-02 2.87415538e+02] [-6.68592956e-01 7.40505637e-01 -6.80798104e-02 -2.14355865e+02] [-1.03580545e-01 -2.07933155e-03 9.94618895e-01 -3.50146242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56591999999995 meters 0.029960952732726517 Centerline is valid? [True, True] Translation: X:287.44, Y:-214.38, Z:-35.02 [[ 7.38580434e-01 6.69630773e-01 7.80613287e-02 2.87441041e+02] [-6.66161930e-01 7.42692201e-01 -6.80924194e-02 -2.14376241e+02] [-1.03572319e-01 -1.70975680e-03 9.94620456e-01 -3.50163241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59592 meters 0.0295381107151848 Centerline is valid? [True, True] Translation: X:287.47, Y:-214.40, Z:-35.02 [[ 7.41861610e-01 6.65879487e-01 7.90307623e-02 2.87466701e+02] [-6.62295498e-01 7.46058433e-01 -6.90035428e-02 -2.14395680e+02] [-1.04909610e-01 -1.15063871e-03 9.94481096e-01 -3.50198922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62591999999995 meters 0.029454862437557204 Centerline is valid? [True, True] Translation: X:287.49, Y:-214.42, Z:-35.02 [[ 7.43660628e-01 6.63846917e-01 7.92220979e-02 2.87492116e+02] [-6.60227163e-01 7.47868038e-01 -6.92350375e-02 -2.14416140e+02] [-1.05209141e-01 -8.17209490e-04 9.94449782e-01 -3.50225060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65592 meters 0.029243825486334505 Centerline is valid? [True, True] Translation: X:287.52, Y:-214.44, Z:-35.03 [[ 7.45439513e-01 6.61633578e-01 8.09996283e-02 2.87517813e+02] [-6.57828838e-01 7.49827174e-01 -7.08549838e-02 -2.14436126e+02] [-1.07615759e-01 -4.65786747e-04 9.94192452e-01 -3.50258011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68591999999995 meters 0.029116629584297858 Centerline is valid? [True, True] Translation: X:287.54, Y:-214.46, Z:-35.03 [[ 7.45913483e-01 6.61113308e-01 8.08842928e-02 2.87543230e+02] [-6.57309156e-01 7.50285998e-01 -7.08208691e-02 -2.14457301e+02] [-1.07506971e-01 -3.39745044e-04 9.94204273e-01 -3.50290928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71592 meters 0.02906379788952498 Centerline is valid? [True, True] Translation: X:287.57, Y:-214.48, Z:-35.03 [[ 7.45819366e-01 6.61341337e-01 7.98818499e-02 2.87567335e+02] [-6.57624867e-01 7.50085020e-01 -7.00142631e-02 -2.14478632e+02] [-1.06221505e-01 -3.14297574e-04 9.94342443e-01 -3.50318890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74591999999996 meters 0.02895676842896202 Centerline is valid? [True, True] Translation: X:287.59, Y:-214.50, Z:-35.04 [[ 7.45307584e-01 6.62026956e-01 7.89741356e-02 2.87590753e+02] [-6.58391888e-01 7.49479940e-01 -6.92816122e-02 -2.14500406e+02] [-1.05055825e-01 -3.59819208e-04 9.94466261e-01 -3.50350715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.77592 meters 0.02878943221781819 Centerline is valid? [True, True] Translation: X:287.62, Y:-214.52, Z:-35.04 [[ 7.44707042e-01 6.62671336e-01 7.92345984e-02 2.87615265e+02] [-6.59008812e-01 7.48910234e-01 -6.95761942e-02 -2.14522429e+02] [-1.05445751e-01 -4.02416767e-04 9.94424975e-01 -3.50373141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80591999999996 meters 0.028775241027547048 Centerline is valid? [True, True] Translation: X:287.64, Y:-214.55, Z:-35.04 [[ 7.43199965e-01 6.64386261e-01 7.90234740e-02 2.87638742e+02] [-6.60745243e-01 7.47389155e-01 -6.94634775e-02 -2.14545764e+02] [-1.05211868e-01 -5.89130484e-04 9.94449655e-01 -3.50389896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.83592 meters 0.028886330638117533 Centerline is valid? [True, True] Translation: X:287.66, Y:-214.57, Z:-35.04 [[ 7.43336486e-01 6.64281848e-01 7.86161183e-02 2.87662147e+02] [-6.60670145e-01 7.47482012e-01 -6.91780366e-02 -2.14568650e+02] [-1.04717848e-01 -5.16763619e-04 9.94501838e-01 -3.50428572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86591999999996 meters 0.028705810348242548 Centerline is valid? [True, True] Translation: X:287.69, Y:-214.59, Z:-35.05 [[ 7.43444933e-01 6.64154952e-01 7.86627652e-02 2.87685641e+02] [-6.60531277e-01 7.47594808e-01 -6.92851675e-02 -2.14592227e+02] [-1.04823962e-01 -4.49510068e-04 9.94490691e-01 -3.50456341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89592 meters 0.028776778111297745 Centerline is valid? [True, True] Translation: X:287.71, Y:-214.61, Z:-35.05 [[ 7.44229419e-01 6.63062764e-01 8.04384494e-02 2.87708267e+02] [-6.59262551e-01 7.48563756e-01 -7.08885879e-02 -2.14614364e+02] [-1.07216891e-01 -2.72684782e-04 9.94235618e-01 -3.50491650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92591999999996 meters 0.02871074631149752 Centerline is valid? [True, True] Translation: X:287.73, Y:-214.64, Z:-35.05 [[ 7.44342714e-01 6.62925403e-01 8.05222664e-02 2.87732515e+02] [-6.59109145e-01 7.48685428e-01 -7.10300313e-02 -2.14636360e+02] [-1.07373460e-01 -2.02275897e-04 9.94218738e-01 -3.50512056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95592 meters 0.02883364811124244 Centerline is valid? [True, True] Translation: X:287.76, Y:-214.66, Z:-35.06 [[ 7.44277804e-01 6.62917184e-01 8.11871810e-02 2.87755456e+02] [-6.59029151e-01 7.48692718e-01 -7.16923454e-02 -2.14660751e+02] [-1.08310339e-01 -1.45697585e-04 9.94117121e-01 -3.50550175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98591999999996 meters 0.02871153453443485 Centerline is valid? [True, True] Translation: X:287.78, Y:-214.68, Z:-35.06 [[ 7.44009667e-01 6.63347904e-01 8.01197525e-02 2.87778821e+02] [-6.59556428e-01 7.48311122e-01 -7.08221884e-02 -2.14682642e+02] [-1.06934252e-01 -1.51105009e-04 9.94266083e-01 -3.50579454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01592 meters 0.028787501629944423 Centerline is valid? [True, True] Translation: X:287.80, Y:-214.70, Z:-35.06 [[ 7.43961407e-01 6.63582372e-01 7.86120875e-02 2.87802604e+02] [-6.59927309e-01 7.48103213e-01 -6.95523481e-02 -2.14704490e+02] [-1.04963667e-01 -1.34000582e-04 9.94476048e-01 -3.50606255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04591999999997 meters 0.028808581395584423 Centerline is valid? [True, True] Translation: X:287.83, Y:-214.73, Z:-35.06 [[ 7.44090389e-01 6.63386511e-01 7.90432165e-02 2.87826569e+02] [-6.59682980e-01 7.48276910e-01 -7.00002338e-02 -2.14727674e+02] [-1.05583425e-01 -5.69633705e-05 9.94410447e-01 -3.50648744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07592 meters 0.02864723559213403 Centerline is valid? [True, True] Translation: X:287.85, Y:-214.75, Z:-35.07 [[ 7.44179154e-01 6.63356343e-01 7.84585838e-02 2.87850921e+02] [-6.59699689e-01 7.48303657e-01 -6.95554307e-02 -2.14750162e+02] [-1.04850881e-01 2.59828900e-06 9.94487955e-01 -3.50677362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10591999999997 meters 0.02879326461476257 Centerline is valid? [True, True] Translation: X:287.87, Y:-214.77, Z:-35.07 [[ 7.45291202e-01 6.62015263e-01 7.92263550e-02 2.87874265e+02] [-6.58270986e-01 7.49490313e-01 -7.03105964e-02 -2.14773374e+02] [-1.05926074e-01 2.49458107e-04 9.94373976e-01 -3.50695145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13592 meters 0.028789908980845418 Centerline is valid? [True, True] Translation: X:287.90, Y:-214.80, Z:-35.07 [[ 7.45887513e-01 6.61264795e-01 7.98792133e-02 2.87898671e+02] [-6.57446010e-01 7.50152450e-01 -7.09651025e-02 -2.14795710e+02] [-1.06848312e-01 4.15713870e-04 9.94275246e-01 -3.50732669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16591999999997 meters 0.028895453821356432 Centerline is valid? [True, True] Translation: X:287.92, Y:-214.82, Z:-35.08 [[ 7.46425010e-01 6.60746410e-01 7.91447114e-02 2.87923241e+02] [-6.56987039e-01 7.50609012e-01 -7.03856579e-02 -2.14818124e+02] [-1.05913804e-01 5.40565804e-04 9.94375168e-01 -3.50758631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19591999999994 meters 0.02897332080646478 Centerline is valid? [True, True] Translation: X:287.95, Y:-214.84, Z:-35.08 [[ 7.46027665e-01 6.61135832e-01 7.96375242e-02 2.87948298e+02] [-6.57323625e-01 7.50266030e-01 -7.08980702e-02 -2.14840349e+02] [-1.06622584e-01 5.44295680e-04 9.94299416e-01 -3.50780114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22592 meters 0.029003423132831194 Centerline is valid? [True, True] Translation: X:287.97, Y:-214.86, Z:-35.08 [[ 7.44050642e-01 6.63262145e-01 8.04485512e-02 2.87971685e+02] [-6.59375881e-01 7.48387091e-01 -7.16952531e-02 -2.14863155e+02] [-1.07759405e-01 2.99064788e-04 9.94176957e-01 -3.50803162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25591999999995 meters 0.02917016643523789 Centerline is valid? [True, True] Translation: X:287.99, Y:-214.89, Z:-35.08 [[ 7.42033968e-01 6.65361286e-01 8.17309579e-02 2.87994795e+02] [-6.61354183e-01 7.46521505e-01 -7.29128819e-02 -2.14885097e+02] [-1.09527327e-01 5.07242617e-05 9.93983784e-01 -3.50834578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28592 meters 0.028915994031758388 Centerline is valid? [True, True] Translation: X:288.02, Y:-214.91, Z:-35.09 [[ 7.40470836e-01 6.67112835e-01 8.16296890e-02 2.88019937e+02] [-6.63118727e-01 7.44956671e-01 -7.28910995e-02 -2.14907152e+02] [-1.09437169e-01 -1.56442128e-04 9.93993703e-01 -3.50850401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31591999999995 meters 0.02907696098416477 Centerline is valid? [True, True] Translation: X:288.04, Y:-214.93, Z:-35.09 [[ 7.38684530e-01 6.69034909e-01 8.20820084e-02 2.88044457e+02] [-6.64999497e-01 7.43230881e-01 -7.33725207e-02 -2.14928678e+02] [-1.10094661e-01 -3.85348335e-04 9.93921032e-01 -3.50884640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34592 meters 0.029026675291497644 Centerline is valid? [True, True] Translation: X:288.07, Y:-214.95, Z:-35.09 [[ 7.37042306e-01 6.70869937e-01 8.18667692e-02 2.88069857e+02] [-6.66858440e-01 7.41574789e-01 -7.32574392e-02 -2.14949979e+02] [-1.09856546e-01 -5.99714137e-04 9.93947272e-01 -3.50921786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37591999999995 meters 0.029170725786424996 Centerline is valid? [True, True] Translation: X:288.09, Y:-214.97, Z:-35.09 [[ 7.37483144e-01 6.70574706e-01 8.03005384e-02 2.88094255e+02] [-6.66706077e-01 7.41841845e-01 -7.19283295e-02 -2.14971092e+02] [-1.07803618e-01 -4.90926363e-04 9.94172087e-01 -3.50944583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40592 meters 0.028722451386948445 Centerline is valid? [True, True] Translation: X:288.12, Y:-214.99, Z:-35.10 [[ 7.38939945e-01 6.69124494e-01 7.89947413e-02 2.88118100e+02] [-6.65365884e-01 7.43150295e-01 -7.08228750e-02 -2.14992071e+02] [-1.06094286e-01 -2.26554512e-04 9.94356049e-01 -3.50976169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43591999999995 meters 0.028910945624367745 Centerline is valid? [True, True] Translation: X:288.14, Y:-215.01, Z:-35.10 [[ 7.39712656e-01 6.68302404e-01 7.87215528e-02 2.88143242e+02] [-6.64558070e-01 7.43889705e-01 -7.06447302e-02 -2.15013803e+02] [-1.05772196e-01 -5.82422362e-05 9.94390386e-01 -3.51006307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46592 meters 0.02887196895025128 Centerline is valid? [True, True] Translation: X:288.17, Y:-215.04, Z:-35.10 [[ 7.40140930e-01 6.67854253e-01 7.84990475e-02 2.88168210e+02] [-6.64120740e-01 7.44292075e-01 -7.05191374e-02 -2.15035816e+02] [-1.05522725e-01 6.12543742e-05 9.94416890e-01 -3.51036300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49591999999996 meters 0.029034754983988272 Centerline is valid? [True, True] Translation: X:288.19, Y:-215.06, Z:-35.11 [[ 7.40925624e-01 6.66829047e-01 7.98012600e-02 2.88191934e+02] [-6.62956262e-01 7.45210675e-01 -7.17638058e-02 -2.15056968e+02] [-1.07322941e-01 2.66897516e-04 9.94224178e-01 -3.51065998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.52592 meters 0.028956239503816695 Centerline is valid? [True, True] Translation: X:288.22, Y:-215.08, Z:-35.11 [[ 7.40428830e-01 6.67390870e-01 7.97155875e-02 2.88215982e+02] [-6.63522320e-01 7.44707574e-01 -7.17548614e-02 -2.15078849e+02] [-1.07253341e-01 2.36296544e-04 9.94231696e-01 -3.51096902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55591999999996 meters 0.028995023067572446 Centerline is valid? [True, True] Translation: X:288.24, Y:-215.10, Z:-35.11 [[ 7.39503886e-01 6.68384229e-01 7.99782816e-02 2.88239793e+02] [-6.64487676e-01 7.43816174e-01 -7.20668278e-02 -2.15101649e+02] [-1.07657471e-01 1.49116693e-04 9.94188034e-01 -3.51128284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.58592 meters 0.028885731820038497 Centerline is valid? [True, True] Translation: X:288.26, Y:-215.13, Z:-35.12 [[ 7.38250801e-01 6.69792286e-01 7.97749911e-02 2.88262584e+02] [-6.65915636e-01 7.42548513e-01 -7.19588161e-02 -2.15125958e+02] [-1.07434261e-01 2.39667018e-07 9.94212190e-01 -3.51155469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61591999999996 meters 0.02903746508027657 Centerline is valid? [True, True] Translation: X:288.29, Y:-215.15, Z:-35.12 [[ 7.37024870e-01 6.71052648e-01 8.05151264e-02 2.88286308e+02] [-6.67102559e-01 7.41409690e-01 -7.27038346e-02 -2.15148152e+02] [-1.08482796e-01 -1.27312658e-04 9.94098319e-01 -3.51190111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64592 meters 0.0289989369216642 Centerline is valid? [True, True] Translation: X:288.31, Y:-215.17, Z:-35.12 [[ 7.35362522e-01 6.72928787e-01 8.00550441e-02 2.88310591e+02] [-6.69026697e-01 7.39707191e-01 -7.23640101e-02 -2.15171040e+02] [-1.07913117e-01 -3.45180792e-04 9.94160269e-01 -3.51208624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67591999999996 meters 0.028774697169649432 Centerline is valid? [True, True] Translation: X:288.34, Y:-215.19, Z:-35.12 [[ 7.34530687e-01 6.73888520e-01 7.96174106e-02 2.88335403e+02] [-6.70026555e-01 7.38832918e-01 -7.20439862e-02 -2.15193181e+02] [-1.07373579e-01 -4.27260661e-04 9.94218654e-01 -3.51227014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70592 meters 0.028774697169649432 Centerline is valid? [True, True] Translation: X:288.36, Y:-215.21, Z:-35.13 [[ 7.34179566e-01 6.74275522e-01 7.95794302e-02 2.88359696e+02] [-6.70411278e-01 7.38479748e-01 -7.20859192e-02 -2.15214689e+02] [-1.07373568e-01 -4.26938649e-04 9.94218655e-01 -3.51255393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73591999999996 meters 0.028942550154811664 Centerline is valid? [True, True] Translation: X:288.38, Y:-215.24, Z:-35.13 [[ 7.33179182e-01 6.75291827e-01 8.01825212e-02 2.88384668e+02] [-6.71366289e-01 7.37550456e-01 -7.27092240e-02 -2.15236389e+02] [-1.08238600e-01 -5.22952284e-04 9.94124807e-01 -3.51287096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76592 meters 0.029010346713726938 Centerline is valid? [True, True] Translation: X:288.41, Y:-215.26, Z:-35.13 [[ 7.31020668e-01 6.77826056e-01 7.84896227e-02 2.88409014e+02] [-6.74071831e-01 7.35221842e-01 -7.12461191e-02 -2.15257162e+02] [-1.05999761e-01 -8.25258134e-04 9.94365813e-01 -3.51307340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79591999999997 meters 0.029160369832126935 Centerline is valid? [True, True] Translation: X:288.43, Y:-215.28, Z:-35.13 [[ 7.30038925e-01 6.78871318e-01 7.85932601e-02 2.88433975e+02] [-6.75105950e-01 7.34256680e-01 -7.14078783e-02 -2.15278565e+02] [-1.06184387e-01 -9.28246812e-04 9.94346023e-01 -3.51342209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82592 meters 0.029171423552489497 Centerline is valid? [True, True] Translation: X:288.46, Y:-215.30, Z:-35.14 [[ 7.28207345e-01 6.80885478e-01 7.81602750e-02 2.88460121e+02] [-6.77165167e-01 7.32388982e-01 -7.10894880e-02 -2.15299425e+02] [-1.05647524e-01 -1.15952838e-03 9.94402965e-01 -3.51365534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85591999999997 meters 0.0292315369652415 Centerline is valid? [True, True] Translation: X:288.49, Y:-215.32, Z:-35.14 [[ 7.27074104e-01 6.82171910e-01 7.74902102e-02 2.88485195e+02] [-6.78514817e-01 7.31190704e-01 -7.05535061e-02 -2.15321046e+02] [-1.04789741e-01 -1.28062862e-03 9.94493575e-01 -3.51385424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88592 meters 0.029218135720990843 Centerline is valid? [True, True] Translation: X:288.51, Y:-215.34, Z:-35.14 [[ 7.26582399e-01 6.82694335e-01 7.75013683e-02 2.88511015e+02] [-6.79031301e-01 7.30702916e-01 -7.06381020e-02 -2.15342249e+02] [-1.04854708e-01 -1.30145328e-03 9.94486700e-01 -3.51413062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91591999999997 meters 0.029394288303181134 Centerline is valid? [True, True] Translation: X:288.54, Y:-215.36, Z:-35.14 [[ 7.27046410e-01 6.82226572e-01 7.72685086e-02 2.88536977e+02] [-6.78575128e-01 7.31139879e-01 -7.05001652e-02 -2.15362660e+02] [-1.04591174e-01 -1.17559609e-03 9.94514607e-01 -3.51439187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94591999999994 meters 0.029315039333310762 Centerline is valid? [True, True] Translation: X:288.56, Y:-215.38, Z:-35.15 [[ 7.27617444e-01 6.81347623e-01 7.96132631e-02 2.88560732e+02] [-6.77456918e-01 7.31959266e-01 -7.27169692e-02 -2.15383483e+02] [-1.07819200e-01 -1.02442059e-03 9.94169991e-01 -3.51481699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97592 meters 0.029097386781234667 Centerline is valid? [True, True] Translation: X:288.58, Y:-215.41, Z:-35.15 [[ 7.31204057e-01 6.77661224e-01 7.82041773e-02 2.88583044e+02] [-6.73879339e-01 7.35374114e-01 -7.14951001e-02 -2.15406470e+02] [-1.05958785e-01 -4.22672138e-04 9.94370433e-01 -3.51503745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00591999999995 meters 0.029259892677530368 Centerline is valid? [True, True] Translation: X:288.61, Y:-215.43, Z:-35.15 [[ 7.32384475e-01 6.76363878e-01 7.83893231e-02 2.88607087e+02] [-6.72549308e-01 7.36567628e-01 -7.17325380e-02 -2.15429054e+02] [-1.06256335e-01 -1.84887865e-04 9.94338754e-01 -3.51531397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03592 meters 0.02906951670650937 Centerline is valid? [True, True] Translation: X:288.63, Y:-215.45, Z:-35.15 [[ 7.33736128e-01 6.75075277e-01 7.68418187e-02 2.88630948e+02] [-6.71395692e-01 7.37748851e-01 -7.03879121e-02 -2.15450906e+02] [-1.04207103e-01 5.48880661e-05 9.94555618e-01 -3.51547522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06591999999995 meters 0.02937195079638891 Centerline is valid? [True, True] Translation: X:288.65, Y:-215.47, Z:-35.16 [[ 7.33045053e-01 6.75521555e-01 7.94706189e-02 2.88653789e+02] [-6.71580241e-01 7.37340238e-01 -7.28653081e-02 -2.15473442e+02] [-1.07818971e-01 4.26563018e-05 9.94170543e-01 -3.51584989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09592 meters 0.029539049520285264 Centerline is valid? [True, True] Translation: X:288.68, Y:-215.50, Z:-35.16 [[ 7.32305339e-01 6.76070276e-01 8.15957872e-02 2.88676987e+02] [-6.71910193e-01 7.36837148e-01 -7.48846533e-02 -2.15495469e+02] [-1.10750095e-01 1.33903678e-05 9.93848286e-01 -3.51617807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12591999999995 meters 0.029555000172946697 Centerline is valid? [True, True] Translation: X:288.70, Y:-215.52, Z:-35.16 [[ 7.30692391e-01 6.77667206e-01 8.27996866e-02 2.88699736e+02] [-6.73385270e-01 7.35368700e-01 -7.60601938e-02 -2.15517936e+02] [-1.12431797e-01 -1.79484462e-04 9.93659428e-01 -3.51642889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15592 meters 0.029560816969294128 Centerline is valid? [True, True] Translation: X:288.72, Y:-215.54, Z:-35.17 [[ 7.27617508e-01 6.81046948e-01 8.21450947e-02 2.88722572e+02] [-6.76846118e-01 7.32239470e-01 -7.55294103e-02 -2.15542356e+02] [-1.11588955e-01 -6.43067106e-04 9.93754241e-01 -3.51665639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18591999999995 meters 0.02947828287089226 Centerline is valid? [True, True] Translation: X:288.75, Y:-215.57, Z:-35.17 [[ 7.25781108e-01 6.82998686e-01 8.21862464e-02 2.88746419e+02] [-6.78797201e-01 7.30419066e-01 -7.56462056e-02 -2.15565284e+02] [-1.11696660e-01 -8.85207118e-04 9.93741955e-01 -3.51692077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21592 meters 0.029627124159284278 Centerline is valid? [True, True] Translation: X:288.77, Y:-215.59, Z:-35.17 [[ 7.24718594e-01 6.84256734e-01 8.10905746e-02 2.88766835e+02] [-6.80166394e-01 7.29240497e-01 -7.47126128e-02 -2.15590251e+02] [-1.10257139e-01 -1.00946395e-03 9.93902583e-01 -3.51721230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24591999999996 meters 0.02949268101105362 Centerline is valid? [True, True] Translation: X:288.79, Y:-215.61, Z:-35.17 [[ 7.24597599e-01 6.84361437e-01 8.12880266e-02 2.88789817e+02] [-6.80243883e-01 7.29142284e-01 -7.49652482e-02 -2.15614627e+02] [-1.10573862e-01 -9.76044056e-04 9.93867430e-01 -3.51743877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.27592 meters 0.029613500164246555 Centerline is valid? [True, True] Translation: X:288.81, Y:-215.64, Z:-35.18 [[ 7.25844270e-01 6.83017647e-01 8.14677220e-02 2.88813161e+02] [-6.78864475e-01 7.30401523e-01 -7.52106405e-02 -2.15637584e+02] [-1.10874343e-01 -7.14329865e-04 9.93834176e-01 -3.51781508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30591999999996 meters 0.029649259345437256 Centerline is valid? [True, True] Translation: X:288.84, Y:-215.66, Z:-35.18 [[ 7.28306546e-01 6.80415962e-01 8.12631175e-02 2.88835970e+02] [-6.76258851e-01 7.32826072e-01 -7.50993662e-02 -2.15659702e+02] [-1.10650539e-01 -2.59542492e-04 9.93859342e-01 -3.51810017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.33592 meters 0.029621223206218218 Centerline is valid? [True, True] Translation: X:288.86, Y:-215.68, Z:-35.18 [[ 7.29271464e-01 6.79318049e-01 8.17931548e-02 2.88859848e+02] [-6.75091347e-01 7.33843980e-01 -7.56616632e-02 -2.15682789e+02] [-1.11421748e-01 -3.99591489e-05 9.93773210e-01 -3.51844574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36591999999996 meters 0.02970740212982406 Centerline is valid? [True, True] Translation: X:288.88, Y:-215.71, Z:-35.19 [[ 7.29909929e-01 6.78662428e-01 8.15402047e-02 2.88880849e+02] [-6.74448952e-01 7.34450335e-01 -7.55070637e-02 -2.15708296e+02] [-1.11131038e-01 1.18649884e-04 9.93805755e-01 -3.51877303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39592 meters 0.02987259253079683 Centerline is valid? [True, True] Translation: X:288.90, Y:-215.73, Z:-35.19 [[ 7.28774179e-01 6.79832677e-01 8.19495421e-02 2.88903873e+02] [-6.75575024e-01 7.33367255e-01 -7.59661533e-02 -2.15732087e+02] [-1.11743384e-01 -8.92800230e-07 9.93737096e-01 -3.51916598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42591999999996 meters 0.030077398943475345 Centerline is valid? [True, True] Translation: X:288.93, Y:-215.75, Z:-35.20 [[ 7.25323260e-01 6.83455357e-01 8.24314483e-02 2.88926140e+02] [-6.79161640e-01 7.29992138e-01 -7.64914691e-02 -2.15754741e+02] [-1.12452814e-01 -5.03235897e-04 9.93656939e-01 -3.51953502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45592 meters 0.030030958288200512 Centerline is valid? [True, True] Translation: X:288.95, Y:-215.78, Z:-35.20 [[ 7.23398325e-01 6.85497087e-01 8.23930054e-02 2.88950913e+02] [-6.81212384e-01 7.28074966e-01 -7.65279813e-02 -2.15776915e+02] [-1.12447993e-01 -7.66922065e-04 9.93657316e-01 -3.51969730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48591999999996 meters 0.030429127051198546 Centerline is valid? [True, True] Translation: X:288.97, Y:-215.80, Z:-35.20 [[ 7.21343708e-01 6.87531858e-01 8.34457865e-02 2.88974785e+02] [-6.83140959e-01 7.26153472e-01 -7.75858590e-02 -2.15798134e+02] [-1.13937197e-01 -1.03916331e-03 9.93487411e-01 -3.51995853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51592 meters 0.03045707334906549 Centerline is valid? [True, True] Translation: X:289.00, Y:-215.82, Z:-35.20 [[ 7.20925734e-01 6.88082265e-01 8.25159546e-02 2.88999873e+02] [-6.83784568e-01 7.25631910e-01 -7.67919045e-02 -2.15818020e+02] [-1.12715357e-01 -1.06187621e-03 9.93626751e-01 -3.52025264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54591999999997 meters 0.03050270392427274 Centerline is valid? [True, True] Translation: X:289.03, Y:-215.84, Z:-35.21 [[ 7.20656488e-01 6.88341474e-01 8.27057492e-02 2.89025311e+02] [-6.84017235e-01 7.25386042e-01 -7.70422754e-02 -2.15839488e+02] [-1.13024989e-01 -1.05114220e-03 9.93591590e-01 -3.52056004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57592 meters 0.030815939125201777 Centerline is valid? [True, True] Translation: X:289.05, Y:-215.86, Z:-35.21 [[ 7.21903063e-01 6.86677417e-01 8.56159630e-02 2.89051770e+02] [-6.82020901e-01 7.26961864e-01 -7.98369526e-02 -2.15858575e+02] [-1.17061772e-01 -7.57335586e-04 9.93124347e-01 -3.52086836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60591999999997 meters 0.030836763451104258 Centerline is valid? [True, True] Translation: X:289.08, Y:-215.88, Z:-35.21 [[ 7.22603731e-01 6.85842161e-01 8.63966348e-02 2.89076342e+02] [-6.81085229e-01 7.27750095e-01 -8.06393819e-02 -2.15878792e+02] [-1.18181047e-01 -5.73153629e-04 9.92991899e-01 -3.52120490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63592 meters 0.030842287176930088 Centerline is valid? [True, True] Translation: X:289.10, Y:-215.90, Z:-35.22 [[ 7.23321926e-01 6.85269641e-01 8.49170805e-02 2.89100583e+02] [-6.80662460e-01 7.28289327e-01 -7.93301422e-02 -2.15899825e+02] [-1.16206741e-01 -4.18637716e-04 9.93224958e-01 -3.52153395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66591999999997 meters 0.03076414288793188 Centerline is valid? [True, True] Translation: X:289.12, Y:-215.92, Z:-35.22 [[ 7.24510688e-01 6.84075294e-01 8.44112298e-02 2.89124915e+02] [-6.79506563e-01 7.29411381e-01 -7.89295112e-02 -2.15920366e+02] [-1.15564240e-01 -1.72710255e-04 9.93299993e-01 -3.52189840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69591999999994 meters 0.030816210574861516 Centerline is valid? [True, True] Translation: X:289.15, Y:-215.94, Z:-35.22 [[ 7.24044980e-01 6.84627090e-01 8.39322065e-02 2.89149414e+02] [-6.80105346e-01 7.28893481e-01 -7.85557947e-02 -2.15941817e+02] [-1.14959063e-01 -2.04813539e-04 9.93370209e-01 -3.52215365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72592 meters 0.031009086735484335 Centerline is valid? [True, True] Translation: X:289.17, Y:-215.96, Z:-35.22 [[ 7.22415097e-01 6.86245562e-01 8.47552748e-02 2.89172643e+02] [-6.81636152e-01 7.27369825e-01 -7.94058815e-02 -2.15963391e+02] [-1.16140363e-01 -4.08251741e-04 9.93232727e-01 -3.52233780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75591999999995 meters 0.031090981839668623 Centerline is valid? [True, True] Translation: X:289.20, Y:-215.99, Z:-35.23 [[ 7.21809408e-01 6.86834154e-01 8.51470713e-02 2.89195526e+02] [-6.82179236e-01 7.26814027e-01 -7.98301979e-02 -2.15986402e+02] [-1.16716192e-01 -4.63376194e-04 9.93165201e-01 -3.52261551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78592 meters 0.030988463337642307 Centerline is valid? [True, True] Translation: X:289.22, Y:-216.01, Z:-35.23 [[ 7.20788265e-01 6.88150812e-01 8.31428709e-02 2.89218101e+02] [-6.83717722e-01 7.25567404e-01 -7.79873025e-02 -2.16009923e+02] [-1.13992783e-01 -6.33921812e-04 9.93481376e-01 -3.52281298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81591999999995 meters 0.031321136935979405 Centerline is valid? [True, True] Translation: X:289.24, Y:-216.03, Z:-35.23 [[ 7.18031424e-01 6.90972351e-01 8.35947660e-02 2.89240065e+02] [-6.86501333e-01 7.22880448e-01 -7.84842515e-02 -2.16033768e+02] [-1.14659470e-01 -1.03375948e-03 9.93404317e-01 -3.52330718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84592 meters 0.03134398680933236 Centerline is valid? [True, True] Translation: X:289.26, Y:-216.06, Z:-35.24 [[ 7.16601197e-01 6.92498909e-01 8.32345166e-02 2.89263832e+02] [-6.88068190e-01 7.21417893e-01 -7.82201370e-02 -2.16056248e+02] [-1.14214229e-01 -1.21837932e-03 9.93455397e-01 -3.52358039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87591999999995 meters 0.03150821665346083 Centerline is valid? [True, True] Translation: X:289.29, Y:-216.08, Z:-35.24 [[ 7.14247453e-01 6.94790421e-01 8.43614091e-02 2.89288126e+02] [-6.90244910e-01 7.19210594e-01 -7.93604796e-02 -2.16077691e+02] [-1.15812520e-01 -1.54701283e-03 9.93269886e-01 -3.52385070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90592 meters 0.031536377361056855 Centerline is valid? [True, True] Translation: X:289.31, Y:-216.10, Z:-35.24 [[ 7.13069169e-01 6.96202636e-01 8.26695156e-02 2.89312335e+02] [-6.91839623e-01 7.17843322e-01 -7.78389483e-02 -2.16099542e+02] [-1.13535441e-01 -1.68949221e-03 9.93532510e-01 -3.52404537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93591999999995 meters 0.03202868517158276 Centerline is valid? [True, True] Translation: X:289.34, Y:-216.12, Z:-35.24 [[ 7.11545393e-01 6.97520855e-01 8.46629292e-02 2.89336121e+02] [-6.92944714e-01 7.16561984e-01 -7.97906359e-02 -2.16120484e+02] [-1.16321869e-01 -1.89206997e-03 9.93209768e-01 -3.52444709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96592 meters 0.03175619425278319 Centerline is valid? [True, True] Translation: X:289.36, Y:-216.14, Z:-35.25 [[ 7.11031356e-01 6.98195628e-01 8.34102877e-02 2.89359965e+02] [-6.93750735e-01 7.15904445e-01 -7.86812755e-02 -2.16141665e+02] [-1.14648718e-01 -1.92109445e-03 9.93404238e-01 -3.52460516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99591999999996 meters 0.03194036787248931 Centerline is valid? [True, True] Translation: X:289.39, Y:-216.16, Z:-35.25 [[ 7.09618626e-01 6.99732039e-01 8.25619694e-02 2.89385003e+02] [-6.95379363e-01 7.14402329e-01 -7.79541762e-02 -2.16162656e+02] [-1.13529498e-01 -2.09415428e-03 9.93532419e-01 -3.52487173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.02592 meters 0.031903540055421786 Centerline is valid? [True, True] Translation: X:289.41, Y:-216.18, Z:-35.25 [[ 7.09177709e-01 7.00348056e-01 8.11145975e-02 2.89409436e+02] [-6.96142484e-01 7.13798429e-01 -7.66644939e-02 -2.16183459e+02] [-1.11591302e-01 -2.09856725e-03 9.93751970e-01 -3.52508096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05591999999996 meters 0.032020675304882056 Centerline is valid? [True, True] Translation: X:289.44, Y:-216.20, Z:-35.25 [[ 7.08636575e-01 7.00640107e-01 8.32925249e-02 2.89436444e+02] [-6.96198436e-01 7.13511611e-01 -7.87966923e-02 -2.16201586e+02] [-1.14638306e-01 -2.14990744e-03 9.93404971e-01 -3.52538809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.08592 meters 0.03210856197552105 Centerline is valid? [True, True] Translation: X:289.46, Y:-216.22, Z:-35.26 [[ 7.07883862e-01 7.01294637e-01 8.41799826e-02 2.89462275e+02] [-6.96753493e-01 7.12868060e-01 -7.97100946e-02 -2.16221147e+02] [-1.15909483e-01 -2.22720731e-03 9.93257284e-01 -3.52574250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11591999999996 meters 0.032332440065759784 Centerline is valid? [True, True] Translation: X:289.49, Y:-216.24, Z:-35.26 [[ 7.07914438e-01 7.01231288e-01 8.44501629e-02 2.89488403e+02] [-6.96651459e-01 7.12930555e-01 -8.00422917e-02 -2.16240808e+02] [-1.16335261e-01 -2.16923532e-03 9.93207633e-01 -3.52620190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14592 meters 0.032018977110192366 Centerline is valid? [True, True] Translation: X:289.52, Y:-216.26, Z:-35.26 [[ 7.08253123e-01 7.01073544e-01 8.29059647e-02 2.89515946e+02] [-6.96650042e-01 7.13086037e-01 -7.86576310e-02 -2.16258955e+02] [-1.14263870e-01 -2.04693102e-03 9.93448327e-01 -3.52639564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17591999999996 meters 0.03203517825884653 Centerline is valid? [True, True] Translation: X:289.54, Y:-216.28, Z:-35.27 [[ 7.08257783e-01 7.01128987e-01 8.23957241e-02 2.89541343e+02] [-6.96752198e-01 7.13031678e-01 -7.82444937e-02 -2.16278984e+02] [-1.13610244e-01 -1.99213020e-03 9.93523399e-01 -3.52662724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20592 meters 0.03197520694682922 Centerline is valid? [True, True] Translation: X:289.57, Y:-216.30, Z:-35.27 [[ 7.08612163e-01 7.00803732e-01 8.21153506e-02 2.89567861e+02] [-6.96446474e-01 7.13351657e-01 -7.80494847e-02 -2.16298300e+02] [-1.13274492e-01 -1.88213226e-03 9.93561949e-01 -3.52696062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23591999999996 meters 0.031603304751299646 Centerline is valid? [True, True] Translation: X:289.60, Y:-216.31, Z:-35.27 [[ 7.10828022e-01 6.98578672e-01 8.19229082e-02 2.89596820e+02] [-6.94218974e-01 7.15531741e-01 -7.79380788e-02 -2.16313998e+02] [-1.13064321e-01 -1.47186691e-03 9.93586581e-01 -3.52712221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26592 meters 0.031844124685263375 Centerline is valid? [True, True] Translation: X:289.62, Y:-216.33, Z:-35.28 [[ 7.11847206e-01 6.97443178e-01 8.27440024e-02 2.89622968e+02] [-6.92979060e-01 7.16638996e-01 -7.87944881e-02 -2.16334855e+02] [-1.14252257e-01 -1.25022484e-03 9.93450985e-01 -3.52752862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29591999999997 meters 0.03142441155213857 Centerline is valid? [True, True] Translation: X:289.65, Y:-216.35, Z:-35.28 [[ 7.16247987e-01 6.93046373e-01 8.17040114e-02 2.89650672e+02] [-6.88656530e-01 7.20892844e-01 -7.78825544e-02 -2.16352611e+02] [-1.12876059e-01 -4.82778122e-04 9.93608958e-01 -3.52780248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32592 meters 0.03144488158715115 Centerline is valid? [True, True] Translation: X:289.68, Y:-216.37, Z:-35.28 [[ 7.17461044e-01 6.91886616e-01 8.08861041e-02 2.89675852e+02] [-6.87569288e-01 7.22006129e-01 -7.71726865e-02 -2.16372280e+02] [-1.11795012e-01 -2.46404804e-04 9.93731259e-01 -3.52810045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35591999999997 meters 0.03126819280376187 Centerline is valid? [True, True] Translation: X:289.70, Y:-216.39, Z:-35.28 [[ 7.18249344e-01 6.91132880e-01 8.03319516e-02 2.89700807e+02] [-6.86862216e-01 7.22727706e-01 -7.67134890e-02 -2.16392898e+02] [-1.11077342e-01 -7.75691878e-05 9.93811762e-01 -3.52835648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38592 meters 0.03157060819882793 Centerline is valid? [True, True] Translation: X:289.73, Y:-216.41, Z:-35.29 [[ 7.18866186e-01 6.90316710e-01 8.18183817e-02 2.89725373e+02] [-6.85872440e-01 7.23507312e-01 -7.82059214e-02 -2.16413983e+02] [-1.13183052e-01 1.02619325e-04 9.93574147e-01 -3.52865530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41591999999997 meters 0.03156788543797599 Centerline is valid? [True, True] Translation: X:289.75, Y:-216.43, Z:-35.29 [[ 7.18946269e-01 6.90300400e-01 8.12503520e-02 2.89749867e+02] [-6.85909612e-01 7.23522863e-01 -7.77346196e-02 -2.16434626e+02] [-1.12446726e-01 1.56617315e-04 9.93657743e-01 -3.52885386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44591999999994 meters 0.031599206935932204 Centerline is valid? [True, True] Translation: X:289.78, Y:-216.45, Z:-35.29 [[ 7.18462668e-01 6.90862285e-01 8.07508398e-02 2.89776395e+02] [-6.86520741e-01 7.22986368e-01 -7.73303509e-02 -2.16454747e+02] [-1.11806379e-01 1.21843823e-04 9.93730003e-01 -3.52910076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47592 meters 0.031525517166197926 Centerline is valid? [True, True] Translation: X:289.80, Y:-216.48, Z:-35.30 [[ 7.17868327e-01 6.91438527e-01 8.11038125e-02 2.89800518e+02] [-6.87053392e-01 7.22435295e-01 -7.77488370e-02 -2.16476586e+02] [-1.12350798e-01 9.07781672e-05 9.93668602e-01 -3.52950859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50591999999995 meters 0.03130297416905554 Centerline is valid? [True, True] Translation: X:289.82, Y:-216.50, Z:-35.30 [[ 7.17008710e-01 6.92423368e-01 8.03018581e-02 2.89823809e+02] [-6.88122363e-01 7.21491427e-01 -7.70566992e-02 -2.16498794e+02] [-1.11292961e-01 -7.17983944e-06 9.93787642e-01 -3.52968297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53592 meters 0.03147663964055898 Centerline is valid? [True, True] Translation: X:289.85, Y:-216.52, Z:-35.30 [[ 7.16669309e-01 6.92742630e-01 8.05775967e-02 2.89847995e+02] [-6.88405807e-01 7.21184892e-01 -7.73937772e-02 -2.16521700e+02] [-1.11725314e-01 -4.34061454e-06 9.93739128e-01 -3.52992513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56591999999995 meters 0.03144097311320249 Centerline is valid? [True, True] Translation: X:289.87, Y:-216.54, Z:-35.30 [[ 7.17318946e-01 6.92039800e-01 8.08359118e-02 2.89872529e+02] [-6.87661540e-01 7.21859327e-01 -7.77220579e-02 -2.16543120e+02] [-1.12138914e-01 1.63757059e-04 9.93692526e-01 -3.53011507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59592 meters 0.03144097311320249 Centerline is valid? [True, True] Translation: X:289.90, Y:-216.57, Z:-35.30 [[ 7.16960076e-01 6.92416064e-01 8.07975516e-02 2.89896179e+02] [-6.88035693e-01 7.21498419e-01 -7.77619201e-02 -2.16565370e+02] [-1.12138908e-01 1.60592764e-04 9.93692528e-01 -3.53039893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62591999999995 meters 0.031387234376629186 Centerline is valid? [True, True] Translation: X:289.92, Y:-216.59, Z:-35.31 [[ 7.17067232e-01 6.92284389e-01 8.09747477e-02 2.89920521e+02] [-6.87874660e-01 7.21624741e-01 -7.80140082e-02 -2.16587418e+02] [-1.12441261e-01 2.40811855e-04 9.93658344e-01 -3.53081267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65592 meters 0.03147238875910559 Centerline is valid? [True, True] Translation: X:289.94, Y:-216.61, Z:-35.31 [[ 7.17054300e-01 6.92413693e-01 7.99775523e-02 2.89943989e+02] [-6.88104410e-01 7.21500660e-01 -7.71305274e-02 -2.16609231e+02] [-1.11110090e-01 2.73869921e-04 9.93808066e-01 -3.53105557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68591999999995 meters 0.031145463890385045 Centerline is valid? [True, True] Translation: X:289.97, Y:-216.63, Z:-35.31 [[ 7.17060202e-01 6.92603613e-01 7.82617574e-02 2.89968021e+02] [-6.88471612e-01 7.21318344e-01 -7.55426138e-02 -2.16630942e+02] [-1.08772728e-01 2.87603613e-04 9.94066603e-01 -3.53124770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71592 meters 0.030940770913758027 Centerline is valid? [True, True] Translation: X:289.99, Y:-216.65, Z:-35.31 [[ 7.16650764e-01 6.93087511e-01 7.77263480e-02 2.89992897e+02] [-6.89007351e-01 7.20853407e-01 -7.50948524e-02 -2.16652382e+02] [-1.08076607e-01 2.62758252e-04 9.94142534e-01 -3.53149603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74591999999996 meters 0.031046253267380333 Centerline is valid? [True, True] Translation: X:290.02, Y:-216.68, Z:-35.32 [[ 7.16049928e-01 6.93685179e-01 7.79318448e-02 2.90016861e+02] [-6.89578387e-01 7.20278293e-01 -7.53712748e-02 -2.16675362e+02] [-1.08416552e-01 2.29480062e-04 9.94105527e-01 -3.53175268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.77592 meters 0.030974993018847423 Centerline is valid? [True, True] Translation: X:290.04, Y:-216.70, Z:-35.32 [[ 7.15127974e-01 6.94462725e-01 7.94575653e-02 2.90040804e+02] [-6.90189157e-01 7.19528662e-01 -7.69248478e-02 -2.16697449e+02] [-1.10593435e-01 1.70360494e-04 9.93865717e-01 -3.53201127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80591999999996 meters 0.03104323697997645 Centerline is valid? [True, True] Translation: X:290.07, Y:-216.72, Z:-35.32 [[ 7.14504505e-01 6.95116785e-01 7.93471366e-02 2.90065029e+02] [-6.90851273e-01 7.18896822e-01 -7.68887363e-02 -2.16719717e+02] [-1.10489056e-01 1.20278131e-04 9.93877334e-01 -3.53218830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.83592 meters 0.030888419063395577 Centerline is valid? [True, True] Translation: X:290.09, Y:-216.74, Z:-35.32 [[ 7.13676631e-01 6.96132031e-01 7.78836379e-02 2.90088963e+02] [-6.92020744e-01 7.17913779e-01 -7.55453175e-02 -2.16741781e+02] [-1.08503252e-01 1.78346731e-05 9.94096094e-01 -3.53231911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86591999999996 meters 0.030764997966243598 Centerline is valid? [True, True] Translation: X:290.11, Y:-216.76, Z:-35.33 [[ 7.12534923e-01 6.97194165e-01 7.88307016e-02 2.90113349e+02] [-6.92980735e-01 7.16882339e-01 -7.65337399e-02 -2.16762093e+02] [-1.09871215e-01 -9.51950925e-05 9.93945827e-01 -3.53276649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89592 meters 0.03086569395193765 Centerline is valid? [True, True] Translation: X:290.14, Y:-216.78, Z:-35.33 [[ 7.12360941e-01 6.97391086e-01 7.86610692e-02 2.90137760e+02] [-6.93189209e-01 7.16690776e-01 -7.64398593e-02 -2.16783858e+02] [-1.09684139e-01 -7.42342642e-05 9.93966490e-01 -3.53307005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92591999999996 meters 0.03086626161670052 Centerline is valid? [True, True] Translation: X:290.16, Y:-216.81, Z:-35.33 [[ 7.12047428e-01 6.97650988e-01 7.91931751e-02 2.90161804e+02] [-6.93384655e-01 7.16437782e-01 -7.70365146e-02 -2.16805786e+02] [-1.10481583e-01 -5.76802378e-05 9.93878170e-01 -3.53342790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95592 meters 0.030728367806515108 Centerline is valid? [True, True] Translation: X:290.19, Y:-216.83, Z:-35.34 [[ 7.11597511e-01 6.98180189e-01 7.85710296e-02 2.90187439e+02] [-6.93975588e-01 7.15922075e-01 -7.65079492e-02 -2.16825585e+02] [-1.09667069e-01 -8.35102007e-05 9.93968373e-01 -3.53363396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98591999999996 meters 0.03085458918020876 Centerline is valid? [True, True] Translation: X:290.21, Y:-216.85, Z:-35.34 [[ 7.10463582e-01 6.99236431e-01 7.94349561e-02 2.90211882e+02] [-6.94937291e-01 7.14890463e-01 -7.74195521e-02 -2.16846636e+02] [-1.10921864e-01 -1.98540919e-04 9.93829110e-01 -3.53397335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01592 meters 0.030390786054370005 Centerline is valid? [True, True] Translation: X:290.24, Y:-216.87, Z:-35.34 [[ 7.10761661e-01 6.99122802e-01 7.77506869e-02 2.90236892e+02] [-6.94996513e-01 7.15001603e-01 -7.58456028e-02 -2.16866884e+02] [-1.08617256e-01 -1.28309672e-04 9.94083636e-01 -3.53404165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04591999999997 meters 0.030539609505197785 Centerline is valid? [True, True] Translation: X:290.26, Y:-216.89, Z:-35.34 [[ 7.11037426e-01 6.98817009e-01 7.79779885e-02 2.90261369e+02] [-6.94656947e-01 7.15300487e-01 -7.61376347e-02 -2.16889514e+02] [-1.08983967e-01 -3.12436101e-05 9.94043507e-01 -3.53436930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07592 meters 0.030666402667239058 Centerline is valid? [True, True] Translation: X:290.29, Y:-216.91, Z:-35.35 [[ 7.10938711e-01 6.98715196e-01 7.97698226e-02 2.90286786e+02] [-6.94351613e-01 7.15399939e-01 -7.79664326e-02 -2.16909951e+02] [-1.11543658e-01 4.10500387e-05 9.93759534e-01 -3.53472777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10591999999997 meters 0.030590494621092316 Centerline is valid? [True, True] Translation: X:290.31, Y:-216.93, Z:-35.35 [[ 7.10832043e-01 6.98799719e-01 7.99797436e-02 2.90311788e+02] [-6.94405440e-01 7.15317375e-01 -7.82440895e-02 -2.16931548e+02] [-1.11887848e-01 8.00369403e-05 9.93720838e-01 -3.53497060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13592 meters 0.030645921886357463 Centerline is valid? [True, True] Translation: X:290.34, Y:-216.95, Z:-35.35 [[ 7.10657414e-01 6.98917783e-01 8.04982763e-02 2.90336110e+02] [-6.94457752e-01 7.15202013e-01 -7.88321719e-02 -2.16953170e+02] [-1.12669736e-01 1.20015410e-04 9.93632486e-01 -3.53529631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16591999999997 meters 0.030496023331675483 Centerline is valid? [True, True] Translation: X:290.36, Y:-216.98, Z:-35.35 [[ 7.10429897e-01 6.99183355e-01 8.01997414e-02 2.90360318e+02] [-6.94749757e-01 7.14942389e-01 -7.86139716e-02 -2.16976240e+02] [-1.12303775e-01 1.30964907e-04 9.93673913e-01 -3.53546699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19591999999994 meters 0.030450203173163933 Centerline is valid? [True, True] Translation: X:290.38, Y:-217.00, Z:-35.36 [[ 7.09707351e-01 6.99825231e-01 8.09945857e-02 2.90383595e+02] [-6.95300342e-01 7.14314105e-01 -7.94530870e-02 -2.16998412e+02] [-1.13458850e-01 7.28767622e-05 9.93542694e-01 -3.53580541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22592 meters 0.03039053661713706 Centerline is valid? [True, True] Translation: X:290.41, Y:-217.02, Z:-35.36 [[ 7.08990455e-01 7.00544140e-01 8.10582667e-02 2.90408069e+02] [-6.96008338e-01 7.13609072e-01 -7.95894792e-02 -2.17020955e+02] [-1.13599858e-01 1.09515527e-05 9.93526584e-01 -3.53606584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25591999999995 meters 0.030321435257143713 Centerline is valid? [True, True] Translation: X:290.43, Y:-217.04, Z:-35.36 [[ 7.07787255e-01 7.01746111e-01 8.11763352e-02 2.90431014e+02] [-6.97195545e-01 7.12427105e-01 -7.97871671e-02 -2.17044466e+02] [-1.13822556e-01 -1.23439300e-04 9.93501087e-01 -3.53629715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28592 meters 0.030402940332841407 Centerline is valid? [True, True] Translation: X:290.45, Y:-217.07, Z:-35.37 [[ 7.07175810e-01 7.02282102e-01 8.18671000e-02 2.90453144e+02] [-6.97647779e-01 7.11898747e-01 -8.05465782e-02 -2.17067512e+02] [-1.14847506e-01 -1.53808788e-04 9.93383122e-01 -3.53658731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31591999999995 meters 0.03041526474302788 Centerline is valid? [True, True] Translation: X:290.48, Y:-217.09, Z:-35.37 [[ 7.05881611e-01 7.03609189e-01 8.16410489e-02 2.90476943e+02] [-6.99000769e-01 7.10587089e-01 -8.03984731e-02 -2.17090592e+02] [-1.14582180e-01 -3.15352259e-04 9.93413723e-01 -3.53684721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34592 meters 0.030294521549159348 Centerline is valid? [True, True] Translation: X:290.50, Y:-217.11, Z:-35.37 [[ 7.05021824e-01 7.04486280e-01 8.15064925e-02 2.90501365e+02] [-6.99889512e-01 7.09717494e-01 -8.03476766e-02 -2.17112649e+02] [-1.14450419e-01 -3.98673738e-04 9.93428881e-01 -3.53718430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37591999999995 meters 0.0302157251707041 Centerline is valid? [True, True] Translation: X:290.53, Y:-217.13, Z:-35.37 [[ 7.04769120e-01 7.04848099e-01 8.05583313e-02 2.90525606e+02] [-7.00351431e-01 7.09358161e-01 -7.94913391e-02 -2.17133259e+02] [-1.13174029e-01 -3.96101495e-04 9.93575102e-01 -3.53740359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40592 meters 0.0303228464968329 Centerline is valid? [True, True] Translation: X:290.55, Y:-217.16, Z:-35.38 [[ 7.05013882e-01 7.04618508e-01 8.04250225e-02 2.90549948e+02] [-7.00126935e-01 7.09586263e-01 -7.94330558e-02 -2.17155648e+02] [-1.13038492e-01 -3.06317460e-04 9.93590562e-01 -3.53762544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43591999999995 meters 0.030328147469554423 Centerline is valid? [True, True] Translation: X:290.57, Y:-217.18, Z:-35.38 [[ 7.04598525e-01 7.05059450e-01 8.02003166e-02 2.90574470e+02] [-7.00586603e-01 7.09148130e-01 -7.92927511e-02 -2.17178288e+02] [-1.12780008e-01 -3.17711931e-04 9.93619932e-01 -3.53792251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46592 meters 0.03037484474886942 Centerline is valid? [True, True] Translation: X:290.60, Y:-217.20, Z:-35.38 [[ 7.05251457e-01 7.04359695e-01 8.06089510e-02 2.90599064e+02] [-6.99827008e-01 7.09843221e-01 -7.97794508e-02 -2.17200332e+02] [-1.13413147e-01 -1.47747089e-04 9.93547903e-01 -3.53824224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49591999999996 meters 0.030379857158078723 Centerline is valid? [True, True] Translation: X:290.62, Y:-217.22, Z:-35.39 [[ 7.07910078e-01 7.01794082e-01 7.96767734e-02 2.90621844e+02] [-6.97340894e-01 7.12379790e-01 -7.89348586e-02 -2.17223204e+02] [-1.12156140e-01 3.16909507e-04 9.93690545e-01 -3.53859054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.52592 meters 0.030408177935284466 Centerline is valid? [True, True] Translation: X:290.65, Y:-217.25, Z:-35.39 [[ 7.09861571e-01 6.99851458e-01 7.94008007e-02 2.90645322e+02] [-6.95408867e-01 7.14288095e-01 -7.87338946e-02 -2.17246140e+02] [-1.11817078e-01 6.74145261e-04 9.93728578e-01 -3.53893828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55591999999996 meters 0.030630504396072344 Centerline is valid? [True, True] Translation: X:290.67, Y:-217.27, Z:-35.39 [[ 7.13195176e-01 6.96478589e-01 7.91846936e-02 2.90668854e+02] [-6.92030758e-01 7.17576474e-01 -7.85966526e-02 -2.17268706e+02] [-1.11561959e-01 1.25650998e-03 9.93756686e-01 -3.53918651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.58592 meters 0.030612045150558216 Centerline is valid? [True, True] Translation: X:290.69, Y:-217.29, Z:-35.39 [[ 7.14101457e-01 6.95651202e-01 7.82848303e-02 2.90692209e+02] [-6.91291511e-01 7.18378305e-01 -7.77731164e-02 -2.17292373e+02] [-1.10341086e-01 1.42025709e-03 9.93892765e-01 -3.53947574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61591999999996 meters 0.03074449946638579 Centerline is valid? [True, True] Translation: X:290.71, Y:-217.32, Z:-35.40 [[ 7.14979797e-01 6.94750471e-01 7.82666786e-02 2.90713682e+02] [-6.90379043e-01 7.19249038e-01 -7.78305729e-02 -2.17315859e+02] [-1.10366061e-01 1.61361252e-03 9.93889697e-01 -3.53970902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64592 meters 0.030821745434695857 Centerline is valid? [True, True] Translation: X:290.74, Y:-217.34, Z:-35.40 [[ 7.16167126e-01 6.93672270e-01 7.69638157e-02 2.90735403e+02] [-6.89432033e-01 7.20288515e-01 -7.66023937e-02 -2.17340866e+02] [-1.08573109e-01 1.79879626e-03 9.94086839e-01 -3.53995834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67591999999996 meters 0.030955295485434988 Centerline is valid? [True, True] Translation: X:290.76, Y:-217.36, Z:-35.40 [[ 7.16465790e-01 6.93324287e-01 7.73188540e-02 2.90758247e+02] [-6.89034467e-01 7.20623180e-01 -7.70307469e-02 -2.17362929e+02] [-1.09125046e-01 1.91453962e-03 9.94026186e-01 -3.54019682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70592 meters 0.030906996184103936 Centerline is valid? [True, True] Translation: X:290.78, Y:-217.39, Z:-35.40 [[ 7.15919349e-01 6.93865203e-01 7.75278420e-02 2.90780702e+02] [-6.89547602e-01 7.20102436e-01 -7.73083829e-02 -2.17386455e+02] [-1.09469585e-01 1.88742965e-03 9.93988354e-01 -3.54048127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73591999999996 meters 0.03112235742951419 Centerline is valid? [True, True] Translation: X:290.80, Y:-217.41, Z:-35.41 [[ 7.15588562e-01 6.94019662e-01 7.91815564e-02 2.90798811e+02] [-6.89507643e-01 7.19953380e-01 -7.90337943e-02 -2.17413053e+02] [-1.11858036e-01 1.95939083e-03 9.93722265e-01 -3.54073768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76592 meters 0.03125588801587154 Centerline is valid? [True, True] Translation: X:290.82, Y:-217.44, Z:-35.41 [[ 7.15471025e-01 6.94024636e-01 8.01936208e-02 2.90818890e+02] [-6.89388773e-01 7.19948387e-01 -8.01089294e-02 -2.17437634e+02] [-1.13332838e-01 2.03103599e-03 9.93555002e-01 -3.54109446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79591999999997 meters 0.03127324954888569 Centerline is valid? [True, True] Translation: X:290.84, Y:-217.46, Z:-35.41 [[ 7.15982811e-01 6.93738044e-01 7.80777925e-02 2.90838348e+02] [-6.89335710e-01 7.20224449e-01 -7.80578070e-02 -2.17463146e+02] [-1.10385205e-01 2.06623750e-03 9.93886733e-01 -3.54130444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82592 meters 0.03121346187254747 Centerline is valid? [True, True] Translation: X:290.79, Y:-217.78, Z:-33.52 [[ 7.41642277e-01 -6.69395279e-01 -4.33208302e-02 2.90788162e+02] [-6.67845902e-01 -7.42889385e-01 4.57953329e-02 -2.17780452e+02] [-6.28377646e-02 -5.03211599e-03 -9.98011069e-01 -3.35207315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85591999999997 meters 0.031068945450948276 Centerline is valid? [True, True] Translation: X:290.85, Y:-217.50, Z:-35.42 [[ 7.62887523e-01 6.41155796e-01 8.31977921e-02 2.90852162e+02] [-6.37092331e-01 7.67408140e-01 -7.20979101e-02 -2.17503635e+02] [-1.10072656e-01 1.99792077e-03 9.93921536e-01 -3.54166434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88592 meters 0.030759778005091658 Centerline is valid? [True, True] Translation: X:290.87, Y:-217.53, Z:-35.42 [[ 7.61092933e-01 6.43387774e-01 8.23997614e-02 2.90873630e+02] [-6.39411791e-01 7.65538596e-01 -7.14368218e-02 -2.17528257e+02] [-1.09041775e-01 1.68268116e-03 9.94035744e-01 -3.54173863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91591999999997 meters 0.030700832379708068 Centerline is valid? [True, True] Translation: X:290.90, Y:-217.55, Z:-35.42 [[ 7.58847654e-01 6.46014673e-01 8.25547075e-02 2.90895611e+02] [-6.42032129e-01 7.63323785e-01 -7.16348033e-02 -2.17551387e+02] [-1.09293106e-01 1.35712783e-03 9.94008639e-01 -3.54196892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94591999999994 meters 0.030478250263734054 Centerline is valid? [True, True] Translation: X:290.92, Y:-217.58, Z:-35.42 [[ 7.56476096e-01 6.49112887e-01 7.99773509e-02 2.90915240e+02] [-6.45386642e-01 7.60691528e-01 -6.94584910e-02 -2.17577641e+02] [-1.05924495e-01 9.27374174e-04 9.94373743e-01 -3.54223185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97592 meters 0.030552995742441167 Centerline is valid? [True, True] Translation: X:290.94, Y:-217.60, Z:-35.43 [[ 7.55790652e-01 6.49851000e-01 8.04622161e-02 2.90938551e+02] [-6.46076537e-01 7.60061120e-01 -6.99442782e-02 -2.17601640e+02] [-1.06609561e-01 8.78481744e-04 9.94300573e-01 -3.54259622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00591999999995 meters 0.030386986374808262 Centerline is valid? [True, True] Translation: X:290.96, Y:-217.63, Z:-35.43 [[ 7.55326701e-01 6.50460807e-01 7.98893887e-02 2.90962072e+02] [-6.46735863e-01 7.59539355e-01 -6.95175710e-02 -2.17625038e+02] [-1.05897590e-01 8.41144806e-04 9.94376686e-01 -3.54282136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03592 meters 0.030480634075020503 Centerline is valid? [True, True] Translation: X:290.99, Y:-217.65, Z:-35.43 [[ 7.54776736e-01 6.51094220e-01 7.99274377e-02 2.90986441e+02] [-6.47361590e-01 7.58996485e-01 -6.96226077e-02 -2.17647731e+02] [-1.05995522e-01 8.07571480e-04 9.94366279e-01 -3.54309809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06591999999995 meters 0.03029493699086741 Centerline is valid? [True, True] Translation: X:291.01, Y:-217.67, Z:-35.43 [[ 7.53784912e-01 6.52310137e-01 7.93712297e-02 2.91011298e+02] [-6.48628730e-01 7.57951855e-01 -6.92080646e-02 -2.17668466e+02] [-1.05304693e-01 6.85534982e-04 9.94439768e-01 -3.54326868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09592 meters 0.030154216120743357 Centerline is valid? [True, True] Translation: X:291.04, Y:-217.69, Z:-35.43 [[ 7.50481267e-01 6.56154657e-01 7.89869202e-02 2.91035140e+02] [-6.52523499e-01 7.54626416e-01 -6.89351468e-02 -2.17690296e+02] [-1.04837734e-01 1.93714737e-04 9.94489322e-01 -3.54345762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12591999999995 meters 0.03029869668756666 Centerline is valid? [True, True] Translation: X:291.06, Y:-217.71, Z:-35.44 [[ 7.48516127e-01 6.58223054e-01 8.04115584e-02 2.91059135e+02] [-6.54464277e-01 7.52822960e-01 -7.02431601e-02 -2.17710886e+02] [-1.06771335e-01 -4.83542693e-05 9.94283601e-01 -3.54378484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15592 meters 0.030321999818609464 Centerline is valid? [True, True] Translation: X:291.08, Y:-217.73, Z:-35.44 [[ 7.46934865e-01 6.60156549e-01 7.92567874e-02 2.91084167e+02] [-6.56509448e-01 7.51127989e-01 -6.92971041e-02 -2.17731335e+02] [-1.05278928e-01 -2.72406680e-04 9.94442695e-01 -3.54392078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18591999999995 meters 0.030184649045194994 Centerline is valid? [True, True] Translation: X:291.11, Y:-217.75, Z:-35.44 [[ 7.44885110e-01 6.62576963e-01 7.83450135e-02 2.91111587e+02] [-6.59020140e-01 7.48993629e-01 -6.85638395e-02 -2.17749685e+02] [-1.04108736e-01 -5.58758634e-04 9.94565764e-01 -3.54415261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21592 meters 0.030088199876971512 Centerline is valid? [True, True] Translation: X:291.14, Y:-217.77, Z:-35.44 [[ 7.44772183e-01 6.62933082e-01 7.63814382e-02 2.91138332e+02] [-6.59547663e-01 7.48678459e-01 -6.69137137e-02 -2.17768218e+02] [-1.01544452e-01 -5.41726435e-04 9.94830855e-01 -3.54430498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24591999999996 meters 0.030107560138744414 Centerline is valid? [True, True] Translation: X:291.16, Y:-217.79, Z:-35.45 [[ 7.44865797e-01 6.62625963e-01 7.81138748e-02 2.91163859e+02] [-6.59076384e-01 7.48950345e-01 -6.84959862e-02 -2.17787898e+02] [-1.03890632e-01 -4.62692833e-04 9.94588620e-01 -3.54462845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.27592 meters 0.030139077814643808 Centerline is valid? [True, True] Translation: X:291.19, Y:-217.81, Z:-35.45 [[ 7.45395309e-01 6.61851679e-01 7.96127396e-02 2.91188897e+02] [-6.58152782e-01 7.49634749e-01 -6.98760163e-02 -2.17807969e+02] [-1.05928035e-01 -3.12091306e-04 9.94373750e-01 -3.54495002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30591999999996 meters 0.03000966536819538 Centerline is valid? [True, True] Translation: X:291.21, Y:-217.83, Z:-35.45 [[ 7.46372998e-01 6.60806737e-01 7.91315691e-02 2.91214107e+02] [-6.57139712e-01 7.50556090e-01 -6.95194547e-02 -2.17828662e+02] [-1.05331605e-01 -1.13052730e-04 9.94437147e-01 -3.54522994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.33592 meters 0.029664739853633968 Centerline is valid? [True, True] Translation: X:291.24, Y:-217.85, Z:-35.45 [[ 7.48146351e-01 6.58848035e-01 7.87166091e-02 2.91240101e+02] [-6.55200913e-01 7.52276026e-01 -6.92282033e-02 -2.17849493e+02] [-1.04827484e-01 2.17633502e-04 9.94490398e-01 -3.54543419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36591999999996 meters 0.029870677236633426 Centerline is valid? [True, True] Translation: X:291.27, Y:-217.87, Z:-35.46 [[ 7.49397269e-01 6.57477211e-01 7.82780274e-02 2.91265506e+02] [-6.53855686e-01 7.53474289e-01 -6.89147218e-02 -2.17870189e+02] [-1.04290340e-01 4.61971051e-04 9.94546787e-01 -3.54581210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39592 meters 0.02973977798238427 Centerline is valid? [True, True] Translation: X:291.29, Y:-217.89, Z:-35.46 [[ 7.50481497e-01 6.56332721e-01 7.74911723e-02 2.91290113e+02] [-6.52770364e-01 7.54471280e-01 -6.82930402e-02 -2.17892686e+02] [-1.03287821e-01 6.68722316e-04 9.94651285e-01 -3.54609298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42591999999996 meters 0.029795707309987252 Centerline is valid? [True, True] Translation: X:291.31, Y:-217.92, Z:-35.46 [[ 7.50494727e-01 6.56400671e-01 7.67842748e-02 2.91314425e+02] [-6.52896316e-01 7.54412129e-01 -6.77402437e-02 -2.17915126e+02] [-1.02391730e-01 7.06525510e-04 9.94743904e-01 -3.54630890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45592 meters 0.029580217643278235 Centerline is valid? [True, True] Translation: X:291.34, Y:-217.94, Z:-35.46 [[ 7.50452504e-01 6.56559810e-01 7.58304426e-02 2.91338893e+02] [-6.53135967e-01 7.54273614e-01 -6.69680794e-02 -2.17937519e+02] [-1.01165451e-01 7.28773408e-04 9.94869348e-01 -3.54647010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48591999999996 meters 0.02954238039938764 Centerline is valid? [True, True] Translation: X:291.36, Y:-217.96, Z:-35.47 [[ 7.49180097e-01 6.58158249e-01 7.45446237e-02 2.91362501e+02] [-6.54851084e-01 7.52879414e-01 -6.58987547e-02 -2.17959114e+02] [-9.94949216e-02 5.54407808e-04 9.95037915e-01 -3.54659666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51592 meters 0.02954238039938764 Centerline is valid? [True, True] Translation: X:291.39, Y:-217.98, Z:-35.47 [[ 7.48842086e-01 6.58546234e-01 7.45143467e-02 2.91387045e+02] [-6.55237580e-01 7.52540070e-01 -6.59329745e-02 -2.17980349e+02] [-9.94949437e-02 5.48785984e-04 9.95037916e-01 -3.54687975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54591999999997 meters 0.029370168797749042 Centerline is valid? [True, True] Translation: X:291.41, Y:-218.00, Z:-35.47 [[ 7.47646022e-01 6.59777710e-01 7.56227408e-02 2.91412310e+02] [-6.56368748e-01 7.51460695e-01 -6.69842541e-02 -2.18001958e+02] [-1.01022235e-01 4.44107419e-04 9.94884069e-01 -3.54713892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57592 meters 0.0294770885017063 Centerline is valid? [True, True] Translation: X:291.44, Y:-218.02, Z:-35.47 [[ 7.46921724e-01 6.60729858e-01 7.44579972e-02 2.91435262e+02] [-6.57423402e-01 7.50623690e-01 -6.60192898e-02 -2.18024705e+02] [-9.95108526e-02 3.60811980e-04 9.95036411e-01 -3.54738901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60591999999997 meters 0.029403951234738313 Centerline is valid? [True, True] Translation: X:291.46, Y:-218.05, Z:-35.48 [[ 7.47108334e-01 6.60598687e-01 7.37462690e-02 2.91458603e+02] [-6.57348687e-01 7.50739101e-01 -6.54484937e-02 -2.18047799e+02] [-9.85993968e-02 4.20101958e-04 9.95127119e-01 -3.54760720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63592 meters 0.029239478738503372 Centerline is valid? [True, True] Translation: X:291.48, Y:-218.07, Z:-35.48 [[ 7.47210445e-01 6.60498364e-01 7.36102020e-02 2.91481906e+02] [-6.57253105e-01 7.50827328e-01 -6.53963291e-02 -2.18070844e+02] [-9.84627197e-02 4.84286352e-04 9.95140622e-01 -3.54791621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66591999999997 meters 0.029096617924452804 Centerline is valid? [True, True] Translation: X:291.50, Y:-218.09, Z:-35.48 [[ 7.48154879e-01 6.59338601e-01 7.44102601e-02 2.91504699e+02] [-6.56009597e-01 7.51845812e-01 -6.61761612e-02 -2.18094278e+02] [-9.95775399e-02 6.96173090e-04 9.95029562e-01 -3.54804481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69591999999994 meters 0.029218464321499906 Centerline is valid? [True, True] Translation: X:291.53, Y:-218.12, Z:-35.48 [[ 7.47788529e-01 6.59641753e-01 7.53994303e-02 2.91528621e+02] [-6.56218554e-01 7.51579837e-01 -6.71189854e-02 -2.18116772e+02] [-1.00943177e-01 7.12302205e-04 9.94891938e-01 -3.54843565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72592 meters 0.02909609068308723 Centerline is valid? [True, True] Translation: X:291.55, Y:-218.14, Z:-35.49 [[ 7.47010809e-01 6.60575392e-01 7.49333196e-02 2.91551721e+02] [-6.57192220e-01 7.50759448e-01 -6.67730248e-02 -2.18140328e+02] [-1.00365515e-01 6.34576631e-04 9.94950431e-01 -3.54858354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75591999999995 meters 0.028935738995932506 Centerline is valid? [True, True] Translation: X:291.58, Y:-218.16, Z:-35.49 [[ 7.45541689e-01 6.62211720e-01 7.51214218e-02 2.91575502e+02] [-6.58812738e-01 7.49316635e-01 -6.70101234e-02 -2.18162882e+02] [-1.00664620e-01 4.67890968e-04 9.94920306e-01 -3.54892094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78592 meters 0.029089892142298332 Centerline is valid? [True, True] Translation: X:291.60, Y:-218.19, Z:-35.49 [[ 7.43939504e-01 6.63959574e-01 7.55757807e-02 2.91600090e+02] [-6.60521000e-01 7.47768415e-01 -6.74863427e-02 -2.18185469e+02] [-1.01321385e-01 2.86366045e-04 9.94853705e-01 -3.54925852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81591999999995 meters 0.02920032147631277 Centerline is valid? [True, True] Translation: X:291.62, Y:-218.21, Z:-35.50 [[ 7.40603652e-01 6.67530747e-01 7.68695865e-02 2.91624561e+02] [-6.63984636e-01 7.44582218e-01 -6.87147990e-02 -2.18206911e+02] [-1.03104968e-01 -1.49793379e-04 9.94670470e-01 -3.54961582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84592 meters 0.029354219458762702 Centerline is valid? [True, True] Translation: X:291.65, Y:-218.23, Z:-35.50 [[ 7.38488744e-01 6.69833674e-01 7.71830580e-02 2.91649730e+02] [-6.66263466e-01 7.42511059e-01 -6.90675069e-02 -2.18228754e+02] [-1.03573016e-01 -4.18675354e-04 9.94621765e-01 -3.54984456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87591999999995 meters 0.029419540131816406 Centerline is valid? [True, True] Translation: X:291.68, Y:-218.25, Z:-35.50 [[ 7.36378642e-01 6.72211224e-01 7.66718027e-02 2.91675011e+02] [-6.68693685e-01 7.40359094e-01 -6.86816408e-02 -2.18250320e+02] [-1.02933236e-01 -6.94256902e-04 9.94688025e-01 -3.55000411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90592 meters 0.02974198649741362 Centerline is valid? [True, True] Translation: X:291.70, Y:-218.27, Z:-35.50 [[ 7.33479681e-01 6.75330781e-01 7.70447475e-02 2.91701827e+02] [-6.71788477e-01 7.37514178e-01 -6.90874831e-02 -2.18269014e+02] [-1.03478498e-01 -1.08350845e-03 9.94631101e-01 -3.55029485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93591999999995 meters 0.029824840103753157 Centerline is valid? [True, True] Translation: X:291.73, Y:-218.29, Z:-35.51 [[ 7.32315384e-01 6.76561604e-01 7.73212416e-02 2.91727618e+02] [-6.72993759e-01 7.36385037e-01 -6.94008414e-02 -2.18288907e+02] [-1.03892150e-01 -1.21340923e-03 9.94587829e-01 -3.55061398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96592 meters 0.02985801821864834 Centerline is valid? [True, True] Translation: X:291.75, Y:-218.31, Z:-35.51 [[ 7.33234458e-01 6.75603232e-01 7.69902779e-02 2.91754959e+02] [-6.72053249e-01 7.37264697e-01 -6.91751210e-02 -2.18306610e+02] [-1.03497149e-01 -1.01998412e-03 9.94629227e-01 -3.55094734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99591999999996 meters 0.029681740730346767 Centerline is valid? [True, True] Translation: X:291.78, Y:-218.33, Z:-35.51 [[ 7.33802636e-01 6.74815066e-01 7.84749509e-02 2.91781434e+02] [-6.71114798e-01 7.37986354e-01 -7.05766932e-02 -2.18325983e+02] [-1.05539659e-01 -8.76337254e-04 9.94414709e-01 -3.55129031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.02592 meters 0.02960264904756244 Centerline is valid? [True, True] Translation: X:291.81, Y:-218.35, Z:-35.51 [[ 7.35430797e-01 6.73052045e-01 7.83740266e-02 2.91807572e+02] [-6.69343600e-01 7.39594904e-01 -7.05586470e-02 -2.18345076e+02] [-1.05454672e-01 -5.68151119e-04 9.94423948e-01 -3.55144760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05591999999996 meters 0.02967331412427546 Centerline is valid? [True, True] Translation: X:291.83, Y:-218.36, Z:-35.52 [[ 7.37093040e-01 6.71087185e-01 7.95979935e-02 2.91834361e+02] [-6.67242839e-01 7.41378400e-01 -7.17290878e-02 -2.18364140e+02] [-1.07148705e-01 -2.40179766e-04 9.94242977e-01 -3.55189211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.08592 meters 0.029787812924759335 Centerline is valid? [True, True] Translation: X:291.86, Y:-218.39, Z:-35.52 [[ 7.37428174e-01 6.70680112e-01 7.99241910e-02 2.91859698e+02] [-6.66793423e-01 7.41746703e-01 -7.20996454e-02 -2.18385845e+02] [-1.07639303e-01 -1.24615096e-04 9.94190004e-01 -3.55227747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11591999999996 meters 0.029669753397558223 Centerline is valid? [True, True] Translation: X:291.88, Y:-218.41, Z:-35.53 [[ 7.37118192e-01 6.70977827e-01 8.02840411e-02 2.91883775e+02] [-6.67049379e-01 7.41477406e-01 -7.25009086e-02 -2.18407591e+02] [-1.08175305e-01 -1.11681100e-04 9.94131828e-01 -3.55259097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14592 meters 0.029605138021354362 Centerline is valid? [True, True] Translation: X:291.91, Y:-218.43, Z:-35.53 [[ 7.36817827e-01 6.71368460e-01 7.97739347e-02 2.91908530e+02] [-6.67484070e-01 7.41123727e-01 -7.21154539e-02 -2.18429138e+02] [-1.07538397e-01 -1.11878611e-04 9.94200926e-01 -3.55297739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17591999999996 meters 0.029518976345304253 Centerline is valid? [True, True] Translation: X:291.93, Y:-218.45, Z:-35.53 [[ 7.35591566e-01 6.72712146e-01 7.97710240e-02 2.91933289e+02] [-6.68827752e-01 7.39904254e-01 -7.21881816e-02 -2.18451556e+02] [-1.07584787e-01 -2.52057022e-04 9.94195881e-01 -3.55326712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20592 meters 0.029602091373882373 Centerline is valid? [True, True] Translation: X:291.96, Y:-218.47, Z:-35.54 [[ 7.33242076e-01 6.75402745e-01 7.86586940e-02 2.91956209e+02] [-6.71633960e-01 7.37448840e-01 -7.12532977e-02 -2.18474107e+02] [-1.06131435e-01 -5.83934110e-04 9.94351938e-01 -3.55355807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23591999999996 meters 0.029588859871050525 Centerline is valid? [True, True] Translation: X:291.98, Y:-218.50, Z:-35.54 [[ 7.32121443e-01 6.76624474e-01 7.85971639e-02 2.91980275e+02] [-6.72861476e-01 7.36327927e-01 -7.12644267e-02 -2.18496986e+02] [-1.06092542e-01 -7.10788894e-04 9.94356006e-01 -3.55382730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26592 meters 0.0296419237996243 Centerline is valid? [True, True] Translation: X:292.00, Y:-218.52, Z:-35.54 [[ 7.31268382e-01 6.77393382e-01 7.99046882e-02 2.92003008e+02] [-6.73500839e-01 7.35620548e-01 -7.25191688e-02 -2.18519871e+02] [-1.07903536e-01 -7.84899289e-04 9.94161059e-01 -3.55411073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29591999999997 meters 0.02970269042727503 Centerline is valid? [True, True] Translation: X:292.03, Y:-218.54, Z:-35.54 [[ 7.30579644e-01 6.78225929e-01 7.91389536e-02 2.92027492e+02] [-6.74408108e-01 7.34852936e-01 -7.18670063e-02 -2.18542183e+02] [-1.06897559e-01 -8.67380160e-04 9.94269661e-01 -3.55433834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32592 meters 0.029598434677573383 Centerline is valid? [True, True] Translation: X:292.05, Y:-218.56, Z:-35.55 [[ 7.30297004e-01 6.78421967e-01 8.00619835e-02 2.92052331e+02] [-6.74507232e-01 7.34671975e-01 -7.27810646e-02 -2.18562778e+02] [-1.08195569e-01 -8.50593404e-04 9.94129265e-01 -3.55468767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35591999999997 meters 0.029446932841977237 Centerline is valid? [True, True] Translation: X:292.08, Y:-218.58, Z:-35.55 [[ 7.31006605e-01 6.77644539e-01 8.01699601e-02 2.92078324e+02] [-6.73707069e-01 7.35389290e-01 -7.29477677e-02 -2.18583719e+02] [-1.08388787e-01 -6.85768859e-04 9.94108345e-01 -3.55500376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38592 meters 0.029361970111304155 Centerline is valid? [True, True] Translation: X:292.10, Y:-218.61, Z:-35.55 [[ 7.31465058e-01 6.77251083e-01 7.93085157e-02 2.92103009e+02] [-6.73388655e-01 7.35751754e-01 -7.22293244e-02 -2.18605043e+02] [-1.07268768e-01 -5.72227783e-04 9.94229895e-01 -3.55525273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41591999999997 meters 0.029383669937384713 Centerline is valid? [True, True] Translation: X:292.13, Y:-218.63, Z:-35.55 [[ 7.31763255e-01 6.76923423e-01 7.93550129e-02 2.92128513e+02] [-6.73050916e-01 7.36053279e-01 -7.23051543e-02 -2.18626220e+02] [-1.07354570e-01 -4.99708994e-04 9.94220673e-01 -3.55544648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44591999999994 meters 0.029398497930240346 Centerline is valid? [True, True] Translation: X:292.15, Y:-218.65, Z:-35.56 [[ 7.31939764e-01 6.76675497e-01 7.98401717e-02 2.92153596e+02] [-6.72745572e-01 7.36281267e-01 -7.28237026e-02 -2.18647541e+02] [-1.08062838e-01 -4.09558210e-04 9.94143981e-01 -3.55571525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47592 meters 0.029242502796850072 Centerline is valid? [True, True] Translation: X:292.18, Y:-218.67, Z:-35.56 [[ 7.33366798e-01 6.75214300e-01 7.91124996e-02 2.92178557e+02] [-6.71339460e-01 7.37621603e-01 -7.22336442e-02 -2.18667499e+02] [-1.07128278e-01 -1.37586398e-04 9.94245198e-01 -3.55607244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50591999999995 meters 0.02916695050828633 Centerline is valid? [True, True] Translation: X:292.20, Y:-218.69, Z:-35.56 [[ 7.34302653e-01 6.74226995e-01 7.88515829e-02 2.92202992e+02] [-6.70364791e-01 7.38524174e-01 -7.20631042e-02 -2.18688952e+02] [-1.06820690e-01 5.68036957e-05 9.94278300e-01 -3.55632113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53592 meters 0.02928728735866963 Centerline is valid? [True, True] Translation: X:292.23, Y:-218.71, Z:-35.57 [[ 7.35439008e-01 6.72927383e-01 7.93612165e-02 2.92227606e+02] [-6.68999148e-01 7.39708486e-01 -7.26050680e-02 -2.18711173e+02] [-1.07562104e-01 3.04012928e-04 9.94198321e-01 -3.55672782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56591999999995 meters 0.02939463606706426 Centerline is valid? [True, True] Translation: X:292.25, Y:-218.73, Z:-35.57 [[ 7.38081028e-01 6.69847969e-01 8.08708451e-02 2.92250841e+02] [-6.65741423e-01 7.42497823e-01 -7.40630932e-02 -2.18733057e+02] [-1.09657439e-01 8.25492582e-04 9.93969096e-01 -3.55701489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59592 meters 0.029463621708395983 Centerline is valid? [True, True] Translation: X:292.27, Y:-218.76, Z:-35.57 [[ 7.38739563e-01 6.68936961e-01 8.23844642e-02 2.92273983e+02] [-6.64661318e-01 7.43318424e-01 -7.55185558e-02 -2.18755062e+02] [-1.11755043e-01 1.03077830e-03 9.93735250e-01 -3.55730673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62591999999995 meters 0.02928825411449445 Centerline is valid? [True, True] Translation: X:292.30, Y:-218.78, Z:-35.57 [[ 7.38889028e-01 6.68960759e-01 8.08362992e-02 2.92297135e+02] [-6.64837753e-01 7.43296971e-01 -7.41645140e-02 -2.18777031e+02] [-1.09698526e-01 1.05632223e-03 9.93964344e-01 -3.55747122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65592 meters 0.029131032916745618 Centerline is valid? [True, True] Translation: X:292.32, Y:-218.80, Z:-35.58 [[ 7.39532651e-01 6.68460422e-01 7.90703630e-02 2.92319113e+02] [-6.64506374e-01 7.43746821e-01 -7.26081589e-02 -2.18800139e+02] [-1.07344012e-01 1.15334401e-03 9.94221270e-01 -3.55769355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68591999999995 meters 0.029276160628800795 Centerline is valid? [True, True] Translation: X:292.34, Y:-218.82, Z:-35.58 [[ 7.39032970e-01 6.69140838e-01 7.79795325e-02 2.92341381e+02] [-6.65292445e-01 7.43134817e-01 -7.16701257e-02 -2.18823080e+02] [-1.05906714e-01 1.08739212e-03 9.94375475e-01 -3.55806583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71592 meters 0.029265664143321452 Centerline is valid? [True, True] Translation: X:292.36, Y:-218.85, Z:-35.58 [[ 7.37979420e-01 6.70323041e-01 7.78035779e-02 2.92362756e+02] [-6.66491552e-01 7.42068790e-01 -7.15745916e-02 -2.18848305e+02] [-1.05713705e-01 9.65148161e-04 9.94396139e-01 -3.55834799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74591999999996 meters 0.029332040528684513 Centerline is valid? [True, True] Translation: X:292.39, Y:-218.87, Z:-35.59 [[ 7.36852201e-01 6.71523016e-01 7.81388098e-02 2.92385428e+02] [-6.67657081e-01 7.40983207e-01 -7.19576886e-02 -2.18872400e+02] [-1.06220790e-01 8.52251549e-04 9.94342203e-01 -3.55865278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.77592 meters 0.02929963041964211 Centerline is valid? [True, True] Translation: X:292.41, Y:-218.90, Z:-35.59 [[ 7.36382362e-01 6.72072179e-01 7.78460180e-02 2.92408161e+02] [-6.68230491e-01 7.40485183e-01 -7.17614440e-02 -2.18896008e+02] [-1.05872693e-01 8.24778798e-04 9.94379350e-01 -3.55887693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80591999999996 meters 0.029071297140101 Centerline is valid? [True, True] Translation: X:292.43, Y:-218.92, Z:-35.59 [[ 7.34978445e-01 6.73739789e-01 7.66901750e-02 2.92428860e+02] [-6.70013312e-01 7.38968404e-01 -7.07662352e-02 -2.18920995e+02] [-1.04349645e-01 6.28219388e-04 9.94540475e-01 -3.55915578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.83592 meters 0.02893350620399415 Centerline is valid? [True, True] Translation: X:292.45, Y:-218.94, Z:-35.59 [[ 7.33956596e-01 6.75081782e-01 7.46478620e-02 2.92451694e+02] [-6.71552350e-01 7.37742751e-01 -6.89425438e-02 -2.18944394e+02] [-1.01612774e-01 4.70887588e-04 9.94823915e-01 -3.55926885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86591999999996 meters 0.02901220911628677 Centerline is valid? [True, True] Translation: X:292.47, Y:-218.97, Z:-35.59 [[ 7.31938388e-01 6.77200189e-01 7.52735006e-02 2.92474282e+02] [-6.73615608e-01 7.35798785e-01 -6.95856340e-02 -2.18968162e+02] [-1.02509555e-01 2.26991899e-04 9.94731994e-01 -3.55939881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89592 meters 0.02914144230994317 Centerline is valid? [True, True] Translation: X:292.50, Y:-218.99, Z:-35.60 [[ 7.30921119e-01 6.78328306e-01 7.50001862e-02 2.92497173e+02] [-6.74768188e-01 7.34758936e-01 -6.94060395e-02 -2.18991560e+02] [-1.02187138e-01 1.22600287e-04 9.94765185e-01 -3.55963175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92591999999996 meters 0.02915940100047222 Centerline is valid? [True, True] Translation: X:292.52, Y:-219.01, Z:-35.60 [[ 7.30627284e-01 6.78602540e-01 7.53814612e-02 2.92520310e+02] [-6.74999827e-01 7.34505666e-01 -6.98330912e-02 -2.19014836e+02] [-1.02757023e-01 1.39488405e-04 9.94706477e-01 -3.55988081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95592 meters 0.029079991554494315 Centerline is valid? [True, True] Translation: X:292.54, Y:-219.04, Z:-35.60 [[ 7.31128266e-01 6.78176137e-01 7.43544610e-02 2.92542955e+02] [-6.74661632e-01 7.34899357e-01 -6.89537414e-02 -2.19039527e+02] [-1.01405828e-01 2.49927406e-04 9.94845111e-01 -3.56017170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98591999999996 meters 0.029034791852924575 Centerline is valid? [True, True] Translation: X:292.57, Y:-219.06, Z:-35.60 [[ 7.30757158e-01 6.78620771e-01 7.39447425e-02 2.92566332e+02] [-6.75139963e-01 7.34488796e-01 -6.86457570e-02 -2.19062989e+02] [-1.00896021e-01 2.40327606e-04 9.94896947e-01 -3.56045955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01592 meters 0.028710667088193975 Centerline is valid? [True, True] Translation: X:292.59, Y:-219.09, Z:-35.61 [[ 7.30225984e-01 6.79250006e-01 7.34128199e-02 2.92587803e+02] [-6.75815189e-01 7.33906934e-01 -6.82234796e-02 -2.19088003e+02] [-1.00218977e-01 2.05058795e-04 9.94965384e-01 -3.56059906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04591999999997 meters 0.028795297159266185 Centerline is valid? [True, True] Translation: X:292.61, Y:-219.11, Z:-35.61 [[ 7.28787890e-01 6.80738879e-01 7.39106899e-02 2.92610479e+02] [-6.77257424e-01 7.32526160e-01 -6.87590452e-02 -2.19111498e+02] [-1.00948469e-01 5.41960327e-05 9.94891654e-01 -3.56091565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07592 meters 0.02868174852418513 Centerline is valid? [True, True] Translation: X:292.63, Y:-219.13, Z:-35.61 [[ 7.27744841e-01 6.81907608e-01 7.34129451e-02 2.92634072e+02] [-6.78471670e-01 7.31438317e-01 -6.83679846e-02 -2.19134848e+02] [-1.00317690e-01 -5.41553949e-05 9.94955455e-01 -3.56123508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10591999999997 meters 0.028282121149891933 Centerline is valid? [True, True] Translation: X:292.66, Y:-219.16, Z:-35.61 [[ 7.25624793e-01 6.84198412e-01 7.30834618e-02 2.92656500e+02] [-6.80797660e-01 7.29295847e-01 -6.81330564e-02 -2.19158644e+02] [-9.99159942e-02 -3.16014834e-04 9.94995826e-01 -3.56143585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13592 meters 0.02843052657260948 Centerline is valid? [True, True] Translation: X:292.68, Y:-219.18, Z:-35.62 [[ 7.24737303e-01 6.85243954e-01 7.20872084e-02 2.92680143e+02] [-6.81933711e-01 7.28313505e-01 -6.72744571e-02 -2.19182066e+02] [-9.86015024e-02 -4.02388946e-04 9.95126917e-01 -3.56168490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16591999999997 meters 0.02818813198929263 Centerline is valid? [True, True] Translation: X:292.70, Y:-219.21, Z:-35.62 [[ 7.23674475e-01 6.86333903e-01 7.23949460e-02 2.92702143e+02] [-6.82993505e-01 7.27286411e-01 -6.76339340e-02 -2.19206293e+02] [-9.90713223e-02 -5.00326223e-04 9.95080209e-01 -3.56195459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19591999999994 meters 0.028263644272164885 Centerline is valid? [True, True] Translation: X:292.72, Y:-219.23, Z:-35.62 [[ 7.23015363e-01 6.86985009e-01 7.28037207e-02 2.92724722e+02] [-6.83602695e-01 7.26671388e-01 -6.80885471e-02 -2.19229585e+02] [-9.96801920e-02 -5.39754056e-04 9.95019381e-01 -3.56235189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22592 meters 0.028315855708655926 Centerline is valid? [True, True] Translation: X:292.75, Y:-219.25, Z:-35.63 [[ 7.21663984e-01 6.88383195e-01 7.30045942e-02 2.92747885e+02] [-6.84981934e-01 7.25346891e-01 -6.83493848e-02 -2.19252896e+02] [-1.00004223e-01 -6.81538759e-04 9.94986779e-01 -3.56262762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25591999999995 meters 0.028266842477513928 Centerline is valid? [True, True] Translation: X:292.77, Y:-219.28, Z:-35.63 [[ 7.19963810e-01 6.90170205e-01 7.29191328e-02 2.92771347e+02] [-6.86778769e-01 7.23646544e-01 -6.83417985e-02 -2.19275733e+02] [-9.99351516e-02 -8.75690635e-04 9.94993567e-01 -3.56283727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28592 meters 0.028403245214740483 Centerline is valid? [True, True] Translation: X:292.80, Y:-219.30, Z:-35.63 [[ 7.18763863e-01 6.91456975e-01 7.25655730e-02 2.92795884e+02] [-6.88097711e-01 7.22416957e-01 -6.80829017e-02 -2.19298497e+02] [-9.94989976e-02 -9.96675224e-04 9.95037163e-01 -3.56303691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31591999999995 meters 0.028701017455446804 Centerline is valid? [True, True] Translation: X:292.82, Y:-219.32, Z:-35.63 [[ 7.15228812e-01 6.95057702e-01 7.30926635e-02 2.92818095e+02] [-6.91660718e-01 7.18952483e-01 -6.86496775e-02 -2.19321053e+02] [-1.00265639e-01 -1.45509683e-03 9.94959640e-01 -3.56341473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34592 meters 0.02892580327165827 Centerline is valid? [True, True] Translation: X:292.84, Y:-219.34, Z:-35.64 [[ 7.13062132e-01 6.97378104e-01 7.21538405e-02 2.92842087e+02] [-6.94073653e-01 7.16701365e-01 -6.78300685e-02 -2.19342836e+02] [-9.90159605e-02 -1.71302641e-03 9.95084371e-01 -3.56366502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37591999999995 meters 0.029135718776418438 Centerline is valid? [True, True] Translation: X:292.87, Y:-219.36, Z:-35.64 [[ 7.10131736e-01 7.00477090e-01 7.10265024e-02 2.92866277e+02] [-6.97284742e-01 7.13671896e-01 -6.68312404e-02 -2.19363738e+02] [-9.75033715e-02 -2.06671164e-03 9.95233049e-01 -3.56385896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40592 meters 0.029135718776418438 Centerline is valid? [True, True] Translation: X:292.89, Y:-219.39, Z:-35.64 [[ 7.09757486e-01 7.00859488e-01 7.09950028e-02 2.92890119e+02] [-6.97665703e-01 7.13296349e-01 -6.68646876e-02 -2.19385735e+02] [-9.75032270e-02 -2.07306592e-03 9.95233050e-01 -3.56414208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43591999999995 meters 0.02924162352814481 Centerline is valid? [True, True] Translation: X:292.91, Y:-219.41, Z:-35.64 [[ 7.07706959e-01 7.02942267e-01 7.08733334e-02 2.92914525e+02] [-6.99762905e-01 7.11243177e-01 -6.68208138e-02 -2.19406807e+02] [-9.73793491e-02 -2.30497470e-03 9.95244668e-01 -3.56448787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46592 meters 0.02998621948939038 Centerline is valid? [True, True] Translation: X:292.94, Y:-219.43, Z:-35.65 [[ 7.03995008e-01 7.06570639e-01 7.17562549e-02 2.92938813e+02] [-7.03323728e-01 7.07636996e-01 -6.77171807e-02 -2.19427488e+02] [-9.86243523e-02 -2.79531954e-03 9.95120808e-01 -3.56477787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49591999999996 meters 0.030094442093853212 Centerline is valid? [True, True] Translation: X:292.96, Y:-219.45, Z:-35.65 [[ 7.02510767e-01 7.08057156e-01 7.16497498e-02 2.92963103e+02] [-7.04821397e-01 7.06148945e-01 -6.76791457e-02 -2.19449040e+02] [-9.85160986e-02 -2.95494819e-03 9.95131070e-01 -3.56497703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.52592 meters 0.03010146802591413 Centerline is valid? [True, True] Translation: X:292.99, Y:-219.47, Z:-35.65 [[ 7.01088959e-01 7.09472797e-01 7.15724947e-02 2.92988487e+02] [-7.06245200e-01 7.04725977e-01 -6.76684149e-02 -2.19468562e+02] [-9.84478959e-02 -3.10615228e-03 9.95137359e-01 -3.56521512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55591999999996 meters 0.030359332684331407 Centerline is valid? [True, True] Translation: X:293.01, Y:-219.49, Z:-35.65 [[ 7.00427758e-01 7.10198465e-01 7.08455800e-02 2.93014190e+02] [-7.07033855e-01 7.03994556e-01 -6.70432183e-02 -2.19489683e+02] [-9.74888933e-02 -3.13129250e-03 9.95231687e-01 -3.56548186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.58592 meters 0.030220945578433883 Centerline is valid? [True, True] Translation: X:293.04, Y:-219.51, Z:-35.66 [[ 7.00499532e-01 7.10043259e-01 7.16866480e-02 2.93041341e+02] [-7.06794903e-01 7.04151252e-01 -6.79115548e-02 -2.19508989e+02] [-9.86983847e-02 -3.09574497e-03 9.95112579e-01 -3.56573682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61591999999996 meters 0.030114622078429635 Centerline is valid? [True, True] Translation: X:293.07, Y:-219.53, Z:-35.66 [[ 7.00171162e-01 7.10366706e-01 7.16902106e-02 2.93066214e+02] [-7.07112665e-01 7.03824969e-01 -6.79859728e-02 -2.19530797e+02] [-9.87523318e-02 -3.09123828e-03 9.95107241e-01 -3.56593893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64592 meters 0.030443507253514256 Centerline is valid? [True, True] Translation: X:293.09, Y:-219.55, Z:-35.66 [[ 6.99492841e-01 7.11012091e-01 7.19136403e-02 2.93090418e+02] [-7.07733908e-01 7.03172766e-01 -6.82698893e-02 -2.19552754e+02] [-9.91084301e-02 -3.14142281e-03 9.95071681e-01 -3.56625547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67591999999996 meters 0.030400023463420536 Centerline is valid? [True, True] Translation: X:293.12, Y:-219.57, Z:-35.67 [[ 7.00159697e-01 7.10270881e-01 7.27438933e-02 2.93116552e+02] [-7.06905101e-01 7.03921978e-01 -6.91305044e-02 -2.19571898e+02] [-1.00307410e-01 -3.02063627e-03 9.94951908e-01 -3.56663933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70592 meters 0.030234749164103524 Centerline is valid? [True, True] Translation: X:293.14, Y:-219.59, Z:-35.67 [[ 7.00406512e-01 7.10053844e-01 7.24862575e-02 2.93140974e+02] [-7.06704422e-01 7.04141271e-01 -6.89487508e-02 -2.19592989e+02] [-9.99978910e-02 -2.93420465e-03 9.94983323e-01 -3.56688406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73591999999996 meters 0.029894135680077767 Centerline is valid? [True, True] Translation: X:293.17, Y:-219.61, Z:-35.67 [[ 7.01708581e-01 7.08752400e-01 7.26299040e-02 2.93165632e+02] [-7.05376275e-01 7.05452123e-01 -6.91492044e-02 -2.19614033e+02] [-1.00246584e-01 -2.70882104e-03 9.94958936e-01 -3.56729445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76592 meters 0.029864556403083616 Centerline is valid? [True, True] Translation: X:293.19, Y:-219.64, Z:-35.67 [[ 7.02491759e-01 7.07993547e-01 7.24600942e-02 2.93190116e+02] [-7.04622843e-01 7.06214300e-01 -6.90507963e-02 -2.19635093e+02] [-1.00059873e-01 -2.54942215e-03 9.94978152e-01 -3.56747805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79591999999997 meters 0.029703970916308713 Centerline is valid? [True, True] Translation: X:293.22, Y:-219.66, Z:-35.68 [[ 7.02594006e-01 7.07766855e-01 7.36732095e-02 2.93216183e+02] [-7.04273903e-01 7.06441626e-01 -7.02744534e-02 -2.19655746e+02] [-1.01783751e-01 -2.51170905e-03 9.94803377e-01 -3.56775834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82592 meters 0.029641442463964125 Centerline is valid? [True, True] Translation: X:293.24, Y:-219.67, Z:-35.68 [[ 7.02717530e-01 7.07758946e-01 7.25627175e-02 2.93242933e+02] [-7.04363519e-01 7.06449864e-01 -6.92865301e-02 -2.19674359e+02] [-1.00300083e-01 -2.42167182e-03 9.94954285e-01 -3.56793939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85591999999997 meters 0.029661673118823065 Centerline is valid? [True, True] Translation: X:293.27, Y:-219.70, Z:-35.68 [[ 7.02541851e-01 7.07965683e-01 7.22463819e-02 2.93268047e+02] [-7.04594435e-01 7.06242776e-01 -6.90494288e-02 -2.19696098e+02] [-9.99081113e-02 -2.39428513e-03 9.94993787e-01 -3.56829981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88592 meters 0.029927010258984567 Centerline is valid? [True, True] Translation: X:293.29, Y:-219.72, Z:-35.69 [[ 7.01111156e-01 7.09319428e-01 7.28635445e-02 2.93293568e+02] [-7.05889985e-01 7.04882551e-01 -6.97131137e-02 -2.19715798e+02] [-1.00809107e-01 -2.55700459e-03 9.94902501e-01 -3.56868737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91591999999997 meters 0.029928149917647105 Centerline is valid? [True, True] Translation: X:293.32, Y:-219.74, Z:-35.69 [[ 7.00307651e-01 7.10081972e-01 7.31627432e-02 2.93319863e+02] [-7.06621608e-01 7.04114105e-01 -7.00658999e-02 -2.19736283e+02] [-1.01267452e-01 -2.63068946e-03 9.94855760e-01 -3.56898874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94591999999994 meters 0.03015333677573963 Centerline is valid? [True, True] Translation: X:293.35, Y:-219.76, Z:-35.69 [[ 6.99301688e-01 7.11030823e-01 7.35684568e-02 2.93345617e+02] [-7.07529551e-01 7.03155536e-01 -7.05281975e-02 -2.19756371e+02] [-1.01877790e-01 -2.73136960e-03 9.94793172e-01 -3.56926603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97592 meters 0.030347797958450176 Centerline is valid? [True, True] Translation: X:293.37, Y:-219.77, Z:-35.69 [[ 6.98734836e-01 7.11774843e-01 7.17370318e-02 2.93372043e+02] [-7.08443761e-01 7.02402414e-01 -6.88352043e-02 -2.19774782e+02] [-9.93834311e-02 -2.72409743e-03 9.95045483e-01 -3.56944670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00591999999995 meters 0.030544229896753206 Centerline is valid? [True, True] Translation: X:293.40, Y:-219.80, Z:-35.70 [[ 6.99333267e-01 7.11167678e-01 7.19271589e-02 2.93397044e+02] [-7.07809261e-01 7.03017622e-01 -6.90816415e-02 -2.19795222e+02] [-9.96946908e-02 -2.59961919e-03 9.95014679e-01 -3.56983124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03592 meters 0.03005401458414676 Centerline is valid? [True, True] Translation: X:293.43, Y:-219.81, Z:-35.70 [[ 7.02752292e-01 7.07627780e-01 7.34992601e-02 2.93425368e+02] [-7.04094374e-01 7.06582292e-01 -7.06581740e-02 -2.19812493e+02] [-1.01932962e-01 -2.09522188e-03 9.94789064e-01 -3.57023682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06591999999995 meters 0.029957898678984313 Centerline is valid? [True, True] Translation: X:293.45, Y:-219.83, Z:-35.71 [[ 7.04206416e-01 7.06015849e-01 7.50662639e-02 2.93450597e+02] [-7.02313364e-01 7.08193610e-01 -7.22339943e-02 -2.19833191e+02] [-1.04159793e-01 -1.85239807e-03 9.94558850e-01 -3.57062764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09592 meters 0.029907956662669904 Centerline is valid? [True, True] Translation: X:293.48, Y:-219.85, Z:-35.71 [[ 7.05669829e-01 7.04436061e-01 7.61572602e-02 2.93475526e+02] [-7.00607344e-01 7.09765678e-01 -7.33623351e-02 -2.19854809e+02] [-1.05732884e-01 -1.58674930e-03 9.94393302e-01 -3.57099162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12591999999995 meters 0.030097860004283994 Centerline is valid? [True, True] Translation: X:293.50, Y:-219.88, Z:-35.71 [[ 7.07380616e-01 7.02682900e-01 7.64814144e-02 2.93499642e+02] [-6.98803065e-01 7.11502013e-01 -7.37506721e-02 -2.19875785e+02] [-1.06240016e-01 -1.27565093e-03 9.94339696e-01 -3.57131275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15592 meters 0.03023128476621026 Centerline is valid? [True, True] Translation: X:293.53, Y:-219.90, Z:-35.72 [[ 7.07188539e-01 7.02901535e-01 7.62482914e-02 2.93525206e+02] [-6.99039301e-01 7.11286058e-01 -7.35948268e-02 -2.19896331e+02] [-1.05964263e-01 -1.25513426e-03 9.94369147e-01 -3.57173708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18591999999995 meters 0.03035390523032092 Centerline is valid? [True, True] Translation: X:293.55, Y:-219.92, Z:-35.72 [[ 7.06769447e-01 7.03310870e-01 7.63594747e-02 2.93549505e+02] [-6.99431465e-01 7.10881302e-01 -7.37794082e-02 -2.19918591e+02] [-1.06172383e-01 -1.26318775e-03 9.94346936e-01 -3.57214689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21592 meters 0.03045690025113455 Centerline is valid? [True, True] Translation: X:293.57, Y:-219.94, Z:-35.72 [[ 7.06318103e-01 7.03702816e-01 7.69225861e-02 2.93573185e+02] [-6.99759745e-01 7.10493293e-01 -7.44014807e-02 -2.19941462e+02] [-1.07009513e-01 -1.27621648e-03 9.94257178e-01 -3.57244771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24591999999996 meters 0.03064778592081307 Centerline is valid? [True, True] Translation: X:293.59, Y:-219.96, Z:-35.73 [[ 7.06521101e-01 7.03380838e-01 7.79957120e-02 2.93594769e+02] [-6.99316904e-01 7.10812192e-01 -7.55108981e-02 -2.19964682e+02] [-1.08553222e-01 -1.19367696e-03 9.94089922e-01 -3.57264656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.27592 meters 0.03076516074059085 Centerline is valid? [True, True] Translation: X:293.62, Y:-219.99, Z:-35.73 [[ 7.05831934e-01 7.04096100e-01 7.77815139e-02 2.93617731e+02] [-7.00053851e-01 7.10103568e-01 -7.53493775e-02 -2.19987867e+02] [-1.08286133e-01 -1.26725157e-03 9.94118960e-01 -3.57293542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30591999999996 meters 0.03069394566833943 Centerline is valid? [True, True] Translation: X:293.64, Y:-220.01, Z:-35.73 [[ 7.07076106e-01 7.02837458e-01 7.78645502e-02 2.93640415e+02] [-6.98770573e-01 7.11349749e-01 -7.55064226e-02 -2.20011128e+02] [-1.08457670e-01 -1.02066917e-03 9.94100544e-01 -3.57327615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.33592 meters 0.030608567841331664 Centerline is valid? [True, True] Translation: X:293.66, Y:-220.03, Z:-35.74 [[ 7.07945617e-01 7.02019040e-01 7.73451402e-02 2.93662877e+02] [-6.97994101e-01 7.12157681e-01 -7.50711245e-02 -2.20034658e+02] [-1.07783294e-01 -8.40178012e-04 9.94174057e-01 -3.57360109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36591999999996 meters 0.030697242635953626 Centerline is valid? [True, True] Translation: X:293.69, Y:-220.06, Z:-35.74 [[ 7.08614994e-01 7.01282576e-01 7.78944094e-02 2.93685330e+02] [-6.97187817e-01 7.12883078e-01 -7.56760476e-02 -2.20058828e+02] [-1.08599900e-01 -6.81851234e-04 9.94085307e-01 -3.57396989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39592 meters 0.03038074186065995 Centerline is valid? [True, True] Translation: X:293.71, Y:-220.08, Z:-35.74 [[ 7.10454545e-01 6.99530217e-01 7.68883292e-02 2.93706702e+02] [-6.95522424e-01 7.14602932e-01 -7.47743714e-02 -2.20083084e+02] [-1.07251558e-01 -3.53765123e-04 9.94231853e-01 -3.57408922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42591999999996 meters 0.03034346411606038 Centerline is valid? [True, True] Translation: X:293.73, Y:-220.11, Z:-35.74 [[ 7.10292594e-01 6.99721615e-01 7.66426289e-02 2.93729077e+02] [-6.95733129e-01 7.14415532e-01 -7.46047007e-02 -2.20107394e+02] [-1.06957206e-01 -3.31649558e-04 9.94263570e-01 -3.57431940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45592 meters 0.030361750445558396 Centerline is valid? [True, True] Translation: X:293.75, Y:-220.13, Z:-35.75 [[ 7.10538535e-01 6.99544362e-01 7.59781243e-02 2.93748091e+02] [-6.95616745e-01 7.14589127e-01 -7.40251503e-02 -2.20133425e+02] [-1.06077018e-01 -2.53933707e-04 9.94357884e-01 -3.57452765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48591999999996 meters 0.030517160182013482 Centerline is valid? [True, True] Translation: X:293.77, Y:-220.16, Z:-35.75 [[ 7.09970480e-01 7.00066058e-01 7.64815814e-02 2.93769502e+02] [-6.96085358e-01 7.14078020e-01 -7.45503525e-02 -2.20157853e+02] [-1.06803988e-01 -3.09159496e-04 9.94280047e-01 -3.57494471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51592 meters 0.030435182520851083 Centerline is valid? [True, True] Translation: X:293.79, Y:-220.18, Z:-35.75 [[ 7.09650611e-01 7.00388697e-01 7.64963030e-02 2.93792249e+02] [-6.96400312e-01 7.13761572e-01 -7.46392958e-02 -2.20182220e+02] [-1.06876641e-01 -3.04227383e-04 9.94272242e-01 -3.57514199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54591999999997 meters 0.030587554530553087 Centerline is valid? [True, True] Translation: X:293.82, Y:-220.21, Z:-35.75 [[ 7.07306073e-01 7.02817342e-01 7.59335369e-02 2.93815370e+02] [-6.98895346e-01 7.11370082e-01 -7.41478416e-02 -2.20206072e+02] [-1.06129235e-01 -6.24376832e-04 9.94352149e-01 -3.57527719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57592 meters 0.030671068752271186 Centerline is valid? [True, True] Translation: X:293.84, Y:-220.23, Z:-35.76 [[ 7.05696654e-01 7.04379594e-01 7.64304937e-02 2.93837978e+02] [-7.00406762e-01 7.09823029e-01 -7.47103410e-02 -2.20228860e+02] [-1.06876564e-01 -8.09596970e-04 9.94271967e-01 -3.57554642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60591999999997 meters 0.03071831365308469 Centerline is valid? [True, True] Translation: X:293.86, Y:-220.25, Z:-35.76 [[ 7.04529193e-01 7.05506345e-01 7.68076384e-02 2.93861516e+02] [-7.01493066e-01 7.08702987e-01 -7.51502164e-02 -2.20251522e+02] [-1.07452757e-01 -9.34504352e-04 9.94209752e-01 -3.57587809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63592 meters 0.031034058487411215 Centerline is valid? [True, True] Translation: X:293.89, Y:-220.27, Z:-35.76 [[ 7.02119854e-01 7.07906185e-01 7.67889646e-02 2.93885527e+02] [-7.03900773e-01 7.06305374e-01 -7.52091768e-02 -2.20273067e+02] [-1.07477500e-01 -1.24595535e-03 9.94206736e-01 -3.57620843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66591999999997 meters 0.03109912539637539 Centerline is valid? [True, True] Translation: X:293.91, Y:-220.29, Z:-35.76 [[ 7.01287307e-01 7.08808356e-01 7.60712017e-02 2.93910403e+02] [-7.04875543e-01 7.05399863e-01 -7.45754762e-02 -2.20294686e+02] [-1.06520336e-01 -1.32189480e-03 9.94309645e-01 -3.57648217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69591999999994 meters 0.031057093269899534 Centerline is valid? [True, True] Translation: X:293.94, Y:-220.31, Z:-35.77 [[ 7.01504432e-01 7.08674659e-01 7.53110875e-02 2.93935935e+02] [-7.04811518e-01 7.05534338e-01 -7.39054902e-02 -2.20314831e+02] [-1.05509506e-01 -1.23509309e-03 9.94417527e-01 -3.57688909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72592 meters 0.03096239135365073 Centerline is valid? [True, True] Translation: X:293.96, Y:-220.34, Z:-35.77 [[ 7.02209428e-01 7.08010408e-01 7.49878740e-02 2.93960406e+02] [-7.04169510e-01 7.06201169e-01 -7.36560296e-02 -2.20336074e+02] [-1.05105760e-01 -1.08221603e-03 9.94460461e-01 -3.57718575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75591999999995 meters 0.030714800612572517 Centerline is valid? [True, True] Translation: X:293.99, Y:-220.36, Z:-35.77 [[ 7.03039798e-01 7.07198590e-01 7.48678618e-02 2.93985636e+02] [-7.03358153e-01 7.07014374e-01 -7.36069473e-02 -2.20357269e+02] [-1.04987384e-01 -9.10307708e-04 9.94473137e-01 -3.57740968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78592 meters 0.03065145272576578 Centerline is valid? [True, True] Translation: X:294.01, Y:-220.38, Z:-35.78 [[ 7.03641501e-01 7.06576572e-01 7.50878583e-02 2.94011475e+02] [-7.02701679e-01 7.07636181e-01 -7.39011954e-02 -2.20378517e+02] [-1.05351739e-01 -7.64416001e-04 9.94434727e-01 -3.57769598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81591999999995 meters 0.030572949517211654 Centerline is valid? [True, True] Translation: X:294.04, Y:-220.40, Z:-35.78 [[ 7.03096650e-01 7.07112182e-01 7.51496042e-02 2.94038301e+02] [-7.03225675e-01 7.07100939e-01 -7.40399407e-02 -2.20398385e+02] [-1.05492900e-01 -7.89896846e-04 9.94419742e-01 -3.57786756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84592 meters 0.030620697432136103 Centerline is valid? [True, True] Translation: X:294.07, Y:-220.42, Z:-35.78 [[ 7.01247480e-01 7.08939707e-01 7.52094624e-02 2.94065236e+02] [-7.05049226e-01 7.05268368e-01 -7.41762648e-02 -2.20417555e+02] [-1.05629354e-01 -1.01045449e-03 9.94405058e-01 -3.57812007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87591999999995 meters 0.030782119037041377 Centerline is valid? [True, True] Translation: X:294.09, Y:-220.44, Z:-35.78 [[ 7.00407475e-01 7.09735286e-01 7.55327240e-02 2.94090521e+02] [-7.05807466e-01 7.04467641e-01 -7.45732086e-02 -2.20439256e+02] [-1.06137597e-01 -1.07992779e-03 9.94350866e-01 -3.57843300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90592 meters 0.030758967540117185 Centerline is valid? [True, True] Translation: X:294.11, Y:-220.46, Z:-35.79 [[ 6.99545548e-01 7.10463031e-01 7.66701226e-02 2.94114463e+02] [-7.06411573e-01 7.03733580e-01 -7.57742599e-02 -2.20460891e+02] [-1.07790150e-01 -1.15311568e-03 9.94173000e-01 -3.57883265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93591999999995 meters 0.03067581285280255 Centerline is valid? [True, True] Translation: X:294.14, Y:-220.48, Z:-35.79 [[ 6.99903401e-01 7.10114536e-01 7.66327299e-02 2.94138649e+02] [-7.06057241e-01 7.04085397e-01 -7.58084834e-02 -2.20482949e+02] [-1.07788692e-01 -1.04847844e-03 9.94173274e-01 -3.57914110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96592 meters 0.030465283833635 Centerline is valid? [True, True] Translation: X:294.16, Y:-220.50, Z:-35.79 [[ 7.00802498e-01 7.09247173e-01 7.64480663e-02 2.94163445e+02] [-7.05196014e-01 7.04959368e-01 -7.57025192e-02 -2.20503381e+02] [-1.07584578e-01 -8.58357090e-04 9.94195565e-01 -3.57930595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99591999999996 meters 0.0305537320254251 Centerline is valid? [True, True] Translation: X:294.19, Y:-220.53, Z:-35.80 [[ 7.00935662e-01 7.09167649e-01 7.59634380e-02 2.94188261e+02] [-7.05159837e-01 7.05039446e-01 -7.52926601e-02 -2.20525377e+02] [-1.06952339e-01 -7.91054988e-04 9.94263834e-01 -3.57961070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.02592 meters 0.030323627803937648 Centerline is valid? [True, True] Translation: X:294.21, Y:-220.55, Z:-35.80 [[ 7.03107822e-01 7.07126885e-01 7.49063386e-02 2.94213436e+02] [-7.03210651e-01 7.07086552e-01 -7.43195019e-02 -2.20545425e+02] [-1.05518583e-01 -4.20311960e-04 9.94417242e-01 -3.57995373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05591999999996 meters 0.0302251396351564 Centerline is valid? [True, True] Translation: X:294.24, Y:-220.57, Z:-35.80 [[ 7.03966133e-01 7.06389137e-01 7.37975008e-02 2.94237093e+02] [-7.02577350e-01 7.07823651e-01 -7.32853741e-02 -2.20567051e+02] [-1.04003609e-01 -2.58031173e-04 9.94576886e-01 -3.58024958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.08592 meters 0.0301908697197439 Centerline is valid? [True, True] Translation: X:294.26, Y:-220.59, Z:-35.81 [[ 7.05161645e-01 7.05068716e-01 7.50010721e-02 2.94261823e+02] [-7.01116451e-01 7.09138989e-01 -7.45494235e-02 -2.20587509e+02] [-1.05748651e-01 -1.50913833e-05 9.94392892e-01 -3.58051416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11591999999996 meters 0.030019908726276207 Centerline is valid? [True, True] Translation: X:294.29, Y:-220.61, Z:-35.81 [[ 7.04839768e-01 7.05350730e-01 7.53740597e-02 2.94286132e+02] [-7.01352956e-01 7.08858482e-01 -7.49912306e-02 -2.20609334e+02] [-1.06324661e-01 -7.01803268e-06 9.94331467e-01 -3.58081871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14592 meters 0.02998924444592089 Centerline is valid? [True, True] Translation: X:294.31, Y:-220.63, Z:-35.81 [[ 7.04803859e-01 7.05438563e-01 7.48862739e-02 2.94309759e+02] [-7.01484841e-01 7.08771072e-01 -7.45827426e-02 -2.20631985e+02] [-1.05690767e-01 3.46188061e-05 9.94399045e-01 -3.58106667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17591999999996 meters 0.029929818268305392 Centerline is valid? [True, True] Translation: X:294.33, Y:-220.65, Z:-35.81 [[ 7.05066990e-01 7.05206541e-01 7.45940626e-02 2.94333020e+02] [-7.01274318e-01 7.09001918e-01 -7.43680784e-02 -2.20654844e+02] [-1.05332189e-01 1.23576775e-04 9.94437084e-01 -3.58141700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20592 meters 0.029676625253512362 Centerline is valid? [True, True] Translation: X:294.36, Y:-220.68, Z:-35.82 [[ 7.05036843e-01 7.05090403e-01 7.59642950e-02 2.94356360e+02] [-7.01002907e-01 7.09117398e-01 -7.58118684e-02 -2.20677016e+02] [-1.07321824e-01 1.98968713e-04 9.94224314e-01 -3.58168921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23591999999996 meters 0.02950588311226707 Centerline is valid? [True, True] Translation: X:294.38, Y:-220.70, Z:-35.82 [[ 7.04783388e-01 7.05347081e-01 7.59333389e-02 2.94381052e+02] [-7.01256805e-01 7.08862082e-01 -7.58514474e-02 -2.20698513e+02] [-1.07327862e-01 2.10069452e-04 9.94223660e-01 -3.58188191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26592 meters 0.029317221080921982 Centerline is valid? [True, True] Translation: X:294.40, Y:-220.72, Z:-35.82 [[ 7.03651667e-01 7.06563284e-01 7.51176232e-02 2.94403987e+02] [-7.02559511e-01 7.07649857e-01 -7.51120120e-02 -2.20720811e+02] [-1.06228365e-01 7.80918035e-05 9.94341756e-01 -3.58212204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29591999999997 meters 0.029241172323373116 Centerline is valid? [True, True] Translation: X:294.43, Y:-220.72, Z:-35.82 [[ 6.53895333e-01 7.53341711e-01 6.99797184e-02 2.94425873e+02] [-7.49054413e-01 6.57629275e-01 -8.02572321e-02 -2.20718933e+02] [-1.06481832e-01 6.12126228e-05 9.94314646e-01 -3.58214830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32592 meters 0.029241172323373116 Centerline is valid? [True, True] Translation: X:294.33, Y:-221.05, Z:-33.96 [[ 7.07782627e-01 -7.05079800e-01 -4.36603691e-02 2.94332045e+02] [-7.03177043e-01 -7.09100874e-01 5.21344056e-02 -2.21045620e+02] [-6.77185222e-02 -6.19885732e-03 -9.97685209e-01 -3.39573702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35591999999997 meters 0.029103440591092728 Centerline is valid? [True, True] Translation: X:294.44, Y:-220.75, Z:-35.83 [[ 7.03401999e-01 7.06844431e-01 7.48102820e-02 2.94439130e+02] [-7.02930325e-01 7.07368955e-01 -7.42840419e-02 -2.20753536e+02] [-1.05425732e-01 -3.34872279e-04 9.94427123e-01 -3.58253790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38592 meters 0.029177216752239356 Centerline is valid? [True, True] Translation: X:294.46, Y:-220.77, Z:-35.83 [[ 6.99514708e-01 7.10808145e-01 7.36950160e-02 2.94464774e+02] [-7.07024194e-01 7.03385410e-01 -7.32513101e-02 -2.20774768e+02] [-1.03903627e-01 -8.63790512e-04 9.94586995e-01 -3.58280031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41591999999997 meters 0.029241030024159703 Centerline is valid? [True, True] Translation: X:294.49, Y:-220.80, Z:-35.83 [[ 6.97247289e-01 7.13105477e-01 7.29849058e-02 2.94489272e+02] [-7.09399104e-01 7.01055829e-01 -7.26198011e-02 -2.20796851e+02] [-1.02952072e-01 -1.14146734e-03 9.94685663e-01 -3.58306851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44591999999994 meters 0.029139438115778224 Centerline is valid? [True, True] Translation: X:294.51, Y:-220.82, Z:-35.83 [[ 6.95288852e-01 7.14972622e-01 7.34000074e-02 2.94514248e+02] [-7.11227120e-01 6.99151093e-01 -7.31008382e-02 -2.20817574e+02] [-1.03582793e-01 -1.37787798e-03 9.94619880e-01 -3.58326622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47592 meters 0.029116698871338376 Centerline is valid? [True, True] Translation: X:294.54, Y:-220.84, Z:-35.84 [[ 6.95835341e-01 7.14313543e-01 7.46280108e-02 2.94539449e+02] [-7.10433941e-01 6.99824643e-01 -7.43578230e-02 -2.20839542e+02] [-1.05341321e-01 -1.27747067e-03 9.94435304e-01 -3.58363181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50591999999995 meters 0.028983856316957983 Centerline is valid? [True, True] Translation: X:294.56, Y:-220.86, Z:-35.84 [[ 6.95575536e-01 7.14494464e-01 7.53149015e-02 2.94564444e+02] [-7.10535440e-01 6.99639958e-01 -7.51220115e-02 -2.20861357e+02] [-1.06367576e-01 -1.26087332e-03 9.94326078e-01 -3.58393251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53592 meters 0.028706917026927556 Centerline is valid? [True, True] Translation: X:294.59, Y:-220.88, Z:-35.84 [[ 6.95863388e-01 7.14129886e-01 7.61094689e-02 2.94590262e+02] [-7.10075859e-01 7.00012254e-01 -7.59941949e-02 -2.20881905e+02] [-1.07547287e-01 -1.16191856e-03 9.94199291e-01 -3.58417551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56591999999995 meters 0.02872006642301167 Centerline is valid? [True, True] Translation: X:294.61, Y:-220.90, Z:-35.84 [[ 6.95450838e-01 7.14611922e-01 7.53520575e-02 2.94614017e+02] [-7.10633118e-01 6.99520143e-01 -7.53136186e-02 -2.20903530e+02] [-1.06530292e-01 -1.17074841e-03 9.94308768e-01 -3.58444424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59592 meters 0.028681856658745186 Centerline is valid? [True, True] Translation: X:294.52, Y:-221.26, Z:-33.98 [[ 7.61821836e-01 -6.46038745e-01 -4.75544869e-02 2.94522259e+02] [-6.44183038e-01 -7.63272286e-01 4.94330920e-02 -2.21264215e+02] [-6.82327147e-02 -7.02541515e-03 -9.97644696e-01 -3.39834070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62591999999995 meters 0.028939845436902173 Centerline is valid? [True, True] Translation: X:294.64, Y:-220.94, Z:-35.85 [[ 7.43130036e-01 6.64311362e-01 8.03004644e-02 2.94635319e+02] [-6.60658520e-01 7.47454756e-01 -6.95823814e-02 -2.20936166e+02] [-1.06245331e-01 -1.34242837e-03 9.94339041e-01 -3.58498675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65592 meters 0.02891253254912925 Centerline is valid? [True, True] Translation: X:294.66, Y:-220.96, Z:-35.85 [[ 7.43451107e-01 6.63711565e-01 8.22642733e-02 2.94661128e+02] [-6.59865552e-01 7.47987594e-01 -7.13583349e-02 -2.20955135e+02] [-1.08894008e-01 -1.23192708e-03 9.94052603e-01 -3.58522381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68591999999995 meters 0.028874452489818382 Centerline is valid? [True, True] Translation: X:294.69, Y:-220.98, Z:-35.86 [[ 7.44691314e-01 6.62402250e-01 8.15972163e-02 2.94686356e+02] [-6.58603761e-01 7.49147710e-01 -7.08434516e-02 -2.20975538e+02] [-1.08055229e-01 -9.83730429e-04 9.94144406e-01 -3.58556103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71592 meters 0.02851153086008001 Centerline is valid? [True, True] Translation: X:294.71, Y:-221.00, Z:-35.86 [[ 7.45947961e-01 6.61062306e-01 8.09831313e-02 2.94711257e+02] [-6.57306170e-01 7.50330652e-01 -7.03740795e-02 -2.20995261e+02] [-1.07285777e-01 -7.35310768e-04 9.94227952e-01 -3.58584961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74591999999996 meters 0.028649575054737825 Centerline is valid? [True, True] Translation: X:294.74, Y:-221.02, Z:-35.86 [[ 7.46988740e-01 6.59849588e-01 8.12794226e-02 2.94736064e+02] [-6.56051494e-01 7.51397537e-01 -7.06977982e-02 -2.21016511e+02] [-1.07723071e-01 -5.13027433e-04 9.94180807e-01 -3.58629163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.77592 meters 0.02875767798600515 Centerline is valid? [True, True] Translation: X:294.76, Y:-221.04, Z:-35.87 [[ 7.49992667e-01 6.56409342e-01 8.14725468e-02 2.94760720e+02] [-6.52564718e-01 7.54404914e-01 -7.09402178e-02 -2.21038154e+02] [-1.08029111e-01 3.85336543e-05 9.94147730e-01 -3.58671924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80591999999996 meters 0.02868219438955196 Centerline is valid? [True, True] Translation: X:294.79, Y:-221.06, Z:-35.87 [[ 7.51498027e-01 6.54732460e-01 8.10932866e-02 2.94786178e+02] [-6.50906049e-01 7.55860631e-01 -7.06825439e-02 -2.21059773e+02] [-1.07573379e-01 3.33681531e-04 9.94197092e-01 -3.58701743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.83592 meters 0.028952643100186772 Centerline is valid? [True, True] Translation: X:294.81, Y:-221.08, Z:-35.87 [[ 7.53645413e-01 6.52104644e-01 8.23293690e-02 2.94810933e+02] [-6.48136684e-01 7.58128572e-01 -7.18324954e-02 -2.21080796e+02] [-1.09258551e-01 7.75546416e-04 9.94013062e-01 -3.58741104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86591999999996 meters 0.028785189288247085 Centerline is valid? [True, True] Translation: X:294.83, Y:-221.10, Z:-35.88 [[ 7.54579035e-01 6.51172506e-01 8.11470721e-02 2.94834939e+02] [-6.47306626e-01 7.58929170e-01 -7.08565228e-02 -2.21102995e+02] [-1.07724700e-01 9.39809140e-04 9.94180319e-01 -3.58755910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89592 meters 0.028913889387273004 Centerline is valid? [True, True] Translation: X:294.86, Y:-221.13, Z:-35.88 [[ 7.55423230e-01 6.50210996e-01 8.10024952e-02 2.94858938e+02] [-6.46349543e-01 7.59752885e-01 -7.07659695e-02 -2.21125786e+02] [-1.07554691e-01 1.10233146e-03 9.94198558e-01 -3.58792366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92591999999996 meters 0.029212885652042102 Centerline is valid? [True, True] Translation: X:294.88, Y:-221.15, Z:-35.88 [[ 7.56399851e-01 6.48941780e-01 8.20599310e-02 2.94880383e+02] [-6.44963156e-01 7.60836862e-01 -7.17620848e-02 -2.21149935e+02] [-1.09003635e-01 1.35519811e-03 9.94040427e-01 -3.58831747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95592 meters 0.029092950804290318 Centerline is valid? [True, True] Translation: X:294.90, Y:-221.17, Z:-35.89 [[ 7.56957407e-01 6.48340345e-01 8.16717906e-02 2.94904016e+02] [-6.44388849e-01 7.61349193e-01 -7.14871801e-02 -2.21172556e+02] [-1.08528775e-01 1.48435932e-03 9.94092200e-01 -3.58852953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98591999999996 meters 0.029438130926222432 Centerline is valid? [True, True] Translation: X:294.93, Y:-221.20, Z:-35.89 [[ 7.56896829e-01 6.48394198e-01 8.18055921e-02 2.94928109e+02] [-6.44422138e-01 7.61303232e-01 -7.16763390e-02 -2.21195204e+02] [-1.08753384e-01 1.53425912e-03 9.94067577e-01 -3.58895146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01592 meters 0.02935226623785815 Centerline is valid? [True, True] Translation: X:294.95, Y:-221.22, Z:-35.89 [[ 7.57214816e-01 6.48022540e-01 8.18077678e-02 2.94952398e+02] [-6.44040176e-01 7.61619385e-01 -7.17507058e-02 -2.21217305e+02] [-1.08802456e-01 1.64320830e-03 9.94062033e-01 -3.58918902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04591999999997 meters 0.029595307278986776 Centerline is valid? [True, True] Translation: X:294.98, Y:-221.24, Z:-35.90 [[ 7.57302999e-01 6.47868467e-01 8.22108086e-02 2.94975348e+02] [-6.43837985e-01 7.61750264e-01 -7.21746802e-02 -2.21239970e+02] [-1.09383805e-01 1.72766044e-03 9.93998088e-01 -3.58954797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07592 meters 0.02946541982630822 Centerline is valid? [True, True] Translation: X:295.00, Y:-221.26, Z:-35.90 [[ 7.57124035e-01 6.48135292e-01 8.17547525e-02 2.94999097e+02] [-6.44144048e-01 7.61523246e-01 -7.18386516e-02 -2.21262579e+02] [-1.08819310e-01 1.72893260e-03 9.94060043e-01 -3.58970832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10591999999997 meters 0.029526465783739252 Centerline is valid? [True, True] Translation: X:295.02, Y:-221.29, Z:-35.90 [[ 7.56844290e-01 6.48523093e-01 8.12681896e-02 2.95021637e+02] [-6.44573870e-01 7.61193043e-01 -7.14820028e-02 -2.21287165e+02] [-1.08218510e-01 1.71739414e-03 9.94125648e-01 -3.59007794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13592 meters 0.029399392902669158 Centerline is valid? [True, True] Translation: X:295.04, Y:-221.31, Z:-35.90 [[ 7.56263445e-01 6.49247430e-01 8.08911341e-02 2.95044868e+02] [-6.45331495e-01 7.60575454e-01 -7.12196630e-02 -2.21309438e+02] [-1.07762994e-01 1.65923122e-03 9.94175228e-01 -3.59028787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16591999999997 meters 0.02950242298481676 Centerline is valid? [True, True] Translation: X:295.07, Y:-221.33, Z:-35.90 [[ 7.55848984e-01 6.49835066e-01 8.00418688e-02 2.95068412e+02] [-6.45997878e-01 7.60073555e-01 -7.05332084e-02 -2.21330766e+02] [-1.06672660e-01 1.60557652e-03 9.94292897e-01 -3.59044193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19591999999994 meters 0.02939793670032532 Centerline is valid? [True, True] Translation: X:295.09, Y:-221.35, Z:-35.91 [[ 7.55473519e-01 6.50263030e-01 8.01108835e-02 2.95092803e+02] [-6.46414757e-01 7.59707475e-01 -7.06577314e-02 -2.21353658e+02] [-1.06806947e-01 1.59518777e-03 9.94278498e-01 -3.59073433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22592 meters 0.029625287728928668 Centerline is valid? [True, True] Translation: X:295.12, Y:-221.38, Z:-35.91 [[ 7.54734045e-01 6.51210717e-01 7.93796187e-02 2.95115829e+02] [-6.47430468e-01 7.58895482e-01 -7.00816508e-02 -2.21375388e+02] [-1.05878756e-01 1.50022410e-03 9.94377915e-01 -3.59108249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25591999999995 meters 0.029678318250774376 Centerline is valid? [True, True] Translation: X:295.14, Y:-221.40, Z:-35.91 [[ 7.54570087e-01 6.51261419e-01 8.05142709e-02 2.95138580e+02] [-6.47365377e-01 7.58851843e-01 -7.11473777e-02 -2.21398047e+02] [-1.07433945e-01 1.56353175e-03 9.94210995e-01 -3.59143186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28592 meters 0.0296149121431944 Centerline is valid? [True, True] Translation: X:295.16, Y:-221.42, Z:-35.92 [[ 7.54236401e-01 6.51726034e-01 7.98788270e-02 2.95162156e+02] [-6.47887423e-01 7.58452917e-01 -7.06474300e-02 -2.21419790e+02] [-1.06627099e-01 1.53237598e-03 9.94297900e-01 -3.59172529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31591999999995 meters 0.029845525012151767 Centerline is valid? [True, True] Translation: X:295.19, Y:-221.44, Z:-35.92 [[ 7.54341739e-01 6.51591087e-01 7.99849670e-02 2.95186495e+02] [-6.47734634e-01 7.58568710e-01 -7.08050599e-02 -2.21441507e+02] [-1.06810039e-01 1.60217872e-03 9.94278155e-01 -3.59199374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34592 meters 0.029926509946246013 Centerline is valid? [True, True] Translation: X:295.21, Y:-221.46, Z:-35.92 [[ 7.53761893e-01 6.52221009e-01 8.03166489e-02 2.95210876e+02] [-6.48328176e-01 7.58027227e-01 -7.11709202e-02 -2.21463700e+02] [-1.07301376e-01 1.57438105e-03 9.94225294e-01 -3.59232774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37591999999995 meters 0.030028612548043964 Centerline is valid? [True, True] Translation: X:295.23, Y:-221.49, Z:-35.93 [[ 7.53752204e-01 6.52229865e-01 8.03356608e-02 2.95234639e+02] [-6.48327509e-01 7.58019494e-01 -7.12592965e-02 -2.21486452e+02] [-1.07373438e-01 1.62803296e-03 9.94217428e-01 -3.59262423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40592 meters 0.029998783748233053 Centerline is valid? [True, True] Translation: X:295.26, Y:-221.51, Z:-35.93 [[ 7.53351288e-01 6.52686464e-01 8.03879130e-02 2.95259112e+02] [-6.48773867e-01 7.57626399e-01 -7.13772344e-02 -2.21509186e+02] [-1.07490960e-01 1.61855438e-03 9.94204744e-01 -3.59293368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43591999999995 meters 0.029910658733907997 Centerline is valid? [True, True] Translation: X:295.28, Y:-221.53, Z:-35.93 [[ 7.53819074e-01 6.52263874e-01 7.94269583e-02 2.95282925e+02] [-6.48435666e-01 7.57990060e-01 -7.05851026e-02 -2.21531490e+02] [-1.06244957e-01 1.70512410e-03 9.94338525e-01 -3.59315928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46592 meters 0.030091389169945602 Centerline is valid? [True, True] Translation: X:295.31, Y:-221.55, Z:-35.93 [[ 7.54082389e-01 6.51858977e-01 8.02472758e-02 2.95306002e+02] [-6.47945485e-01 7.58338065e-01 -7.13444272e-02 -2.21554487e+02] [-1.07361069e-01 1.80371600e-03 9.94218461e-01 -3.59341856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49591999999996 meters 0.03000539451112 Centerline is valid? [True, True] Translation: X:295.33, Y:-221.58, Z:-35.94 [[ 7.53432803e-01 6.52652203e-01 7.99006464e-02 2.95329064e+02] [-6.48770285e-01 7.57655664e-01 -7.10986097e-02 -2.21576549e+02] [-1.06939842e-01 1.73085972e-03 9.94263986e-01 -3.59361348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.52592 meters 0.030284198370693367 Centerline is valid? [True, True] Translation: X:295.35, Y:-221.60, Z:-35.94 [[ 7.53136810e-01 6.52842710e-01 8.11254647e-02 2.95351802e+02] [-6.48834529e-01 7.57491406e-01 -7.22531937e-02 -2.21598738e+02] [-1.08621813e-01 1.77953708e-03 9.94081554e-01 -3.59395128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55591999999996 meters 0.03009824958258639 Centerline is valid? [True, True] Translation: X:295.37, Y:-221.62, Z:-35.94 [[ 7.52318483e-01 6.53959975e-01 7.97072874e-02 2.95374009e+02] [-6.50090751e-01 7.56527378e-01 -7.10516855e-02 -2.21621658e+02] [-1.06765704e-01 1.63652590e-03 9.94282860e-01 -3.59404491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.58592 meters 0.030358375352628864 Centerline is valid? [True, True] Translation: X:295.40, Y:-221.64, Z:-35.94 [[ 7.52008644e-01 6.54201028e-01 8.06474781e-02 2.95398118e+02] [-6.50234163e-01 7.56318866e-01 -7.19534998e-02 -2.21642911e+02] [-1.08067263e-01 1.66990836e-03 9.94142182e-01 -3.59448773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61591999999996 meters 0.030149536345472263 Centerline is valid? [True, True] Translation: X:295.42, Y:-221.66, Z:-35.95 [[ 7.51639069e-01 6.54709340e-01 7.99649268e-02 2.95422086e+02] [-6.50805676e-01 7.55878973e-01 -7.14069356e-02 -2.21664166e+02] [-1.07194594e-01 1.63061440e-03 9.94236722e-01 -3.59469679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64592 meters 0.030503083866382116 Centerline is valid? [True, True] Translation: X:295.45, Y:-221.69, Z:-35.95 [[ 7.52508161e-01 6.53671952e-01 8.02773063e-02 2.95446156e+02] [-6.49724903e-01 7.56775803e-01 -7.17491074e-02 -2.21685239e+02] [-1.07652302e-01 1.83362390e-03 9.94186914e-01 -3.59497210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67591999999996 meters 0.03064611679083757 Centerline is valid? [True, True] Translation: X:295.47, Y:-221.71, Z:-35.95 [[ 7.52979836e-01 6.53172657e-01 7.99177445e-02 2.95470564e+02] [-6.49251239e-01 7.57206507e-01 -7.14921904e-02 -2.21707824e+02] [-1.07210980e-01 1.94548316e-03 9.94234389e-01 -3.59522147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70592 meters 0.030918125374275147 Centerline is valid? [True, True] Translation: X:295.49, Y:-221.73, Z:-35.96 [[ 7.53683791e-01 6.52187673e-01 8.13140997e-02 2.95494436e+02] [-6.48113950e-01 7.58054416e-01 -7.28135347e-02 -2.21729271e+02] [-1.09128602e-01 2.17757848e-03 9.94025254e-01 -3.59562136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73591999999996 meters 0.03134346551357009 Centerline is valid? [True, True] Translation: X:295.52, Y:-221.75, Z:-35.96 [[ 7.55023909e-01 6.50603261e-01 8.15738573e-02 2.95517298e+02] [-6.46487081e-01 7.59413805e-01 -7.31103710e-02 -2.21751492e+02] [-1.09514159e-01 2.46363317e-03 9.93982183e-01 -3.59585179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76592 meters 0.031178159223339316 Centerline is valid? [True, True] Translation: X:295.54, Y:-221.77, Z:-35.96 [[ 7.56391639e-01 6.49167869e-01 8.03291173e-02 2.95541361e+02] [-6.45162594e-01 7.60640475e-01 -7.20506429e-02 -2.21773292e+02] [-1.07874540e-01 2.67316223e-03 9.94160921e-01 -3.59596292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79591999999997 meters 0.031732374452220984 Centerline is valid? [True, True] Translation: X:295.57, Y:-221.79, Z:-35.96 [[ 7.57662115e-01 6.47529356e-01 8.15711562e-02 2.95565142e+02] [-6.43384995e-01 7.62034669e-01 -7.32045864e-02 -2.21794770e+02] [-1.09562168e-01 2.98268382e-03 9.93975470e-01 -3.59631843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82592 meters 0.03178160731223922 Centerline is valid? [True, True] Translation: X:295.59, Y:-221.82, Z:-35.97 [[ 7.57802728e-01 6.47406117e-01 8.12425079e-02 2.95588572e+02] [-6.43287387e-01 7.62139155e-01 -7.29742884e-02 -2.21818253e+02] [-1.09162097e-01 3.03783422e-03 9.94019320e-01 -3.59669274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85591999999997 meters 0.031997519185717194 Centerline is valid? [True, True] Translation: X:295.61, Y:-221.84, Z:-35.97 [[ 7.57477288e-01 6.47657529e-01 8.22671507e-02 2.95610193e+02] [-6.43427504e-01 7.61925292e-01 -7.39655047e-02 -2.21841676e+02] [-1.10585739e-01 3.09424241e-03 9.93861771e-01 -3.59709808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88592 meters 0.03189946902990533 Centerline is valid? [True, True] Translation: X:295.63, Y:-221.87, Z:-35.97 [[ 7.56835960e-01 6.48520848e-01 8.13636292e-02 2.95631034e+02] [-6.44381686e-01 7.61191050e-01 -7.32149438e-02 -2.21866421e+02] [-1.09414684e-01 2.98246970e-03 9.93991716e-01 -3.59738978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91591999999997 meters 0.031724947257539556 Centerline is valid? [True, True] Translation: X:295.65, Y:-221.89, Z:-35.97 [[ 7.55990865e-01 6.49637974e-01 8.03014004e-02 2.95654614e+02] [-6.45606159e-01 7.60238445e-01 -7.23200890e-02 -2.21888330e+02] [-1.08030088e-01 2.83024793e-03 9.94143596e-01 -3.59749995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94591999999994 meters 0.03128792334939173 Centerline is valid? [True, True] Translation: X:295.68, Y:-221.91, Z:-35.98 [[ 7.55410325e-01 6.50397964e-01 7.96098593e-02 2.95678055e+02] [-6.46433147e-01 7.59588676e-01 -7.17581315e-02 -2.21910325e+02] [-1.07142090e-01 2.74438152e-03 9.94239931e-01 -3.59778884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97592 meters 0.03097903020823292 Centerline is valid? [True, True] Translation: X:295.70, Y:-221.93, Z:-35.98 [[ 7.53856343e-01 6.52389667e-01 7.80277978e-02 2.95700777e+02] [-6.48585650e-01 7.57879729e-01 -7.03915532e-02 -2.21933447e+02] [-1.05058408e-01 2.45740889e-03 9.94463017e-01 -3.59782065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00591999999995 meters 0.030970667452101804 Centerline is valid? [True, True] Translation: X:295.73, Y:-221.96, Z:-35.98 [[ 7.53035738e-01 6.53308065e-01 7.82671740e-02 2.95725326e+02] [-6.49478850e-01 7.57088427e-01 -7.06706291e-02 -2.21955802e+02] [-1.05424864e-01 2.38463516e-03 9.94424412e-01 -3.59820888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03592 meters 0.03077906221912842 Centerline is valid? [True, True] Translation: X:295.75, Y:-221.98, Z:-35.99 [[ 7.51249701e-01 6.55189198e-01 7.96931666e-02 2.95748642e+02] [-6.51221366e-01 7.55461584e-01 -7.20314289e-02 -2.21978826e+02] [-1.07399340e-01 2.21569659e-03 9.94213494e-01 -3.59853717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06591999999995 meters 0.030617349892664892 Centerline is valid? [True, True] Translation: X:295.77, Y:-222.00, Z:-35.99 [[ 7.49728031e-01 6.56866019e-01 8.02179129e-02 2.95772091e+02] [-6.52847409e-01 7.54004549e-01 -7.25768601e-02 -2.22000300e+02] [-1.08157944e-01 2.04284990e-03 9.94131624e-01 -3.59884243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09592 meters 0.030466333951795686 Centerline is valid? [True, True] Translation: X:295.80, Y:-222.02, Z:-35.99 [[ 7.49077076e-01 6.57784769e-01 7.87574257e-02 2.95796233e+02] [-6.53910070e-01 7.53203495e-01 -7.13170074e-02 -2.22021332e+02] [-1.06231610e-01 1.92166151e-03 9.94339556e-01 -3.59906632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12591999999995 meters 0.03037550383184155 Centerline is valid? [True, True] Translation: X:295.82, Y:-222.04, Z:-35.99 [[ 7.48077370e-01 6.58962443e-01 7.84139446e-02 2.95820614e+02] [-6.55121403e-01 7.52173704e-01 -7.10680399e-02 -2.22042153e+02] [-1.05812076e-01 1.79373897e-03 9.94384527e-01 -3.59942745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15592 meters 0.029982726936470028 Centerline is valid? [True, True] Translation: X:295.84, Y:-222.06, Z:-36.00 [[ 7.46915839e-01 6.60431613e-01 7.71155860e-02 2.95844853e+02] [-6.56718495e-01 7.50884484e-01 -6.99522022e-02 -2.22063119e+02] [-1.04103543e-01 1.60517623e-03 9.94565169e-01 -3.59953314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18591999999995 meters 0.030141907575358565 Centerline is valid? [True, True] Translation: X:295.87, Y:-222.09, Z:-36.00 [[ 7.45811584e-01 6.61589371e-01 7.78754505e-02 2.95869425e+02] [-6.57801967e-01 7.49864811e-01 -7.07060016e-02 -2.22085711e+02] [-1.05174399e-01 1.50673055e-03 9.94452651e-01 -3.59986380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21592 meters 0.030141907575358565 Centerline is valid? [True, True] Translation: X:295.89, Y:-222.11, Z:-36.00 [[ 7.45481184e-01 6.61965859e-01 7.78396189e-02 2.95893689e+02] [-6.58176385e-01 7.49532474e-01 -7.07454299e-02 -2.22107270e+02] [-1.05174381e-01 1.50718779e-03 9.94452652e-01 -3.60014609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24591999999996 meters 0.03013785629089342 Centerline is valid? [True, True] Translation: X:295.92, Y:-222.13, Z:-36.00 [[ 7.45097584e-01 6.62234351e-01 7.92165008e-02 2.95917012e+02] [-6.58302986e-01 7.49295177e-01 -7.20688365e-02 -2.22128989e+02] [-1.07083001e-01 1.54985700e-03 9.94248877e-01 -3.60044437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.27592 meters 0.03014282595791639 Centerline is valid? [True, True] Translation: X:295.94, Y:-222.15, Z:-36.01 [[ 7.44845202e-01 6.62305695e-01 8.09740114e-02 2.95940522e+02] [-6.58190629e-01 7.49231960e-01 -7.37330721e-02 -2.22150071e+02] [-1.09502151e-01 1.62338950e-03 9.93985233e-01 -3.60070834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30591999999996 meters 0.03012423325156944 Centerline is valid? [True, True] Translation: X:295.97, Y:-222.17, Z:-36.01 [[ 7.44778996e-01 6.62330590e-01 8.13783583e-02 2.95965012e+02] [-6.58167216e-01 7.49209837e-01 -7.41655969e-02 -2.22171349e+02] [-1.10091610e-01 1.67641118e-03 9.93920031e-01 -3.60106443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.33592 meters 0.030221350976359546 Centerline is valid? [True, True] Translation: X:295.99, Y:-222.19, Z:-36.01 [[ 7.45279765e-01 6.61793016e-01 8.11669603e-02 2.95989828e+02] [-6.57639857e-01 7.49684424e-01 -7.40478397e-02 -2.22193524e+02] [-1.09853949e-01 1.80772842e-03 9.93946096e-01 -3.60130360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36591999999996 meters 0.030216812469166226 Centerline is valid? [True, True] Translation: X:296.01, Y:-222.22, Z:-36.02 [[ 7.44624509e-01 6.62480183e-01 8.15741896e-02 2.96013737e+02] [-6.58280813e-01 7.49077344e-01 -7.44949894e-02 -2.22216049e+02] [-1.10456832e-01 1.77207099e-03 9.93879343e-01 -3.60166772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39592 meters 0.029994800801767987 Centerline is valid? [True, True] Translation: X:296.04, Y:-222.24, Z:-36.02 [[ 7.43956445e-01 6.63279454e-01 8.11737232e-02 2.96036621e+02] [-6.59118051e-01 7.48369879e-01 -7.42018766e-02 -2.22239044e+02] [-1.09964550e-01 1.69989812e-03 9.93934056e-01 -3.60182522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42591999999996 meters 0.029663683104295752 Centerline is valid? [True, True] Translation: X:296.06, Y:-222.26, Z:-36.02 [[ 7.42625545e-01 6.64922548e-01 7.99081096e-02 2.96058906e+02] [-6.60892841e-01 7.46910845e-01 -7.31084282e-02 -2.22262684e+02] [-1.08295676e-01 1.48148882e-03 9.94117625e-01 -3.60204289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45592 meters 0.029598056107221053 Centerline is valid? [True, True] Translation: X:296.08, Y:-222.29, Z:-36.02 [[ 7.42073384e-01 6.65602872e-01 7.93719715e-02 2.96082575e+02] [-6.61624171e-01 7.46304762e-01 -7.26818986e-02 -2.22285043e+02] [-1.07612961e-01 1.42088757e-03 9.94191849e-01 -3.60223332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48591999999996 meters 0.02954029519498257 Centerline is valid? [True, True] Translation: X:296.11, Y:-222.31, Z:-36.03 [[ 7.40735389e-01 6.67127266e-01 7.90714509e-02 2.96105554e+02] [-6.63180414e-01 7.44942726e-01 -7.24711947e-02 -2.22307966e+02] [-1.07251212e-01 1.24334107e-03 9.94231176e-01 -3.60252613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51592 meters 0.029349998066279623 Centerline is valid? [True, True] Translation: X:296.13, Y:-222.33, Z:-36.03 [[ 7.39731193e-01 6.68243881e-01 7.90435197e-02 2.96127860e+02] [-6.64299016e-01 7.43941420e-01 -7.25119314e-02 -2.22332097e+02] [-1.07259403e-01 1.13080518e-03 9.94230427e-01 -3.60272097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54591999999997 meters 0.029455677353930787 Centerline is valid? [True, True] Translation: X:296.15, Y:-222.36, Z:-36.03 [[ 7.39606010e-01 6.68362068e-01 7.92155039e-02 2.96151293e+02] [-6.64392607e-01 7.43835179e-01 -7.27440062e-02 -2.22355238e+02] [-1.07542613e-01 1.17170902e-03 9.94199786e-01 -3.60294021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57592 meters 0.029532122141216227 Centerline is valid? [True, True] Translation: X:296.17, Y:-222.38, Z:-36.03 [[ 7.41247643e-01 6.66366314e-01 8.06713497e-02 2.96173542e+02] [-6.62229843e-01 7.45622937e-01 -7.41489763e-02 -2.22377689e+02] [-1.09560789e-01 1.53977871e-03 9.93978905e-01 -3.60327906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60591999999997 meters 0.02951959412127295 Centerline is valid? [True, True] Translation: X:296.20, Y:-222.40, Z:-36.04 [[ 7.41340147e-01 6.66315630e-01 8.02388211e-02 2.96196621e+02] [-6.62218530e-01 7.45668166e-01 -7.37943419e-02 -2.22400677e+02] [-1.09001858e-01 1.57107407e-03 9.94040304e-01 -3.60365950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63592 meters 0.029566911339184484 Centerline is valid? [True, True] Translation: X:296.22, Y:-222.42, Z:-36.04 [[ 7.41906211e-01 6.65764842e-01 7.95760578e-02 2.96219872e+02] [-6.61724165e-01 7.46159706e-01 -7.32585988e-02 -2.22424154e+02] [-1.08149447e-01 1.69360908e-03 9.94133205e-01 -3.60395313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66591999999997 meters 0.029426439696865602 Centerline is valid? [True, True] Translation: X:296.24, Y:-222.45, Z:-36.04 [[ 7.41451828e-01 6.66343879e-01 7.89621568e-02 2.96241565e+02] [-6.62361015e-01 7.45642751e-01 -7.27652032e-02 -2.22448026e+02] [-1.07364207e-01 1.65043857e-03 9.94218388e-01 -3.60427483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69591999999994 meters 0.02935884737122252 Centerline is valid? [True, True] Translation: X:296.27, Y:-222.47, Z:-36.04 [[ 7.40774702e-01 6.67177305e-01 7.82769705e-02 2.96265022e+02] [-6.63262069e-01 7.44897319e-01 -7.21901116e-02 -2.22470716e+02] [-1.06471910e-01 1.55846298e-03 9.94314489e-01 -3.60444343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72592 meters 0.029382307582935616 Centerline is valid? [True, True] Translation: X:296.29, Y:-222.49, Z:-36.05 [[ 7.40358415e-01 6.67639924e-01 7.82709943e-02 2.96288795e+02] [-6.63724396e-01 7.44482796e-01 -7.22169892e-02 -2.22493496e+02] [-1.06486354e-01 1.51608730e-03 9.94313008e-01 -3.60466640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75591999999995 meters 0.02926031731877513 Centerline is valid? [True, True] Translation: X:296.31, Y:-222.52, Z:-36.05 [[ 7.39806188e-01 6.68232051e-01 7.84393402e-02 2.96312342e+02] [-6.64294993e-01 7.43951415e-01 -7.24462225e-02 -2.22516672e+02] [-1.06765946e-01 1.48930272e-03 9.94283066e-01 -3.60501482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78592 meters 0.029118873215249575 Centerline is valid? [True, True] Translation: X:296.33, Y:-222.54, Z:-36.05 [[ 7.38712505e-01 6.69490940e-01 7.80109952e-02 2.96331506e+02] [-6.65596215e-01 7.42818987e-01 -7.21223271e-02 -2.22543102e+02] [-1.06233293e-01 1.35384177e-03 9.94340311e-01 -3.60534343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81591999999995 meters 0.029314876516251004 Centerline is valid? [True, True] Translation: X:296.35, Y:-222.57, Z:-36.06 [[ 7.38431703e-01 6.69706619e-01 7.88141137e-02 2.96353483e+02] [-6.65725218e-01 7.42624484e-01 -7.29301713e-02 -2.22566448e+02] [-1.07371109e-01 1.38540766e-03 9.94218047e-01 -3.60566673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84592 meters 0.029320327109244395 Centerline is valid? [True, True] Translation: X:296.38, Y:-222.59, Z:-36.06 [[ 7.38617058e-01 6.69416180e-01 7.95413037e-02 2.96375878e+02] [-6.65351854e-01 7.42886099e-01 -7.36692236e-02 -2.22589309e+02] [-1.08405499e-01 1.49039136e-03 9.94105642e-01 -3.60596201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87591999999995 meters 0.029328454169360668 Centerline is valid? [True, True] Translation: X:296.40, Y:-222.61, Z:-36.06 [[ 7.38024834e-01 6.69926240e-01 8.07352305e-02 2.96397999e+02] [-6.65734196e-01 7.42426172e-01 -7.48422311e-02 -2.22612099e+02] [-1.10078723e-01 1.48722146e-03 9.93921759e-01 -3.60621905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90592 meters 0.029169547802987642 Centerline is valid? [True, True] Translation: X:296.42, Y:-222.63, Z:-36.06 [[ 7.36951295e-01 6.71118756e-01 8.06374890e-02 2.96420789e+02] [-6.66936625e-01 7.41348618e-01 -7.48182162e-02 -2.22634499e+02] [-1.09992399e-01 1.35728658e-03 9.93931502e-01 -3.60647077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93591999999995 meters 0.028951072859286168 Centerline is valid? [True, True] Translation: X:296.44, Y:-222.66, Z:-36.07 [[ 7.33653203e-01 6.74696075e-01 8.08590419e-02 2.96441179e+02] [-6.70504923e-01 7.38095144e-01 -7.50913201e-02 -2.22659131e+02] [-1.10345485e-01 8.74601937e-04 9.93892906e-01 -3.60669768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96592 meters 0.0287188651062918 Centerline is valid? [True, True] Translation: X:296.46, Y:-222.68, Z:-36.07 [[ 7.32716185e-01 6.75911259e-01 7.91894081e-02 2.96464477e+02] [-6.71892834e-01 7.36982668e-01 -7.35973281e-02 -2.22682087e+02] [-1.08106484e-01 7.19157666e-04 9.94139060e-01 -3.60683635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99591999999996 meters 0.028617224131862903 Centerline is valid? [True, True] Translation: X:296.49, Y:-222.70, Z:-36.07 [[ 7.30878623e-01 6.77877971e-01 7.93592779e-02 2.96489367e+02] [-6.73849983e-01 7.35174299e-01 -7.37899079e-02 -2.22704202e+02] [-1.08363454e-01 4.55218195e-04 9.94111239e-01 -3.60708639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.02592 meters 0.02847902293791339 Centerline is valid? [True, True] Translation: X:296.51, Y:-222.73, Z:-36.07 [[ 7.29925708e-01 6.78989792e-01 7.86213880e-02 2.96511610e+02] [-6.75034976e-01 7.34147632e-01 -7.31781143e-02 -2.22727572e+02] [-1.07406898e-01 3.42400203e-04 9.94215088e-01 -3.60741681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05591999999996 meters 0.028562340688599308 Centerline is valid? [True, True] Translation: X:296.53, Y:-222.75, Z:-36.08 [[ 7.29801240e-01 6.79107372e-01 7.87612049e-02 2.96534017e+02] [-6.75131619e-01 7.34038852e-01 -7.33775242e-02 -2.22751227e+02] [-1.07645002e-01 3.76828388e-04 9.94189324e-01 -3.60779094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.08592 meters 0.028365826410051025 Centerline is valid? [True, True] Translation: X:296.56, Y:-222.77, Z:-36.08 [[ 7.29648245e-01 6.79415455e-01 7.75117951e-02 2.96556483e+02] [-6.75559098e-01 7.33753702e-01 -7.22869981e-02 -2.22773720e+02] [-1.05987470e-01 3.80282912e-04 9.94367393e-01 -3.60805906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11591999999996 meters 0.028310325946570535 Centerline is valid? [True, True] Translation: X:296.58, Y:-222.80, Z:-36.08 [[ 7.28759472e-01 6.80337000e-01 7.77894516e-02 2.96579781e+02] [-6.76450747e-01 7.32899364e-01 -7.26148041e-02 -2.22797652e+02] [-1.06414378e-01 2.97993674e-04 9.94321825e-01 -3.60830556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14592 meters 0.028439708830300895 Centerline is valid? [True, True] Translation: X:296.60, Y:-222.82, Z:-36.09 [[ 7.28250970e-01 6.80866503e-01 7.79187373e-02 2.96603805e+02] [-6.76962097e-01 7.32407488e-01 -7.28120273e-02 -2.22820558e+02] [-1.06643537e-01 2.77397794e-04 9.94297279e-01 -3.60862266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17591999999996 meters 0.02855655968301636 Centerline is valid? [True, True] Translation: X:296.63, Y:-222.84, Z:-36.09 [[ 7.26885451e-01 6.82118241e-01 7.97009808e-02 2.96626651e+02] [-6.78031518e-01 7.31241876e-01 -7.45558767e-02 -2.22843577e+02] [-1.09136618e-01 1.53805022e-04 9.94026748e-01 -3.60899108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20592 meters 0.028685911933714735 Centerline is valid? [True, True] Translation: X:296.65, Y:-222.87, Z:-36.09 [[ 7.24225266e-01 6.84764015e-01 8.12158143e-02 2.96648409e+02] [-6.80528572e-01 7.28764849e-01 -7.60437883e-02 -2.22867011e+02] [-1.11259280e-01 -1.96849293e-04 9.93791394e-01 -3.60938335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23591999999996 meters 0.028691881086957874 Centerline is valid? [True, True] Translation: X:296.67, Y:-222.89, Z:-36.10 [[ 7.22989160e-01 6.86192301e-01 8.01673299e-02 2.96671090e+02] [-6.82067025e-01 7.27420096e-01 -7.51304055e-02 -2.22889939e+02] [-1.09869233e-01 -3.61023379e-04 9.93945985e-01 -3.60967003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26592 meters 0.0289542270691553 Centerline is valid? [True, True] Translation: X:296.69, Y:-222.91, Z:-36.10 [[ 7.20323583e-01 6.88904896e-01 8.08948702e-02 2.96693791e+02] [-6.84713306e-01 7.24851373e-01 -7.58826520e-02 -2.22912555e+02] [-1.10912688e-01 -7.29730225e-04 9.93829886e-01 -3.61015604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29591999999997 meters 0.029016639517863676 Centerline is valid? [True, True] Translation: X:296.72, Y:-222.93, Z:-36.10 [[ 7.18745817e-01 6.90507846e-01 8.12610955e-02 2.96716982e+02] [-6.86280489e-01 7.23324304e-01 -7.62957498e-02 -2.22934078e+02] [-1.11460939e-01 -9.30653357e-04 9.93768380e-01 -3.61037911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32592 meters 0.02907571678868975 Centerline is valid? [True, True] Translation: X:296.74, Y:-222.96, Z:-36.11 [[ 7.17413405e-01 6.91945877e-01 8.08016707e-02 2.96741470e+02] [-6.87767776e-01 7.21948543e-01 -7.59327793e-02 -2.22955899e+02] [-1.10876022e-01 -1.09759159e-03 9.93833640e-01 -3.61060285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35591999999997 meters 0.029129421822607512 Centerline is valid? [True, True] Translation: X:296.77, Y:-222.98, Z:-36.11 [[ 7.15830445e-01 6.93599808e-01 8.06602827e-02 2.96766582e+02] [-6.89437844e-01 7.20359379e-01 -7.58803252e-02 -2.22977887e+02] [-1.10734970e-01 -1.29280441e-03 9.93849131e-01 -3.61084588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38592 meters 0.02946268835453141 Centerline is valid? [True, True] Translation: X:296.79, Y:-223.00, Z:-36.11 [[ 7.13716391e-01 6.95814099e-01 8.03221755e-02 2.96791046e+02] [-6.91692201e-01 7.18220209e-01 -7.56414576e-02 -2.22999167e+02] [-1.10321402e-01 -1.57167420e-03 9.93894722e-01 -3.61117551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41591999999997 meters 0.02974751485434032 Centerline is valid? [True, True] Translation: X:296.82, Y:-223.02, Z:-36.11 [[ 7.11632917e-01 6.97947534e-01 8.02983834e-02 2.96815220e+02] [-6.93833372e-01 7.16146510e-01 -7.56929861e-02 -2.23020599e+02] [-1.10335140e-01 -1.84807753e-03 9.93892721e-01 -3.61149405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44591999999994 meters 0.029947911312879997 Centerline is valid? [True, True] Translation: X:296.84, Y:-223.04, Z:-36.12 [[ 7.09819235e-01 6.99680907e-01 8.12605882e-02 2.96841243e+02] [-6.95470505e-01 7.14452416e-01 -7.66715172e-02 -2.23039994e+02] [-1.11702420e-01 -2.09142468e-03 9.93739501e-01 -3.61188623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47592 meters 0.030115740524729352 Centerline is valid? [True, True] Translation: X:296.87, Y:-223.06, Z:-36.12 [[ 7.08688748e-01 7.00820757e-01 8.13051393e-02 2.96867037e+02] [-6.96604944e-01 7.13333961e-01 -7.67867995e-02 -2.23060649e+02] [-1.11811500e-01 -2.21962123e-03 9.93726955e-01 -3.61211835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50591999999995 meters 0.030122724954834354 Centerline is valid? [True, True] Translation: X:296.89, Y:-223.08, Z:-36.12 [[ 7.08019649e-01 7.01489407e-01 8.13682244e-02 2.96892832e+02] [-6.97262263e-01 7.12676269e-01 -7.69277032e-02 -2.23080905e+02] [-1.11953172e-01 -2.26866689e-03 9.93710894e-01 -3.61234617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53592 meters 0.03064155687060934 Centerline is valid? [True, True] Translation: X:296.92, Y:-223.10, Z:-36.13 [[ 7.07123719e-01 7.02269861e-01 8.24201980e-02 2.96920387e+02] [-6.97928367e-01 7.11906910e-01 -7.80035058e-02 -2.23097809e+02] [-1.13455020e-01 -2.36526507e-03 9.93540318e-01 -3.61268734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56591999999995 meters 0.0306176073939895 Centerline is valid? [True, True] Translation: X:296.95, Y:-223.12, Z:-36.13 [[ 7.07237646e-01 7.02041395e-01 8.33834004e-02 2.96946845e+02] [-6.97587112e-01 7.12132420e-01 -7.89913832e-02 -2.23117695e+02] [-1.14835244e-01 -2.30150554e-03 9.93381885e-01 -3.61297042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59592 meters 0.03056850302025295 Centerline is valid? [True, True] Translation: X:296.97, Y:-223.14, Z:-36.13 [[ 7.07371120e-01 7.01957825e-01 8.29536602e-02 2.96972929e+02] [-6.97539671e-01 7.12215059e-01 -7.86645866e-02 -2.23137426e+02] [-1.14300068e-01 -2.21841214e-03 9.93443795e-01 -3.61324364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62591999999995 meters 0.030392616293117514 Centerline is valid? [True, True] Translation: X:297.00, Y:-223.15, Z:-36.13 [[ 7.08630688e-01 7.00770697e-01 8.22373273e-02 2.97000725e+02] [-6.96412670e-01 7.13383906e-01 -7.80563621e-02 -2.23154609e+02] [-1.13366397e-01 -1.95798314e-03 9.93551320e-01 -3.61348183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65592 meters 0.030385540233337036 Centerline is valid? [True, True] Translation: X:297.03, Y:-223.18, Z:-36.14 [[ 7.08514349e-01 7.00853384e-01 8.25345413e-02 2.97026389e+02] [-6.96455717e-01 7.13302761e-01 -7.84130420e-02 -2.23175182e+02] [-1.13828162e-01 -1.92488778e-03 9.93498588e-01 -3.61376312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68591999999995 meters 0.03058614379451128 Centerline is valid? [True, True] Translation: X:297.05, Y:-223.20, Z:-36.14 [[ 7.08219660e-01 7.01105249e-01 8.29237202e-02 2.97051725e+02] [-6.96658055e-01 7.13055231e-01 -7.88656590e-02 -2.23196711e+02] [-1.14422320e-01 -1.91526749e-03 9.93430352e-01 -3.61416304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71592 meters 0.030694954159276474 Centerline is valid? [True, True] Translation: X:297.08, Y:-223.22, Z:-36.14 [[ 7.07308030e-01 7.02005011e-01 8.30922056e-02 2.97079050e+02] [-6.97536241e-01 7.12169182e-01 -7.91090940e-02 -2.23215959e+02] [-1.14710688e-01 -2.00532734e-03 9.93396918e-01 -3.61444462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74591999999996 meters 0.030650679075184956 Centerline is valid? [True, True] Translation: X:297.10, Y:-223.24, Z:-36.15 [[ 7.06755087e-01 7.02571950e-01 8.30054307e-02 2.97104435e+02] [-6.98106905e-01 7.11609801e-01 -7.91090371e-02 -2.23236794e+02] [-1.14647269e-01 -2.03594990e-03 9.93404177e-01 -3.61470166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.77592 meters 0.030651277985609633 Centerline is valid? [True, True] Translation: X:297.13, Y:-223.26, Z:-36.15 [[ 7.07824018e-01 7.01638956e-01 8.17798006e-02 2.97129737e+02] [-6.97290927e-01 7.12530361e-01 -7.80118427e-02 -2.23257400e+02] [-1.13006739e-01 -1.80565705e-03 9.93592581e-01 -3.61494907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80591999999996 meters 0.030525011588755178 Centerline is valid? [True, True] Translation: X:297.15, Y:-223.28, Z:-36.15 [[ 7.08251806e-01 7.01220200e-01 8.16676814e-02 2.97154038e+02] [-6.96876071e-01 7.12942726e-01 -7.79513406e-02 -2.23278350e+02] [-1.12885434e-01 -1.70307514e-03 9.93606551e-01 -3.61528197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.83592 meters 0.03042149139380362 Centerline is valid? [True, True] Translation: X:297.18, Y:-223.30, Z:-36.16 [[ 7.09615799e-01 6.99960398e-01 8.06279054e-02 2.97178785e+02] [-6.95710554e-01 7.14180222e-01 -7.70287990e-02 -2.23299514e+02] [-1.11499964e-01 -1.43283193e-03 9.93763405e-01 -3.61553100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86591999999996 meters 0.03043039770515636 Centerline is valid? [True, True] Translation: X:297.20, Y:-223.32, Z:-36.16 [[ 7.10982197e-01 6.98486035e-01 8.13730563e-02 2.97203569e+02] [-6.94139022e-01 7.15622746e-01 -7.78145430e-02 -2.23320601e+02] [-1.12584782e-01 -1.15945899e-03 9.93641446e-01 -3.61582708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89592 meters 0.030207452172738295 Centerline is valid? [True, True] Translation: X:297.23, Y:-223.34, Z:-36.16 [[ 7.14798723e-01 6.94633937e-01 8.09103122e-02 2.97225745e+02] [-6.90302776e-01 7.19363227e-01 -7.74507869e-02 -2.23343946e+02] [-1.12003848e-01 -4.90889542e-04 9.93707652e-01 -3.61624409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92591999999996 meters 0.03006820870961436 Centerline is valid? [True, True] Translation: X:297.25, Y:-223.37, Z:-36.17 [[ 7.16754858e-01 6.92729224e-01 7.99293187e-02 2.97248011e+02] [-6.88483095e-01 7.21197756e-01 -7.65821407e-02 -2.23366503e+02] [-1.10695532e-01 -1.39363369e-04 9.93854355e-01 -3.61656483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95592 meters 0.030185393251071318 Centerline is valid? [True, True] Translation: X:297.27, Y:-223.39, Z:-36.17 [[ 7.17381617e-01 6.92016284e-01 8.04803028e-02 2.97271268e+02] [-6.87698479e-01 7.21881889e-01 -7.71838080e-02 -2.23389466e+02] [-1.11509725e-01 2.40631179e-05 9.93763342e-01 -3.61686601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98591999999996 meters 0.030019197893658603 Centerline is valid? [True, True] Translation: X:297.29, Y:-223.41, Z:-36.17 [[ 7.18610093e-01 6.90892017e-01 7.91691543e-02 2.97293958e+02] [-6.86698944e-01 7.22957923e-01 -7.60026418e-02 -2.23411675e+02] [-1.09745586e-01 2.50890822e-04 9.93959679e-01 -3.61710056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01592 meters 0.029880948099838406 Centerline is valid? [True, True] Translation: X:297.31, Y:-223.44, Z:-36.17 [[ 7.18706222e-01 6.90957055e-01 7.77156046e-02 2.97314919e+02] [-6.86910135e-01 7.22895751e-01 -7.46739572e-02 -2.23435667e+02] [-1.07776778e-01 2.85001263e-04 9.94175078e-01 -3.61742261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04591999999997 meters 0.029819480687894397 Centerline is valid? [True, True] Translation: X:297.34, Y:-223.46, Z:-36.18 [[ 7.18068934e-01 6.91662281e-01 7.73323706e-02 2.97337532e+02] [-6.87651878e-01 7.22221045e-01 -7.43751110e-02 -2.23459566e+02] [-1.07293524e-01 2.28706748e-04 9.94227362e-01 -3.61772674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07592 meters 0.030011250329184547 Centerline is valid? [True, True] Translation: X:297.36, Y:-223.48, Z:-36.18 [[ 7.16519141e-01 6.93139118e-01 7.84760023e-02 2.97359300e+02] [-6.89009176e-01 7.20803828e-01 -7.55526123e-02 -2.23483528e+02] [-1.08934274e-01 6.42071866e-05 9.94048952e-01 -3.61803686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10591999999997 meters 0.029921269245920028 Centerline is valid? [True, True] Translation: X:297.38, Y:-223.51, Z:-36.18 [[ 7.15677319e-01 6.94011424e-01 7.84481911e-02 2.97381994e+02] [-6.89881840e-01 7.19963987e-01 -7.55969880e-02 -2.23507915e+02] [-1.08945046e-01 -1.69327161e-05 9.94047774e-01 -3.61821482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13592 meters 0.029921269245920028 Centerline is valid? [True, True] Translation: X:297.41, Y:-223.53, Z:-36.18 [[ 7.15314654e-01 6.94389671e-01 7.84087419e-02 2.97405601e+02] [-6.90257869e-01 7.19599183e-01 -7.56378868e-02 -2.23530174e+02] [-1.08945034e-01 -1.73622087e-05 9.94047775e-01 -3.61849711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16591999999997 meters 0.03018439134359758 Centerline is valid? [True, True] Translation: X:297.43, Y:-223.56, Z:-36.19 [[ 7.13825426e-01 6.95967695e-01 7.79886471e-02 2.97427259e+02] [-6.91880953e-01 7.18073066e-01 -7.53114780e-02 -2.23555036e+02] [-1.08415903e-01 -1.99611649e-04 9.94105604e-01 -3.61877759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19591999999994 meters 0.030285359337962107 Centerline is valid? [True, True] Translation: X:297.45, Y:-223.58, Z:-36.19 [[ 7.10653095e-01 6.99261751e-01 7.74931123e-02 2.97449240e+02] [-6.95237895e-01 7.14865437e-01 -7.49111223e-02 -2.23580208e+02] [-1.07779630e-01 -6.40327378e-04 9.94174603e-01 -3.61901541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22592 meters 0.030126863615150868 Centerline is valid? [True, True] Translation: X:297.47, Y:-223.60, Z:-36.19 [[ 7.08858056e-01 7.01213376e-01 7.62893056e-02 2.97472155e+02] [-6.97318068e-01 7.12950936e-01 -7.38137849e-02 -2.23603080e+02] [-1.06149745e-01 -8.74415064e-04 9.94349771e-01 -3.61917203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25591999999995 meters 0.030561567771468574 Centerline is valid? [True, True] Translation: X:297.50, Y:-223.63, Z:-36.19 [[ 7.06150917e-01 7.03928330e-01 7.63923393e-02 2.97495260e+02] [-7.00034768e-01 7.10269891e-01 -7.39459621e-02 -2.23625101e+02] [-1.06311836e-01 -1.26028460e-03 9.94332040e-01 -3.61945562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28592 meters 0.03089701029576642 Centerline is valid? [True, True] Translation: X:297.52, Y:-223.65, Z:-36.20 [[ 7.01994819e-01 7.07997347e-01 7.70910534e-02 2.97518230e+02] [-7.04048824e-01 7.06212689e-01 -7.46919833e-02 -2.23647931e+02] [-1.07324406e-01 -1.84248016e-03 9.94222348e-01 -3.61959520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31591999999995 meters 0.031165332016680675 Centerline is valid? [True, True] Translation: X:297.54, Y:-223.67, Z:-36.20 [[ 7.00022276e-01 7.09990662e-01 7.66946764e-02 2.97541371e+02] [-7.06087309e-01 7.04207995e-01 -7.43761595e-02 -2.23670824e+02] [-1.06815383e-01 -2.08816925e-03 9.94276679e-01 -3.61979974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34592 meters 0.03144541456990729 Centerline is valid? [True, True] Translation: X:297.56, Y:-223.69, Z:-36.20 [[ 6.97760894e-01 7.12255059e-01 7.63050837e-02 2.97564564e+02] [-7.08397564e-01 7.01916730e-01 -7.40661609e-02 -2.23693330e+02] [-1.06313813e-01 -2.37386478e-03 9.94329793e-01 -3.62008882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37591999999995 meters 0.031825475313727106 Centerline is valid? [True, True] Translation: X:297.59, Y:-223.71, Z:-36.20 [[ 6.95142485e-01 7.14994891e-01 7.45602582e-02 2.97589189e+02] [-7.11321060e-01 6.99124534e-01 -7.24377986e-02 -2.23714264e+02] [-1.03919562e-01 -2.68169066e-03 9.94582090e-01 -3.62024598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40592 meters 0.03200252850450014 Centerline is valid? [True, True] Translation: X:297.61, Y:-223.74, Z:-36.21 [[ 6.93703993e-01 7.16316591e-01 7.52682626e-02 2.97613534e+02] [-7.12573027e-01 6.97769565e-01 -7.31936824e-02 -2.23735532e+02] [-1.04949752e-01 -2.85938402e-03 9.94473415e-01 -3.62053426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43591999999995 meters 0.032654478664729286 Centerline is valid? [True, True] Translation: X:297.64, Y:-223.76, Z:-36.21 [[ 6.90378106e-01 7.19388732e-01 7.65370729e-02 2.97638492e+02] [-7.15528881e-01 6.94599696e-01 -7.44961991e-02 -2.23755087e+02] [-1.06754354e-01 -3.33394128e-03 9.94279836e-01 -3.62077538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46592 meters 0.03237826434578423 Centerline is valid? [True, True] Translation: X:297.67, Y:-223.78, Z:-36.21 [[ 6.89878097e-01 7.19848998e-01 7.67178707e-02 2.97665004e+02] [-7.15966524e-01 6.94122528e-01 -7.47385635e-02 -2.23775787e+02] [-1.07052082e-01 -3.36692922e-03 9.94247713e-01 -3.62097190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49591999999996 meters 0.0326806339361611 Centerline is valid? [True, True] Translation: X:297.69, Y:-223.80, Z:-36.21 [[ 6.89056787e-01 7.20654456e-01 7.65369224e-02 2.97690938e+02] [-7.16786874e-01 6.93285941e-01 -7.46403487e-02 -2.23796461e+02] [-1.06851872e-01 -3.42922248e-03 9.94269037e-01 -3.62127956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.52592 meters 0.032683947792748747 Centerline is valid? [True, True] Translation: X:297.72, Y:-223.81, Z:-36.22 [[ 6.88288437e-01 7.21410910e-01 7.63238259e-02 2.97720640e+02] [-7.17561180e-01 6.92498499e-01 -7.45102827e-02 -2.23813603e+02] [-1.06606666e-01 -3.48244854e-03 9.94295173e-01 -3.62162536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55591999999996 meters 0.03273812541164496 Centerline is valid? [True, True] Translation: X:297.75, Y:-223.83, Z:-36.22 [[ 6.87449916e-01 7.22270268e-01 7.57513913e-02 2.97746479e+02] [-7.18475256e-01 6.91601883e-01 -7.40279832e-02 -2.23834036e+02] [-1.05858016e-01 -3.53496942e-03 9.94374972e-01 -3.62195288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.58592 meters 0.032831931092342455 Centerline is valid? [True, True] Translation: X:297.77, Y:-223.85, Z:-36.22 [[ 6.87215744e-01 7.22475754e-01 7.59164416e-02 2.97772518e+02] [-7.18657092e-01 6.91387295e-01 -7.42670439e-02 -2.23854380e+02] [-1.06143802e-01 -3.52040732e-03 9.94344558e-01 -3.62233297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61591999999996 meters 0.03285139075405894 Centerline is valid? [True, True] Translation: X:297.80, Y:-223.87, Z:-36.23 [[ 6.86903834e-01 7.22768596e-01 7.59518250e-02 2.97799662e+02] [-7.18939886e-01 6.91081190e-01 -7.43789521e-02 -2.23873806e+02] [-1.06247648e-01 -3.51360901e-03 9.94333491e-01 -3.62261266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64592 meters 0.03261980035712357 Centerline is valid? [True, True] Translation: X:297.83, Y:-223.89, Z:-36.23 [[ 6.86739672e-01 7.22913016e-01 7.60617791e-02 2.97831012e+02] [-7.19065721e-01 6.90930251e-01 -7.45645832e-02 -2.23889272e+02] [-1.06457092e-01 -3.48696069e-03 9.94311183e-01 -3.62279752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67591999999996 meters 0.032352409511294804 Centerline is valid? [True, True] Translation: X:297.86, Y:-223.91, Z:-36.23 [[ 6.88251263e-01 7.21581456e-01 7.50360006e-02 2.97857449e+02] [-7.17821747e-01 6.92322225e-01 -7.36333865e-02 -2.23908559e+02] [-1.05081577e-01 -3.18420178e-03 9.94458507e-01 -3.62311800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70592 meters 0.03153968187893267 Centerline is valid? [True, True] Translation: X:297.89, Y:-223.92, Z:-36.23 [[ 6.93509510e-01 7.16400367e-01 7.62566272e-02 2.97887622e+02] [-7.12479187e-01 6.97685304e-01 -7.48907461e-02 -2.23923017e+02] [-1.06854886e-01 -2.39381517e-03 9.94271745e-01 -3.62344736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73591999999996 meters 0.031059444386887475 Centerline is valid? [True, True] Translation: X:297.92, Y:-223.94, Z:-36.24 [[ 6.96164823e-01 7.13753840e-01 7.68764966e-02 2.97915184e+02] [-7.09749551e-01 7.00393829e-01 -7.55252202e-02 -2.23941275e+02] [-1.07750240e-01 -1.98505740e-03 9.94176013e-01 -3.62366817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76592 meters 0.03085932142847779 Centerline is valid? [True, True] Translation: X:297.94, Y:-223.96, Z:-36.24 [[ 6.98780450e-01 7.11181861e-01 7.69820944e-02 2.97941710e+02] [-7.07143375e-01 7.03006392e-01 -7.56984890e-02 -2.23959943e+02] [-1.07954297e-01 -1.54075372e-03 9.94154664e-01 -3.62402078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79591999999997 meters 0.03026214506334859 Centerline is valid? [True, True] Translation: X:297.97, Y:-223.98, Z:-36.24 [[ 7.02774838e-01 7.07240725e-01 7.69290905e-02 2.97969150e+02] [-7.03176643e-01 7.06972260e-01 -7.57154675e-02 -2.23977971e+02] [-1.07935795e-01 -8.83814185e-04 9.94157474e-01 -3.62440301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82592 meters 0.03028730159350747 Centerline is valid? [True, True] Translation: X:297.99, Y:-224.00, Z:-36.25 [[ 7.04665209e-01 7.05281832e-01 7.76175282e-02 2.97994299e+02] [-7.01124687e-01 7.08926829e-01 -7.64651830e-02 -2.23999255e+02] [-1.08954652e-01 -5.37211000e-04 9.94046576e-01 -3.62471639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85591999999997 meters 0.030203443647574244 Centerline is valid? [True, True] Translation: X:298.02, Y:-224.02, Z:-36.25 [[ 7.06277454e-01 7.03697685e-01 7.73416183e-02 2.98019110e+02] [-6.99552014e-01 7.10499482e-01 -7.62723224e-02 -2.24020754e+02] [-1.08623836e-01 -2.35063104e-04 9.94082897e-01 -3.62493142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88592 meters 0.02997839262308268 Centerline is valid? [True, True] Translation: X:298.04, Y:-224.04, Z:-36.25 [[ 7.09695325e-01 7.00298116e-01 7.69096493e-02 2.98043266e+02] [-6.96170304e-01 7.13850427e-01 -7.59241475e-02 -2.24043765e+02] [-1.08071523e-01 3.40798633e-04 9.94143063e-01 -3.62507867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91591999999997 meters 0.03017091557298608 Centerline is valid? [True, True] Translation: X:298.07, Y:-224.07, Z:-36.25 [[ 7.11113807e-01 6.98722122e-01 7.81316185e-02 2.98066292e+02] [-6.94443475e-01 7.15392884e-01 -7.72093340e-02 -2.24066568e+02] [-1.09842674e-01 6.46630805e-04 9.93948776e-01 -3.62547252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94591999999994 meters 0.030067808651704303 Centerline is valid? [True, True] Translation: X:298.09, Y:-224.09, Z:-36.26 [[ 7.11673743e-01 6.98139503e-01 7.82414116e-02 2.98089688e+02] [-6.93837323e-01 7.15961320e-01 -7.73896532e-02 -2.24090349e+02] [-1.10046598e-01 7.89372619e-04 9.93926116e-01 -3.62571399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97592 meters 0.030290150959919895 Centerline is valid? [True, True] Translation: X:298.11, Y:-224.11, Z:-36.26 [[ 7.13865279e-01 6.95834299e-01 7.88098452e-02 2.98110214e+02] [-6.91446506e-01 7.18201341e-01 -7.80292513e-02 -2.24114648e+02] [-1.10896766e-01 1.20958122e-03 9.93831195e-01 -3.62607214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00591999999995 meters 0.030345983041008467 Centerline is valid? [True, True] Translation: X:298.13, Y:-224.14, Z:-36.26 [[ 7.13936789e-01 6.95802474e-01 7.84421920e-02 2.98131403e+02] [-6.91447639e-01 7.18232086e-01 -7.77356563e-02 -2.24140236e+02] [-1.10428361e-01 1.25967645e-03 9.93883288e-01 -3.62631078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03592 meters 0.030155840856315962 Centerline is valid? [True, True] Translation: X:298.15, Y:-224.17, Z:-36.26 [[ 7.14767308e-01 6.94995936e-01 7.80278501e-02 2.98150294e+02] [-6.90673754e-01 7.19012236e-01 -7.74026464e-02 -2.24168598e+02] [-1.09897504e-01 1.43309298e-03 9.93941892e-01 -3.62647184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06591999999995 meters 0.030461745702005317 Centerline is valid? [True, True] Translation: X:298.17, Y:-224.19, Z:-36.27 [[ 7.14589516e-01 6.95141563e-01 7.83583484e-02 2.98171956e+02] [-6.90774755e-01 7.18871363e-01 -7.78087480e-02 -2.24193274e+02] [-1.10417667e-01 1.47334674e-03 9.93884182e-01 -3.62682839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09592 meters 0.030361559423753525 Centerline is valid? [True, True] Translation: X:298.19, Y:-224.22, Z:-36.27 [[ 7.14415140e-01 6.95440995e-01 7.72840907e-02 2.98193591e+02] [-6.91187019e-01 7.18581719e-01 -7.68167791e-02 -2.24216526e+02] [-1.08956472e-01 1.46130965e-03 9.94045448e-01 -3.62706981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12591999999995 meters 0.030158821188611087 Centerline is valid? [True, True] Translation: X:298.21, Y:-224.24, Z:-36.27 [[ 7.13397738e-01 6.96645116e-01 7.58238039e-02 2.98214919e+02] [-6.92551469e-01 7.17414738e-01 -7.54225172e-02 -2.24240757e+02] [-1.06939843e-01 1.29436644e-03 9.94264650e-01 -3.62726107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15592 meters 0.030227587226990146 Centerline is valid? [True, True] Translation: X:298.24, Y:-224.26, Z:-36.28 [[ 7.09825732e-01 7.00321659e-01 7.54785028e-02 2.98237235e+02] [-6.96282534e-01 7.13827006e-01 -7.51108375e-02 -2.24264050e+02] [-1.06480340e-01 7.61242032e-04 9.94314517e-01 -3.62764225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18591999999995 meters 0.03009808608404689 Centerline is valid? [True, True] Translation: X:298.26, Y:-224.29, Z:-36.28 [[ 7.07583882e-01 7.02480357e-01 7.64617435e-02 2.98260977e+02] [-6.98339812e-01 7.11702961e-01 -7.61603786e-02 -2.24287545e+02] [-1.07919219e-01 4.93576753e-04 9.94159544e-01 -3.62794471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21592 meters 0.030368939853884534 Centerline is valid? [True, True] Translation: X:298.28, Y:-224.31, Z:-36.28 [[ 7.04102187e-01 7.06103396e-01 7.52203747e-02 2.98282664e+02] [-7.02109195e-01 7.08108745e-01 -7.49978979e-02 -2.24310796e+02] [-1.06220475e-01 -6.73273356e-06 9.94342602e-01 -3.62819329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24591999999996 meters 0.030393550699144855 Centerline is valid? [True, True] Translation: X:298.31, Y:-224.33, Z:-36.29 [[ 7.02434253e-01 7.07662296e-01 7.61590151e-02 2.98305278e+02] [-7.03569079e-01 7.06550803e-01 -7.60033779e-02 -2.24333873e+02] [-1.07594938e-01 -1.95752115e-04 9.94194795e-01 -3.62851366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.27592 meters 0.03048535246589133 Centerline is valid? [True, True] Translation: X:298.33, Y:-224.35, Z:-36.29 [[ 7.01011708e-01 7.09177873e-01 7.51620195e-02 2.98329448e+02] [-7.05192872e-01 7.05029506e-01 -7.50760235e-02 -2.24354759e+02] [-1.06233696e-01 -3.74548936e-04 9.94341119e-01 -3.62881592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30591999999996 meters 0.030520183255563493 Centerline is valid? [True, True] Translation: X:298.35, Y:-224.38, Z:-36.29 [[ 7.01312704e-01 7.08857109e-01 7.53796454e-02 2.98354716e+02] [-7.04839503e-01 7.05352056e-01 -7.53641304e-02 -2.24376764e+02] [-1.06591587e-01 -2.76729849e-04 9.94302850e-01 -3.62913042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.33592 meters 0.03052326818993169 Centerline is valid? [True, True] Translation: X:298.30, Y:-224.69, Z:-34.42 [[ 7.55462827e-01 -6.53559219e-01 -4.62197309e-02 2.98304374e+02] [-6.51804709e-01 -7.56848796e-01 4.82754841e-02 -2.24689035e+02] [-6.65322353e-02 -6.34409545e-03 -9.97764107e-01 -3.44237728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36591999999996 meters 0.03056065755066218 Centerline is valid? [True, True] Translation: X:298.37, Y:-224.41, Z:-36.30 [[ 7.50625873e-01 6.56039342e-01 7.85695889e-02 2.98373348e+02] [-6.52495663e-01 7.54726678e-01 -6.80958968e-02 -2.24411252e+02] [-1.03972152e-01 -1.51774020e-04 9.94580197e-01 -3.62950085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39592 meters 0.03065218348359606 Centerline is valid? [True, True] Translation: X:298.40, Y:-224.43, Z:-36.30 [[ 7.50906148e-01 6.55529340e-01 8.01326505e-02 2.98398855e+02] [-6.51833081e-01 7.55169705e-01 -6.95151083e-02 -2.24430419e+02] [-1.06082943e-01 -3.37903502e-05 9.94357284e-01 -3.62969530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42591999999996 meters 0.030548627528898673 Centerline is valid? [True, True] Translation: X:298.42, Y:-224.45, Z:-36.30 [[ 7.51356263e-01 6.54962272e-01 8.05492882e-02 2.98424401e+02] [-6.51216997e-01 7.55661573e-01 -6.99429085e-02 -2.24451532e+02] [-1.06677968e-01 9.69768217e-05 9.94293619e-01 -3.63002244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45592 meters 0.03045001039992042 Centerline is valid? [True, True] Translation: X:298.45, Y:-224.47, Z:-36.30 [[ 7.51763675e-01 6.54500632e-01 8.05003067e-02 2.98449005e+02] [-6.50749447e-01 7.56061423e-01 -6.99734337e-02 -2.24473906e+02] [-1.06660833e-01 2.17955677e-04 9.94295439e-01 -3.63036300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48591999999996 meters 0.03061520731522808 Centerline is valid? [True, True] Translation: X:298.47, Y:-224.50, Z:-36.31 [[ 7.52644288e-01 6.53397271e-01 8.12316624e-02 2.98470837e+02] [-6.49563130e-01 7.57015072e-01 -7.06818306e-02 -2.24497880e+02] [-1.07676908e-01 4.33183175e-04 9.94185846e-01 -3.63070231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51592 meters 0.030518464958685636 Centerline is valid? [True, True] Translation: X:298.50, Y:-224.52, Z:-36.31 [[ 7.52513691e-01 6.53460607e-01 8.19291214e-02 2.98495293e+02] [-6.49553215e-01 7.56960373e-01 -7.13555518e-02 -2.24520501e+02] [-1.08645140e-01 4.78705395e-04 9.94080482e-01 -3.63090127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54591999999997 meters 0.030448579781047667 Centerline is valid? [True, True] Translation: X:298.52, Y:-224.54, Z:-36.31 [[ 7.52624884e-01 6.53500285e-01 8.05801537e-02 2.98519728e+02] [-6.49713581e-01 7.56926092e-01 -7.02506569e-02 -2.24542204e+02] [-1.06902045e-01 5.18372332e-04 9.94269422e-01 -3.63097767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57592 meters 0.030584184420562065 Centerline is valid? [True, True] Translation: X:298.54, Y:-224.56, Z:-36.31 [[ 7.51247285e-01 6.54957918e-01 8.15943818e-02 2.98543983e+02] [-6.51076234e-01 7.55665264e-01 -7.12021542e-02 -2.24564467e+02] [-1.08292455e-01 3.66262241e-04 9.94119012e-01 -3.63118821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60591999999997 meters 0.030546538034470327 Centerline is valid? [True, True] Translation: X:298.57, Y:-224.59, Z:-36.31 [[ 7.50746673e-01 6.55588887e-01 8.11334913e-02 2.98568424e+02] [-6.51746714e-01 7.55117939e-01 -7.08739646e-02 -2.24587198e+02] [-1.07729538e-01 3.29906753e-04 9.94180184e-01 -3.63146398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63592 meters 0.03052159580936683 Centerline is valid? [True, True] Translation: X:298.59, Y:-224.61, Z:-36.32 [[ 7.48710067e-01 6.57947278e-01 8.08617028e-02 2.98591835e+02] [-6.54136668e-01 7.53063993e-01 -7.07095630e-02 -2.24609843e+02] [-1.07417201e-01 4.63568536e-05 9.94214033e-01 -3.63177876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66591999999997 meters 0.03046802981050705 Centerline is valid? [True, True] Translation: X:298.62, Y:-224.63, Z:-36.32 [[ 7.47898172e-01 6.58866237e-01 8.08925605e-02 2.98616635e+02] [-6.55050046e-01 7.52260116e-01 -7.08107074e-02 -2.24631130e+02] [-1.07507031e-01 -2.94768640e-05 9.94204324e-01 -3.63205194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69591999999994 meters 0.030518032892621602 Centerline is valid? [True, True] Translation: X:298.64, Y:-224.65, Z:-36.32 [[ 7.47420437e-01 6.59405211e-01 8.09163664e-02 2.98641470e+02] [-6.55581818e-01 7.51787713e-01 -7.09063857e-02 -2.24652487e+02] [-1.07587970e-01 -5.04167942e-05 9.94195567e-01 -3.63234271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72592 meters 0.03053210378474811 Centerline is valid? [True, True] Translation: X:298.66, Y:-224.68, Z:-36.33 [[ 7.47336647e-01 6.59394321e-01 8.17744862e-02 2.98664442e+02] [-6.55480909e-01 7.51797266e-01 -7.17331787e-02 -2.24675601e+02] [-1.08778286e-01 7.21867572e-06 9.94066036e-01 -3.63262030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75591999999995 meters 0.030598775615223874 Centerline is valid? [True, True] Translation: X:298.69, Y:-224.70, Z:-36.33 [[ 7.47805474e-01 6.58910799e-01 8.13850901e-02 2.98689232e+02] [-6.55024537e-01 7.52221073e-01 -7.14584703e-02 -2.24697689e+02] [-1.08304338e-01 1.27804277e-04 9.94117777e-01 -3.63281224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78592 meters 0.03052000326080029 Centerline is valid? [True, True] Translation: X:298.71, Y:-224.72, Z:-36.33 [[ 7.47342129e-01 6.59523618e-01 8.06742859e-02 2.98713883e+02] [-6.55700946e-01 7.51683836e-01 -7.09061360e-02 -2.24718551e+02] [-1.07405828e-01 9.29370389e-05 9.94215258e-01 -3.63307868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81591999999995 meters 0.030709980313767697 Centerline is valid? [True, True] Translation: X:298.74, Y:-224.74, Z:-36.33 [[ 7.47502199e-01 6.59305326e-01 8.09749944e-02 2.98739779e+02] [-6.55445462e-01 7.51875293e-01 -7.12375580e-02 -2.24739371e+02] [-1.07850399e-01 1.75538645e-04 9.94167119e-01 -3.63343264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84592 meters 0.030573127690060584 Centerline is valid? [True, True] Translation: X:298.76, Y:-224.76, Z:-36.34 [[ 7.46589869e-01 6.60469581e-01 7.98968092e-02 2.98763549e+02] [-6.56711166e-01 7.50852802e-01 -7.03598994e-02 -2.24761354e+02] [-1.06461316e-01 6.08614571e-05 9.94316843e-01 -3.63369190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87591999999995 meters 0.030518778715235412 Centerline is valid? [True, True] Translation: X:298.79, Y:-224.78, Z:-36.34 [[ 7.46219219e-01 6.60926071e-01 7.95839494e-02 2.98787866e+02] [-6.57192717e-01 7.50451015e-01 -7.01498902e-02 -2.24783313e+02] [-1.06087747e-01 4.52044168e-05 9.94356771e-01 -3.63392786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90592 meters 0.03069322578495132 Centerline is valid? [True, True] Translation: X:298.81, Y:-224.81, Z:-36.34 [[ 7.45452030e-01 6.61734417e-01 8.00551791e-02 2.98812894e+02] [-6.57953262e-01 7.49738328e-01 -7.06395401e-02 -2.24805048e+02] [-1.06765051e-01 -1.41776729e-05 9.94284277e-01 -3.63419777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93591999999995 meters 0.030634673257000436 Centerline is valid? [True, True] Translation: X:298.84, Y:-224.83, Z:-36.34 [[ 7.44520149e-01 6.62637972e-01 8.12444795e-02 2.98837584e+02] [-6.58740584e-01 7.48939857e-01 -7.17630336e-02 -2.24825971e+02] [-1.08400140e-01 -9.00114796e-05 9.94107339e-01 -3.63447337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96592 meters 0.030668897606376106 Centerline is valid? [True, True] Translation: X:298.86, Y:-224.85, Z:-36.35 [[ 7.43144550e-01 6.64211584e-01 8.09885807e-02 2.98862160e+02] [-6.60340759e-01 7.47544581e-01 -7.16043387e-02 -2.24847993e+02] [-1.08103006e-01 -2.67686809e-04 9.94139662e-01 -3.63471905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99591999999996 meters 0.030837254238629108 Centerline is valid? [True, True] Translation: X:298.89, Y:-224.87, Z:-36.35 [[ 7.39825237e-01 6.67924354e-01 8.08435228e-02 2.98885752e+02] [-6.64081280e-01 7.44228790e-01 -7.15511126e-02 -2.24871287e+02] [-1.07956808e-01 -7.51351217e-04 9.94155301e-01 -3.63477968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.02592 meters 0.030837254238629108 Centerline is valid? [True, True] Translation: X:298.91, Y:-224.89, Z:-36.35 [[ 7.39478423e-01 6.68312798e-01 8.08063552e-02 2.98910291e+02] [-6.64467451e-01 7.43879990e-01 -7.15930678e-02 -2.24892543e+02] [-1.07956794e-01 -7.51663965e-04 9.94155303e-01 -3.63506124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05591999999996 meters 0.031133677280874985 Centerline is valid? [True, True] Translation: X:298.93, Y:-224.91, Z:-36.35 [[ 7.37429165e-01 6.70423138e-01 8.20429348e-02 2.98934439e+02] [-6.66463519e-01 7.41978285e-01 -7.27640173e-02 -2.24913999e+02] [-1.09656757e-01 -1.02031453e-03 9.93968991e-01 -3.63540966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.08592 meters 0.03109751094848168 Centerline is valid? [True, True] Translation: X:298.96, Y:-224.93, Z:-36.36 [[ 7.35916102e-01 6.72177883e-01 8.12673614e-02 2.98959509e+02] [-6.68296251e-01 7.40388687e-01 -7.21436976e-02 -2.24934906e+02] [-1.08662833e-01 -1.21896420e-03 9.94077916e-01 -3.63568603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11591999999996 meters 0.03138354495117452 Centerline is valid? [True, True] Translation: X:298.98, Y:-224.95, Z:-36.36 [[ 7.32943007e-01 6.75559908e-01 8.00834479e-02 2.98984398e+02] [-6.71804010e-01 7.37303261e-01 -7.11566738e-02 -2.24954829e+02] [-1.07116383e-01 -1.64659502e-03 9.94245125e-01 -3.63587065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14592 meters 0.03149661967418295 Centerline is valid? [True, True] Translation: X:299.01, Y:-224.98, Z:-36.36 [[ 7.32230858e-01 6.76410610e-01 7.94144697e-02 2.99009954e+02] [-6.72718876e-01 7.36522700e-01 -7.05948074e-02 -2.24975892e+02] [-1.06241636e-01 -1.73191640e-03 9.94338833e-01 -3.63618594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17591999999996 meters 0.031502099214289 Centerline is valid? [True, True] Translation: X:299.04, Y:-224.99, Z:-36.36 [[ 7.31174263e-01 6.77392790e-01 8.07663686e-02 2.99037406e+02] [-6.73571721e-01 7.35619183e-01 -7.18717905e-02 -2.24993997e+02] [-1.08098723e-01 -1.85113849e-03 9.94138441e-01 -3.63633974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20592 meters 0.03162545809195417 Centerline is valid? [True, True] Translation: X:299.06, Y:-225.01, Z:-36.37 [[ 7.31034984e-01 6.77357197e-01 8.23108759e-02 2.99064010e+02] [-6.73380369e-01 7.35652007e-01 -7.33144165e-02 -2.25012971e+02] [-1.10212209e-01 -1.83112472e-03 9.93906392e-01 -3.63667840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23591999999996 meters 0.03145804031871838 Centerline is valid? [True, True] Translation: X:299.09, Y:-225.03, Z:-36.37 [[ 7.31135965e-01 6.77206304e-01 8.26548384e-02 2.99090617e+02] [-6.73187298e-01 7.35791077e-01 -7.36909259e-02 -2.25032829e+02] [-1.10720652e-01 -1.76410112e-03 9.93850001e-01 -3.63698308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26592 meters 0.03132466243547423 Centerline is valid? [True, True] Translation: X:299.12, Y:-225.05, Z:-36.37 [[ 7.32109527e-01 6.76128291e-01 8.28623818e-02 2.99118489e+02] [-6.72073698e-01 7.36782284e-01 -7.39514086e-02 -2.25050373e+02] [-1.11052174e-01 -1.54909650e-03 9.93813370e-01 -3.63736369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29591999999997 meters 0.03152504408001677 Centerline is valid? [True, True] Translation: X:299.15, Y:-225.07, Z:-36.38 [[ 7.32202243e-01 6.75995989e-01 8.31221913e-02 2.99145600e+02] [-6.71907074e-01 7.36903812e-01 -7.42539929e-02 -2.25069479e+02] [-1.11448461e-01 -1.48144820e-03 9.93769111e-01 -3.63764531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32592 meters 0.031240814465429454 Centerline is valid? [True, True] Translation: X:299.17, Y:-225.09, Z:-36.38 [[ 7.32470932e-01 6.75656198e-01 8.35166843e-02 2.99173407e+02] [-6.71517158e-01 7.37215574e-01 -7.46853664e-02 -2.25087229e+02] [-1.12031431e-01 -1.37802653e-03 9.93703708e-01 -3.63798214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35591999999997 meters 0.031058639458603255 Centerline is valid? [True, True] Translation: X:299.20, Y:-225.10, Z:-36.38 [[ 7.34456228e-01 6.73447401e-01 8.39204761e-02 2.99203226e+02] [-6.69245050e-01 7.39234482e-01 -7.51228579e-02 -2.25102321e+02] [-1.12628203e-01 -9.88912388e-04 9.93636709e-01 -3.63830904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38592 meters 0.03096245934799187 Centerline is valid? [True, True] Translation: X:299.23, Y:-225.12, Z:-36.39 [[ 7.35579712e-01 6.72338392e-01 8.29673108e-02 2.99228857e+02] [-6.68216694e-01 7.40243548e-01 -7.43366657e-02 -2.25121609e+02] [-1.11395411e-01 -7.59599050e-04 9.93775873e-01 -3.63860133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41591999999997 meters 0.030900771274580005 Centerline is valid? [True, True] Translation: X:299.26, Y:-225.14, Z:-36.39 [[ 7.40335087e-01 6.66926699e-01 8.43370428e-02 2.99255680e+02] [-6.62624214e-01 7.45123322e-01 -7.56332311e-02 -2.25139097e+02] [-1.13283319e-01 1.10168050e-04 9.93562720e-01 -3.63890173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44591999999994 meters 0.030867496534878077 Centerline is valid? [True, True] Translation: X:299.28, Y:-225.16, Z:-36.39 [[ 7.42315016e-01 6.64754476e-01 8.40827218e-02 2.99281722e+02] [-6.60456055e-01 7.47061740e-01 -7.54755323e-02 -2.25159730e+02] [-1.12987682e-01 4.93678204e-04 9.93596266e-01 -3.63916730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47592 meters 0.03086237329645169 Centerline is valid? [True, True] Translation: X:299.31, Y:-225.18, Z:-36.39 [[ 7.44795709e-01 6.61966204e-01 8.41433145e-02 2.99306705e+02] [-6.57635234e-01 7.49533051e-01 -7.56049156e-02 -2.25180178e+02] [-1.13116094e-01 9.74608371e-04 9.93581300e-01 -3.63942872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50591999999995 meters 0.03104776078085845 Centerline is valid? [True, True] Translation: X:299.33, Y:-225.20, Z:-36.40 [[ 7.47117747e-01 6.59239712e-01 8.49592509e-02 2.99331799e+02] [-6.54798599e-01 7.51931440e-01 -7.64061811e-02 -2.25200305e+02] [-1.14253521e-01 1.45321552e-03 9.93450563e-01 -3.63976828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53592 meters 0.03163864439540151 Centerline is valid? [True, True] Translation: X:299.36, Y:-225.22, Z:-36.40 [[ 7.50159271e-01 6.55632049e-01 8.60679134e-02 2.99357044e+02] [-6.51042024e-01 7.55077664e-01 -7.74726097e-02 -2.25220282e+02] [-1.15781485e-01 2.08296783e-03 9.93272525e-01 -3.64006889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56591999999995 meters 0.03190234185736512 Centerline is valid? [True, True] Translation: X:299.38, Y:-225.24, Z:-36.40 [[ 7.51121893e-01 6.54478624e-01 8.64501775e-02 2.99380951e+02] [-6.49832023e-01 7.56076938e-01 -7.78845667e-02 -2.25241582e+02] [-1.16336770e-01 2.32270946e-03 9.93207109e-01 -3.64045300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59592 meters 0.03213844052704792 Centerline is valid? [True, True] Translation: X:299.40, Y:-225.27, Z:-36.41 [[ 7.52599664e-01 6.52869552e-01 8.57618507e-02 2.99401477e+02] [-6.48278822e-01 7.57465895e-01 -7.73303719e-02 -2.25266211e+02] [-1.15448322e-01 2.60122035e-03 9.93310082e-01 -3.64081270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62591999999995 meters 0.03196378578294237 Centerline is valid? [True, True] Translation: X:299.42, Y:-225.29, Z:-36.41 [[ 7.53125797e-01 6.52393560e-01 8.47595231e-02 2.99423958e+02] [-6.47899178e-01 7.57875575e-01 -7.64935849e-02 -2.25290626e+02] [-1.14141094e-01 2.69366678e-03 9.93460897e-01 -3.64103370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65592 meters 0.032250832651141946 Centerline is valid? [True, True] Translation: X:299.45, Y:-225.31, Z:-36.41 [[ 7.53500022e-01 6.51899067e-01 8.52368625e-02 2.99446351e+02] [-6.47342192e-01 7.58300430e-01 -7.69970495e-02 -2.25313092e+02] [-1.14829454e-01 2.83986113e-03 9.93381161e-01 -3.64136060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68591999999995 meters 0.03234434320607695 Centerline is valid? [True, True] Translation: X:299.47, Y:-225.34, Z:-36.42 [[ 7.54215444e-01 6.51154693e-01 8.45968679e-02 2.99467311e+02] [-6.46653863e-01 7.58939176e-01 -7.64860034e-02 -2.25338453e+02] [-1.14008097e-01 2.98203359e-03 9.93475345e-01 -3.64166030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71592 meters 0.032643463368610764 Centerline is valid? [True, True] Translation: X:299.49, Y:-225.36, Z:-36.42 [[ 7.54599935e-01 6.50720254e-01 8.45108827e-02 2.99488370e+02] [-6.46217622e-01 7.59311229e-01 -7.64803392e-02 -2.25362658e+02] [-1.13937368e-01 3.09963732e-03 9.93483099e-01 -3.64198297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74591999999996 meters 0.03286435028144353 Centerline is valid? [True, True] Translation: X:299.51, Y:-225.39, Z:-36.42 [[ 7.55988521e-01 6.49251721e-01 8.33880061e-02 2.99507091e+02] [-6.44852264e-01 7.60566333e-01 -7.55275459e-02 -2.25389408e+02] [-1.12458499e-01 3.32501323e-03 9.93650859e-01 -3.64232518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.77592 meters 0.03309786272016792 Centerline is valid? [True, True] Translation: X:299.53, Y:-225.41, Z:-36.43 [[ 7.56232083e-01 6.48909178e-01 8.38445882e-02 2.99529365e+02] [-6.44451828e-01 7.60858080e-01 -7.60054120e-02 -2.25413237e+02] [-1.13114442e-01 3.44393294e-03 9.93575997e-01 -3.64263700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80591999999996 meters 0.033065680135499 Centerline is valid? [True, True] Translation: X:299.55, Y:-225.44, Z:-36.43 [[ 7.56128243e-01 6.48935261e-01 8.45760449e-02 2.99550755e+02] [-6.44392205e-01 7.60835485e-01 -7.67336421e-02 -2.25438042e+02] [-1.14143622e-01 3.52033002e-03 9.93458022e-01 -3.64291280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.83592 meters 0.03336941908164397 Centerline is valid? [True, True] Translation: X:299.57, Y:-225.46, Z:-36.43 [[ 7.56451458e-01 6.48477785e-01 8.51924533e-02 2.99571974e+02] [-6.43857535e-01 7.61224751e-01 -7.73585984e-02 -2.25462300e+02] [-1.15015937e-01 3.66622161e-03 9.93356881e-01 -3.64331190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86591999999996 meters 0.03342591031895693 Centerline is valid? [True, True] Translation: X:299.59, Y:-225.49, Z:-36.44 [[ 7.55588244e-01 6.49365525e-01 8.60861254e-02 2.99591405e+02] [-6.44645077e-01 7.60467814e-01 -7.82395536e-02 -2.25490093e+02] [-1.16271796e-01 3.62188995e-03 9.93210829e-01 -3.64359931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89592 meters 0.03340082216891926 Centerline is valid? [True, True] Translation: X:299.61, Y:-225.51, Z:-36.44 [[ 7.55050349e-01 6.50062472e-01 8.55438652e-02 2.99614281e+02] [-6.45397525e-01 7.59872487e-01 -7.78192697e-02 -2.25513213e+02] [-1.15589816e-01 3.54766792e-03 9.93290697e-01 -3.64389942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92591999999996 meters 0.032804443345006706 Centerline is valid? [True, True] Translation: X:299.63, Y:-225.54, Z:-36.44 [[ 7.52125864e-01 6.53574172e-01 8.45428088e-02 2.99633770e+02] [-6.49034153e-01 7.56856475e-01 -7.69606616e-02 -2.25538483e+02] [-1.14286273e-01 3.01293373e-03 9.93443290e-01 -3.64427931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95592 meters 0.03233860595304096 Centerline is valid? [True, True] Translation: X:299.65, Y:-225.56, Z:-36.45 [[ 7.49594028e-01 6.56533942e-01 8.40950424e-02 2.99654680e+02] [-6.52057528e-01 7.54292109e-01 -7.65793415e-02 -2.25562623e+02] [-1.13709164e-01 2.56861161e-03 9.93510759e-01 -3.64458520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98591999999996 meters 0.031919482910231174 Centerline is valid? [True, True] Translation: X:299.68, Y:-225.59, Z:-36.45 [[ 7.47556823e-01 6.58985847e-01 8.30448700e-02 2.99676567e+02] [-6.54629284e-01 7.52152084e-01 -7.56818605e-02 -2.25587183e+02] [-1.12335647e-01 2.21288747e-03 9.93667855e-01 -3.64480123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01592 meters 0.031312665657046955 Centerline is valid? [True, True] Translation: X:299.70, Y:-225.61, Z:-36.45 [[ 7.43510464e-01 6.63670056e-01 8.20624562e-02 2.99697534e+02] [-6.59440417e-01 7.48023900e-01 -7.48236689e-02 -2.25611619e+02] [-1.11042907e-01 1.51688045e-03 9.93814455e-01 -3.64493690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04591999999997 meters 0.03129603461601745 Centerline is valid? [True, True] Translation: X:299.72, Y:-225.63, Z:-36.45 [[ 7.41408189e-01 6.66006663e-01 8.21524370e-02 2.99721243e+02] [-6.61778224e-01 7.45944837e-01 -7.49391915e-02 -2.25633670e+02] [-1.11191187e-01 1.19383641e-03 9.93798317e-01 -3.64522215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07592 meters 0.03126638282874322 Centerline is valid? [True, True] Translation: X:299.75, Y:-225.66, Z:-36.45 [[ 7.38784766e-01 6.68777644e-01 8.32678361e-02 2.99745347e+02] [-6.64442611e-01 7.43462006e-01 -7.60280374e-02 -2.25656679e+02] [-1.12752324e-01 8.41657307e-04 9.93622768e-01 -3.64546116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10591999999997 meters 0.031396986967917796 Centerline is valid? [True, True] Translation: X:299.77, Y:-225.68, Z:-36.46 [[ 7.35678744e-01 6.72096910e-01 8.40388489e-02 2.99767815e+02] [-6.67693378e-01 7.40463089e-01 -7.68112391e-02 -2.25680332e+02] [-1.13852262e-01 3.96213029e-04 9.93497612e-01 -3.64575105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13592 meters 0.03135315607914734 Centerline is valid? [True, True] Translation: X:299.79, Y:-225.70, Z:-36.46 [[ 7.34506352e-01 6.73410640e-01 8.37766650e-02 2.99792459e+02] [-6.69034134e-01 7.39268589e-01 -7.66503816e-02 -2.25703026e+02] [-1.13550639e-01 2.50743636e-04 9.93532178e-01 -3.64592350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16591999999997 meters 0.031363997691645114 Centerline is valid? [True, True] Translation: X:299.82, Y:-225.73, Z:-36.46 [[ 7.33200858e-01 6.74857086e-01 8.35728140e-02 2.99817161e+02] [-6.70502180e-01 7.37948444e-01 -7.65435862e-02 -2.25725311e+02] [-1.13328410e-01 8.60691174e-05 9.93557580e-01 -3.64626707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19591999999994 meters 0.031512029363978795 Centerline is valid? [True, True] Translation: X:299.84, Y:-225.75, Z:-36.47 [[ 7.31201509e-01 6.76982473e-01 8.38992511e-02 2.99841563e+02] [-6.72597998e-01 7.35999115e-01 -7.69235756e-02 -2.25747010e+02] [-1.13825687e-01 -1.83833803e-04 9.93500719e-01 -3.64659963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22592 meters 0.031451818281315665 Centerline is valid? [True, True] Translation: X:299.87, Y:-225.77, Z:-36.47 [[ 7.30320763e-01 6.78126437e-01 8.23171792e-02 2.99865507e+02] [-6.73905020e-01 7.34945199e-01 -7.55485174e-02 -2.25768984e+02] [-1.11730063e-01 -2.99309348e-04 9.93738549e-01 -3.64675057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25591999999995 meters 0.03153447761572818 Centerline is valid? [True, True] Translation: X:299.89, Y:-225.79, Z:-36.47 [[ 7.28638312e-01 6.79848715e-01 8.30176787e-02 2.99889041e+02] [-6.75558119e-01 7.33352206e-01 -7.62611977e-02 -2.25790895e+02] [-1.12727275e-01 -5.16436535e-04 9.93625832e-01 -3.64700677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28592 meters 0.03157342983630662 Centerline is valid? [True, True] Translation: X:299.91, Y:-225.81, Z:-36.47 [[ 7.27476435e-01 6.81391697e-01 8.05195053e-02 2.99913696e+02] [-6.77358376e-01 7.31918634e-01 -7.40320393e-02 -2.25811892e+02] [-1.09378543e-01 -6.83997368e-04 9.93999933e-01 -3.64716799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31591999999995 meters 0.03146099720294864 Centerline is valid? [True, True] Translation: X:299.94, Y:-225.83, Z:-36.47 [[ 7.26880380e-01 6.82117039e-01 7.97574952e-02 2.99937712e+02] [-6.78156992e-01 7.31242643e-01 -7.33981729e-02 -2.25833239e+02] [-1.08388226e-01 -7.36411175e-04 9.94108369e-01 -3.64739075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34592 meters 0.031762721977477426 Centerline is valid? [True, True] Translation: X:299.96, Y:-225.85, Z:-36.48 [[ 7.25097824e-01 6.83909384e-01 8.06294002e-02 2.99962331e+02] [-6.79865405e-01 7.29566326e-01 -7.42698246e-02 -2.25854246e+02] [-1.09618325e-01 -9.64251658e-04 9.93973286e-01 -3.64788204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37591999999995 meters 0.03190370628373569 Centerline is valid? [True, True] Translation: X:299.99, Y:-225.88, Z:-36.48 [[ 7.23796899e-01 6.85210769e-01 8.12665467e-02 2.99986111e+02] [-6.81102893e-01 7.28343977e-01 -7.49259703e-02 -2.25875405e+02] [-1.10530082e-01 -1.11969506e-03 9.93872148e-01 -3.64812274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40592 meters 0.032306115293756925 Centerline is valid? [True, True] Translation: X:300.01, Y:-225.90, Z:-36.48 [[ 7.22856488e-01 6.86209410e-01 8.12104883e-02 3.00012083e+02] [-6.82105582e-01 7.27403023e-01 -7.49454259e-02 -2.25895563e+02] [-1.10501011e-01 -1.21934008e-03 9.93875264e-01 -3.64842496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43591999999995 meters 0.032079921734441644 Centerline is valid? [True, True] Translation: X:300.04, Y:-225.92, Z:-36.49 [[ 7.23193537e-01 6.85840687e-01 8.13244078e-02 3.00037847e+02] [-6.81714146e-01 7.27750869e-01 -7.51298647e-02 -2.25915617e+02] [-1.10711026e-01 -1.10656658e-03 9.93852023e-01 -3.64862596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46592 meters 0.032320971384024844 Centerline is valid? [True, True] Translation: X:300.06, Y:-225.94, Z:-36.49 [[ 7.22865466e-01 6.86167253e-01 8.14863077e-02 3.00063152e+02] [-6.82017450e-01 7.27442980e-01 -7.53585368e-02 -2.25935970e+02] [-1.10985203e-01 -1.10099991e-03 9.93821449e-01 -3.64901608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49591999999996 meters 0.032120733343847074 Centerline is valid? [True, True] Translation: X:300.09, Y:-225.96, Z:-36.49 [[ 7.22594500e-01 6.86614658e-01 8.01093049e-02 3.00088046e+02] [-6.82598819e-01 7.27020710e-01 -7.41602308e-02 -2.25956675e+02] [-1.09160625e-01 -1.09474198e-03 9.94023521e-01 -3.64915535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.52592 meters 0.03218449102519495 Centerline is valid? [True, True] Translation: X:300.11, Y:-225.98, Z:-36.49 [[ 7.22084700e-01 6.87222736e-01 7.94896086e-02 3.00113399e+02] [-6.83265117e-01 7.26445897e-01 -7.36555376e-02 -2.25977441e+02] [-1.08362660e-01 -1.12693990e-03 9.94110791e-01 -3.64949279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55591999999996 meters 0.03198317946736198 Centerline is valid? [True, True] Translation: X:300.14, Y:-226.00, Z:-36.50 [[ 7.21164780e-01 6.88186461e-01 7.95031789e-02 3.00139064e+02] [-6.84224885e-01 7.25532851e-01 -7.37454381e-02 -2.25998378e+02] [-1.08432780e-01 -1.21544076e-03 9.94103040e-01 -3.64967067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.58592 meters 0.032256420947689095 Centerline is valid? [True, True] Translation: X:300.16, Y:-226.02, Z:-36.50 [[ 7.20389262e-01 6.88860502e-01 8.06877914e-02 3.00163746e+02] [-6.84775381e-01 7.24892798e-01 -7.49206922e-02 -2.26018212e+02] [-1.10099905e-01 -1.28095084e-03 9.93919700e-01 -3.65002461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61591999999996 meters 0.03254339708488962 Centerline is valid? [True, True] Translation: X:300.19, Y:-226.04, Z:-36.50 [[ 7.18314021e-01 6.91172870e-01 7.94042278e-02 3.00191033e+02] [-6.87224000e-01 7.22687780e-01 -7.37939476e-02 -2.26037810e+02] [-1.08388840e-01 -1.56126384e-03 9.94107349e-01 -3.65023229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64592 meters 0.03267725263844382 Centerline is valid? [True, True] Translation: X:300.22, Y:-226.06, Z:-36.50 [[ 7.16904275e-01 6.92538571e-01 8.02408146e-02 3.00216480e+02] [-6.88505848e-01 7.21378772e-01 -7.46482720e-02 -2.26057840e+02] [-1.09580828e-01 -1.73060486e-03 9.93976382e-01 -3.65049901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67591999999996 meters 0.032886901658078824 Centerline is valid? [True, True] Translation: X:300.24, Y:-226.08, Z:-36.51 [[ 7.15846618e-01 6.93690315e-01 7.97331004e-02 3.00243411e+02] [-6.89708126e-01 7.20271023e-01 -7.42452395e-02 -2.26077172e+02] [-1.08932645e-01 -1.84436359e-03 9.94047422e-01 -3.65078561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70592 meters 0.03293638804255284 Centerline is valid? [True, True] Translation: X:300.27, Y:-226.10, Z:-36.51 [[ 7.15120684e-01 6.94486951e-01 7.93112941e-02 3.00268378e+02] [-6.90543363e-01 7.19502792e-01 -7.39296736e-02 -2.26097929e+02] [-1.08407891e-01 -1.89924899e-03 9.94104684e-01 -3.65111636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73591999999996 meters 0.03285143331910752 Centerline is valid? [True, True] Translation: X:300.29, Y:-226.12, Z:-36.51 [[ 7.15362464e-01 6.94479342e-01 7.71685784e-02 3.00293140e+02] [-6.90738836e-01 7.19510407e-01 -7.20044114e-02 -2.26118784e+02] [-1.05529171e-01 -1.79408093e-03 9.94414589e-01 -3.65139858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76592 meters 0.03254678806833498 Centerline is valid? [True, True] Translation: X:300.32, Y:-226.14, Z:-36.52 [[ 7.15782370e-01 6.94046054e-01 7.71730157e-02 3.00319026e+02] [-6.90295442e-01 7.19928641e-01 -7.20760370e-02 -2.26139141e+02] [-1.05583153e-01 -1.68142438e-03 9.94409056e-01 -3.65166325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79591999999997 meters 0.032436041120882525 Centerline is valid? [True, True] Translation: X:300.35, Y:-226.16, Z:-36.52 [[ 7.15940388e-01 6.93721360e-01 7.86132032e-02 3.00346383e+02] [-6.89818840e-01 7.20241686e-01 -7.34974964e-02 -2.26156448e+02] [-1.07607289e-01 -1.60904258e-03 9.94192176e-01 -3.65186171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82592 meters 0.03256154493223727 Centerline is valid? [True, True] Translation: X:300.37, Y:-226.18, Z:-36.52 [[ 7.15708061e-01 6.93805752e-01 7.99721759e-02 3.00372213e+02] [-6.89759570e-01 7.20160413e-01 -7.48379294e-02 -2.26175802e+02] [-1.09515781e-01 -1.59946428e-03 9.93983770e-01 -3.65221779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85591999999997 meters 0.03232013004139133 Centerline is valid? [True, True] Translation: X:300.40, Y:-226.19, Z:-36.52 [[ 7.16110899e-01 6.93382485e-01 8.00369318e-02 3.00400755e+02] [-6.89319290e-01 7.20568196e-01 -7.49692724e-02 -2.26193328e+02] [-1.09654448e-01 -1.48468793e-03 9.93968660e-01 -3.65245789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88592 meters 0.03246130904566684 Centerline is valid? [True, True] Translation: X:300.43, Y:-226.21, Z:-36.53 [[ 7.16399687e-01 6.93069499e-01 8.01633187e-02 3.00427197e+02] [-6.88982749e-01 7.20869447e-01 -7.51665633e-02 -2.26213014e+02] [-1.09882940e-01 -1.38184124e-03 9.93943575e-01 -3.65277822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91591999999997 meters 0.03224933118234862 Centerline is valid? [True, True] Translation: X:300.45, Y:-226.23, Z:-36.53 [[ 7.16504264e-01 6.92889828e-01 8.07794936e-02 3.00453632e+02] [-6.88729769e-01 7.21042286e-01 -7.58243156e-02 -2.26232659e+02] [-1.10783328e-01 -1.30679650e-03 9.93843723e-01 -3.65314582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94591999999994 meters 0.03224933118234862 Centerline is valid? [True, True] Translation: X:300.48, Y:-226.25, Z:-36.53 [[ 7.16151054e-01 6.93259437e-01 8.07404497e-02 3.00477549e+02] [-6.89097035e-01 7.20686926e-01 -7.58658730e-02 -2.26254636e+02] [-1.10783319e-01 -1.30657965e-03 9.93843725e-01 -3.65342741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97592 meters 0.031877937370526965 Centerline is valid? [True, True] Translation: X:300.50, Y:-226.27, Z:-36.54 [[ 7.18067241e-01 6.91244571e-01 8.09961725e-02 3.00504868e+02] [-6.87035100e-01 7.22620263e-01 -7.61756357e-02 -2.26272241e+02] [-1.11185470e-01 -9.47984839e-04 9.93799221e-01 -3.65364607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00591999999995 meters 0.03187554394111022 Centerline is valid? [True, True] Translation: X:300.53, Y:-226.29, Z:-36.54 [[ 7.18873609e-01 6.90503524e-01 8.01599514e-02 3.00529605e+02] [-6.86371319e-01 7.23328594e-01 -7.54331380e-02 -2.26292177e+02] [-1.10068833e-01 -7.92599417e-04 9.93923651e-01 -3.65395489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03592 meters 0.031750200326857894 Centerline is valid? [True, True] Translation: X:300.56, Y:-226.31, Z:-36.54 [[ 7.20148521e-01 6.89245268e-01 7.95428776e-02 3.00556042e+02] [-6.85162461e-01 7.24527885e-01 -7.49115891e-02 -2.26311545e+02] [-1.09263491e-01 -5.52323684e-04 9.94012668e-01 -3.65429710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06591999999995 meters 0.03158591176775835 Centerline is valid? [True, True] Translation: X:300.58, Y:-226.33, Z:-36.54 [[ 7.20242441e-01 6.89204634e-01 7.90430185e-02 3.00581921e+02] [-6.85169114e-01 7.24566564e-01 -7.44753668e-02 -2.26332160e+02] [-1.08600696e-01 -5.17514916e-04 9.94085319e-01 -3.65445815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09592 meters 0.03166738418213133 Centerline is valid? [True, True] Translation: X:300.61, Y:-226.35, Z:-36.55 [[ 7.19898832e-01 6.89547216e-01 7.91852797e-02 3.00609563e+02] [-6.85490749e-01 7.24240549e-01 -7.46864212e-02 -2.26351697e+02] [-1.08849004e-01 -5.14109269e-04 9.94058162e-01 -3.65464150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12591999999995 meters 0.03176393254015355 Centerline is valid? [True, True] Translation: X:300.63, Y:-226.37, Z:-36.55 [[ 7.19548866e-01 6.89906422e-01 7.92373550e-02 3.00634514e+02] [-6.85838345e-01 7.23898381e-01 -7.48124189e-02 -2.26372968e+02] [-1.08973361e-01 -5.12825286e-04 9.94044538e-01 -3.65495079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15592 meters 0.03162865228576758 Centerline is valid? [True, True] Translation: X:300.66, Y:-226.39, Z:-36.55 [[ 7.19433360e-01 6.90020079e-01 7.92964775e-02 3.00659854e+02] [-6.85938078e-01 7.23790071e-01 -7.49458922e-02 -2.26394428e+02] [-1.09108174e-01 -4.73898300e-04 9.94029769e-01 -3.65523546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18591999999995 meters 0.0316252581554541 Centerline is valid? [True, True] Translation: X:300.69, Y:-226.42, Z:-36.56 [[ 7.18535421e-01 6.90933055e-01 7.94881237e-02 3.00685127e+02] [-6.86828278e-01 7.22918531e-01 -7.52044772e-02 -2.26415419e+02] [-1.09424697e-01 -5.57610454e-04 9.93994932e-01 -3.65551555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21592 meters 0.03149259955932755 Centerline is valid? [True, True] Translation: X:300.71, Y:-226.43, Z:-36.56 [[ 7.18311272e-01 6.91271613e-01 7.85650938e-02 3.00711149e+02] [-6.87255924e-01 7.22594808e-01 -7.44045591e-02 -2.26434482e+02] [-1.08204488e-01 -5.48692700e-04 9.94128507e-01 -3.65583853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24591999999996 meters 0.03140862906829742 Centerline is valid? [True, True] Translation: X:300.74, Y:-226.46, Z:-36.56 [[ 7.18366687e-01 6.91353523e-01 7.73279355e-02 3.00735361e+02] [-6.87457236e-01 7.22516471e-01 -7.32973299e-02 -2.26455148e+02] [-1.06545074e-01 -5.05288769e-04 9.94307745e-01 -3.65608757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.27592 meters 0.03117509179185281 Centerline is valid? [True, True] Translation: X:300.76, Y:-226.48, Z:-36.56 [[ 7.19108071e-01 6.90604199e-01 7.71324997e-02 3.00761263e+02] [-6.86716148e-01 7.23232827e-01 -7.31793006e-02 -2.26475475e+02] [-1.06322688e-01 -3.44307309e-04 9.94331618e-01 -3.65646519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30591999999996 meters 0.031205223602147697 Centerline is valid? [True, True] Translation: X:300.79, Y:-226.50, Z:-36.57 [[ 7.20149246e-01 6.89578989e-01 7.65890402e-02 3.00786115e+02] [-6.85732190e-01 7.24210466e-01 -7.27362651e-02 -2.26495835e+02] [-1.05623985e-01 -1.38603730e-04 9.94406132e-01 -3.65672627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.33592 meters 0.031154843633965226 Centerline is valid? [True, True] Translation: X:300.81, Y:-226.52, Z:-36.57 [[ 7.20549220e-01 6.88940759e-01 7.85458612e-02 3.00810699e+02] [-6.84883173e-01 7.24817654e-01 -7.46619636e-02 -2.26515848e+02] [-1.08369097e-01 2.88108040e-06 9.94110728e-01 -3.65701867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36591999999996 meters 0.03098159004540969 Centerline is valid? [True, True] Translation: X:300.84, Y:-226.53, Z:-36.57 [[ 7.21920815e-01 6.87406741e-01 7.93870852e-02 3.00837197e+02] [-6.83245194e-01 7.26272602e-01 -7.55255807e-02 -2.26534966e+02] [-1.09573458e-01 2.82644324e-04 9.93978660e-01 -3.65722122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39592 meters 0.031197211062754776 Centerline is valid? [True, True] Translation: X:300.86, Y:-226.56, Z:-36.57 [[ 7.21893530e-01 6.87471576e-01 7.90731542e-02 3.00862379e+02] [-6.83335874e-01 7.26211215e-01 -7.52951223e-02 -2.26555943e+02] [-1.09187068e-01 3.21538666e-04 9.94021167e-01 -3.65746473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42591999999996 meters 0.030933388577441604 Centerline is valid? [True, True] Translation: X:300.89, Y:-226.58, Z:-36.58 [[ 7.21640868e-01 6.87878081e-01 7.78344661e-02 3.00887743e+02] [-6.83865903e-01 7.25826185e-01 -7.41874378e-02 -2.26575526e+02] [-1.07526206e-01 3.08349528e-04 9.94202203e-01 -3.65785074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45592 meters 0.03097381624356935 Centerline is valid? [True, True] Translation: X:300.91, Y:-226.60, Z:-36.58 [[ 7.21843341e-01 6.87787101e-01 7.67534604e-02 3.00912225e+02] [-6.83878553e-01 7.25912371e-01 -7.32212674e-02 -2.26595931e+02] [-1.06076930e-01 3.64238846e-04 9.94357859e-01 -3.65811618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48591999999996 meters 0.031167939820666832 Centerline is valid? [True, True] Translation: X:300.94, Y:-226.62, Z:-36.58 [[ 7.22246941e-01 6.87180813e-01 7.83701921e-02 3.00937059e+02] [-6.83094443e-01 7.26486248e-01 -7.48312307e-02 -2.26616729e+02] [-1.08357453e-01 5.12384715e-04 9.94111865e-01 -3.65846704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51592 meters 0.03125729223558089 Centerline is valid? [True, True] Translation: X:300.96, Y:-226.64, Z:-36.59 [[ 7.22511777e-01 6.86739471e-01 7.97849120e-02 3.00961632e+02] [-6.82493534e-01 7.26903358e-01 -7.62501505e-02 -2.26638280e+02] [-1.10359908e-01 6.38945203e-04 9.93891484e-01 -3.65867902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54591999999997 meters 0.031344458587755655 Centerline is valid? [True, True] Translation: X:300.99, Y:-226.66, Z:-36.59 [[ 7.22919363e-01 6.86102420e-01 8.15540564e-02 3.00985125e+02] [-6.81653650e-01 7.27504518e-01 -7.80094724e-02 -2.26659361e+02] [-1.12853432e-01 8.02937857e-04 9.93611321e-01 -3.65910988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57592 meters 0.03109906383345116 Centerline is valid? [True, True] Translation: X:301.01, Y:-226.68, Z:-36.59 [[ 7.22865769e-01 6.86243808e-01 8.08363577e-02 3.01010073e+02] [-6.81866920e-01 7.27371131e-01 -7.73869598e-02 -2.26680000e+02] [-1.11904355e-01 8.20745947e-04 9.93718643e-01 -3.65917333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60591999999997 meters 0.031401940389839456 Centerline is valid? [True, True] Translation: X:301.03, Y:-226.70, Z:-36.60 [[ 7.22701239e-01 6.86440233e-01 8.06394833e-02 3.01034565e+02] [-6.82078132e-01 7.27185742e-01 -7.72678383e-02 -2.26701536e+02] [-1.11679635e-01 8.39134274e-04 9.93743908e-01 -3.65955753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63592 meters 0.031196450543552832 Centerline is valid? [True, True] Translation: X:301.06, Y:-226.72, Z:-36.60 [[ 7.22509153e-01 6.86660061e-01 8.04890385e-02 3.01059226e+02] [-6.82306988e-01 7.26978144e-01 -7.72007334e-02 -2.26724124e+02] [-1.11524432e-01 8.60003069e-04 9.93761320e-01 -3.65986723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66591999999997 meters 0.0309402829994741 Centerline is valid? [True, True] Translation: X:301.08, Y:-226.75, Z:-36.60 [[ 7.21579889e-01 6.87799703e-01 7.90824451e-02 3.01082428e+02] [-6.83597647e-01 7.25900167e-01 -7.59157767e-02 -2.26747073e+02] [-1.09620809e-01 7.18724371e-04 9.93973220e-01 -3.66003012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69591999999994 meters 0.031280993118087755 Centerline is valid? [True, True] Translation: X:301.11, Y:-226.77, Z:-36.60 [[ 7.20595327e-01 6.88618463e-01 8.09134537e-02 3.01105710e+02] [-6.84220150e-01 7.25123583e-01 -7.77082707e-02 -2.26769636e+02] [-1.12183603e-01 6.33601331e-04 9.93687294e-01 -3.66036504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72592 meters 0.031076079349541937 Centerline is valid? [True, True] Translation: X:301.13, Y:-226.79, Z:-36.61 [[ 7.19920210e-01 6.89333937e-01 8.08307802e-02 3.01129702e+02] [-6.84941154e-01 7.24443507e-01 -7.76995492e-02 -2.26792297e+02] [-1.12118270e-01 5.73147837e-04 9.93694704e-01 -3.66056921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75591999999995 meters 0.031235105557947854 Centerline is valid? [True, True] Translation: X:301.15, Y:-226.81, Z:-36.61 [[ 7.20604077e-01 6.88561634e-01 8.13181433e-02 3.01152196e+02] [-6.84102027e-01 7.25177433e-01 -7.82438994e-02 -2.26814469e+02] [-1.12845830e-01 7.52966259e-04 9.93612224e-01 -3.66095028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78592 meters 0.031212992244524285 Centerline is valid? [True, True] Translation: X:301.18, Y:-226.84, Z:-36.61 [[ 7.21048396e-01 6.88151184e-01 8.08526937e-02 3.01175439e+02] [-6.83732601e-01 7.25566818e-01 -7.78622050e-02 -2.26837231e+02] [-1.12245000e-01 8.60795480e-04 9.93680190e-01 -3.66123058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81591999999995 meters 0.03122318269168672 Centerline is valid? [True, True] Translation: X:301.20, Y:-226.86, Z:-36.62 [[ 7.21150872e-01 6.88084456e-01 8.05059123e-02 3.01198531e+02] [-6.83694788e-01 7.25630022e-01 -7.76048173e-02 -2.26860207e+02] [-1.11816175e-01 9.23308961e-04 9.93728479e-01 -3.66156518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84592 meters 0.03131137484952451 Centerline is valid? [True, True] Translation: X:301.22, Y:-226.88, Z:-36.62 [[ 7.21389769e-01 6.87791431e-01 8.08687119e-02 3.01220938e+02] [-6.83351506e-01 7.25907631e-01 -7.80309584e-02 -2.26883558e+02] [-1.12372240e-01 1.02897893e-03 9.93665649e-01 -3.66201986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87591999999995 meters 0.03115951894643661 Centerline is valid? [True, True] Translation: X:301.24, Y:-226.91, Z:-36.62 [[ 7.21168133e-01 6.88169038e-01 7.96234894e-02 3.01242679e+02] [-6.83859726e-01 7.25549697e-01 -7.68993634e-02 -2.26907091e+02] [-1.10690560e-01 1.00607262e-03 9.93854410e-01 -3.66223380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90592 meters 0.031080905093588726 Centerline is valid? [True, True] Translation: X:301.26, Y:-226.93, Z:-36.62 [[ 7.20564133e-01 6.88992759e-01 7.79506781e-02 3.01264401e+02] [-6.84860981e-01 7.24767656e-01 -7.53477396e-02 -2.26931117e+02] [-1.08410177e-01 9.07500799e-04 9.94105834e-01 -3.66239327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93591999999995 meters 0.03084940015586286 Centerline is valid? [True, True] Translation: X:301.29, Y:-226.96, Z:-36.63 [[ 7.19174348e-01 6.90448823e-01 7.79017312e-02 3.01286125e+02] [-6.86323405e-01 7.23380868e-01 -7.53677910e-02 -2.26956399e+02] [-1.08390225e-01 7.36800512e-04 9.94108151e-01 -3.66255415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96592 meters 0.031104020511826855 Centerline is valid? [True, True] Translation: X:301.31, Y:-226.98, Z:-36.63 [[ 7.18022306e-01 6.91596112e-01 7.83504068e-02 3.01309571e+02] [-6.87421328e-01 7.22284176e-01 -7.58781122e-02 -2.26979072e+02] [-1.09068266e-01 6.22436430e-04 9.94034067e-01 -3.66285037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99591999999996 meters 0.030906387796664166 Centerline is valid? [True, True] Translation: X:301.33, Y:-227.00, Z:-36.63 [[ 7.16440522e-01 6.93247631e-01 7.82349029e-02 3.01333384e+02] [-6.89086604e-01 7.20699341e-01 -7.58426792e-02 -2.27001403e+02] [-1.08961601e-01 4.26145070e-04 9.94045868e-01 -3.66299740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.02592 meters 0.03084138415911606 Centerline is valid? [True, True] Translation: X:301.36, Y:-227.03, Z:-36.63 [[ 7.12136948e-01 6.97689836e-01 7.80375591e-02 3.01356167e+02] [-6.93567964e-01 7.16399927e-01 -7.57273012e-02 -2.27025306e+02] [-1.08740270e-01 -1.96141842e-04 9.94070176e-01 -3.66328129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05591999999996 meters 0.03094144978556643 Centerline is valid? [True, True] Translation: X:301.38, Y:-227.05, Z:-36.64 [[ 7.10008983e-01 6.99838127e-01 7.81910499e-02 3.01379136e+02] [-6.95704487e-01 7.14301320e-01 -7.59532199e-02 -2.27048415e+02] [-1.09006929e-01 -4.70395846e-04 9.94040879e-01 -3.66357780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.08592 meters 0.031094987983898807 Centerline is valid? [True, True] Translation: X:301.40, Y:-227.07, Z:-36.64 [[ 7.07588267e-01 7.02267331e-01 7.83545799e-02 3.01403621e+02] [-6.98122605e-01 7.11912896e-01 -7.61896101e-02 -2.27070908e+02] [-1.09287110e-01 -7.90229255e-04 9.94009911e-01 -3.66377673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11591999999996 meters 0.031077914193648495 Centerline is valid? [True, True] Translation: X:301.43, Y:-227.09, Z:-36.64 [[ 7.07212257e-01 7.02752601e-01 7.73925433e-02 3.01428055e+02] [-6.98704167e-01 7.11433861e-01 -7.53282694e-02 -2.27092028e+02] [-1.07996813e-01 -8.01417094e-04 9.94150917e-01 -3.66398812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14592 meters 0.030995955553276458 Centerline is valid? [True, True] Translation: X:301.45, Y:-227.11, Z:-36.64 [[ 7.07026490e-01 7.02892527e-01 7.78179815e-02 3.01454081e+02] [-6.98792535e-01 7.11295643e-01 -7.58122769e-02 -2.27111917e+02] [-1.08639474e-01 -7.77336568e-04 9.94080912e-01 -3.66434193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17591999999996 meters 0.030919870681790123 Centerline is valid? [True, True] Translation: X:301.48, Y:-227.13, Z:-36.65 [[ 7.07638107e-01 7.02373861e-01 7.69367860e-02 3.01479249e+02] [-6.98355372e-01 7.11807947e-01 -7.50281273e-02 -2.27132693e+02] [-1.07462011e-01 -6.36455908e-04 9.94208988e-01 -3.66452479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20592 meters 0.030970197926335524 Centerline is valid? [True, True] Translation: X:301.50, Y:-227.15, Z:-36.65 [[ 7.07307006e-01 7.02615966e-01 7.77663415e-02 3.01504514e+02] [-6.98504045e-01 7.11568974e-01 -7.59058263e-02 -2.27153390e+02] [-1.08668761e-01 -6.31381357e-04 9.94077815e-01 -3.66479087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23591999999996 meters 0.03092242091728618 Centerline is valid? [True, True] Translation: X:301.53, Y:-227.17, Z:-36.65 [[ 7.07734842e-01 7.02103366e-01 7.85000457e-02 3.01533069e+02] [-6.97902222e-01 7.12074860e-01 -7.66934228e-02 -2.27171377e+02] [-1.09744619e-01 -5.06748938e-04 9.93959688e-01 -3.66502124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26592 meters 0.031162642997824286 Centerline is valid? [True, True] Translation: X:301.56, Y:-227.19, Z:-36.66 [[ 7.07439082e-01 7.02249219e-01 7.98497365e-02 3.01557702e+02] [-6.97894036e-01 7.11931037e-01 -7.80904129e-02 -2.27191420e+02] [-1.11686437e-01 -4.82444965e-04 9.93743381e-01 -3.66550954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29591999999997 meters 0.031019551081920744 Centerline is valid? [True, True] Translation: X:301.58, Y:-227.21, Z:-36.66 [[ 7.08200881e-01 7.01655363e-01 7.83023936e-02 3.01583580e+02] [-6.97456841e-01 7.12516415e-01 -7.66440756e-02 -2.27211295e+02] [-1.09569467e-01 -3.33138223e-04 9.93979085e-01 -3.66580771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32592 meters 0.030969606435107096 Centerline is valid? [True, True] Translation: X:301.61, Y:-227.23, Z:-36.66 [[ 7.08836070e-01 7.01068487e-01 7.78100415e-02 3.01609261e+02] [-6.96911627e-01 7.13093921e-01 -7.62315106e-02 -2.27232054e+02] [-1.08929377e-01 -1.91078164e-04 9.94049473e-01 -3.66604291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35591999999997 meters 0.030858456347256306 Centerline is valid? [True, True] Translation: X:301.63, Y:-227.25, Z:-36.66 [[ 7.08926587e-01 7.01003818e-01 7.75676540e-02 3.01634549e+02] [-6.96864058e-01 7.13157508e-01 -7.60713718e-02 -2.27252821e+02] [-1.08644277e-01 -1.25092131e-04 9.94080684e-01 -3.66632755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38592 meters 0.03065163778897962 Centerline is valid? [True, True] Translation: X:301.66, Y:-227.27, Z:-36.67 [[ 7.09484142e-01 7.00420042e-01 7.77432755e-02 3.01660127e+02] [-6.96249378e-01 7.13730877e-01 -7.63219456e-02 -2.27273489e+02] [-1.08945196e-01 2.05029318e-05 9.94047757e-01 -3.66659734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41591999999997 meters 0.030830144448853465 Centerline is valid? [True, True] Translation: X:301.68, Y:-227.30, Z:-36.67 [[ 7.09970852e-01 6.99971517e-01 7.73386357e-02 3.01684191e+02] [-6.95833267e-01 7.14170746e-01 -7.60013814e-02 -2.27296006e+02] [-1.08431793e-01 1.43969912e-04 9.94103881e-01 -3.66694757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44591999999994 meters 0.03089547538180311 Centerline is valid? [True, True] Translation: X:301.71, Y:-227.32, Z:-36.67 [[ 7.10967223e-01 6.98826525e-01 7.85308663e-02 3.01708376e+02] [-6.94544972e-01 7.15291095e-01 -7.72394422e-02 -2.27317229e+02] [-1.10149400e-01 3.71493411e-04 9.93914972e-01 -3.66729848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47592 meters 0.030905684255573152 Centerline is valid? [True, True] Translation: X:301.73, Y:-227.34, Z:-36.68 [[ 7.12323440e-01 6.97410519e-01 7.88282016e-02 3.01734290e+02] [-6.93084120e-01 7.16671604e-01 -7.75642573e-02 -2.27337769e+02] [-1.10588063e-01 6.16263820e-04 9.93866138e-01 -3.66756856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50591999999995 meters 0.031075847831109987 Centerline is valid? [True, True] Translation: X:301.76, Y:-227.36, Z:-36.68 [[ 7.12891353e-01 6.96745154e-01 7.95745598e-02 3.01757488e+02] [-6.92323473e-01 7.17318326e-01 -7.83749260e-02 -2.27359904e+02] [-1.11687640e-01 7.81471426e-04 9.93743056e-01 -3.66790040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53592 meters 0.0313849425162003 Centerline is valid? [True, True] Translation: X:301.78, Y:-227.38, Z:-36.68 [[ 7.15179480e-01 6.94233076e-01 8.09860988e-02 3.01779567e+02] [-6.89628629e-01 7.19749182e-01 -7.98340056e-02 -2.27382348e+02] [-1.13713086e-01 1.24531027e-03 9.93512850e-01 -3.66831736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56591999999995 meters 0.03138661161220562 Centerline is valid? [True, True] Translation: X:301.80, Y:-227.41, Z:-36.68 [[ 7.16681179e-01 6.92890109e-01 7.91920684e-02 3.01803125e+02] [-6.88472803e-01 7.21041698e-01 -7.81285421e-02 -2.27405048e+02] [-1.11235278e-01 1.47167041e-03 9.93793010e-01 -3.66846516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59592 meters 0.03148477878853543 Centerline is valid? [True, True] Translation: X:301.83, Y:-227.43, Z:-36.69 [[ 7.17564585e-01 6.91997801e-01 7.89943694e-02 3.01825979e+02] [-6.87589465e-01 7.21897708e-01 -7.80027417e-02 -2.27428185e+02] [-1.11003580e-01 1.65630876e-03 9.93818626e-01 -3.66880436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62591999999995 meters 0.03194763138855936 Centerline is valid? [True, True] Translation: X:301.85, Y:-227.45, Z:-36.69 [[ 7.19939827e-01 6.89443445e-01 7.97143742e-02 3.01847296e+02] [-6.84929918e-01 7.24336401e-01 -7.87895052e-02 -2.27451942e+02] [-1.12060931e-01 2.12494298e-03 9.93699065e-01 -3.66914646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65592 meters 0.03218427546059649 Centerline is valid? [True, True] Translation: X:301.87, Y:-227.48, Z:-36.69 [[ 7.20954375e-01 6.88455985e-01 7.90768424e-02 3.01870420e+02] [-6.84000999e-01 7.25274445e-01 -7.82279562e-02 -2.27475466e+02] [-1.11208918e-01 2.31014808e-03 9.93794365e-01 -3.66940226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68591999999995 meters 0.0322019479643648 Centerline is valid? [True, True] Translation: X:301.89, Y:-227.50, Z:-36.70 [[ 7.21283120e-01 6.88104233e-01 7.91405463e-02 3.01892659e+02] [-6.83631668e-01 7.25607819e-01 -7.83647597e-02 -2.27499176e+02] [-1.11348122e-01 2.42019470e-03 9.93778516e-01 -3.66968678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71592 meters 0.03213959376764406 Centerline is valid? [True, True] Translation: X:301.91, Y:-227.52, Z:-36.70 [[ 7.19935197e-01 6.89413625e-01 8.00135284e-02 3.01914496e+02] [-6.84841656e-01 7.24364268e-01 -7.92988830e-02 -2.27523943e+02] [-1.12628671e-01 2.29345966e-03 9.93634501e-01 -3.66997162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74591999999996 meters 0.031794629577760546 Centerline is valid? [True, True] Translation: X:301.94, Y:-227.55, Z:-36.70 [[ 7.18551052e-01 6.90956305e-01 7.91439843e-02 3.01936397e+02] [-6.86484581e-01 7.22893524e-01 -7.85103373e-02 -2.27547756e+02] [-1.11459886e-01 2.08256055e-03 9.93766752e-01 -3.67022392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.77592 meters 0.03159178481910433 Centerline is valid? [True, True] Translation: X:301.96, Y:-227.57, Z:-36.71 [[ 7.16944082e-01 6.92691696e-01 7.85455172e-02 3.01956861e+02] [-6.88291313e-01 7.21231462e-01 -7.79759402e-02 -2.27573324e+02] [-1.10662784e-01 1.84219171e-03 9.93856305e-01 -3.67052557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80591999999996 meters 0.03140387372785174 Centerline is valid? [True, True] Translation: X:301.98, Y:-227.60, Z:-36.71 [[ 7.15739506e-01 6.93939102e-01 7.85205860e-02 3.01977801e+02] [-6.89544198e-01 7.20031735e-01 -7.79942300e-02 -2.27597386e+02] [-1.10660560e-01 1.68013713e-03 9.93856840e-01 -3.67090209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.83592 meters 0.03140387372785174 Centerline is valid? [True, True] Translation: X:302.00, Y:-227.62, Z:-36.71 [[ 7.15399057e-01 6.94293974e-01 7.84860883e-02 3.02001110e+02] [-6.89897393e-01 7.19689567e-01 -7.80289333e-02 -2.27620047e+02] [-1.10660637e-01 1.67447764e-03 9.93856841e-01 -3.67118380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86591999999996 meters 0.03134372301413201 Centerline is valid? [True, True] Translation: X:302.02, Y:-227.64, Z:-36.71 [[ 7.14237415e-01 6.95508501e-01 7.83124485e-02 3.02022747e+02] [-6.91130380e-01 7.18516222e-01 -7.79309661e-02 -2.27644412e+02] [-1.10470414e-01 1.53709944e-03 9.93878224e-01 -3.67136720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89592 meters 0.031259814787111144 Centerline is valid? [True, True] Translation: X:302.05, Y:-227.67, Z:-36.72 [[ 7.13751734e-01 6.95919786e-01 7.90829522e-02 3.02045002e+02] [-6.91449659e-01 7.18117879e-01 -7.87659893e-02 -2.27667588e+02] [-1.11605692e-01 1.53748111e-03 9.93751380e-01 -3.67154615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92591999999996 meters 0.031131572182126775 Centerline is valid? [True, True] Translation: X:302.07, Y:-227.69, Z:-36.72 [[ 7.12060207e-01 6.97613599e-01 7.94073596e-02 3.02067785e+02] [-6.93109147e-01 7.16472960e-01 -7.91593837e-02 -2.27691250e+02] [-1.12115889e-01 1.32827990e-03 9.93694250e-01 -3.67181516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95592 meters 0.03115864300118009 Centerline is valid? [True, True] Translation: X:302.09, Y:-227.71, Z:-36.72 [[ 7.11513031e-01 6.98204921e-01 7.91144480e-02 3.02090804e+02] [-6.93729985e-01 7.15896819e-01 -7.89332199e-02 -2.27714254e+02] [-1.11749344e-01 1.27794971e-03 9.93735604e-01 -3.67212541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98591999999996 meters 0.031110328059732833 Centerline is valid? [True, True] Translation: X:302.11, Y:-227.74, Z:-36.73 [[ 7.10780600e-01 6.98943272e-01 7.91785363e-02 3.02113366e+02] [-6.94461483e-01 7.15176123e-01 -7.90339268e-02 -2.27737667e+02] [-1.11866830e-01 1.18933822e-03 9.93722495e-01 -3.67251656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01592 meters 0.03091657366246765 Centerline is valid? [True, True] Translation: X:302.14, Y:-227.76, Z:-36.73 [[ 7.09049969e-01 7.00713590e-01 7.90481313e-02 3.02136359e+02] [-6.96249004e-01 7.13442035e-01 -7.89796615e-02 -2.27760454e+02] [-1.11738382e-01 9.63343818e-04 9.93737192e-01 -3.67281526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04591999999997 meters 0.030901215702655502 Centerline is valid? [True, True] Translation: X:302.16, Y:-227.78, Z:-36.73 [[ 7.07954444e-01 7.01739637e-01 7.97620729e-02 3.02159795e+02] [-6.97192065e-01 7.12432974e-01 -7.97651761e-02 -2.27782979e+02] [-1.12799516e-01 8.60626566e-04 9.93617395e-01 -3.67317861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07592 meters 0.030918197031063525 Centerline is valid? [True, True] Translation: X:302.02, Y:-228.19, Z:-34.87 [[ 7.48997777e-01 -6.61412527e-01 -3.91892793e-02 3.02015595e+02] [-6.60092292e-01 -7.50000596e-01 4.21577103e-02 -2.28186432e+02] [-5.72756206e-02 -5.70749010e-03 -9.98342090e-01 -3.48727744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10591999999997 meters 0.03095181775414713 Centerline is valid? [True, True] Translation: X:302.17, Y:-227.81, Z:-36.73 [[ 7.55786984e-01 6.49015209e-01 8.69786933e-02 3.02169517e+02] [-6.44616617e-01 7.60774842e-01 -7.54391002e-02 -2.27813603e+02] [-1.15132325e-01 9.47979035e-04 9.93349711e-01 -3.67345681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13592 meters 0.0309700555592842 Centerline is valid? [True, True] Translation: X:302.19, Y:-227.84, Z:-36.74 [[ 7.57055547e-01 6.47636404e-01 8.62205690e-02 3.02193807e+02] [-6.43296902e-01 7.61948579e-01 -7.48562576e-02 -2.27835908e+02] [-1.14175278e-01 1.20492016e-03 9.93459891e-01 -3.67376220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16591999999997 meters 0.03090023398178287 Centerline is valid? [True, True] Translation: X:302.22, Y:-227.86, Z:-36.74 [[ 7.57515236e-01 6.47151815e-01 8.58207126e-02 3.02217800e+02] [-6.42840994e-01 7.62359995e-01 -7.45834752e-02 -2.27858630e+02] [-1.13693109e-01 1.32904671e-03 9.93515028e-01 -3.67411760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19591999999994 meters 0.03101973225467331 Centerline is valid? [True, True] Translation: X:302.24, Y:-227.88, Z:-36.74 [[ 7.58342045e-01 6.46260566e-01 8.52327633e-02 3.02243009e+02] [-6.41994859e-01 7.63115328e-01 -7.41457831e-02 -2.27880527e+02] [-1.12959924e-01 1.50886893e-03 9.93598399e-01 -3.67433897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22592 meters 0.030939661653500834 Centerline is valid? [True, True] Translation: X:302.27, Y:-227.90, Z:-36.75 [[ 7.57465450e-01 6.47243889e-01 8.55654137e-02 3.02268253e+02] [-6.42942476e-01 7.62281653e-01 -7.45094267e-02 -2.27902210e+02] [-1.13450716e-01 1.42467756e-03 9.93542604e-01 -3.67458852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25591999999995 meters 0.03069766590617575 Centerline is valid? [True, True] Translation: X:302.29, Y:-227.93, Z:-36.75 [[ 7.55169403e-01 6.49811501e-01 8.63955205e-02 3.02291580e+02] [-6.45433935e-01 7.60094591e-01 -7.53076923e-02 -2.27925835e+02] [-1.14604572e-01 1.10746433e-03 9.93410573e-01 -3.67481692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28592 meters 0.030750859607708934 Centerline is valid? [True, True] Translation: X:302.32, Y:-227.95, Z:-36.75 [[ 7.53662692e-01 6.51533589e-01 8.65824996e-02 3.02315928e+02] [-6.47139598e-01 7.58619248e-01 -7.55458712e-02 -2.27948613e+02] [-1.14903823e-01 9.05140741e-04 9.93376209e-01 -3.67515666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31591999999995 meters 0.030502888450012828 Centerline is valid? [True, True] Translation: X:302.34, Y:-227.97, Z:-36.75 [[ 7.52610004e-01 6.52907687e-01 8.53799442e-02 3.02339418e+02] [-6.48635934e-01 7.57437129e-01 -7.45682245e-02 -2.27970314e+02] [-1.13356107e-01 7.40291845e-04 9.93554148e-01 -3.67528751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34592 meters 0.030407894198166145 Centerline is valid? [True, True] Translation: X:302.36, Y:-227.99, Z:-36.76 [[ 7.51174487e-01 6.54678027e-01 8.44604761e-02 3.02363131e+02] [-6.50501975e-01 7.55907676e-01 -7.38293088e-02 -2.27992352e+02] [-1.12178748e-01 5.16986632e-04 9.93687909e-01 -3.67556564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37591999999995 meters 0.03036242211079912 Centerline is valid? [True, True] Translation: X:302.39, Y:-228.02, Z:-36.76 [[ 7.50178670e-01 6.55924478e-01 8.36363672e-02 3.02385691e+02] [-6.51830354e-01 7.54826429e-01 -7.31727476e-02 -2.28015947e+02] [-1.11126737e-01 3.75911634e-04 9.93806172e-01 -3.67581746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40592 meters 0.03051232149947436 Centerline is valid? [True, True] Translation: X:302.41, Y:-228.04, Z:-36.76 [[ 7.49895536e-01 6.56130240e-01 8.45564499e-02 3.02408702e+02] [-6.51940168e-01 7.54647569e-01 -7.40342059e-02 -2.28037662e+02] [-1.12386401e-01 3.92174341e-04 9.93664502e-01 -3.67613314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43591999999995 meters 0.030595512758371423 Centerline is valid? [True, True] Translation: X:302.43, Y:-228.06, Z:-36.76 [[ 7.50568820e-01 6.55422242e-01 8.40721822e-02 3.02432191e+02] [-6.51271751e-01 7.55262479e-01 -7.36457323e-02 -2.28060253e+02] [-1.11765616e-01 5.22353013e-04 9.93734459e-01 -3.67645360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46592 meters 0.030609212609360874 Centerline is valid? [True, True] Translation: X:302.46, Y:-228.08, Z:-36.77 [[ 7.51029563e-01 6.54956212e-01 8.35880159e-02 3.02456439e+02] [-6.50842231e-01 7.55666556e-01 -7.32969771e-02 -2.28083190e+02] [-1.11170979e-01 6.45585982e-04 9.93801085e-01 -3.67668568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49591999999996 meters 0.030447146519045752 Centerline is valid? [True, True] Translation: X:302.48, Y:-228.11, Z:-36.77 [[ 7.50880713e-01 6.55271581e-01 8.24457966e-02 3.02479312e+02] [-6.51263704e-01 7.55393103e-01 -7.23660670e-02 -2.28106031e+02] [-1.09698413e-01 6.44329099e-04 9.93964709e-01 -3.67697822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.52592 meters 0.030263235283593155 Centerline is valid? [True, True] Translation: X:302.50, Y:-228.13, Z:-36.77 [[ 7.50048537e-01 6.56400088e-01 8.10315777e-02 3.02500141e+02] [-6.52528730e-01 7.54412788e-01 -7.11870890e-02 -2.28130561e+02] [-1.07858470e-01 5.18339446e-04 9.94166124e-01 -3.67719208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55591999999996 meters 0.030133740249214683 Centerline is valid? [True, True] Translation: X:302.52, Y:-228.15, Z:-36.77 [[ 7.49658590e-01 6.56939947e-01 8.02614726e-02 3.02522668e+02] [-6.53139265e-01 7.53942755e-01 -7.05650263e-02 -2.28153928e+02] [-1.06869540e-01 4.77758881e-04 9.94272937e-01 -3.67740651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.58592 meters 0.03052564223308715 Centerline is valid? [True, True] Translation: X:302.54, Y:-228.18, Z:-36.78 [[ 7.48396514e-01 6.58210186e-01 8.16211303e-02 3.02543978e+02] [-6.54283385e-01 7.52834142e-01 -7.17914120e-02 -2.28177365e+02] [-1.08701012e-01 3.25093003e-04 9.94074436e-01 -3.67786563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61591999999996 meters 0.030632664027114166 Centerline is valid? [True, True] Translation: X:302.57, Y:-228.20, Z:-36.78 [[ 7.47866492e-01 6.58603950e-01 8.32859329e-02 3.02565446e+02] [-6.54510147e-01 7.52489690e-01 -7.33193985e-02 -2.28201432e+02] [-1.10960251e-01 3.21633157e-04 9.93824793e-01 -3.67819150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64592 meters 0.030664896441819023 Centerline is valid? [True, True] Translation: X:302.59, Y:-228.23, Z:-36.78 [[ 7.45814152e-01 6.60865330e-01 8.37750978e-02 3.02585036e+02] [-6.56729548e-01 7.50504506e-01 -7.38192840e-02 -2.28229401e+02] [-1.11658194e-01 3.78845581e-05 9.93746671e-01 -3.67839401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67591999999996 meters 0.030731672675096272 Centerline is valid? [True, True] Translation: X:302.61, Y:-228.25, Z:-36.79 [[ 7.44553594e-01 6.62384545e-01 8.29859043e-02 3.02607777e+02] [-6.58327779e-01 7.49163999e-01 -7.31972626e-02 -2.28252712e+02] [-1.10654787e-01 -1.32641125e-04 9.93858894e-01 -3.67861652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70592 meters 0.030647402285921912 Centerline is valid? [True, True] Translation: X:302.63, Y:-228.28, Z:-36.79 [[ 7.43566484e-01 6.63579917e-01 8.22835204e-02 3.02628807e+02] [-6.59592813e-01 7.48105355e-01 -7.26339985e-02 -2.28278101e+02] [-1.09755205e-01 -2.65411845e-04 9.93958613e-01 -3.67888817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73591999999996 meters 0.030745896400109978 Centerline is valid? [True, True] Translation: X:302.65, Y:-228.30, Z:-36.79 [[ 7.42856590e-01 6.64391939e-01 8.21427925e-02 3.02651446e+02] [-6.60419642e-01 7.47384254e-01 -7.25442888e-02 -2.28301478e+02] [-1.09590070e-01 -3.58710582e-04 9.93976804e-01 -3.67925749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76592 meters 0.030886874976904555 Centerline is valid? [True, True] Translation: X:302.67, Y:-228.33, Z:-36.79 [[ 7.41270710e-01 6.66373763e-01 8.03974021e-02 3.02672722e+02] [-6.62572874e-01 7.45617641e-01 -7.10740459e-02 -2.28325822e+02] [-1.07307601e-01 -5.84029268e-04 9.94225698e-01 -3.67947964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79591999999997 meters 0.030755667317259264 Centerline is valid? [True, True] Translation: X:302.70, Y:-228.35, Z:-36.80 [[ 7.40445552e-01 6.67415100e-01 7.93565992e-02 3.02696022e+02] [-6.63711428e-01 7.44685588e-01 -7.02176266e-02 -2.28348279e+02] [-1.05960020e-01 -6.77552498e-04 9.94370160e-01 -3.67970054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82592 meters 0.030731963359642483 Centerline is valid? [True, True] Translation: X:302.72, Y:-228.37, Z:-36.80 [[ 7.39581517e-01 6.68366379e-01 7.94075792e-02 3.02719724e+02] [-6.64656316e-01 7.43831835e-01 -7.03291011e-02 -2.28371134e+02] [-1.06071492e-01 -7.64645790e-04 9.94358212e-01 -3.67995609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85591999999997 meters 0.030846390922001216 Centerline is valid? [True, True] Translation: X:302.74, Y:-228.39, Z:-36.80 [[ 7.38666675e-01 6.69336923e-01 7.97472668e-02 3.02743578e+02] [-6.65592577e-01 7.42958517e-01 -7.07047638e-02 -2.28394400e+02] [-1.06574220e-01 -8.51936034e-04 9.94304385e-01 -3.68020568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88592 meters 0.03100201386228581 Centerline is valid? [True, True] Translation: X:302.77, Y:-228.42, Z:-36.81 [[ 7.38216878e-01 6.69829154e-01 7.97793552e-02 3.02766979e+02] [-6.66076601e-01 7.42514749e-01 -7.08082630e-02 -2.28418075e+02] [-1.06666787e-01 -8.67306872e-04 9.94294446e-01 -3.68058788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91591999999997 meters 0.030914254970283207 Centerline is valid? [True, True] Translation: X:302.79, Y:-228.44, Z:-36.81 [[ 7.37044319e-01 6.70966773e-01 8.10509782e-02 3.02789814e+02] [-6.67092022e-01 7.41486752e-01 -7.20113226e-02 -2.28440212e+02] [-1.08415431e-01 -9.92924764e-04 9.94105180e-01 -3.68090410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94591999999994 meters 0.030925515217050538 Centerline is valid? [True, True] Translation: X:302.81, Y:-228.46, Z:-36.81 [[ 7.36823950e-01 6.71331833e-01 8.00252266e-02 3.02812853e+02] [-6.67550052e-01 7.41156258e-01 -7.11641000e-02 -2.28462801e+02] [-1.07085923e-01 -9.85430857e-04 9.94249282e-01 -3.68113303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97592 meters 0.030914853867322546 Centerline is valid? [True, True] Translation: X:302.84, Y:-228.49, Z:-36.81 [[ 7.35933007e-01 6.72187684e-01 8.10328789e-02 3.02835401e+02] [-6.68307664e-01 7.40380013e-01 -7.21269819e-02 -2.28485181e+02] [-1.08477993e-01 -1.07426735e-03 9.94098270e-01 -3.68138020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00591999999995 meters 0.031027152306261165 Centerline is valid? [True, True] Translation: X:302.86, Y:-228.51, Z:-36.82 [[ 7.35190058e-01 6.73021605e-01 8.08547940e-02 3.02860150e+02] [-6.69156311e-01 7.39621937e-01 -7.20362507e-02 -2.28507720e+02] [-1.08283932e-01 -1.14416041e-03 9.94119349e-01 -3.68157137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03592 meters 0.031015330998250986 Centerline is valid? [True, True] Translation: X:302.88, Y:-228.53, Z:-36.82 [[ 7.34009887e-01 6.74383968e-01 8.02231275e-02 3.02883547e+02] [-6.70579022e-01 7.38379732e-01 -7.15482094e-02 -2.28530531e+02] [-1.07486097e-01 -1.27885333e-03 9.94205765e-01 -3.68186415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06591999999995 meters 0.031034955511483407 Centerline is valid? [True, True] Translation: X:302.91, Y:-228.55, Z:-36.82 [[ 7.32959715e-01 6.75633031e-01 7.93099256e-02 3.02907801e+02] [-6.71913849e-01 7.37236783e-01 -7.08075220e-02 -2.28552804e+02] [-1.06310095e-01 -1.39037622e-03 9.94332052e-01 -3.68205720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09592 meters 0.0310182439312886 Centerline is valid? [True, True] Translation: X:302.93, Y:-228.57, Z:-36.82 [[ 7.32074104e-01 6.76672853e-01 7.86216079e-02 3.02932659e+02] [-6.73016274e-01 7.36282337e-01 -7.02667343e-02 -2.28574354e+02] [-1.05435293e-01 -1.47316508e-03 9.94425075e-01 -3.68231175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12591999999995 meters 0.03111904977185545 Centerline is valid? [True, True] Translation: X:302.96, Y:-228.59, Z:-36.83 [[ 7.30883753e-01 6.77780954e-01 8.01368653e-02 3.02957944e+02] [-6.73980243e-01 7.35262122e-01 -7.16954979e-02 -2.28594249e+02] [-1.07515445e-01 -1.60958938e-03 9.94202111e-01 -3.68257788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15592 meters 0.031025543968813834 Centerline is valid? [True, True] Translation: X:302.98, Y:-228.62, Z:-36.83 [[ 7.30325132e-01 6.78441726e-01 7.96368335e-02 3.02983343e+02] [-6.74685158e-01 7.34652375e-01 -7.13149728e-02 -2.28615538e+02] [-1.06888442e-01 -1.64667261e-03 9.94269656e-01 -3.68279471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18591999999995 meters 0.031079725368266524 Centerline is valid? [True, True] Translation: X:303.01, Y:-228.64, Z:-36.83 [[ 7.29529811e-01 6.79268153e-01 7.98813635e-02 3.03007984e+02] [-6.75486300e-01 7.33888139e-01 -7.15992806e-02 -2.28636283e+02] [-1.07259096e-01 -1.72495709e-03 9.94229607e-01 -3.68300821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21592 meters 0.031324923655542146 Centerline is valid? [True, True] Translation: X:303.03, Y:-228.66, Z:-36.83 [[ 7.28972987e-01 6.79733326e-01 8.09999369e-02 3.03032759e+02] [-6.75843740e-01 7.33457147e-01 -7.26350670e-02 -2.28656654e+02] [-1.08782458e-01 -1.79429851e-03 9.94063960e-01 -3.68340630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24591999999996 meters 0.031249104708948972 Centerline is valid? [True, True] Translation: X:303.06, Y:-228.68, Z:-36.83 [[ 7.27189461e-01 6.81629134e-01 8.11000143e-02 3.03058876e+02] [-6.77734223e-01 7.31695019e-01 -7.27923163e-02 -2.28675844e+02] [-1.08957840e-01 -2.03044998e-03 9.94044298e-01 -3.68349974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.27592 meters 0.03132677945419971 Centerline is valid? [True, True] Translation: X:303.08, Y:-228.70, Z:-36.84 [[ 7.26064034e-01 6.83024499e-01 7.94264019e-02 3.03084305e+02] [-6.79290561e-01 7.30392312e-01 -7.13540782e-02 -2.28696049e+02] [-1.06749017e-01 -2.14597528e-03 9.94283683e-01 -3.68368265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30591999999996 meters 0.03181954719720857 Centerline is valid? [True, True] Translation: X:303.11, Y:-228.71, Z:-36.84 [[ 7.22929174e-01 6.86330651e-01 7.95213612e-02 3.03110331e+02] [-6.82600521e-01 7.27285046e-01 -7.15051799e-02 -2.28714674e+02] [-1.06910894e-01 -2.58814196e-03 9.94265237e-01 -3.68410608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.33592 meters 0.03197510992087703 Centerline is valid? [True, True] Translation: X:303.14, Y:-228.73, Z:-36.84 [[ 7.21568011e-01 6.87759123e-01 7.95424089e-02 3.03136003e+02] [-6.84028548e-01 7.25933753e-01 -7.15900225e-02 -2.28734071e+02] [-1.06979211e-01 -2.75220842e-03 9.94257449e-01 -3.68431415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36591999999996 meters 0.03187012402382333 Centerline is valid? [True, True] Translation: X:303.16, Y:-228.75, Z:-36.85 [[ 7.20395471e-01 6.88902370e-01 8.02738422e-02 3.03161659e+02] [-6.85102622e-01 7.24848334e-01 -7.23138295e-02 -2.28752893e+02] [-1.08003529e-01 -2.90126452e-03 9.94146277e-01 -3.68456555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39592 meters 0.03205712448541207 Centerline is valid? [True, True] Translation: X:303.19, Y:-228.77, Z:-36.85 [[ 7.20207285e-01 6.89274625e-01 7.87525047e-02 3.03187255e+02] [-6.85613720e-01 7.24494535e-01 -7.10034889e-02 -2.28772517e+02] [-1.05996662e-01 -2.85656770e-03 9.94362382e-01 -3.68483721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42591999999996 meters 0.03206125540856686 Centerline is valid? [True, True] Translation: X:303.21, Y:-228.79, Z:-36.85 [[ 7.20319738e-01 6.89284760e-01 7.76272799e-02 3.03213966e+02] [-6.85721368e-01 7.24485227e-01 -7.00525633e-02 -2.28790504e+02] [-1.04525982e-01 -2.77044061e-03 9.94518297e-01 -3.68519274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45592 meters 0.031983257434277816 Centerline is valid? [True, True] Translation: X:303.24, Y:-228.81, Z:-36.85 [[ 7.20396968e-01 6.89096103e-01 7.85797086e-02 3.03240665e+02] [-6.85436191e-01 7.24664833e-01 -7.09796355e-02 -2.28809771e+02] [-1.05855742e-01 -2.72786195e-03 9.94377756e-01 -3.68546599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48591999999996 meters 0.0317476612822958 Centerline is valid? [True, True] Translation: X:303.27, Y:-228.83, Z:-36.86 [[ 7.20860102e-01 6.88550206e-01 7.91159109e-02 3.03269694e+02] [-6.84828664e-01 7.25183975e-01 -7.15395248e-02 -2.28826857e+02] [-1.06632145e-01 -2.61085446e-03 9.94295112e-01 -3.68573264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51592 meters 0.03167826900317718 Centerline is valid? [True, True] Translation: X:303.30, Y:-228.85, Z:-36.86 [[ 7.21253073e-01 6.88130426e-01 7.91866297e-02 3.03295604e+02] [-6.84391820e-01 7.25582717e-01 -7.16767547e-02 -2.28846526e+02] [-1.06779406e-01 -2.49760209e-03 9.94279599e-01 -3.68602786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54591999999997 meters 0.03155983921596141 Centerline is valid? [True, True] Translation: X:303.32, Y:-228.87, Z:-36.86 [[ 7.21666632e-01 6.87675645e-01 7.93692552e-02 3.03321566e+02] [-6.83909898e-01 7.26014122e-01 -7.19079032e-02 -2.28866247e+02] [-1.07072514e-01 -2.38788489e-03 9.94248347e-01 -3.68635043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57592 meters 0.031390350453389226 Centerline is valid? [True, True] Translation: X:303.35, Y:-228.89, Z:-36.87 [[ 7.22091979e-01 6.87368813e-01 7.81491397e-02 3.03347676e+02] [-6.83710315e-01 7.26305026e-01 -7.08605309e-02 -2.28885910e+02] [-1.05467432e-01 -2.26355188e-03 9.94420181e-01 -3.68667157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60591999999997 meters 0.031277264947242193 Centerline is valid? [True, True] Translation: X:303.38, Y:-228.90, Z:-36.87 [[ 7.21807056e-01 6.87708857e-01 7.77888315e-02 3.03376173e+02] [-6.84081651e-01 7.25983034e-01 -7.05756990e-02 -2.28903814e+02] [-1.05008905e-01 -2.27187480e-03 9.94468687e-01 -3.68695682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63592 meters 0.031205854144006215 Centerline is valid? [True, True] Translation: X:303.40, Y:-228.92, Z:-36.87 [[ 7.21377992e-01 6.88133563e-01 7.80127682e-02 3.03402202e+02] [-6.84479979e-01 7.25580439e-01 -7.08532710e-02 -2.28924009e+02] [-1.05361052e-01 -2.28618749e-03 9.94431406e-01 -3.68729732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66591999999997 meters 0.031332671116444985 Centerline is valid? [True, True] Translation: X:303.43, Y:-228.94, Z:-36.88 [[ 7.21744570e-01 6.87454669e-01 8.05658339e-02 3.03430813e+02] [-6.83544766e-01 7.26223947e-01 -7.32484227e-02 -2.28940693e+02] [-1.08863808e-01 -2.20370264e-03 9.94054231e-01 -3.68765284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69591999999994 meters 0.03119545184958625 Centerline is valid? [True, True] Translation: X:303.46, Y:-228.96, Z:-36.88 [[ 7.22116131e-01 6.87171509e-01 7.96467822e-02 3.03457880e+02] [-6.83341778e-01 7.26492227e-01 -7.24779934e-02 -2.28958821e+02] [-1.07667580e-01 -2.08844557e-03 9.94184757e-01 -3.68782738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72592 meters 0.031242076501743453 Centerline is valid? [True, True] Translation: X:303.49, Y:-228.98, Z:-36.88 [[ 7.22181486e-01 6.87082119e-01 7.98252028e-02 3.03485675e+02] [-6.83227303e-01 7.26576932e-01 -7.27077266e-02 -2.28977734e+02] [-1.07955330e-01 -2.03058397e-03 9.94153672e-01 -3.68810390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75591999999995 meters 0.031242076501743453 Centerline is valid? [True, True] Translation: X:303.51, Y:-229.00, Z:-36.88 [[ 7.21831329e-01 6.87454292e-01 7.97880299e-02 3.03509930e+02] [-6.83597237e-01 7.26224809e-01 -7.27485008e-02 -2.28999370e+02] [-1.07955316e-01 -2.03072990e-03 9.94153673e-01 -3.68838478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78592 meters 0.03082315538358019 Centerline is valid? [True, True] Translation: X:303.54, Y:-229.02, Z:-36.89 [[ 7.23911788e-01 6.85153438e-01 8.07247706e-02 3.03537612e+02] [-6.81182536e-01 7.28396894e-01 -7.36771210e-02 -2.29016810e+02] [-1.09279805e-01 -1.65256747e-03 9.94009655e-01 -3.68867704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81591999999995 meters 0.03070682091322022 Centerline is valid? [True, True] Translation: X:303.56, Y:-229.04, Z:-36.89 [[ 7.25188566e-01 6.83734260e-01 8.12957948e-02 3.03563851e+02] [-6.79690243e-01 7.29729750e-01 -7.42675264e-02 -2.29036549e+02] [-1.10103212e-01 -1.39799758e-03 9.93919176e-01 -3.68896798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84592 meters 0.030492760295836644 Centerline is valid? [True, True] Translation: X:303.59, Y:-229.06, Z:-36.89 [[ 7.26394994e-01 6.82294326e-01 8.26121377e-02 3.03591442e+02] [-6.78099751e-01 7.31076707e-01 -7.55485065e-02 -2.29055801e+02] [-1.11942127e-01 -1.14121306e-03 9.93714073e-01 -3.68926685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87591999999995 meters 0.03036883061408085 Centerline is valid? [True, True] Translation: X:303.62, Y:-229.07, Z:-36.90 [[ 7.27699800e-01 6.80927127e-01 8.24090406e-02 3.03618253e+02] [-6.76735994e-01 7.32350658e-01 -7.54381032e-02 -2.29074302e+02] [-1.11720166e-01 -8.72871462e-04 9.93739323e-01 -3.68961246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90592 meters 0.03004907094847593 Centerline is valid? [True, True] Translation: X:303.65, Y:-229.09, Z:-36.90 [[ 7.30799392e-01 6.77576167e-01 8.26001636e-02 3.03647051e+02] [-6.73336428e-01 7.35452542e-01 -7.56809920e-02 -2.29090959e+02] [-1.12028137e-01 -3.10076221e-04 9.93704987e-01 -3.68997236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93591999999995 meters 0.030095674344859023 Centerline is valid? [True, True] Translation: X:303.67, Y:-229.11, Z:-36.90 [[ 7.31589809e-01 6.76720114e-01 8.26210584e-02 3.03672951e+02] [-6.72464884e-01 7.36240363e-01 -7.57700988e-02 -2.29110930e+02] [-1.12104108e-01 -1.27128383e-04 9.93696459e-01 -3.69024763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96592 meters 0.029918833441535928 Centerline is valid? [True, True] Translation: X:303.70, Y:-229.13, Z:-36.90 [[ 7.34142356e-01 6.73957396e-01 8.25616706e-02 3.03700933e+02] [-6.69682131e-01 7.38770130e-01 -7.57927414e-02 -2.29128703e+02] [-1.12075175e-01 3.52586298e-04 9.93699668e-01 -3.69048529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99591999999996 meters 0.03007878483310817 Centerline is valid? [True, True] Translation: X:303.73, Y:-229.15, Z:-36.91 [[ 7.35352311e-01 6.72621743e-01 8.26859709e-02 3.03727233e+02] [-6.68316391e-01 7.39986225e-01 -7.59841305e-02 -2.29149514e+02] [-1.12295058e-01 6.14716307e-04 9.93674716e-01 -3.69080153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.02592 meters 0.03045064013592353 Centerline is valid? [True, True] Translation: X:303.75, Y:-229.17, Z:-36.91 [[ 7.38375592e-01 6.69257661e-01 8.30401624e-02 3.03752222e+02] [-6.64885433e-01 7.43029455e-01 -7.63844903e-02 -2.29170216e+02] [-1.12822192e-01 1.18824890e-03 9.93614483e-01 -3.69116220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05591999999996 meters 0.030393545496140408 Centerline is valid? [True, True] Translation: X:303.78, Y:-229.19, Z:-36.92 [[ 7.39499157e-01 6.68082602e-01 8.25023262e-02 3.03777108e+02] [-6.63752073e-01 7.44085781e-01 -7.59574626e-02 -2.29191449e+02] [-1.12134667e-01 1.40938954e-03 9.93692020e-01 -3.69150742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.08592 meters 0.03057022500706094 Centerline is valid? [True, True] Translation: X:303.80, Y:-229.21, Z:-36.92 [[ 7.40520403e-01 6.66944418e-01 8.25510572e-02 3.03802056e+02] [-6.62593450e-01 7.45105672e-01 -7.60753434e-02 -2.29212324e+02] [-1.12247287e-01 1.63755411e-03 9.93678955e-01 -3.69175691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11591999999996 meters 0.03063206296493671 Centerline is valid? [True, True] Translation: X:303.83, Y:-229.23, Z:-36.92 [[ 7.41228575e-01 6.66238098e-01 8.18962606e-02 3.03826166e+02] [-6.61944364e-01 7.45736970e-01 -7.55382807e-02 -2.29234429e+02] [-1.11399550e-01 1.78036409e-03 9.93774104e-01 -3.69201751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14592 meters 0.031075844974144798 Centerline is valid? [True, True] Translation: X:303.85, Y:-229.26, Z:-36.92 [[ 7.42377637e-01 6.64680041e-01 8.41182908e-02 3.03847164e+02] [-6.60131681e-01 7.47125123e-01 -7.76544542e-02 -2.29258166e+02] [-1.14462254e-01 2.11978149e-03 9.93425336e-01 -3.69246139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17591999999996 meters 0.031003977337359875 Centerline is valid? [True, True] Translation: X:303.87, Y:-229.28, Z:-36.93 [[ 7.42116697e-01 6.64978998e-01 8.40579525e-02 3.03870089e+02] [-6.60434012e-01 7.46859089e-01 -7.76428808e-02 -2.29282489e+02] [-1.14410331e-01 2.10534751e-03 9.93431348e-01 -3.69274570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20592 meters 0.030844008733810394 Centerline is valid? [True, True] Translation: X:303.89, Y:-229.31, Z:-36.93 [[ 7.41762779e-01 6.65479986e-01 8.32127827e-02 3.03892895e+02] [-6.61021161e-01 7.46412847e-01 -7.69343043e-02 -2.29305722e+02] [-1.13309330e-01 2.06159318e-03 9.93557621e-01 -3.69294911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23591999999996 meters 0.030704815799832984 Centerline is valid? [True, True] Translation: X:303.91, Y:-229.33, Z:-36.93 [[ 7.41288209e-01 6.66152096e-01 8.20559360e-02 3.03912564e+02] [-6.61813693e-01 7.45813293e-01 -7.59287041e-02 -2.29331269e+02] [-1.11778473e-01 1.97931106e-03 9.93731179e-01 -3.69332035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26592 meters 0.030533245121243783 Centerline is valid? [True, True] Translation: X:303.93, Y:-229.36, Z:-36.94 [[ 7.40387607e-01 6.67330133e-01 8.06020162e-02 3.03933776e+02] [-6.63145601e-01 7.44759840e-01 -7.46370771e-02 -2.29356357e+02] [-1.09836715e-01 1.80949439e-03 9.93947998e-01 -3.69358306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29591999999997 meters 0.030365718822874026 Centerline is valid? [True, True] Translation: X:303.95, Y:-229.38, Z:-36.94 [[ 7.36773956e-01 6.71235166e-01 8.12864657e-02 3.03953311e+02] [-6.67000009e-01 7.41243396e-01 -7.52941912e-02 -2.29382572e+02] [-1.10793165e-01 1.25672580e-03 9.93842691e-01 -3.69385331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32592 meters 0.0299133569923377 Centerline is valid? [True, True] Translation: X:303.98, Y:-229.41, Z:-36.94 [[ 7.34028914e-01 6.74391806e-01 7.99827819e-02 3.03976578e+02] [-6.70307001e-01 7.38373256e-01 -7.41178709e-02 -2.29405392e+02] [-1.09041632e-01 7.91641591e-04 9.94036868e-01 -3.69395890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35591999999997 meters 0.029868508849480224 Centerline is valid? [True, True] Translation: X:304.00, Y:-229.43, Z:-36.94 [[ 7.28205334e-01 6.80749692e-01 7.93526919e-02 3.03998017e+02] [-6.76760197e-01 7.32516105e-01 -7.35920599e-02 -2.29429777e+02] [-1.08224897e-01 -1.12612891e-04 9.94126430e-01 -3.69418467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38592 meters 0.030017692648896265 Centerline is valid? [True, True] Translation: X:304.02, Y:-229.45, Z:-36.95 [[ 7.24705635e-01 6.84389591e-01 8.00789074e-02 3.04020874e+02] [-6.80343902e-01 7.29116240e-01 -7.43080330e-02 -2.29452750e+02] [-1.09242476e-01 -6.29746100e-04 9.94014932e-01 -3.69450168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41591999999997 meters 0.030406366738138117 Centerline is valid? [True, True] Translation: X:304.04, Y:-229.47, Z:-36.95 [[ 7.21832141e-01 6.87408887e-01 8.01709570e-02 3.04044453e+02] [-6.83365046e-01 7.26269884e-01 -7.44598607e-02 -2.29474451e+02] [-1.09410122e-01 -1.03850903e-03 9.93996150e-01 -3.69475571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44591999999994 meters 0.030555530427350017 Centerline is valid? [True, True] Translation: X:304.07, Y:-229.50, Z:-36.95 [[ 7.18338617e-01 6.91053190e-01 8.02192031e-02 3.04068982e+02] [-6.87019696e-01 7.22802256e-01 -7.45710121e-02 -2.29495432e+02] [-1.09515157e-01 -1.54493478e-03 9.93983925e-01 -3.69493609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47592 meters 0.03101984274895843 Centerline is valid? [True, True] Translation: X:304.10, Y:-229.51, Z:-36.95 [[ 7.14251758e-01 6.95300459e-01 8.00106086e-02 3.04095146e+02] [-6.91307856e-01 7.18715985e-01 -7.44364203e-02 -2.29513588e+02] [-1.09260581e-01 -2.14561825e-03 9.94010826e-01 -3.69523777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50591999999995 meters 0.030966605965081925 Centerline is valid? [True, True] Translation: X:304.12, Y:-229.53, Z:-36.95 [[ 7.13116672e-01 6.96499799e-01 7.97034638e-02 3.04120745e+02] [-6.92540601e-01 7.17553336e-01 -7.41938397e-02 -2.29534304e+02] [-1.08867481e-01 -2.28902065e-03 9.94053636e-01 -3.69545041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53592 meters 0.03107361575354418 Centerline is valid? [True, True] Translation: X:304.15, Y:-229.55, Z:-36.96 [[ 7.11697520e-01 6.97924681e-01 7.99235914e-02 3.04145897e+02] [-6.93944279e-01 7.16166941e-01 -7.44731507e-02 -2.29554099e+02] [-1.09215284e-01 -2.46016239e-03 9.94015075e-01 -3.69570415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56591999999995 meters 0.03118785588608177 Centerline is valid? [True, True] Translation: X:304.17, Y:-229.57, Z:-36.96 [[ 7.11232801e-01 6.98451608e-01 7.94559896e-02 3.04171980e+02] [-6.94513625e-01 7.15652999e-01 -7.41053959e-02 -2.29574119e+02] [-1.08621950e-01 -2.47707901e-03 9.94080045e-01 -3.69584260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59592 meters 0.031023180723004896 Centerline is valid? [True, True] Translation: X:304.20, Y:-229.59, Z:-36.96 [[ 7.09908255e-01 6.99821987e-01 7.92430168e-02 3.04200816e+02] [-6.95905575e-01 7.14312459e-01 -7.39806773e-02 -2.29590353e+02] [-1.08377579e-01 -2.62616364e-03 9.94106334e-01 -3.69601133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62591999999995 meters 0.03135236330066394 Centerline is valid? [True, True] Translation: X:304.23, Y:-229.61, Z:-36.96 [[ 7.09517440e-01 7.00141263e-01 7.99200471e-02 3.04225641e+02] [-6.96153189e-01 7.13999406e-01 -7.46698447e-02 -2.29610225e+02] [-1.09342306e-01 -2.65703861e-03 9.94000604e-01 -3.69641813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65592 meters 0.03141908476688284 Centerline is valid? [True, True] Translation: X:304.25, Y:-229.63, Z:-36.97 [[ 7.08372862e-01 7.01409765e-01 7.89444805e-02 3.04251242e+02] [-6.97524312e-01 7.12752754e-01 -7.37790431e-02 -2.29630782e+02] [-1.08017237e-01 -2.80262253e-03 9.94145071e-01 -3.69671048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68591999999995 meters 0.03112320780320113 Centerline is valid? [True, True] Translation: X:304.28, Y:-229.65, Z:-36.97 [[ 7.07849636e-01 7.02109637e-01 7.74012347e-02 3.04275954e+02] [-6.98376444e-01 7.12063220e-01 -7.23623773e-02 -2.29650891e+02] [-1.05920895e-01 -2.83351658e-03 9.94370522e-01 -3.69683011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71592 meters 0.031131316206622937 Centerline is valid? [True, True] Translation: X:304.30, Y:-229.67, Z:-36.97 [[ 7.07367829e-01 7.02563661e-01 7.76856315e-02 3.04301440e+02] [-6.98803640e-01 7.11614993e-01 -7.26469112e-02 -2.29670747e+02] [-1.06321340e-01 -2.89891425e-03 9.94327596e-01 -3.69705241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74591999999996 meters 0.03140681690918635 Centerline is valid? [True, True] Translation: X:304.33, Y:-229.69, Z:-36.97 [[ 7.06803142e-01 7.03096841e-01 7.80009669e-02 3.04327340e+02] [-6.99307460e-01 7.11087871e-01 -7.29596867e-02 -2.29689236e+02] [-1.06763267e-01 -2.97852225e-03 9.94280008e-01 -3.69736241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.77592 meters 0.031360340529950875 Centerline is valid? [True, True] Translation: X:304.35, Y:-229.71, Z:-36.98 [[ 7.07366860e-01 7.02517269e-01 7.81128177e-02 3.04351291e+02] [-6.98711836e-01 7.11660851e-01 -7.30794266e-02 -2.29709865e+02] [-1.06929394e-01 -2.88438571e-03 9.94262433e-01 -3.69766271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80591999999996 meters 0.03110312908422029 Centerline is valid? [True, True] Translation: X:304.38, Y:-229.73, Z:-36.98 [[ 7.07831016e-01 7.02094703e-01 7.77063769e-02 3.04375298e+02] [-6.98324352e-01 7.12078107e-01 -7.27177323e-02 -2.29731048e+02] [-1.06387744e-01 -2.79238897e-03 9.94320799e-01 -3.69792525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.83592 meters 0.03101270327612818 Centerline is valid? [True, True] Translation: X:304.40, Y:-229.75, Z:-36.98 [[ 7.10349395e-01 6.99600465e-01 7.72199906e-02 3.04399606e+02] [-6.95860593e-01 7.14530251e-01 -7.22810870e-02 -2.29751870e+02] [-1.05743901e-01 -2.38952207e-03 9.94390526e-01 -3.69831022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86591999999996 meters 0.03058933449219255 Centerline is valid? [True, True] Translation: X:304.42, Y:-229.77, Z:-36.99 [[ 7.11935461e-01 6.98062150e-01 7.65319208e-02 3.04424417e+02] [-6.94377773e-01 7.16034016e-01 -7.16574877e-02 -2.29773170e+02] [-1.04820839e-01 -2.12655826e-03 9.94488848e-01 -3.69850806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89592 meters 0.03020236245643277 Centerline is valid? [True, True] Translation: X:304.45, Y:-229.79, Z:-36.99 [[ 7.14243811e-01 6.95645469e-01 7.70270037e-02 3.04449536e+02] [-6.91896138e-01 7.18383097e-01 -7.21488778e-02 -2.29793786e+02] [-1.05524937e-01 -1.76279694e-03 9.94415095e-01 -3.69883263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92591999999996 meters 0.029944282059178852 Centerline is valid? [True, True] Translation: X:304.47, Y:-229.81, Z:-36.99 [[ 7.16857599e-01 6.92982031e-01 7.67534277e-02 3.04474474e+02] [-6.89242137e-01 7.20953590e-01 -7.19110452e-02 -2.29814606e+02] [-1.05168721e-01 -1.35171732e-03 9.94453475e-01 -3.69910143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95592 meters 0.02937659751409066 Centerline is valid? [True, True] Translation: X:304.50, Y:-229.84, Z:-36.99 [[ 7.22384420e-01 6.87139791e-01 7.74574597e-02 3.04498365e+02] [-6.83295032e-01 7.26525064e-01 -7.25894597e-02 -2.29835384e+02] [-1.06153892e-01 -4.88802657e-04 9.94349593e-01 -3.69949214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98591999999996 meters 0.029209352088056285 Centerline is valid? [True, True] Translation: X:304.52, Y:-229.86, Z:-37.00 [[ 7.24386898e-01 6.85176988e-01 7.61322307e-02 3.04522044e+02] [-6.81450276e-01 7.28376593e-01 -7.13656779e-02 -2.29857031e+02] [-1.04351055e-01 -1.83967629e-04 9.94540509e-01 -3.69971373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01592 meters 0.0292570861606069 Centerline is valid? [True, True] Translation: X:304.55, Y:-229.88, Z:-37.00 [[ 7.27495773e-01 6.81901079e-01 7.59000570e-02 3.04547488e+02] [-6.78177372e-01 7.31444345e-01 -7.11661679e-02 -2.29876640e+02] [-1.04044954e-01 2.99385180e-04 9.94572550e-01 -3.69998090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04591999999997 meters 0.029274679329234842 Centerline is valid? [True, True] Translation: X:304.57, Y:-229.90, Z:-37.00 [[ 7.29094732e-01 6.80190663e-01 7.59047684e-02 3.04571922e+02] [-6.76455337e-01 7.33035027e-01 -7.11886653e-02 -2.29897993e+02] [-1.04062719e-01 5.57095181e-04 9.94570581e-01 -3.70022343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07592 meters 0.0294889040836706 Centerline is valid? [True, True] Translation: X:304.60, Y:-229.92, Z:-37.01 [[ 7.30404892e-01 6.78778948e-01 7.59462513e-02 3.04595357e+02] [-6.75030015e-01 7.34342252e-01 -7.12456009e-02 -2.29919904e+02] [-1.04130555e-01 7.72136263e-04 9.94563337e-01 -3.70056527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10591999999997 meters 0.02969366793075464 Centerline is valid? [True, True] Translation: X:304.62, Y:-229.94, Z:-37.01 [[ 7.31687924e-01 6.77417194e-01 7.57543892e-02 3.04619202e+02] [-6.73678090e-01 7.35598390e-01 -7.10833363e-02 -2.29942185e+02] [-1.03877881e-01 9.76746584e-04 9.94589580e-01 -3.70072472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13592 meters 0.02983965940003884 Centerline is valid? [True, True] Translation: X:304.64, Y:-229.96, Z:-37.01 [[ 7.31895209e-01 6.77020787e-01 7.72803789e-02 3.04642619e+02] [-6.73124919e-01 7.35963120e-01 -7.25336452e-02 -2.29964103e+02] [-1.05982294e-01 1.06767869e-03 9.94367444e-01 -3.70110874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16591999999997 meters 0.029800214666150984 Centerline is valid? [True, True] Translation: X:304.67, Y:-229.99, Z:-37.01 [[ 7.31883540e-01 6.77067740e-01 7.69789574e-02 3.04666160e+02] [-6.73200648e-01 7.35919922e-01 -7.22686417e-02 -2.29986605e+02] [-1.05581114e-01 1.06994534e-03 9.94410118e-01 -3.70126568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19591999999994 meters 0.029890290269525978 Centerline is valid? [True, True] Translation: X:304.69, Y:-230.01, Z:-37.02 [[ 7.32043726e-01 6.76891325e-01 7.70072631e-02 3.04687768e+02] [-6.73018316e-01 7.36082130e-01 -7.23149040e-02 -2.30011097e+02] [-1.05633001e-01 1.11037322e-03 9.94404564e-01 -3.70162834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22592 meters 0.030007262851693774 Centerline is valid? [True, True] Translation: X:304.71, Y:-230.03, Z:-37.02 [[ 7.31854796e-01 6.76953880e-01 7.82432253e-02 3.04710545e+02] [-6.72952710e-01 7.36024556e-01 -7.35017212e-02 -2.30033746e+02] [-1.07346211e-01 1.13859665e-03 9.94221049e-01 -3.70194192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25591999999995 meters 0.0298757516440038 Centerline is valid? [True, True] Translation: X:304.73, Y:-230.06, Z:-37.02 [[ 7.31644725e-01 6.77120110e-01 7.87677225e-02 3.04733609e+02] [-6.73063897e-01 7.35871638e-01 -7.40129872e-02 -2.30055396e+02] [-1.08078615e-01 1.13550134e-03 9.94141702e-01 -3.70219298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28592 meters 0.02998641579495584 Centerline is valid? [True, True] Translation: X:304.75, Y:-230.08, Z:-37.03 [[ 7.31705131e-01 6.76956385e-01 7.96093828e-02 3.04754651e+02] [-6.72809727e-01 7.36022178e-01 -7.48226229e-02 -2.30079360e+02] [-1.09245924e-01 1.18613000e-03 9.94014045e-01 -3.70257499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31591999999995 meters 0.030030717606218355 Centerline is valid? [True, True] Translation: X:304.78, Y:-230.10, Z:-37.03 [[ 7.31835871e-01 6.76917044e-01 7.87373737e-02 3.04776034e+02] [-6.72858800e-01 7.36058350e-01 -7.40212240e-02 -2.30103813e+02] [-1.08061529e-01 1.19225215e-03 9.94143493e-01 -3.70284895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34592 meters 0.030027687120290598 Centerline is valid? [True, True] Translation: X:304.80, Y:-230.13, Z:-37.03 [[ 7.31548957e-01 6.77209859e-01 7.88855513e-02 3.04797614e+02] [-6.73135767e-01 7.35788996e-01 -7.41808091e-02 -2.30128353e+02] [-1.08279096e-01 1.16620744e-03 9.94119851e-01 -3.70315606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37591999999995 meters 0.02984189549273843 Centerline is valid? [True, True] Translation: X:304.82, Y:-230.15, Z:-37.03 [[ 7.29526667e-01 6.79439330e-01 7.84413098e-02 3.04818601e+02] [-6.75420188e-01 7.33731192e-01 -7.37977441e-02 -2.30153440e+02] [-1.07695926e-01 8.56578051e-04 9.94183511e-01 -3.70333837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40592 meters 0.02992127122048443 Centerline is valid? [True, True] Translation: X:304.84, Y:-230.18, Z:-37.04 [[ 7.28811743e-01 6.80073668e-01 7.95817167e-02 3.04841252e+02] [-6.75934062e-01 7.33143329e-01 -7.49266503e-02 -2.30176803e+02] [-1.09300447e-01 8.15429622e-04 9.94008424e-01 -3.70359703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43591999999995 meters 0.02994941684930954 Centerline is valid? [True, True] Translation: X:304.86, Y:-230.20, Z:-37.04 [[ 7.27937750e-01 6.80928320e-01 8.02698838e-02 3.04864325e+02] [-6.76718276e-01 7.32349718e-01 -7.56059898e-02 -2.30200066e+02] [-1.10267886e-01 7.16356748e-04 9.93901645e-01 -3.70385110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46592 meters 0.029993647325115568 Centerline is valid? [True, True] Translation: X:304.89, Y:-230.23, Z:-37.04 [[ 7.26470138e-01 6.82391291e-01 8.11373170e-02 3.04885807e+02] [-6.78089894e-01 7.30986878e-01 -7.65001956e-02 -2.30226002e+02] [-1.11513381e-01 5.56712971e-04 9.93762776e-01 -3.70418724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49591999999996 meters 0.03008359572196452 Centerline is valid? [True, True] Translation: X:304.91, Y:-230.25, Z:-37.05 [[ 7.26260111e-01 6.82684028e-01 8.05528943e-02 3.04908140e+02] [-6.78438122e-01 7.30713488e-01 -7.60231083e-02 -2.30249540e+02] [-1.10760848e-01 5.62396743e-04 9.93846929e-01 -3.70450213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.52592 meters 0.029984112033954582 Centerline is valid? [True, True] Translation: X:304.93, Y:-230.27, Z:-37.05 [[ 7.25563886e-01 6.83520145e-01 7.97324140e-02 3.04930316e+02] [-6.79358372e-01 7.29931491e-01 -7.53141453e-02 -2.30273167e+02] [-1.09677935e-01 4.78340966e-04 9.93967063e-01 -3.70479214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55591999999996 meters 0.030024212956328105 Centerline is valid? [True, True] Translation: X:304.95, Y:-230.30, Z:-37.05 [[ 7.25956262e-01 6.83300598e-01 7.80243494e-02 3.04951683e+02] [-6.79307607e-01 7.30136969e-01 -7.37643630e-02 -2.30297765e+02] [-1.07371695e-01 5.47167151e-04 9.94218799e-01 -3.70506275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.58592 meters 0.02990910139955823 Centerline is valid? [True, True] Translation: X:304.98, Y:-230.32, Z:-37.05 [[ 7.25632805e-01 6.83616282e-01 7.82675653e-02 3.04975027e+02] [-6.79592863e-01 7.29841405e-01 -7.40612280e-02 -2.30321778e+02] [-1.07752371e-01 5.51177900e-04 9.94177611e-01 -3.70528298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61591999999996 meters 0.030187258075814263 Centerline is valid? [True, True] Translation: X:305.00, Y:-230.35, Z:-37.05 [[ 7.26444673e-01 6.82609644e-01 7.95123342e-02 3.04996802e+02] [-6.78442581e-01 7.30782790e-01 -7.53138678e-02 -2.30346082e+02] [-1.09516218e-01 7.66804875e-04 9.93984713e-01 -3.70548545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64592 meters 0.030187258075814263 Centerline is valid? [True, True] Translation: X:305.02, Y:-230.37, Z:-37.06 [[ 7.26099549e-01 6.82980738e-01 7.94780213e-02 3.05020640e+02] [-6.78811929e-01 7.30435988e-01 -7.53500641e-02 -2.30368180e+02] [-1.09516249e-01 7.61018592e-04 9.93984714e-01 -3.70576641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67591999999996 meters 0.030355548795386135 Centerline is valid? [True, True] Translation: X:305.04, Y:-230.39, Z:-37.06 [[ 7.26956728e-01 6.82075708e-01 7.94143813e-02 3.05044062e+02] [-6.77899761e-01 7.31280945e-01 -7.53663995e-02 -2.30391388e+02] [-1.09479814e-01 9.53121095e-04 9.93988562e-01 -3.70597842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70592 meters 0.030316946856590768 Centerline is valid? [True, True] Translation: X:305.07, Y:-230.42, Z:-37.06 [[ 7.27214193e-01 6.81773410e-01 7.96525862e-02 3.05067027e+02] [-6.77561964e-01 7.31562640e-01 -7.56695956e-02 -2.30415000e+02] [-1.09860374e-01 1.05844118e-03 9.93946466e-01 -3.70642286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73591999999996 meters 0.030585247845953976 Centerline is valid? [True, True] Translation: X:305.09, Y:-230.44, Z:-37.07 [[ 7.28108522e-01 6.80780924e-01 7.99707085e-02 3.05086998e+02] [-6.76521356e-01 7.32485990e-01 -7.60468953e-02 -2.30440943e+02] [-1.10348699e-01 1.26850040e-03 9.93892125e-01 -3.70670546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76592 meters 0.030641122152471854 Centerline is valid? [True, True] Translation: X:305.11, Y:-230.46, Z:-37.07 [[ 7.28072447e-01 6.80780717e-01 8.03002320e-02 3.05109490e+02] [-6.76478285e-01 7.32486084e-01 -7.64281798e-02 -2.30464413e+02] [-1.10849634e-01 1.32388865e-03 9.93836308e-01 -3.70701492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79591999999997 meters 0.030451610791506593 Centerline is valid? [True, True] Translation: X:305.13, Y:-230.49, Z:-37.07 [[ 7.27616974e-01 6.81323160e-01 7.98266286e-02 3.05131942e+02] [-6.77066965e-01 7.31981625e-01 -7.60475167e-02 -2.30487652e+02] [-1.10244560e-01 1.28549086e-03 9.93903660e-01 -3.70716478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82592 meters 0.03053531274193218 Centerline is valid? [True, True] Translation: X:305.15, Y:-230.51, Z:-37.07 [[ 7.26795246e-01 6.82159208e-01 8.01715938e-02 3.05154089e+02] [-6.77863457e-01 7.31202667e-01 -7.64447067e-02 -2.30511527e+02] [-1.10769144e-01 1.21425568e-03 9.93845422e-01 -3.70747538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85591999999997 meters 0.03058517683477096 Centerline is valid? [True, True] Translation: X:305.17, Y:-230.54, Z:-37.08 [[ 7.26156172e-01 6.82866282e-01 7.99428233e-02 3.05174598e+02] [-6.78590930e-01 7.30542468e-01 -7.63023711e-02 -2.30538351e+02] [-1.10505944e-01 1.15896284e-03 9.93874788e-01 -3.70775977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88592 meters 0.030620851399748714 Centerline is valid? [True, True] Translation: X:305.20, Y:-230.56, Z:-37.08 [[ 7.25581374e-01 6.83604707e-01 7.88433532e-02 3.05196382e+02] [-6.79442945e-01 7.29851647e-01 -7.53250159e-02 -2.30562037e+02] [-1.09036487e-01 1.08486842e-03 9.94037156e-01 -3.70795507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91591999999997 meters 0.030097115996615024 Centerline is valid? [True, True] Translation: X:305.22, Y:-230.59, Z:-37.08 [[ 7.24439931e-01 6.84958896e-01 7.75763914e-02 3.05217469e+02] [-6.80931074e-01 7.28581139e-01 -7.41781378e-02 -2.30586992e+02] [-1.07329671e-01 9.13429582e-04 9.94223067e-01 -3.70805706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94591999999994 meters 0.030112030286014602 Centerline is valid? [True, True] Translation: X:305.24, Y:-230.61, Z:-37.08 [[ 7.23443878e-01 6.85989181e-01 7.77675985e-02 3.05239182e+02] [-6.81940100e-01 7.27611287e-01 -7.44279198e-02 -2.30611441e+02] [-1.07641330e-01 8.11579055e-04 9.94189462e-01 -3.70838597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97592 meters 0.02997651940362051 Centerline is valid? [True, True] Translation: X:305.26, Y:-230.64, Z:-37.09 [[ 7.22674713e-01 6.86831349e-01 7.74852127e-02 3.05260887e+02] [-6.82808523e-01 7.26816451e-01 -7.42318477e-02 -2.30636691e+02] [-1.07302287e-01 7.37915573e-04 9.94226169e-01 -3.70867556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00591999999995 meters 0.029695285903333778 Centerline is valid? [True, True] Translation: X:305.28, Y:-230.66, Z:-37.09 [[ 7.20739466e-01 6.88999343e-01 7.62530528e-02 3.05281901e+02] [-6.85109130e-01 7.24761822e-01 -7.31148571e-02 -2.30661458e+02] [-1.05641390e-01 4.55100406e-04 9.94404188e-01 -3.70882633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03592 meters 0.029670129567598503 Centerline is valid? [True, True] Translation: X:305.31, Y:-230.68, Z:-37.09 [[ 7.20002736e-01 6.89779437e-01 7.61602831e-02 3.05305739e+02] [-6.85899607e-01 7.24019472e-01 -7.30584250e-02 -2.30683996e+02] [-1.05535727e-01 3.63957716e-04 9.94415445e-01 -3.70906996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06591999999995 meters 0.02949373710540181 Centerline is valid? [True, True] Translation: X:305.33, Y:-230.71, Z:-37.09 [[ 7.19169969e-01 6.90644013e-01 7.61931917e-02 3.05325275e+02] [-6.86757681e-01 7.23194830e-01 -7.31650594e-02 -2.30710751e+02] [-1.05633532e-01 2.91853856e-04 9.94405084e-01 -3.70935105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09592 meters 0.029391406832934654 Centerline is valid? [True, True] Translation: X:305.35, Y:-230.74, Z:-37.10 [[ 7.19304942e-01 6.90493835e-01 7.62801666e-02 3.05346113e+02] [-6.86589777e-01 7.23338183e-01 -7.33236064e-02 -2.30736583e+02] [-1.05805855e-01 3.68849922e-04 9.94386738e-01 -3.70959134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12591999999995 meters 0.02928731307390179 Centerline is valid? [True, True] Translation: X:305.37, Y:-230.76, Z:-37.10 [[ 7.19600272e-01 6.90308176e-01 7.51669571e-02 3.05367634e+02] [-6.86509002e-01 7.23515326e-01 -7.23254009e-02 -2.30761091e+02] [-1.04311261e-01 4.42585445e-04 9.94544602e-01 -3.70982766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15592 meters 0.029329802377224205 Centerline is valid? [True, True] Translation: X:305.39, Y:-230.79, Z:-37.10 [[ 7.19568221e-01 6.90332398e-01 7.52512805e-02 3.05390751e+02] [-6.86517762e-01 7.23492185e-01 -7.24735835e-02 -2.30785221e+02] [-1.04474576e-01 4.88346880e-04 9.94527438e-01 -3.71008923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18591999999995 meters 0.029033586485427133 Centerline is valid? [True, True] Translation: X:305.41, Y:-230.81, Z:-37.10 [[ 7.18070878e-01 6.91944628e-01 7.47452062e-02 3.05411129e+02] [-6.88182440e-01 7.21950510e-01 -7.20582469e-02 -2.30810484e+02] [-1.03822657e-01 3.04590287e-04 9.94595779e-01 -3.71037238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21592 meters 0.029167364792184076 Centerline is valid? [True, True] Translation: X:305.43, Y:-230.84, Z:-37.11 [[ 7.16721868e-01 6.93405650e-01 7.41509856e-02 3.05431515e+02] [-6.89704354e-01 7.20547421e-01 -7.15494099e-02 -2.30835943e+02] [-1.03042066e-01 1.38769096e-04 9.94676989e-01 -3.71063359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24591999999996 meters 0.02918640410882318 Centerline is valid? [True, True] Translation: X:305.45, Y:-230.86, Z:-37.11 [[ 7.15290049e-01 6.94915674e-01 7.38400478e-02 3.05452359e+02] [-6.91246683e-01 7.19091236e-01 -7.13149209e-02 -2.30861709e+02] [-1.02655587e-01 -3.08348309e-05 9.94716959e-01 -3.71082208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.27592 meters 0.029252971551014622 Centerline is valid? [True, True] Translation: X:305.47, Y:-230.89, Z:-37.11 [[ 7.12070615e-01 6.98284655e-01 7.31708996e-02 3.05472402e+02] [-6.94692833e-01 7.15820038e-01 -7.07357132e-02 -2.30888359e+02] [-1.01770859e-01 -4.62476767e-04 9.94807760e-01 -3.71092014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30591999999996 meters 0.029411582092365218 Centerline is valid? [True, True] Translation: X:305.50, Y:-230.91, Z:-37.11 [[ 7.10148722e-01 7.00309837e-01 7.24908658e-02 3.05495305e+02] [-6.96791294e-01 7.13838649e-01 -7.01161556e-02 -2.30912583e+02] [-1.00849815e-01 -7.18105912e-04 9.94901402e-01 -3.71116283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.33592 meters 0.029225091908661294 Centerline is valid? [True, True] Translation: X:305.52, Y:-230.94, Z:-37.11 [[ 7.09792232e-01 7.00671343e-01 7.24890009e-02 3.05518288e+02] [-6.97147376e-01 7.13483816e-01 -7.01881873e-02 -2.30936581e+02] [-1.00898580e-01 -7.16486647e-04 9.94896459e-01 -3.71144828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36591999999996 meters 0.029381219347579698 Centerline is valid? [True, True] Translation: X:305.54, Y:-230.96, Z:-37.12 [[ 7.08509916e-01 7.01910541e-01 7.30430855e-02 3.05537980e+02] [-6.98331275e-01 7.12264612e-01 -7.07993857e-02 -2.30963164e+02] [-1.01720840e-01 -8.46204256e-04 9.94812623e-01 -3.71174115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39592 meters 0.029242447029168433 Centerline is valid? [True, True] Translation: X:305.56, Y:-230.99, Z:-37.12 [[ 7.08464311e-01 7.02055593e-01 7.20851201e-02 3.05560509e+02] [-6.98563324e-01 7.12121688e-01 -6.99427268e-02 -2.30986676e+02] [-1.00437060e-01 -8.04095328e-04 9.94943089e-01 -3.71192604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42591999999996 meters 0.029315231468924487 Centerline is valid? [True, True] Translation: X:305.58, Y:-231.01, Z:-37.12 [[ 7.08620235e-01 7.01787570e-01 7.31544206e-02 3.05583957e+02] [-6.98182317e-01 7.12385903e-01 -7.10477145e-02 -2.31010400e+02] [-1.01974581e-01 -7.29274761e-04 9.94786737e-01 -3.71224801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45592 meters 0.02914243347888014 Centerline is valid? [True, True] Translation: X:305.60, Y:-231.04, Z:-37.13 [[ 7.08599768e-01 7.01802323e-01 7.32111284e-02 3.05604797e+02] [-6.98183800e-01 7.12371420e-01 -7.11782393e-02 -2.31035902e+02] [-1.02106569e-01 -6.77939956e-04 9.94773235e-01 -3.71251192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48591999999996 meters 0.029266194550414553 Centerline is valid? [True, True] Translation: X:305.63, Y:-231.06, Z:-37.13 [[ 7.07592707e-01 7.02885495e-01 7.25571632e-02 3.05627158e+02] [-6.99329652e-01 7.11302595e-01 -7.06162587e-02 -2.31060901e+02] [-1.01245242e-01 -7.73826069e-04 9.94861197e-01 -3.71270536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51592 meters 0.02907660189196938 Centerline is valid? [True, True] Translation: X:305.65, Y:-231.08, Z:-37.13 [[ 7.06056754e-01 7.04417681e-01 7.26607880e-02 3.05650221e+02] [-7.00852126e-01 7.09785069e-01 -7.07916268e-02 -2.31084848e+02] [-1.01440416e-01 -9.41561464e-04 9.94841171e-01 -3.71293733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54591999999997 meters 0.029322032174518925 Centerline is valid? [True, True] Translation: X:305.67, Y:-231.11, Z:-37.13 [[ 7.02724356e-01 7.07899568e-01 7.11103452e-02 3.05673151e+02] [-7.04495441e-01 7.06311794e-01 -6.93528983e-02 -2.31108138e+02] [-9.93209622e-02 -1.36094315e-03 9.95054518e-01 -3.71313924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57592 meters 0.02934902086193204 Centerline is valid? [True, True] Translation: X:305.70, Y:-231.13, Z:-37.13 [[ 7.00576619e-01 7.10178183e-01 6.95654300e-02 3.05695409e+02] [-7.06925005e-01 7.04020169e-01 -6.79164173e-02 -2.31132630e+02] [-9.72082236e-02 -1.59688795e-03 9.95262785e-01 -3.71340958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60591999999997 meters 0.029732638022828394 Centerline is valid? [True, True] Translation: X:305.72, Y:-231.16, Z:-37.14 [[ 6.95630838e-01 7.15240725e-01 6.72937046e-02 3.05715645e+02] [-7.12214156e-01 6.98874779e-01 -6.57650396e-02 -2.31157673e+02] [-9.40677075e-02 -2.17933938e-03 9.95563417e-01 -3.71357304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63592 meters 0.02993356748013983 Centerline is valid? [True, True] Translation: X:305.74, Y:-231.18, Z:-37.14 [[ 6.93146073e-01 7.17740362e-01 6.63120983e-02 3.05738916e+02] [-7.14807756e-01 6.96306550e-01 -6.48618565e-02 -2.31179329e+02] [-9.27275208e-02 -2.44166102e-03 9.95688528e-01 -3.71376914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66591999999997 meters 0.030271153892090924 Centerline is valid? [True, True] Translation: X:305.76, Y:-231.20, Z:-37.14 [[ 6.90955608e-01 7.19687061e-01 6.80505850e-02 3.05763131e+02] [-7.16605203e-01 6.94293123e-01 -6.65886064e-02 -2.31200840e+02] [-9.51700116e-02 -2.75563230e-03 9.95457219e-01 -3.71404332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69591999999994 meters 0.030638249341333162 Centerline is valid? [True, True] Translation: X:305.79, Y:-231.22, Z:-37.14 [[ 6.88353930e-01 7.22182602e-01 6.79790863e-02 3.05786528e+02] [-7.19113408e-01 6.91695716e-01 -6.65803556e-02 -2.31222260e+02] [-9.51040172e-02 -3.05382290e-03 9.95462656e-01 -3.71425685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72592 meters 0.03093990045981416 Centerline is valid? [True, True] Translation: X:305.81, Y:-231.24, Z:-37.14 [[ 6.85410269e-01 7.24855630e-01 6.92609477e-02 3.05810682e+02] [-7.21677065e-01 6.88892174e-01 -6.78954019e-02 -2.31244062e+02] [-9.69276892e-02 -3.44783177e-03 9.95285454e-01 -3.71443546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75591999999995 meters 0.031014325991252912 Centerline is valid? [True, True] Translation: X:305.83, Y:-231.27, Z:-37.15 [[ 6.84307066e-01 7.25968569e-01 6.85089497e-02 3.05834257e+02] [-7.22858422e-01 6.87718854e-01 -6.72196415e-02 -2.31265467e+02] [-9.59142433e-02 -3.52339557e-03 9.95383365e-01 -3.71470049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78592 meters 0.0308784673024311 Centerline is valid? [True, True] Translation: X:305.86, Y:-231.29, Z:-37.15 [[ 6.83699847e-01 7.26461280e-01 6.93435410e-02 3.05859845e+02] [-7.23270998e-01 6.87198008e-01 -6.81025778e-02 -2.31286359e+02] [-9.71266291e-02 -3.59245010e-03 9.95265549e-01 -3.71507651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81591999999995 meters 0.031157022188054644 Centerline is valid? [True, True] Translation: X:305.89, Y:-231.31, Z:-37.15 [[ 6.83318873e-01 7.26778255e-01 6.97759666e-02 3.05886770e+02] [-7.23542503e-01 6.86862674e-01 -6.85996595e-02 -2.31306673e+02] [-9.77832478e-02 -3.61043550e-03 9.95201186e-01 -3.71536440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84592 meters 0.03069453202193571 Centerline is valid? [True, True] Translation: X:305.91, Y:-231.33, Z:-37.16 [[ 6.83762911e-01 7.26353560e-01 6.98483234e-02 3.05911620e+02] [-7.23102327e-01 6.87312305e-01 -6.87373344e-02 -2.31327859e+02] [-9.79352197e-02 -3.50744535e-03 9.95186611e-01 -3.71564096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87591999999995 meters 0.03042692343545845 Centerline is valid? [True, True] Translation: X:305.94, Y:-231.35, Z:-37.16 [[ 6.84833986e-01 7.25340461e-01 6.98829610e-02 3.05937123e+02] [-7.22078056e-01 6.88382179e-01 -6.87986669e-02 -2.31347181e+02] [-9.80086417e-02 -3.34528736e-03 9.95179941e-01 -3.71599620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90592 meters 0.03021008887459382 Centerline is valid? [True, True] Translation: X:305.96, Y:-231.37, Z:-37.16 [[ 6.85295751e-01 7.25041124e-01 6.84478062e-02 3.05961897e+02] [-7.21904276e-01 6.88698178e-01 -6.74465472e-02 -2.31367411e+02] [-9.60413998e-02 -3.19193178e-03 9.95372222e-01 -3.71616375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93591999999995 meters 0.030188183875012542 Centerline is valid? [True, True] Translation: X:305.99, Y:-231.39, Z:-37.17 [[ 6.85654044e-01 7.24542514e-01 7.01190179e-02 3.05987380e+02] [-7.21241119e-01 6.89222898e-01 -6.91595662e-02 -2.31388296e+02] [-9.84366787e-02 -3.15318265e-03 9.95138321e-01 -3.71651939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96592 meters 0.029987782239803803 Centerline is valid? [True, True] Translation: X:306.01, Y:-231.41, Z:-37.17 [[ 6.85343364e-01 7.24946417e-01 6.89722137e-02 3.06013935e+02] [-7.21747474e-01 6.88798249e-01 -6.80996079e-02 -2.31408370e+02] [-9.68765067e-02 -3.10890670e-03 9.95291554e-01 -3.71672797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99591999999996 meters 0.029694098265390406 Centerline is valid? [True, True] Translation: X:306.04, Y:-231.43, Z:-37.17 [[ 6.85333081e-01 7.24846977e-01 7.01101138e-02 3.06039665e+02] [-7.21533503e-01 6.88902955e-01 -6.92973514e-02 -2.31429828e+02] [-9.85290402e-02 -3.09502874e-03 9.95129363e-01 -3.71702339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.02592 meters 0.02974583805376435 Centerline is valid? [True, True] Translation: X:306.07, Y:-231.45, Z:-37.17 [[ 6.84620614e-01 7.25480584e-01 7.05162179e-02 3.06065030e+02] [-7.22124448e-01 6.88235410e-01 -6.97732204e-02 -2.31451204e+02] [-9.91508748e-02 -3.15329990e-03 9.95067415e-01 -3.71730327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05591999999996 meters 0.029800372924365933 Centerline is valid? [True, True] Translation: X:306.09, Y:-231.47, Z:-37.18 [[ 6.84140083e-01 7.25850597e-01 7.13670648e-02 3.06092378e+02] [-7.22407174e-01 6.87844976e-01 -7.06906300e-02 -2.31470844e+02] [-1.00400313e-01 -3.19378618e-03 9.94941997e-01 -3.71766822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.08592 meters 0.02952904647297366 Centerline is valid? [True, True] Translation: X:306.12, Y:-231.49, Z:-37.18 [[ 6.84564933e-01 7.25553841e-01 7.03027556e-02 3.06116650e+02] [-7.22203929e-01 6.88158631e-01 -6.97078416e-02 -2.31491975e+02] [-9.89562403e-02 -3.05338244e-03 9.95087101e-01 -3.71786624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11591999999996 meters 0.0294834669324659 Centerline is valid? [True, True] Translation: X:306.14, Y:-231.51, Z:-37.18 [[ 6.84873713e-01 7.25305610e-01 6.98553430e-02 3.06140427e+02] [-7.21990734e-01 6.88420689e-01 -6.93277350e-02 -2.31513360e+02] [-9.83736585e-02 -2.95416702e-03 9.95145163e-01 -3.71815830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14592 meters 0.028860223457442474 Centerline is valid? [True, True] Translation: X:306.17, Y:-231.53, Z:-37.18 [[ 6.87565783e-01 7.22742021e-01 6.99804566e-02 3.06166199e+02] [-7.19395628e-01 6.91113221e-01 -6.95157966e-02 -2.31533488e+02] [-9.86064061e-02 -2.54695142e-03 9.95123254e-01 -3.71841677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17591999999996 meters 0.028494424276402017 Centerline is valid? [True, True] Translation: X:306.19, Y:-231.55, Z:-37.19 [[ 6.89131590e-01 7.21294338e-01 6.95135219e-02 3.06190463e+02] [-7.17978937e-01 6.92624921e-01 -6.91155835e-02 -2.31554264e+02] [-9.79994767e-02 -2.27951259e-03 9.95183856e-01 -3.71871440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20592 meters 0.028368419368622697 Centerline is valid? [True, True] Translation: X:306.21, Y:-231.58, Z:-37.19 [[ 6.91174767e-01 7.19165048e-01 7.12676339e-02 3.06214769e+02] [-7.15661763e-01 6.94836462e-01 -7.09262423e-02 -2.31575397e+02] [-1.00527025e-01 -1.98109161e-03 9.94932356e-01 -3.71914229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23591999999996 meters 0.028277835900268423 Centerline is valid? [True, True] Translation: X:306.24, Y:-231.60, Z:-37.19 [[ 6.91601820e-01 7.18698410e-01 7.18297880e-02 3.06238931e+02] [-7.15130057e-01 6.95319392e-01 -7.15537869e-02 -2.31597437e+02] [-1.01370237e-01 -1.88091117e-03 9.94846992e-01 -3.71941904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26592 meters 0.02848326895899736 Centerline is valid? [True, True] Translation: X:306.26, Y:-231.62, Z:-37.20 [[ 6.91633222e-01 7.18441838e-01 7.40595189e-02 3.06262827e+02] [-7.14638317e-01 6.95584584e-01 -7.38522985e-02 -2.31618472e+02] [-1.04573241e-01 -1.84706683e-03 9.94515473e-01 -3.71980417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29591999999997 meters 0.028298182260077208 Centerline is valid? [True, True] Translation: X:306.29, Y:-231.64, Z:-37.20 [[ 6.92004831e-01 7.18058999e-01 7.43006609e-02 3.06287232e+02] [-7.14221113e-01 6.95980045e-01 -7.41618451e-02 -2.31640557e+02] [-1.04964358e-01 -1.74674570e-03 9.94474450e-01 -3.72009228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32592 meters 0.028463016513535215 Centerline is valid? [True, True] Translation: X:306.31, Y:-231.66, Z:-37.20 [[ 6.91564754e-01 7.18522965e-01 7.39117037e-02 3.06310589e+02] [-7.14719865e-01 6.95501023e-01 -7.38501307e-02 -2.31664373e+02] [-1.04468680e-01 -1.75401544e-03 9.94526630e-01 -3.72034592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35591999999997 meters 0.02836203914299525 Centerline is valid? [True, True] Translation: X:306.23, Y:-232.00, Z:-35.38 [[ 7.64424849e-01 -6.42976033e-01 -4.72913574e-02 3.06225692e+02] [-6.41136912e-01 -7.65852095e-01 4.91327541e-02 -2.31998969e+02] [-6.78093684e-02 -7.23806324e-03 -9.97672040e-01 -3.53845728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38592 meters 0.028358815968372253 Centerline is valid? [True, True] Translation: X:306.32, Y:-231.69, Z:-37.21 [[ 7.40398446e-01 6.67516501e-01 7.89421449e-02 3.06324764e+02] [-6.64006300e-01 7.44592870e-01 -6.83892626e-02 -2.31694653e+02] [-1.04430720e-01 -1.78277777e-03 9.94530566e-01 -3.72080353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41591999999997 meters 0.028207283193077595 Centerline is valid? [True, True] Translation: X:306.35, Y:-231.72, Z:-37.21 [[ 7.40499439e-01 6.67479115e-01 7.83084366e-02 3.06349785e+02] [-6.64017716e-01 7.44626553e-01 -6.79100087e-02 -2.31715055e+02] [-1.03639054e-01 -1.71086578e-03 9.94613503e-01 -3.72103733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44591999999994 meters 0.028578284995964848 Centerline is valid? [True, True] Translation: X:306.37, Y:-231.74, Z:-37.21 [[ 7.39430310e-01 6.68394917e-01 8.05670668e-02 3.06374584e+02] [-6.64728722e-01 7.43804301e-01 -6.99348854e-02 -2.31735320e+02] [-1.06670253e-01 -1.84326939e-03 9.94292743e-01 -3.72131565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47592 meters 0.028814514240807717 Centerline is valid? [True, True] Translation: X:306.40, Y:-231.76, Z:-37.22 [[ 7.39415599e-01 6.68370634e-01 8.09028255e-02 3.06400317e+02] [-6.64666365e-01 7.43826233e-01 -7.02933685e-02 -2.31755148e+02] [-1.07159667e-01 -1.79737375e-03 9.94240200e-01 -3.72165275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50591999999995 meters 0.0290283056648648 Centerline is valid? [True, True] Translation: X:306.43, Y:-231.77, Z:-37.22 [[ 7.39117236e-01 6.68555165e-01 8.20956925e-02 3.06425553e+02] [-6.64733579e-01 7.43660383e-01 -7.14038036e-02 -2.31774569e+02] [-1.08788696e-01 -1.79598159e-03 9.94063275e-01 -3.72192366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53592 meters 0.029192264563621825 Centerline is valid? [True, True] Translation: X:306.45, Y:-231.79, Z:-37.22 [[ 7.38860454e-01 6.68796258e-01 8.24426796e-02 3.06451849e+02] [-6.64936251e-01 7.43443586e-01 -7.17733621e-02 -2.31794889e+02] [-1.09293237e-01 -1.78862745e-03 9.94007942e-01 -3.72224763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56591999999995 meters 0.029192264563621825 Centerline is valid? [True, True] Translation: X:306.48, Y:-231.82, Z:-37.23 [[ 7.38515081e-01 6.69182196e-01 8.24054767e-02 3.06476574e+02] [-6.65319822e-01 7.43096217e-01 -7.18160555e-02 -2.31815970e+02] [-1.09293224e-01 -1.78875701e-03 9.94007943e-01 -3.72252780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59592 meters 0.029498506753196454 Centerline is valid? [True, True] Translation: X:306.50, Y:-231.84, Z:-37.23 [[ 7.38200063e-01 6.69379136e-01 8.36196104e-02 3.06502602e+02] [-6.65394636e-01 7.42918819e-01 -7.29493383e-02 -2.31835344e+02] [-1.10953347e-01 -1.78883414e-03 9.93824006e-01 -3.72298514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62591999999995 meters 0.02932475543504175 Centerline is valid? [True, True] Translation: X:306.53, Y:-231.86, Z:-37.23 [[ 7.37531282e-01 6.70098944e-01 8.37556731e-02 3.06528953e+02] [-6.66098307e-01 7.42269485e-01 -7.31372517e-02 -2.31855002e+02] [-1.11178475e-01 -1.84850105e-03 9.93798737e-01 -3.72320021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65592 meters 0.02980838569010835 Centerline is valid? [True, True] Translation: X:306.56, Y:-231.87, Z:-37.23 [[ 7.36016612e-01 6.71713138e-01 8.41487170e-02 3.06556185e+02] [-6.67676931e-01 7.40808524e-01 -7.35543712e-02 -2.31871962e+02] [-1.11745524e-01 -2.04691802e-03 9.93734747e-01 -3.72347332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68591999999995 meters 0.029829378559371195 Centerline is valid? [True, True] Translation: X:306.58, Y:-231.89, Z:-37.24 [[ 7.35099452e-01 6.72629516e-01 8.48429686e-02 3.06582604e+02] [-6.68525010e-01 7.39976272e-01 -7.42255226e-02 -2.31890715e+02] [-1.12708061e-01 -2.15650542e-03 9.93625806e-01 -3.72366052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71592 meters 0.029972608947920188 Centerline is valid? [True, True] Translation: X:306.61, Y:-231.91, Z:-37.24 [[ 7.33736552e-01 6.74087883e-01 8.50658453e-02 3.06608708e+02] [-6.69963764e-01 7.38647458e-01 -7.44881712e-02 -2.31910143e+02] [-1.13045244e-01 -2.33634004e-03 9.93587095e-01 -3.72396649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74591999999996 meters 0.03017146000410718 Centerline is valid? [True, True] Translation: X:306.64, Y:-231.93, Z:-37.24 [[ 7.32657735e-01 6.75345154e-01 8.43893807e-02 3.06637372e+02] [-6.71287015e-01 7.37497716e-01 -7.39652790e-02 -2.31927695e+02] [-1.12189068e-01 -2.45826172e-03 9.93683838e-01 -3.72423377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.77592 meters 0.030229184563641716 Centerline is valid? [True, True] Translation: X:306.66, Y:-231.95, Z:-37.25 [[ 7.32238611e-01 6.75746363e-01 8.48143188e-02 3.06664233e+02] [-6.71640951e-01 7.37130062e-01 -7.44157515e-02 -2.31946217e+02] [-1.12805358e-01 -2.47468327e-03 9.93614023e-01 -3.72469266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80591999999996 meters 0.03017331014685945 Centerline is valid? [True, True] Translation: X:306.69, Y:-231.96, Z:-37.25 [[ 7.31895754e-01 6.76185230e-01 8.42741990e-02 3.06691779e+02] [-6.72126302e-01 7.36727521e-01 -7.40188789e-02 -2.31964955e+02] [-1.12137594e-01 -2.46880250e-03 9.93689622e-01 -3.72492824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.83592 meters 0.02991674222878531 Centerline is valid? [True, True] Translation: X:306.72, Y:-231.98, Z:-37.25 [[ 7.32061898e-01 6.76009563e-01 8.42404267e-02 3.06718821e+02] [-6.71945391e-01 7.36888965e-01 -7.40543395e-02 -2.31983436e+02] [-1.12137283e-01 -2.39260618e-03 9.93689844e-01 -3.72514678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86591999999996 meters 0.030408685201266175 Centerline is valid? [True, True] Translation: X:306.75, Y:-232.00, Z:-37.26 [[ 7.31551052e-01 6.76514950e-01 8.46202146e-02 3.06746270e+02] [-6.72413114e-01 7.36424810e-01 -7.44251492e-02 -2.32001774e+02] [-1.12666152e-01 -2.45394583e-03 9.93629869e-01 -3.72554711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89592 meters 0.030284964368575622 Centerline is valid? [True, True] Translation: X:306.77, Y:-232.02, Z:-37.26 [[ 7.31580060e-01 6.76604585e-01 8.36471875e-02 3.06773045e+02] [-6.72589100e-01 7.36342686e-01 -7.36434017e-02 -2.32019992e+02] [-1.11420458e-01 -2.38414232e-03 9.93770495e-01 -3.72571276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92591999999996 meters 0.030265754857897086 Centerline is valid? [True, True] Translation: X:306.80, Y:-232.04, Z:-37.26 [[ 7.30831912e-01 6.77461016e-01 8.32543654e-02 3.06802656e+02] [-6.73481239e-01 7.35554592e-01 -7.33652725e-02 -2.32035623e+02] [-1.10940243e-01 -2.45257086e-03 9.93824053e-01 -3.72599292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95592 meters 0.030442275495857603 Centerline is valid? [True, True] Translation: X:306.83, Y:-232.06, Z:-37.26 [[ 7.30279353e-01 6.78097057e-01 8.29243565e-02 3.06829384e+02] [-6.74145719e-01 7.34968147e-01 -7.31393985e-02 -2.32055421e+02] [-1.10542372e-01 -2.49090742e-03 9.93868291e-01 -3.72635627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98591999999996 meters 0.03055253879409158 Centerline is valid? [True, True] Translation: X:306.86, Y:-232.07, Z:-37.27 [[ 7.30306683e-01 6.78128257e-01 8.24270403e-02 3.06857445e+02] [-6.74221578e-01 7.34939461e-01 -7.27272451e-02 -2.32072481e+02] [-1.09897285e-01 -2.46089606e-03 9.93939903e-01 -3.72662490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01592 meters 0.030450553656779806 Centerline is valid? [True, True] Translation: X:306.88, Y:-232.09, Z:-37.27 [[ 7.30622339e-01 6.77811502e-01 8.22348229e-02 3.06883781e+02] [-6.73919011e-01 7.35231826e-01 -7.25763614e-02 -2.32090722e+02] [-1.09654752e-01 -2.39369967e-03 9.93966853e-01 -3.72692572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04591999999997 meters 0.030252706802063836 Centerline is valid? [True, True] Translation: X:306.91, Y:-232.11, Z:-37.27 [[ 7.31777635e-01 6.76597923e-01 8.19557397e-02 3.06910177e+02] [-6.72722243e-01 7.36349410e-01 -7.23486741e-02 -2.32108822e+02] [-1.09299023e-01 -2.19030735e-03 9.94006502e-01 -3.72720771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07592 meters 0.030017867334906956 Centerline is valid? [True, True] Translation: X:306.94, Y:-232.13, Z:-37.28 [[ 7.33383897e-01 6.74993781e-01 8.08174178e-02 3.06936835e+02] [-6.71213621e-01 7.37820945e-01 -7.13619514e-02 -2.32127543e+02] [-1.07797657e-01 -1.91004557e-03 9.94171020e-01 -3.72756125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10591999999997 meters 0.029516960718045996 Centerline is valid? [True, True] Translation: X:306.96, Y:-232.14, Z:-37.28 [[ 7.38402393e-01 6.69551034e-01 8.03947628e-02 3.06964249e+02] [-6.65776081e-01 7.42765250e-01 -7.10069935e-02 -2.32144437e+02] [-1.07257242e-01 -1.09317620e-03 9.94230702e-01 -3.72792366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13592 meters 0.02957080662768293 Centerline is valid? [True, True] Translation: X:306.99, Y:-232.16, Z:-37.28 [[ 7.41163746e-01 6.66375511e-01 8.13632538e-02 3.06989803e+02] [-6.62487583e-01 7.45616044e-01 -7.18812654e-02 -2.32164140e+02] [-1.08565662e-01 -6.26357452e-04 9.94089083e-01 -3.72820845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16591999999997 meters 0.029363336511541483 Centerline is valid? [True, True] Translation: X:307.02, Y:-232.18, Z:-37.28 [[ 7.46685506e-01 6.59979324e-01 8.29942625e-02 3.07016795e+02] [-6.55891641e-01 7.51283691e-01 -7.33414668e-02 -2.32182588e+02] [-1.10756088e-01 3.27767223e-04 9.93847565e-01 -3.72847301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19591999999994 meters 0.02969553079903681 Centerline is valid? [True, True] Translation: X:307.04, Y:-232.20, Z:-37.29 [[ 7.49178625e-01 6.57090810e-01 8.34449293e-02 3.07041761e+02] [-6.52938426e-01 7.53811030e-01 -7.37586819e-02 -2.32202953e+02] [-1.11367860e-01 7.74027073e-04 9.93778950e-01 -3.72883498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22592 meters 0.02983886840527853 Centerline is valid? [True, True] Translation: X:307.07, Y:-232.22, Z:-37.29 [[ 7.51149196e-01 6.54739152e-01 8.42112113e-02 3.07066115e+02] [-6.50492993e-01 7.55854037e-01 -7.44549553e-02 -2.32224336e+02] [-1.12399958e-01 1.14797696e-03 9.93662383e-01 -3.72918854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25591999999995 meters 0.03028524520885545 Centerline is valid? [True, True] Translation: X:307.09, Y:-232.25, Z:-37.30 [[ 7.53102190e-01 6.52453724e-01 8.45058007e-02 3.07088945e+02] [-6.48161198e-01 7.57827066e-01 -7.47341996e-02 -2.32246686e+02] [-1.12801390e-01 1.50910845e-03 9.93616409e-01 -3.72953862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28592 meters 0.030385546622766293 Centerline is valid? [True, True] Translation: X:307.11, Y:-232.27, Z:-37.30 [[ 7.53423855e-01 6.52075331e-01 8.45591955e-02 3.07112026e+02] [-6.47772862e-01 7.58152533e-01 -7.48001039e-02 -2.32268689e+02] [-1.12884071e-01 1.58103056e-03 9.93606908e-01 -3.72978103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31591999999995 meters 0.030198732528616462 Centerline is valid? [True, True] Translation: X:307.13, Y:-232.29, Z:-37.30 [[ 7.53277467e-01 6.52387497e-01 8.34482582e-02 3.07133413e+02] [-6.48197584e-01 7.57884041e-01 -7.38354376e-02 -2.32293189e+02] [-1.11413420e-01 1.52761199e-03 9.93772970e-01 -3.72998217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34592 meters 0.030286521043164785 Centerline is valid? [True, True] Translation: X:307.16, Y:-232.32, Z:-37.30 [[ 7.52522440e-01 6.53232973e-01 8.36460472e-02 3.07155969e+02] [-6.49026012e-01 7.57155640e-01 -7.40308934e-02 -2.32316725e+02] [-1.11692497e-01 1.42144813e-03 9.93741800e-01 -3.73033142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37591999999995 meters 0.03026946042776755 Centerline is valid? [True, True] Translation: X:307.18, Y:-232.34, Z:-37.31 [[ 7.51851725e-01 6.54007510e-01 8.36251144e-02 3.07177981e+02] [-6.49804552e-01 7.56486893e-01 -7.40379943e-02 -2.32339561e+02] [-1.11682707e-01 1.32561372e-03 9.93743033e-01 -3.73071692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40592 meters 0.03025526579562699 Centerline is valid? [True, True] Translation: X:307.20, Y:-232.36, Z:-37.31 [[ 7.51462136e-01 6.54665456e-01 8.19621814e-02 3.07199185e+02] [-6.50630439e-01 7.55917760e-01 -7.25835473e-02 -2.32364129e+02] [-1.09474610e-01 1.21669736e-03 9.93988848e-01 -3.73095622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43591999999995 meters 0.03015542196660328 Centerline is valid? [True, True] Translation: X:307.22, Y:-232.39, Z:-37.31 [[ 7.50853743e-01 6.55386538e-01 8.17749501e-02 3.07221681e+02] [-6.51372262e-01 7.55292807e-01 -7.24358420e-02 -2.32387446e+02] [-1.09237507e-01 1.12278890e-03 9.94015043e-01 -3.73124447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46592 meters 0.030259607979755965 Centerline is valid? [True, True] Translation: X:307.24, Y:-232.41, Z:-37.32 [[ 7.50368382e-01 6.55767416e-01 8.31648163e-02 3.07243385e+02] [-6.51614176e-01 7.54962164e-01 -7.36959758e-02 -2.32411768e+02] [-1.11113709e-01 1.10775684e-03 9.93807082e-01 -3.73159168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49591999999996 meters 0.030240782092557515 Centerline is valid? [True, True] Translation: X:307.27, Y:-232.44, Z:-37.32 [[ 7.50146989e-01 6.55998775e-01 8.33372843e-02 3.07266964e+02] [-6.51822191e-01 7.54761114e-01 -7.39154415e-02 -2.32435197e+02] [-1.11388181e-01 1.12635459e-03 9.93776335e-01 -3.73184694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.52592 meters 0.030343762315243654 Centerline is valid? [True, True] Translation: X:307.29, Y:-232.46, Z:-37.32 [[ 7.50031087e-01 6.56280060e-01 8.21574773e-02 3.07290253e+02] [-6.52215185e-01 7.54516549e-01 -7.29392139e-02 -2.32457854e+02] [-1.09857728e-01 1.12232355e-03 9.93946689e-01 -3.73214664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55591999999996 meters 0.030251292797576886 Centerline is valid? [True, True] Translation: X:307.31, Y:-232.48, Z:-37.32 [[ 7.49997802e-01 6.56380863e-01 8.16545125e-02 3.07313762e+02] [-6.52359214e-01 7.54428817e-01 -7.25576786e-02 -2.32481379e+02] [-1.09227989e-01 1.15002593e-03 9.94016058e-01 -3.73244131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.58592 meters 0.030284896299790563 Centerline is valid? [True, True] Translation: X:307.34, Y:-232.51, Z:-37.33 [[ 7.49941994e-01 6.56524763e-01 8.10076575e-02 3.07335253e+02] [-6.52559824e-01 7.54303557e-01 -7.20542822e-02 -2.32506883e+02] [-1.08409785e-01 1.17418934e-03 9.94105598e-01 -3.73266451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61591999999996 meters 0.030241060117711386 Centerline is valid? [True, True] Translation: X:307.36, Y:-232.53, Z:-37.33 [[ 7.49708477e-01 6.56781517e-01 8.10878444e-02 3.07358634e+02] [-6.52802279e-01 7.54079980e-01 -7.21981202e-02 -2.32530698e+02] [-1.08565111e-01 1.19321311e-03 9.94088624e-01 -3.73294624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64592 meters 0.030395888351957258 Centerline is valid? [True, True] Translation: X:307.38, Y:-232.56, Z:-37.33 [[ 7.49446168e-01 6.56853885e-01 8.29060627e-02 3.07379545e+02] [-6.52685892e-01 7.54016826e-01 -7.38901368e-02 -2.32555319e+02] [-1.11047590e-01 1.26506239e-03 9.93814285e-01 -3.73326852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67591999999996 meters 0.030078910848909925 Centerline is valid? [True, True] Translation: X:307.40, Y:-232.58, Z:-37.34 [[ 7.48882877e-01 6.57449829e-01 8.32715948e-02 3.07402731e+02] [-6.53241025e-01 7.53497314e-01 -7.42829755e-02 -2.32579056e+02] [-1.11582253e-01 1.23282643e-03 9.93754437e-01 -3.73350940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70592 meters 0.03004305404054238 Centerline is valid? [True, True] Translation: X:307.43, Y:-232.60, Z:-37.34 [[ 7.48228050e-01 6.57979042e-01 8.49609599e-02 3.07425945e+02] [-6.53592048e-01 7.53035230e-01 -7.58642016e-02 -2.32601709e+02] [-1.13895651e-01 1.23391586e-03 9.93491952e-01 -3.73383440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73591999999996 meters 0.029927585665377007 Centerline is valid? [True, True] Translation: X:307.45, Y:-232.63, Z:-37.34 [[ 7.47680170e-01 6.58712163e-01 8.40990511e-02 3.07448873e+02] [-6.54412390e-01 7.52394151e-01 -7.51496157e-02 -2.32625016e+02] [-1.12777600e-01 1.15241640e-03 9.93619588e-01 -3.73407858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76592 meters 0.029730929123164614 Centerline is valid? [True, True] Translation: X:307.47, Y:-232.65, Z:-37.34 [[ 7.45475671e-01 6.61105695e-01 8.48839421e-02 3.07471294e+02] [-6.56736237e-01 7.50292328e-01 -7.58876643e-02 -2.32650004e+02] [-1.13857538e-01 8.26046741e-04 9.93496743e-01 -3.73431537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79591999999997 meters 0.02946386862505745 Centerline is valid? [True, True] Translation: X:307.49, Y:-232.67, Z:-37.35 [[ 7.43939986e-01 6.62949472e-01 8.39719891e-02 3.07494619e+02] [-6.58677113e-01 7.48663907e-01 -7.51452913e-02 -2.32671976e+02] [-1.12684329e-01 5.93159585e-04 9.93630661e-01 -3.73451078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82592 meters 0.02952219170348018 Centerline is valid? [True, True] Translation: X:307.52, Y:-232.70, Z:-37.35 [[ 7.39526492e-01 6.67847968e-01 8.41407108e-02 3.07518174e+02] [-6.63581891e-01 7.44297711e-01 -7.53657213e-02 -2.32695813e+02] [-1.12958582e-01 -9.93044785e-05 9.93599692e-01 -3.73473467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85591999999997 meters 0.029750830257167127 Centerline is valid? [True, True] Translation: X:307.54, Y:-232.72, Z:-37.35 [[ 7.37059545e-01 6.70556031e-01 8.42486576e-02 3.07542214e+02] [-6.66287682e-01 7.41858747e-01 -7.55402153e-02 -2.32718396e+02] [-1.13154551e-01 -4.56206060e-04 9.93577294e-01 -3.73513542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88592 meters 0.02989721169132835 Centerline is valid? [True, True] Translation: X:307.57, Y:-232.74, Z:-37.35 [[ 7.33801405e-01 6.74037443e-01 8.49059652e-02 3.07566129e+02] [-6.69716400e-01 7.38696579e-01 -7.62056911e-02 -2.32739777e+02] [-1.14085235e-01 -9.43074160e-04 9.93470518e-01 -3.73536997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91591999999997 meters 0.030381117524458334 Centerline is valid? [True, True] Translation: X:307.59, Y:-232.76, Z:-37.36 [[ 7.28836507e-01 6.79677553e-01 8.26787208e-02 3.07592237e+02] [-6.75609346e-01 7.33508996e-01 -7.42735796e-02 -2.32759522e+02] [-1.11127670e-01 -1.72522013e-03 9.93804641e-01 -3.73554449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94591999999994 meters 0.03072547839969708 Centerline is valid? [True, True] Translation: X:307.62, Y:-232.78, Z:-37.36 [[ 7.26446189e-01 6.82069451e-01 8.40071414e-02 3.07617600e+02] [-6.77876320e-01 7.31284476e-01 -7.55427646e-02 -2.32779656e+02] [-1.12958530e-01 -2.06869850e-03 9.93597550e-01 -3.73577960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97592 meters 0.03103857900691631 Centerline is valid? [True, True] Translation: X:307.65, Y:-232.80, Z:-37.36 [[ 7.24174281e-01 6.84270837e-01 8.57031684e-02 3.07645952e+02] [-6.79913293e-01 7.29223983e-01 -7.71381669e-02 -2.32796269e+02] [-1.15280204e-01 -2.40924695e-03 9.93330091e-01 -3.73601693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00591999999995 meters 0.031223780129196514 Centerline is valid? [True, True] Translation: X:307.67, Y:-232.82, Z:-37.36 [[ 7.23175360e-01 6.85390843e-01 8.51867975e-02 3.07673635e+02] [-6.81085344e-01 7.28171026e-01 -7.67444596e-02 -2.32815593e+02] [-1.14630508e-01 -2.51977706e-03 9.93405002e-01 -3.73625647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03592 meters 0.03127741500542647 Centerline is valid? [True, True] Translation: X:307.70, Y:-232.83, Z:-37.37 [[ 7.23148632e-01 6.85454797e-01 8.48986259e-02 3.07700597e+02] [-6.81170183e-01 7.28111009e-01 -7.65606956e-02 -2.32833643e+02] [-1.14294520e-01 -2.46565027e-03 9.93443850e-01 -3.73663000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06591999999995 meters 0.031402383087359285 Centerline is valid? [True, True] Translation: X:307.73, Y:-232.85, Z:-37.37 [[ 7.22984555e-01 6.85566046e-01 8.53963166e-02 3.07728091e+02] [-6.81223308e-01 7.28006331e-01 -7.70816884e-02 -2.32851478e+02] [-1.15013647e-01 -2.44509108e-03 9.93360902e-01 -3.73709491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09592 meters 0.031502406328146736 Centerline is valid? [True, True] Translation: X:307.76, Y:-232.87, Z:-37.37 [[ 7.22916932e-01 6.85670432e-01 8.51303030e-02 3.07759676e+02] [-6.81346437e-01 7.27908178e-01 -7.69201992e-02 -2.32866131e+02] [-1.14708950e-01 -2.39631421e-03 9.93396253e-01 -3.73734311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12591999999995 meters 0.03157379482498455 Centerline is valid? [True, True] Translation: X:307.79, Y:-232.88, Z:-37.38 [[ 7.23225534e-01 6.85212740e-01 8.61877535e-02 3.07786694e+02] [-6.80769518e-01 7.28339334e-01 -7.79402212e-02 -2.32883799e+02] [-1.16179564e-01 -2.30563732e-03 9.93225550e-01 -3.73773911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15592 meters 0.031353206048021456 Centerline is valid? [True, True] Translation: X:307.82, Y:-232.90, Z:-37.38 [[ 7.24125486e-01 6.84316982e-01 8.57470047e-02 3.07816055e+02] [-6.79910681e-01 7.29181531e-01 -7.75613400e-02 -2.32899132e+02] [-1.15601674e-01 -2.13616123e-03 9.93293355e-01 -3.73801807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18591999999995 meters 0.03134412682653364 Centerline is valid? [True, True] Translation: X:307.84, Y:-232.92, Z:-37.38 [[ 7.25789185e-01 6.82569952e-01 8.56056064e-02 3.07842535e+02] [-6.78163798e-01 7.30817950e-01 -7.74531306e-02 -2.32917958e+02] [-1.15429293e-01 -1.83997861e-03 9.93313995e-01 -3.73836969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21592 meters 0.031277180106620846 Centerline is valid? [True, True] Translation: X:307.87, Y:-232.94, Z:-37.39 [[ 7.27120172e-01 6.81028613e-01 8.65810847e-02 3.07869352e+02] [-6.76507534e-01 7.32255064e-01 -7.83586457e-02 -2.32937227e+02] [-1.16763917e-01 -1.59660419e-03 9.93158416e-01 -3.73878681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24591999999996 meters 0.031260502433466446 Centerline is valid? [True, True] Translation: X:307.90, Y:-232.95, Z:-37.39 [[ 7.30267964e-01 6.77642668e-01 8.66551586e-02 3.07897983e+02] [-6.73086722e-01 7.35390607e-01 -7.84532982e-02 -2.32953076e+02] [-1.16888692e-01 -1.03450628e-03 9.93144483e-01 -3.73915651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.27592 meters 0.03129617992417824 Centerline is valid? [True, True] Translation: X:307.92, Y:-232.97, Z:-37.40 [[ 7.31424395e-01 6.76376276e-01 8.67956697e-02 3.07923815e+02] [-6.71794249e-01 7.36555811e-01 -7.86004094e-02 -2.32971697e+02] [-1.17093307e-01 -8.18574869e-04 9.93120580e-01 -3.73954172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30591999999996 meters 0.03108151531155146 Centerline is valid? [True, True] Translation: X:307.95, Y:-232.99, Z:-37.40 [[ 7.33060425e-01 6.74613794e-01 8.67101029e-02 3.07949926e+02] [-6.70026194e-01 7.38170683e-01 -7.85426121e-02 -2.32990459e+02] [-1.16992785e-01 -5.21559648e-04 9.93132628e-01 -3.73987093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.33592 meters 0.031170343036685075 Centerline is valid? [True, True] Translation: X:307.98, Y:-233.01, Z:-37.40 [[ 7.35652539e-01 6.71759141e-01 8.69194933e-02 3.07977735e+02] [-6.67127006e-01 7.40769636e-01 -7.87521687e-02 -2.33007263e+02] [-1.17289811e-01 -5.21085426e-05 9.93097728e-01 -3.74027545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36591999999996 meters 0.03139062907871498 Centerline is valid? [True, True] Translation: X:308.00, Y:-233.03, Z:-37.41 [[ 7.36513003e-01 6.70780748e-01 8.71882150e-02 3.08002634e+02] [-6.66110776e-01 7.41655698e-01 -7.90142978e-02 -2.33026780e+02] [-1.17664906e-01 1.18048208e-04 9.93053350e-01 -3.74058498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39592 meters 0.0315967428072414 Centerline is valid? [True, True] Translation: X:308.03, Y:-233.05, Z:-37.41 [[ 7.40288468e-01 6.66572221e-01 8.74897628e-02 3.08027960e+02] [-6.61838558e-01 7.45440024e-01 -7.93025436e-02 -2.33045673e+02] [-1.18079244e-01 8.02660052e-04 9.93003851e-01 -3.74075716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42591999999996 meters 0.03214661262497954 Centerline is valid? [True, True] Translation: X:308.05, Y:-233.07, Z:-37.41 [[ 7.42133169e-01 6.64435157e-01 8.81151582e-02 3.08051030e+02] [-6.59616814e-01 7.47345017e-01 -7.98816903e-02 -2.33065647e+02] [-1.18928628e-01 1.16061207e-03 9.92902127e-01 -3.74130271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45592 meters 0.03214661262497954 Centerline is valid? [True, True] Translation: X:308.08, Y:-233.09, Z:-37.42 [[ 7.42013847e-01 6.64569178e-01 8.81093574e-02 3.08075118e+02] [-6.59751016e-01 7.47225863e-01 -7.98880878e-02 -2.33087391e+02] [-1.18928751e-01 1.14782924e-03 9.92902127e-01 -3.74158314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48591999999996 meters 0.032648099404577614 Centerline is valid? [True, True] Translation: X:308.10, Y:-233.11, Z:-37.42 [[ 7.43562853e-01 6.62716490e-01 8.90007682e-02 3.08099426e+02] [-6.57783500e-01 7.48868924e-01 -8.07229951e-02 -2.33108525e+02] [-1.20146370e-01 1.47938375e-03 9.92755086e-01 -3.74202410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51592 meters 0.033150474542025715 Centerline is valid? [True, True] Translation: X:308.12, Y:-233.13, Z:-37.42 [[ 7.45819955e-01 6.60078356e-01 8.97171035e-02 3.08123847e+02] [-6.55043878e-01 7.51194261e-01 -8.13922579e-02 -2.33129256e+02] [-1.21120241e-01 1.93533071e-03 9.92635956e-01 -3.74237414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54591999999997 meters 0.03468610375915514 Centerline is valid? [True, True] Translation: X:308.15, Y:-233.15, Z:-37.43 [[ 7.49263564e-01 6.55829704e-01 9.21493930e-02 3.08147168e+02] [-6.50483332e-01 7.54904013e-01 -8.36143908e-02 -2.33149150e+02] [-1.24400748e-01 2.70757227e-03 9.92228362e-01 -3.74287363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57592 meters 0.03608345080421917 Centerline is valid? [True, True] Translation: X:308.17, Y:-233.17, Z:-37.43 [[ 7.51211758e-01 6.53191419e-01 9.49835023e-02 3.08169643e+02] [-6.47487970e-01 7.57185860e-01 -8.61910783e-02 -2.33169884e+02] [-1.28219438e-01 3.24707634e-03 9.91740507e-01 -3.74328909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60591999999997 meters 0.03802855515924217 Centerline is valid? [True, True] Translation: X:308.19, Y:-233.19, Z:-37.44 [[ 7.53862066e-01 6.49584790e-01 9.86488062e-02 3.08189753e+02] [-6.43399026e-01 7.60278545e-01 -8.95222201e-02 -2.33192651e+02] [-1.33152843e-01 4.01685989e-03 9.91087375e-01 -3.74377349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63592 meters 0.03856898404294507 Centerline is valid? [True, True] Translation: X:308.21, Y:-233.22, Z:-37.44 [[ 7.54060399e-01 6.49072272e-01 1.00489311e-01 3.08212039e+02] [-6.42646406e-01 7.60715190e-01 -9.12030522e-02 -2.33216114e+02] [-1.35641117e-01 4.19351566e-03 9.90749162e-01 -3.74407325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66591999999997 meters 0.039092284264168074 Centerline is valid? [True, True] Translation: X:308.23, Y:-233.24, Z:-37.45 [[ 7.52491690e-01 6.50513554e-01 1.02899821e-01 3.08231958e+02] [-6.43782014e-01 7.59483794e-01 -9.34295698e-02 -2.33241103e+02] [-1.38927948e-01 4.05992077e-03 9.90294170e-01 -3.74451341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69591999999994 meters 0.038765686069078896 Centerline is valid? [True, True] Translation: X:308.25, Y:-233.26, Z:-37.45 [[ 7.50697754e-01 6.52492033e-01 1.03474773e-01 3.08254459e+02] [-6.45693428e-01 7.57786212e-01 -9.40215642e-02 -2.33264415e+02] [-1.39760078e-01 3.76879606e-03 9.90178225e-01 -3.74475750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72592 meters 0.038966594562890804 Centerline is valid? [True, True] Translation: X:308.28, Y:-233.29, Z:-37.45 [[ 7.48823720e-01 6.54512050e-01 1.04292917e-01 3.08278066e+02] [-6.47613172e-01 7.56043562e-01 -9.48436149e-02 -2.33287425e+02] [-1.40926278e-01 3.47968150e-03 9.90013978e-01 -3.74513569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75591999999995 meters 0.03921653673634301 Centerline is valid? [True, True] Translation: X:308.30, Y:-233.31, Z:-37.46 [[ 7.46443636e-01 6.56867155e-01 1.06524355e-01 3.08301386e+02] [-6.49679813e-01 7.53999679e-01 -9.69568139e-02 -2.33309205e+02] [-1.44007076e-01 3.16607373e-03 9.89571593e-01 -3.74551185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78592 meters 0.03934041522730505 Centerline is valid? [True, True] Translation: X:308.32, Y:-233.33, Z:-37.46 [[ 7.42887598e-01 6.60368833e-01 1.09686013e-01 3.08323482e+02] [-6.52775318e-01 7.50936885e-01 -9.98908296e-02 -2.33332346e+02] [-1.48332064e-01 2.60733612e-03 9.88934174e-01 -3.74585886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81591999999995 meters 0.04035889290884987 Centerline is valid? [True, True] Translation: X:308.35, Y:-233.35, Z:-37.46 [[ 7.42014857e-01 6.61011499e-01 1.11703851e-01 3.08346667e+02] [-6.53134565e-01 7.50371403e-01 -1.01774251e-01 -2.33353950e+02] [-1.51093326e-01 2.56036065e-03 9.88516187e-01 -3.74623519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84592 meters 0.041474396813321296 Centerline is valid? [True, True] Translation: X:308.37, Y:-233.38, Z:-37.47 [[ 7.39041806e-01 6.63572548e-01 1.16140787e-01 3.08368491e+02] [-6.55076779e-01 7.48108826e-01 -1.05865945e-01 -2.33375618e+02] [-1.57135683e-01 2.15822654e-03 9.87574665e-01 -3.74662084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87591999999995 meters 0.04240473946440169 Centerline is valid? [True, True] Translation: X:308.39, Y:-233.40, Z:-37.47 [[ 7.37343660e-01 6.64935641e-01 1.19100462e-01 3.08391637e+02] [-6.56013892e-01 7.46898173e-01 -1.08576665e-01 -2.33395763e+02] [-1.61152412e-01 1.92675795e-03 9.86927651e-01 -3.74698360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90592 meters 0.043587435639034895 Centerline is valid? [True, True] Translation: X:308.41, Y:-233.42, Z:-37.47 [[ 7.35645353e-01 6.66269458e-01 1.22110292e-01 3.08414672e+02] [-6.56903510e-01 7.45709164e-01 -1.11335626e-01 -2.33415530e+02] [-1.65238291e-01 1.68885654e-03 9.86252227e-01 -3.74739309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93591999999995 meters 0.04476544379278253 Centerline is valid? [True, True] Translation: X:308.44, Y:-233.44, Z:-37.48 [[ 7.31228432e-01 6.70685794e-01 1.24440933e-01 3.08437724e+02] [-6.61017036e-01 7.41741229e-01 -1.13474347e-01 -2.33436773e+02] [-1.68408604e-01 7.18092112e-04 9.85717011e-01 -3.74787019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96592 meters 0.04567488744904674 Centerline is valid? [True, True] Translation: X:308.46, Y:-233.46, Z:-37.48 [[ 7.29143667e-01 6.72474633e-01 1.26993631e-01 3.08460838e+02] [-6.62427190e-01 7.40120103e-01 -1.15812139e-01 -2.33456835e+02] [-1.71871265e-01 3.19653382e-04 9.85119366e-01 -3.74824167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99591999999996 meters 0.04742048314332608 Centerline is valid? [True, True] Translation: X:308.49, Y:-233.48, Z:-37.49 [[ 7.25790012e-01 6.75570013e-01 1.29745968e-01 3.08486034e+02] [-6.65125878e-01 7.37295726e-01 -1.18332492e-01 -2.33475637e+02] [-1.75603031e-01 -4.12859911e-04 9.84460972e-01 -3.74860336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.02592 meters 0.04898878321848206 Centerline is valid? [True, True] Translation: X:308.51, Y:-233.49, Z:-37.49 [[ 7.24866580e-01 6.75886724e-01 1.33212527e-01 3.08509949e+02] [-6.64875574e-01 7.37005354e-01 -1.21505472e-01 -2.33495000e+02] [-1.80302281e-01 -4.94498996e-04 9.83611124e-01 -3.74890811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05591999999996 meters 0.05071870631154662 Centerline is valid? [True, True] Translation: X:308.53, Y:-233.51, Z:-37.49 [[ 7.24757698e-01 6.75632412e-01 1.35081913e-01 3.08533303e+02] [-6.64301526e-01 7.37238535e-01 -1.23218605e-01 -2.33514548e+02] [-1.82838075e-01 -4.31488163e-04 9.83142946e-01 -3.74926276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.08592 meters 0.05124209727523279 Centerline is valid? [True, True] Translation: X:308.56, Y:-233.53, Z:-37.49 [[ 7.23579978e-01 6.76413867e-01 1.37463803e-01 3.08558668e+02] [-6.64688148e-01 7.36521474e-01 -1.25402491e-01 -2.33533133e+02] [-1.86069026e-01 -6.31828871e-04 9.82536472e-01 -3.74947866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11591999999996 meters 0.05659638660881205 Centerline is valid? [True, True] Translation: X:308.59, Y:-233.55, Z:-37.50 [[ 7.25151405e-01 6.73142017e-01 1.45035393e-01 3.08585265e+02] [-6.60007991e-01 7.39513199e-01 -1.32324149e-01 -2.33549958e+02] [-1.96328532e-01 2.30523967e-04 9.80538145e-01 -3.75022633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14592 meters 0.060682698917168064 Centerline is valid? [True, True] Translation: X:308.61, Y:-233.57, Z:-37.51 [[ 7.24974634e-01 6.71599007e-01 1.52861225e-01 3.08611284e+02] [-6.56955719e-01 7.40914495e-01 -1.39480807e-01 -2.33566133e+02] [-2.06932268e-01 6.96990767e-04 9.78355023e-01 -3.75094153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17591999999996 meters 0.061487476254725414 Centerline is valid? [True, True] Translation: X:308.64, Y:-233.59, Z:-37.51 [[ 7.24615758e-01 6.71516695e-01 1.54910720e-01 3.08635251e+02] [-6.56468685e-01 7.40989054e-01 -1.41365085e-01 -2.33585717e+02] [-2.09716162e-01 7.41331797e-04 9.77762027e-01 -3.75120840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20592 meters 0.06310049198222466 Centerline is valid? [True, True] Translation: X:308.66, Y:-233.61, Z:-37.52 [[ 7.24484166e-01 6.71099045e-01 1.57317401e-01 3.08659917e+02] [-6.55561765e-01 7.41367174e-01 -1.43573972e-01 -2.33605214e+02] [-2.12982313e-01 8.85796505e-04 9.77055653e-01 -3.75161435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23591999999996 meters 0.06460801637021954 Centerline is valid? [True, True] Translation: X:308.68, Y:-233.62, Z:-37.52 [[ 7.24543380e-01 6.70595932e-01 1.59179102e-01 3.08684587e+02] [-6.54669543e-01 7.41822069e-01 -1.45285264e-01 -2.33624293e+02] [-2.15510278e-01 1.05576597e-03 9.76501001e-01 -3.75188938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26592 meters 0.06646105284671826 Centerline is valid? [True, True] Translation: X:308.71, Y:-233.64, Z:-37.52 [[ 7.26421486e-01 6.67814810e-01 1.62281252e-01 3.08710320e+02] [-6.51180427e-01 7.44324952e-01 -1.48136482e-01 -2.33641539e+02] [-2.19717721e-01 1.93514835e-03 9.75561571e-01 -3.75225984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29591999999997 meters 0.06934617847972678 Centerline is valid? [True, True] Translation: X:308.73, Y:-233.66, Z:-37.53 [[ 7.28262695e-01 6.64902075e-01 1.65947817e-01 3.08734761e+02] [-6.47417373e-01 7.46924917e-01 -1.51505491e-01 -2.33660991e+02] [-2.24686874e-01 2.89829761e-03 9.74426708e-01 -3.75279367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32592 meters 0.08588194498373632 Centerline is valid? [True, True] Translation: X:308.76, Y:-233.67, Z:-37.54 [[ 7.33843181e-01 6.52083220e-01 1.90424946e-01 3.08763162e+02] [-6.28523306e-01 7.58106103e-01 -1.73878094e-01 -2.33674359e+02] [-2.57745302e-01 7.91273731e-03 9.66180495e-01 -3.75425333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35591999999997 meters 0.0806630761255745 Centerline is valid? [True, True] Translation: X:308.79, Y:-233.70, Z:-37.54 [[ 7.34749440e-01 6.51956083e-01 1.87340670e-01 3.08787279e+02] [-6.29141432e-01 7.58215746e-01 -1.71143045e-01 -2.33695390e+02] [-2.53622395e-01 7.88347907e-03 9.67271178e-01 -3.75444839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38592 meters 0.0797931188136563 Centerline is valid? [True, True] Translation: X:308.81, Y:-233.72, Z:-37.55 [[ 7.35426661e-01 6.51323262e-01 1.86884014e-01 3.08812371e+02] [-6.28570667e-01 7.58756352e-01 -1.70844122e-01 -2.33715923e+02] [-2.53074183e-01 8.17351318e-03 9.67412348e-01 -3.75483338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41591999999997 meters 0.08518355736145636 Centerline is valid? [True, True] Translation: X:308.84, Y:-233.73, Z:-37.56 [[ 7.38601523e-01 6.45565150e-01 1.94199453e-01 3.08838378e+02] [-6.20745479e-01 7.63631241e-01 -1.77601738e-01 -2.33733288e+02] [-2.62950262e-01 1.06284821e-02 9.64750846e-01 -3.75550601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44591999999994 meters 0.08864329894115287 Centerline is valid? [True, True] Translation: X:308.86, Y:-233.75, Z:-37.56 [[ 7.40350074e-01 6.41455849e-01 2.01037714e-01 3.08862719e+02] [-6.14658271e-01 7.67056792e-01 -1.83899670e-01 -2.33752325e+02] [-2.72170863e-01 1.25806405e-02 9.62166695e-01 -3.75600624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47592 meters 0.09359494999865635 Centerline is valid? [True, True] Translation: X:308.89, Y:-233.77, Z:-37.57 [[ 7.39041580e-01 6.40237014e-01 2.09556935e-01 3.08885889e+02] [-6.11003756e-01 7.68055890e-01 -1.91740866e-01 -2.33772268e+02] [-2.83711038e-01 1.36643983e-02 9.58812459e-01 -3.75691879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50591999999995 meters 0.10041096507322224 Centerline is valid? [True, False] Translation: X:308.93, Y:-233.95, Z:-37.58 [[ 8.18685553e-01 5.31237420e-01 2.18038458e-01 3.08925822e+02] [-5.25382248e-01 8.46197231e-01 -8.90153894e-02 -2.33948496e+02] [-2.31791845e-01 -4.16779218e-02 9.71872158e-01 -3.75767520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53592 meters 0.09247761344386282 Centerline is valid? [False, True] Translation: X:308.99, Y:-234.05, Z:-37.59 [[ 8.53164516e-01 4.79443928e-01 2.05533037e-01 3.08991297e+02] [-4.83557070e-01 8.74685692e-01 -3.31285405e-02 -2.34052562e+02] [-1.95660084e-01 -7.11228582e-02 9.78089296e-01 -3.75907033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56591999999995 meters 0.102055354657509 Centerline is valid? [True, False] Translation: X:309.07, Y:-234.13, Z:-37.60 [[ 8.74334265e-01 4.49895740e-01 1.82025865e-01 3.09074224e+02] [-4.57724487e-01 8.89093374e-01 1.12556157e-03 -2.34130360e+02] [-1.61331605e-01 -8.43018127e-02 9.83293098e-01 -3.76034970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59592 meters 0.11213496108301335 Centerline is valid? [False, False] Translation: X:309.17, Y:-234.19, Z:-37.61 [[ 8.96108737e-01 4.17755779e-01 1.49897435e-01 3.09174921e+02] [-4.24215773e-01 9.05474635e-01 1.25165526e-02 -2.34192227e+02] [-1.30499463e-01 -7.48050483e-02 9.88622322e-01 -3.76106033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62591999999995 meters 0.11929424746480331 Centerline is valid? [False, False] Translation: X:309.29, Y:-234.25, Z:-37.61 [[ 9.15497952e-01 3.85777506e-01 1.14189382e-01 3.09286010e+02] [-3.90181115e-01 9.20558026e-01 1.82103836e-02 -2.34245492e+02] [-9.80927956e-02 -6.12261093e-02 9.93292085e-01 -3.76143253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65592 meters 0.13166284239172582 Centerline is valid? [False, False] Translation: X:309.40, Y:-234.29, Z:-37.61 [[ 9.34073506e-01 3.48349823e-01 7.84798492e-02 3.09399353e+02] [-3.50777553e-01 9.36262392e-01 1.91791927e-02 -2.34293988e+02] [-6.67966630e-02 -4.54437452e-02 9.96731193e-01 -3.76139232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68591999999995 meters 0.12161437160378119 Centerline is valid? [False, False] Translation: X:309.51, Y:-234.33, Z:-37.61 [[ 9.50110218e-01 3.08419404e-01 4.65622745e-02 3.09511525e+02] [-3.09508143e-01 9.50723490e-01 1.81536792e-02 -2.34333842e+02] [-3.86689011e-02 -3.16593992e-02 9.98750419e-01 -3.76104853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71592 meters 0.12619862455654898 Centerline is valid? [False, False] Translation: X:309.60, Y:-234.36, Z:-37.61 [[ 9.62865589e-01 2.68461557e-01 2.86050633e-02 3.09595617e+02] [-2.68947526e-01 9.63042711e-01 1.46957387e-02 -2.34363137e+02] [-2.36026568e-02 -2.18432821e-02 9.99482759e-01 -3.76065368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74591999999996 meters 0.1293042965293384 Centerline is valid? [False, False] Translation: X:309.68, Y:-234.39, Z:-37.60 [[ 9.74554995e-01 2.23784422e-01 1.27708153e-02 3.09678515e+02] [-2.23903140e-01 9.74572022e-01 8.76115336e-03 -2.34389656e+02] [-1.04854697e-02 -1.13976514e-02 9.99880067e-01 -3.75999398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.77592 meters 0.13675986131824683 Centerline is valid? [False, False] Translation: X:309.73, Y:-234.41, Z:-37.60 [[ 9.84191973e-01 1.76757993e-01 1.10802559e-02 3.09726558e+02] [-1.76790033e-01 9.84246608e-01 1.97437986e-03 -2.34407322e+02] [-1.05567169e-02 -3.90204762e-03 9.99936663e-01 -3.75959924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80591999999996 meters 0.1368094699921937 Centerline is valid? [False, False] Translation: X:309.77, Y:-234.42, Z:-37.59 [[ 9.91656856e-01 1.28649690e-01 8.12017365e-03 3.09774719e+02] [-1.28624183e-01 9.91686908e-01 -3.59104140e-03 -2.34424161e+02] [-8.51465626e-03 2.51663012e-03 9.99960583e-01 -3.75908605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.83592 meters 0.18081472962065917 Centerline is valid? [False, False] Translation: X:309.81, Y:-234.43, Z:-37.59 [[ 9.95841070e-01 9.06340964e-02 9.27488032e-03 3.09805518e+02] [-9.05670305e-02 9.95862772e-01 -7.41292393e-03 -2.34434411e+02] [-9.90837169e-03 6.54209573e-03 9.99929510e-01 -3.75877913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86591999999996 meters 0.1399001301557748 Centerline is valid? [False, False] Translation: X:309.84, Y:-234.45, Z:-37.59 [[ 9.98312943e-01 5.74900964e-02 8.13366459e-03 3.09839875e+02] [-5.74519392e-02 9.98336493e-01 -4.84980984e-03 -2.34448456e+02] [-8.39895023e-03 4.37433313e-03 9.99955160e-01 -3.75866539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89592 meters 0.1936079945678297 Centerline is valid? [False, False] Translation: X:309.86, Y:-234.46, Z:-37.59 [[ 9.99447935e-01 3.10994068e-02 1.16898418e-02 3.09857308e+02] [-3.10852242e-02 9.99515767e-01 -1.39302994e-03 -2.34459492e+02] [-1.17275036e-02 1.02887954e-03 9.99930701e-01 -3.75852311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92591999999996 meters 0.2327695339139227 Centerline is valid? [False, False] Translation: X:309.88, Y:-234.47, Z:-37.59 [[ 9.99976069e-01 6.72732916e-03 1.61363823e-03 3.09880426e+02] [-6.72898175e-03 9.99976839e-01 1.02090602e-03 -2.34472228e+02] [-1.60673289e-03 -1.03173973e-03 9.99998177e-01 -3.75860983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95592 meters 0.21958807069011443 Centerline is valid? [False, False] Translation: X:309.90, Y:-234.48, Z:-37.58 [[ 9.99997404e-01 -1.77417944e-03 -1.42982193e-03 3.09900953e+02] [ 1.77990778e-03 9.99990356e-01 4.01506825e-03 -2.34479677e+02] [ 1.42268468e-03 -4.01760278e-03 9.99990917e-01 -3.75823985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98591999999996 meters 0.6349472493474383 Centerline is valid? [False, False] Translation: X:309.89, Y:-234.48, Z:-37.59 [[ 9.99994257e-01 3.35901898e-03 4.51507576e-04 3.09887712e+02] [-3.35861027e-03 9.99993952e-01 -9.02944750e-04 -2.34479439e+02] [-4.54537853e-04 9.01423126e-04 9.99999490e-01 -3.75946992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01592 meters SLAMing on 370.04591999999997 meters SLAMing on 370.07592 meters SLAMing on 370.10591999999997 meters SLAMing on 370.13592 meters SLAMing on 370.16591999999997 meters SLAMing on 370.19591999999994 meters SLAMing on 370.22592 meters SLAMing on 370.25591999999995 meters SLAMing on 370.28592 meters SLAMing on 370.31591999999995 meters SLAMing on 370.34592 meters 0.912800390695757 Centerline is valid? [False, False] Translation: X:309.84, Y:-234.50, Z:-37.62 [[ 9.98500064e-01 1.86559863e-02 5.14740367e-02 3.09837633e+02] [-1.84608227e-02 9.99820490e-01 -4.26437724e-03 -2.34503484e+02] [-5.15443528e-02 3.30772788e-03 9.98665229e-01 -3.76165812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37591999999995 meters 0.912800390695757 Centerline is valid? [False, False] Translation: X:309.89, Y:-234.51, Z:-37.62 [[ 9.99548916e-01 1.29832502e-02 2.70813493e-02 3.09887344e+02] [-1.28927091e-02 9.99910707e-01 -3.51524164e-03 -2.34506128e+02] [-2.71245704e-02 3.16450401e-03 9.99627052e-01 -3.76188546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40592 meters 0.8767385038107665 Centerline is valid? [False, False] Translation: X:309.92, Y:-234.51, Z:-37.62 [[ 9.99913368e-01 1.00465804e-02 8.50430021e-03 3.09923915e+02] [-1.00089250e-02 9.99939968e-01 -4.45884979e-03 -2.34505913e+02] [-8.54858587e-03 4.37334461e-03 9.99953897e-01 -3.76208197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43591999999995 meters 0.8575635871677 Centerline is valid? [False, False] Translation: X:309.95, Y:-234.51, Z:-37.60 [[ 9.99837535e-01 9.12440711e-03 1.55450331e-02 3.09949383e+02] [-9.06141384e-03 9.99950465e-01 -4.11793613e-03 -2.34505750e+02] [-1.55818368e-02 3.97640713e-03 9.99870689e-01 -3.76044383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46592 meters 0.8269981301439343 Centerline is valid? [False, False] Translation: X:309.94, Y:-234.51, Z:-37.62 [[ 9.99908983e-01 1.18825358e-03 1.34392663e-02 3.09941237e+02] [-1.14560046e-03 9.99994284e-01 -3.18102214e-03 -2.34507881e+02] [-1.34429694e-02 3.16533658e-03 9.99904629e-01 -3.76201746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49591999999996 meters 0.7668805130642243 Centerline is valid? [False, False] Translation: X:309.95, Y:-234.51, Z:-37.63 [[ 9.99915229e-01 2.62517580e-03 1.27531661e-02 3.09946299e+02] [-2.60174812e-03 9.99994898e-01 -1.85325220e-03 -2.34509078e+02] [-1.27579662e-02 1.81991457e-03 9.99916958e-01 -3.76258533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.52592 meters 0.34088142028332336 Centerline is valid? [False, False] Translation: X:309.98, Y:-234.51, Z:-37.61 [[ 9.99985318e-01 2.60877380e-03 -4.74956960e-03 3.09980631e+02] [-2.61725919e-03 9.99994989e-01 -1.78122044e-03 -2.34509380e+02] [ 4.74489899e-03 1.79362514e-03 9.99987134e-01 -3.76101884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55591999999996 meters 0.33496657531556273 Centerline is valid? [False, False] Translation: X:309.99, Y:-234.51, Z:-37.62 [[ 9.99976800e-01 2.22751199e-03 -6.43718609e-03 3.09992374e+02] [-2.24065822e-03 9.99995418e-01 -2.03574277e-03 -2.34509480e+02] [ 6.43262195e-03 2.05011908e-03 9.99977209e-01 -3.76227312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.58592 meters 0.81920199973147 Centerline is valid? [False, False] Translation: X:310.02, Y:-234.51, Z:-37.61 [[ 9.99998135e-01 1.93091767e-03 -4.24772646e-05 3.10023819e+02] [-1.93094433e-03 9.99997933e-01 -6.36867294e-04 -2.34512041e+02] [ 4.12474384e-05 6.36948127e-04 9.99999796e-01 -3.76132698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61591999999996 meters 0.3308102195319669 Centerline is valid? [False, False] Translation: X:310.04, Y:-234.52, Z:-37.61 [[ 9.99983666e-01 -5.51082634e-03 1.51581363e-03 3.10038780e+02] [ 5.50664747e-03 9.99981064e-01 2.74734144e-03 -2.34517335e+02] [-1.53092505e-03 -2.73894951e-03 9.99995077e-01 -3.76059081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64592 meters 0.3328078835807142 Centerline is valid? [False, False] Translation: X:310.04, Y:-234.52, Z:-37.63 [[ 9.99986872e-01 3.21620435e-03 -3.98886967e-03 3.10038984e+02] [-3.21070280e-03 9.99993887e-01 1.38486281e-03 -2.34516053e+02] [ 3.99329929e-03 -1.37203756e-03 9.99991085e-01 -3.76279311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67591999999996 meters 0.3347189364545915 Centerline is valid? [False, False] Translation: X:310.06, Y:-234.52, Z:-37.65 [[ 9.99978594e-01 7.66804915e-04 -6.49795641e-03 3.10056233e+02] [-7.72236853e-04 9.99999354e-01 -8.33477893e-04 -2.34516217e+02] [ 6.49731310e-03 8.38478013e-04 9.99978541e-01 -3.76462087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70592 meters 0.8759219939545531 Centerline is valid? [False, False] Translation: X:310.08, Y:-234.52, Z:-37.59 [[ 9.99984992e-01 -3.04365246e-04 -5.47014700e-03 3.10081807e+02] [ 3.04662185e-04 9.99999952e-01 5.34504690e-05 -2.34519845e+02] [ 5.47013047e-03 -5.51162137e-05 9.99985037e-01 -3.75920816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73591999999996 meters 0.33120588146176183 Centerline is valid? [False, False] Translation: X:310.11, Y:-234.52, Z:-37.62 [[ 9.99955140e-01 -1.01820747e-03 -9.41702838e-03 3.10105197e+02] [ 1.02015140e-03 9.99999459e-01 2.01625780e-04 -2.34523192e+02] [ 9.41681799e-03 -2.11223530e-04 9.99955638e-01 -3.76160379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76592 meters 0.3299965133503897 Centerline is valid? [False, False] Translation: X:310.13, Y:-234.53, Z:-37.60 [[ 9.99994565e-01 -1.96594616e-03 -2.64687969e-03 3.10134704e+02] [ 1.96876461e-03 9.99997497e-01 1.06263393e-03 -2.34527525e+02] [ 2.64478399e-03 -1.06783924e-03 9.99995932e-01 -3.76043755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79591999999997 meters 0.3325557148004871 Centerline is valid? [False, False] Translation: X:310.12, Y:-234.53, Z:-37.62 [[ 9.99856153e-01 3.38477046e-03 1.66197493e-02 3.10121537e+02] [-3.34583977e-03 9.99991595e-01 -2.36968230e-03 -2.34529341e+02] [-1.66276305e-02 2.31373441e-03 9.99859074e-01 -3.76205888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82592 meters 0.3352332229496256 Centerline is valid? [False, False] Translation: X:310.14, Y:-234.53, Z:-37.64 [[ 9.99916544e-01 2.63860662e-03 1.26468551e-02 3.10144171e+02] [-2.61021973e-03 9.99994038e-01 -2.26056174e-03 -2.34532640e+02] [-1.26527444e-02 2.22736201e-03 9.99917470e-01 -3.76448666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85591999999997 meters 0.33391709734425323 Centerline is valid? [False, False] Translation: X:310.19, Y:-234.53, Z:-37.62 [[ 9.99964831e-01 3.57754444e-03 -7.58532698e-03 3.10189401e+02] [-3.59701196e-03 9.99990268e-01 -2.55438349e-03 -2.34534086e+02] [ 7.57611474e-03 2.58157817e-03 9.99967968e-01 -3.76232738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88592 meters 0.3322105550031349 Centerline is valid? [False, False] Translation: X:310.20, Y:-234.54, Z:-37.62 [[ 9.99973780e-01 -3.99964234e-03 -6.03670569e-03 3.10204430e+02] [ 4.00932545e-03 9.99990694e-01 1.59279068e-03 -2.34544171e+02] [ 6.03027892e-03 -1.61695204e-03 9.99980510e-01 -3.76160611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91591999999997 meters 0.33246848048613115 Centerline is valid? [False, False] Translation: X:310.22, Y:-234.54, Z:-37.61 [[ 9.99990632e-01 1.94059032e-03 -3.86920338e-03 3.10217208e+02] [-1.94695643e-03 9.99996756e-01 -1.64224284e-03 -2.34541481e+02] [ 3.86600391e-03 1.64976062e-03 9.99991166e-01 -3.76060687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94591999999994 meters 0.33883816554419804 Centerline is valid? [False, False] Translation: X:310.24, Y:-234.54, Z:-37.63 [[ 9.99968354e-01 1.00521512e-03 -7.89174376e-03 3.10240570e+02] [-1.01949503e-03 9.99997850e-01 -1.80566036e-03 -2.34544438e+02] [ 7.88991171e-03 1.81364881e-03 9.99967229e-01 -3.76299762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97592 meters 0.3390278912501567 Centerline is valid? [False, False] Translation: X:310.25, Y:-234.55, Z:-37.64 [[ 9.99953394e-01 3.56722250e-04 -9.64788342e-03 3.10252143e+02] [-3.68679782e-04 9.99999166e-01 -1.23764427e-03 -2.34550155e+02] [ 9.64743388e-03 1.24114357e-03 9.99952692e-01 -3.76424358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00591999999995 meters 0.3390185570299524 Centerline is valid? [False, False] Translation: X:310.28, Y:-234.55, Z:-37.63 [[ 9.99996952e-01 -8.55744818e-04 -2.31601107e-03 3.10278047e+02] [ 8.53601142e-04 9.99999207e-01 -9.26419991e-04 -2.34553907e+02] [ 2.31680202e-03 9.24440217e-04 9.99996889e-01 -3.76268793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03592 meters 0.33954833041499344 Centerline is valid? [False, False] Translation: X:310.30, Y:-234.56, Z:-37.65 [[ 9.99978325e-01 -1.82500460e-03 -6.32608572e-03 3.10301483e+02] [ 1.82116745e-03 9.99998154e-01 -6.12267854e-04 -2.34559550e+02] [ 6.32719144e-03 6.00733722e-04 9.99979803e-01 -3.76511650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06591999999995 meters 0.6966633248267107 Centerline is valid? [False, False] Translation: X:310.31, Y:-234.56, Z:-37.66 [[ 9.99975360e-01 -3.71904812e-04 -7.01006989e-03 3.10306563e+02] [ 3.82920511e-04 9.99998694e-01 1.57013414e-03 -2.34564948e+02] [ 7.00947679e-03 -1.57277975e-03 9.99974196e-01 -3.76568519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09592 meters 0.3397070842218331 Centerline is valid? [False, False] Translation: X:310.33, Y:-234.57, Z:-37.64 [[ 9.99999087e-01 -1.32488633e-03 2.65969902e-04 3.10334816e+02] [ 1.32428428e-03 9.99996589e-01 2.25113925e-03 -2.34569404e+02] [-2.68951499e-04 -2.25078498e-03 9.99997431e-01 -3.76444272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12591999999995 meters 0.33885269659737816 Centerline is valid? [False, False] Translation: X:310.36, Y:-234.57, Z:-37.63 [[ 9.99966895e-01 -2.93203738e-03 7.59024360e-03 3.10361544e+02] [ 2.91622099e-03 9.99993555e-01 2.09400916e-03 -2.34572881e+02] [-7.59633440e-03 -2.07180501e-03 9.99969001e-01 -3.76302073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15592 meters 0.32853903008573704 Centerline is valid? [False, False] Translation: X:310.41, Y:-234.58, Z:-37.57 [[ 9.99831901e-01 -4.39464969e-03 -1.78004684e-02 3.10410457e+02] [ 4.45524909e-03 9.99984410e-01 3.36614692e-03 -2.34582743e+02] [ 1.77853979e-02 -3.44488659e-03 9.99835893e-01 -3.75721561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18591999999995 meters 0.3397190449511542 Centerline is valid? [False, False] Translation: X:310.38, Y:-234.58, Z:-37.63 [[ 9.99953894e-01 2.62716319e-03 9.23619907e-03 3.10384170e+02] [-2.62818919e-03 9.99996541e-01 9.89491548e-05 -2.34579156e+02] [-9.23590717e-03 -1.23219071e-04 9.99957341e-01 -3.76256305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21592 meters 0.33859824400803556 Centerline is valid? [False, False] Translation: X:310.42, Y:-234.59, Z:-37.62 [[ 9.99962839e-01 1.62431914e-03 -8.46657389e-03 3.10420711e+02] [-1.62282547e-03 9.99998666e-01 1.83286458e-04 -2.34587299e+02] [ 8.46686032e-03 -1.69539875e-04 9.99964141e-01 -3.76182550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24591999999996 meters 0.3273721705206749 Centerline is valid? [False, False] Translation: X:310.45, Y:-234.59, Z:-37.60 [[ 9.99998967e-01 3.15498126e-04 -1.40262537e-03 3.10448025e+02] [-3.14925480e-04 9.99999867e-01 4.08469247e-04 -2.34592513e+02] [ 1.40275405e-03 -4.08027103e-04 9.99998933e-01 -3.76044070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.27592 meters 0.3384598205190499 Centerline is valid? [False, False] Translation: X:310.47, Y:-234.60, Z:-37.63 [[ 9.99984977e-01 -5.58054574e-04 -5.45286781e-03 3.10471675e+02] [ 5.60462483e-04 9.99999746e-01 4.40067711e-04 -2.34596531e+02] [ 5.45262084e-03 -4.43117227e-04 9.99985036e-01 -3.76288223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30591999999996 meters 0.33751100762450914 Centerline is valid? [False, False] Translation: X:310.48, Y:-234.61, Z:-37.64 [[ 9.99973447e-01 -1.25612352e-03 -7.17831950e-03 3.10483331e+02] [ 1.26722971e-03 9.99998007e-01 1.54284540e-03 -2.34605718e+02] [ 7.17636719e-03 -1.55190101e-03 9.99973045e-01 -3.76413507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.33592 meters 0.32230721052189454 Centerline is valid? [False, False] Translation: X:310.54, Y:-234.61, Z:-37.55 [[ 9.99794119e-01 -2.81582017e-03 -2.00945304e-02 3.10539118e+02] [ 2.85876703e-03 9.99993690e-01 2.10883558e-03 -2.34612988e+02] [ 2.00884655e-02 -2.16584699e-03 9.99795860e-01 -3.75458659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36591999999996 meters 0.33743435786169257 Centerline is valid? [False, False] Translation: X:310.53, Y:-234.62, Z:-37.60 [[ 9.99973955e-01 -2.29846988e-03 6.84146813e-03 3.10530259e+02] [ 2.28900996e-03 9.99996414e-01 1.39024243e-03 -2.34620865e+02] [-6.84463903e-03 -1.37454604e-03 9.99975630e-01 -3.75978016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39592 meters 0.3371105869414597 Centerline is valid? [False, False] Translation: X:310.54, Y:-234.62, Z:-37.59 [[ 9.99952479e-01 4.01860275e-03 8.88209233e-03 3.10543569e+02] [-4.00590884e-03 9.99990930e-01 -1.44648669e-03 -2.34619868e+02] [-8.88782462e-03 1.41083709e-03 9.99959507e-01 -3.75886357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42591999999996 meters 0.33765691656700253 Centerline is valid? [False, False] Translation: X:310.55, Y:-234.62, Z:-37.60 [[ 9.99961766e-01 1.81642214e-03 8.55382742e-03 3.10549039e+02] [-1.78760993e-03 9.99992708e-01 -3.37478280e-03 -2.34620867e+02] [-8.55989507e-03 3.35936286e-03 9.99957721e-01 -3.75954494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45592 meters 0.3242964614004514 Centerline is valid? [False, False] Translation: X:310.61, Y:-234.63, Z:-37.55 [[ 9.99822451e-01 2.96139141e-04 -1.88408694e-02 3.10610663e+02] [-3.42388076e-04 9.99996936e-01 -2.45153504e-03 -2.34631188e+02] [ 1.88400856e-02 2.45755066e-03 9.99819490e-01 -3.75521946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48591999999996 meters 0.3376181865814016 Centerline is valid? [False, False] Translation: X:310.60, Y:-234.63, Z:-37.59 [[ 9.99971906e-01 6.40745289e-04 -7.46843946e-03 3.10604361e+02] [-6.63450889e-04 9.99995165e-01 -3.03812582e-03 -2.34634458e+02] [ 7.46645668e-03 3.04299540e-03 9.99967496e-01 -3.75916629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51592 meters 0.3082362960748759 Centerline is valid? [False, False] Translation: X:310.63, Y:-234.64, Z:-37.53 [[ 9.99962185e-01 -4.52871896e-04 -8.68467367e-03 3.10634232e+02] [ 4.34618814e-04 9.99997693e-01 -2.10353009e-03 -2.34642206e+02] [ 8.68560626e-03 2.09967602e-03 9.99960075e-01 -3.75312180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54591999999997 meters 0.3375450588219355 Centerline is valid? [False, False] Translation: X:310.63, Y:-234.65, Z:-37.58 [[ 9.99997659e-01 7.70383541e-04 2.02195278e-03 3.10629860e+02] [-7.67876271e-04 9.99998936e-01 -1.24050759e-03 -2.34648643e+02] [-2.02290629e-03 1.23895208e-03 9.99997186e-01 -3.75773545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57592 meters 0.327868906888187 Centerline is valid? [False, False] Translation: X:310.63, Y:-234.65, Z:-37.58 [[ 9.99997790e-01 7.00728010e-04 1.98203567e-03 3.10629967e+02] [-6.99053365e-04 9.99999398e-01 -8.45477863e-04 -2.34651051e+02] [-1.98262693e-03 8.44090446e-04 9.99997678e-01 -3.75774623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60591999999997 meters 0.32502710361828013 Centerline is valid? [False, False] Translation: X:310.66, Y:-234.66, Z:-37.56 [[ 9.99960255e-01 1.67060282e-03 8.75767874e-03 3.10658583e+02] [-1.68264565e-03 9.99997649e-01 1.36792936e-03 -2.34657221e+02] [-8.75537288e-03 -1.38261107e-03 9.99960715e-01 -3.75649424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63592 meters 0.32233867583194925 Centerline is valid? [False, False] Translation: X:310.71, Y:-234.66, Z:-37.53 [[ 9.99857226e-01 2.44187821e-03 -1.67202007e-02 3.10712292e+02] [-2.44023869e-03 9.99997016e-01 1.18457480e-04 -2.34656901e+02] [ 1.67204401e-02 -7.76392867e-05 9.99860201e-01 -3.75270373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66591999999997 meters 0.32337999877764656 Centerline is valid? [False, False] Translation: X:310.70, Y:-234.66, Z:-37.56 [[ 9.99985777e-01 3.54693159e-03 -3.98307410e-03 3.10700365e+02] [-3.54644533e-03 9.99993703e-01 1.29138299e-04 -2.34660526e+02] [ 3.98350706e-03 -1.15010708e-04 9.99992059e-01 -3.75608717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69591999999994 meters 0.3212580185557525 Centerline is valid? [False, False] Translation: X:310.73, Y:-234.66, Z:-37.55 [[ 9.99991189e-01 3.53217219e-03 2.26861026e-03 3.10732374e+02] [-3.53330096e-03 9.99993636e-01 4.93747616e-04 -2.34661007e+02] [-2.26685182e-03 -5.01758949e-04 9.99997305e-01 -3.75517360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72592 meters 0.32486175878177875 Centerline is valid? [False, False] Translation: X:310.76, Y:-234.66, Z:-37.58 [[ 9.99992115e-01 3.53060736e-03 -1.81787704e-03 3.10755610e+02] [-3.52973124e-03 9.99993653e-01 4.84930491e-04 -2.34660811e+02] [ 1.81957760e-03 -4.78510050e-04 9.99998230e-01 -3.75756304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75591999999995 meters 0.3144230458535537 Centerline is valid? [False, False] Translation: X:310.79, Y:-234.66, Z:-37.46 [[ 9.99926615e-01 2.58580783e-03 -1.18354635e-02 3.10792922e+02] [-2.58710830e-03 9.99996649e-01 -9.45699645e-05 -2.34660129e+02] [ 1.18351793e-02 1.25182650e-04 9.99929954e-01 -3.74620947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.78592 meters 0.32490807789338105 Centerline is valid? [False, False] Translation: X:310.75, Y:-234.66, Z:-37.52 [[ 9.99912882e-01 3.60237180e-03 1.26984867e-02 3.10751781e+02] [-3.60584012e-03 9.99993468e-01 2.50243318e-04 -2.34659572e+02] [-1.26975023e-02 -2.96010231e-04 9.99919340e-01 -3.75225402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6535.43 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%| | 0/12367 [00:00